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IEEE International Conference on Image Processing

作者： Yiyong Sun Joon-Ki Paik J.R. Price M.A. Abidi Department of Electrical and Computer Engineering Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Image Engineering Graduate School of Advanced Imaging Science Chung-Ang University Seoul South Korea

We propose an adaptive regularization algorithm for smoothing dense range images using a novel, first order stabilizing function. The stabilizer we suggest is based upon minimizing the reconstructed surface area and is derived in the native, spherical coordinate system of the range scanner. This allows adjustments to be made along only the direction of measurement, thereby preventing the data overlapping problem that can arise in dense images. Adaptation is achieved by adjusting the regularization parameter according to the results of 2D edge analysis. Results indicate effective noise suppression along with well preserved edges and details in the reconstructed, 3D surfaces.

关键词： Smoothing methods Surface reconstruction Image reconstruction Image edge detection intelligent robots Robot kinematics intelligent systems Laboratories Laser noise Noise measurement

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Factorization method for multiple perspective views via iterative depth estimation

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systems and Computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Interacting software-agents to support a kind of expert supervision systems

Interacting software-agents to support a kind of expert supe...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： O.C. Contreras J. De La Rosa J. Melendez Grup d'EnGinyeria de Control i SistEmes Intelligents (eXiT Institut dInformàtica i Aplicacions European Associated Laboratory-Intelligent Systems and Advanced Control (LEA-SICA) Universitat de Girona Girona Spain Grup d'Enginyeria de Control i Sistemes Intelligents (eXiT Institut dInformàtica i Aplicacions European Associated Laboratory-Intelligent Systems and Advanced Control (LEA-SICA) Universitat de Girona Girona Spain

Expert supervision systems are software applications specially designed to automate process monitoring. The goal is to reduce the dependency on human operators to assure the correct operation of a process including faulty situations. Construction of this kind of application involves an important task of design and development in order to represent and to manipulate process data and behaviour at different degrees of abstraction for interfacing with data acquisition systems connected to the process. This is an open problem that becomes more complex with the number of variables, parameters and relations to account for the complexity of the process. Multiple specialised modules tuned to solve simpler tasks that operate under a co-ordination provide a solution. A modular architecture based on concepts of software agents, taking advantage of the integration of diverse knowledge-based techniques, is proposed for this purpose. The components (software agents, communication mechanisms and perception/action mechanisms) are based on ICa (intelligent control architecture), software middleware supporting the build-up of applications with software agent features.

关键词： Application software Software agents Computer architecture Software systems Software design Process design Computerized monitoring Humans Data acquisition Independent component analysis

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A methodology for geometric design of closed kinematic chain mechanisms

A methodology for geometric design of closed kinematic chain...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.D. Bryfogle C.C. Nguyen Z.-L. Zhou S.S. Antrazi Intelligent Systems Division Robotics System Engineer SAIC Germantown MD USA Robotics and Control Laboratory Catholic University of America Washington D.C. DC USA

This paper presents a methodology for the geometric design of those closed-kinematic chain mechanisms consisting of two platforms connected by six linear actuators. The methodology provides a guideline for the placement of the linear actuator joints which can maximize the mechanism workspace and forces/torques. The paper explains how the presented methodology was applied in the design of two real-world robotic systems, a force reflecting hand controller of a teleoperation system and a fine motion mechanism of a munition loading system.

关键词： Design methodology Leg Payloads Robot kinematics Coaxial components Legged locomotion Force control Motion control Jacobian matrices intelligent systems

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Fuzzy-Q learning for autonomous robot systems

Fuzzy-Q learning for autonomous robot systems

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International Conference on Neural Networks

作者： Il Hong Suh Jae-Hyun Kim F.C.-H. Rhee Intelligent Control and Robotics Laboratory Department of Electronic Engineering Hanyang University Ansan South Korea Computational Vision and Fuzzy Systems Laboratory Hanyang University Ansan South Korea

It is desirable for autonomous robot systems to posses the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Since Q-learning is normally used for optimizing a series of discrete actions, it may be undesirable when applied to a real environment which involves continuous states and actions. In this paper, we propose a new method of Q-learning that incorporates a fuzzy interpolation technique which is used to approximate a continuous state. Our learning method can estimate current state by its neighboring states and has the ability to learn its actions similar to that of Q-learning. Thus, our method can enable robots to react smoothly in a real environment. Simulation results involving an autonomous robot are given to show the validity of our method.

关键词： Robot sensing systems control systems Laboratories Interpolation State estimation intelligent robots Learning Robot control Robot vision systems Machine vision

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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Region-based Q-learning using convex clustering approach

Region-based Q-learning using convex clustering approach

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： J.H. Kim I.H. Suh S.R. Oh Y.J. Cho Y.K. Chung Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Ansan Kyunggi South Korea Advanced Robotics Research Center KIST Seoul South Korea School of Mechanical Engineering Information Research Laboratories PIRL Pohang University of Science and Technology South Korea

For continuous state space applications, a novel method of Q-learning is proposed, where the method incorporates a region-based reward assignment being used to solve a structural credit assignment problem and a convex clustering approach to find a region with the same reward attribution property. Our learning method can estimate a current Q-value of an arbitrarily given state by using effect functions, and has the ability to learn its actions similar to that of Q-learning. Thus, our method enables robots to move smoothly in a real environment. To show the validity of our method, the proposed Q-learning method is compared with conventional Q-learning method through a simple two dimensional free space navigation problem, and visual tracking simulation results involving a 2-DOF SCARA robot are also presented.

关键词： Orbital robotics Learning systems intelligent robots State-space methods Mechanical engineering Mechanical factors State estimation Motion planning Discrete event simulation Humans

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Design of a supervisory control system for multiple robotic systems

Design of a supervisory control system for multiple robotic ...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： I.H. Suh H.J. Yeo J.H. Kim J.S. Ryoo S.R. Oh C.W. Lee B.H. Lee Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Ansan Kyunggi South Korea Advanced Robotics Research Center KIST Seoul South Korea Department of Control and Instrumentation Engineering Seoul National University South Korea

This paper presents a design experience of a supervisory control system for coordination of multiple robotic devices. To effectively program job commands, a Petri net-type graphical robot language(PGRL) is proposed, where some functions for coordination among tasks such as concurrency and synchronization, can be easily programmed. Each task of PGRL is described by employing formal model languages, which are composed of three modules, sensory, data handling, and action module. It is expected that by using our proposed PGRL and formal model languages, one can efficiently describe a job or task, and hence can easily operate a complex real-time concurrent system. The proposed control system has been implemented by using VME-based 32-bit microprocessor boards and a real-time multitasking operating system (VxWorks), and is shown to successfully work for robotic jobs.

关键词： Supervisory control Robot kinematics Robot sensing systems Real time systems Concurrent computing Data handling control systems Microprocessors Multitasking Operating systems

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Measuring the distance and orientation of a planar surface using nonstructured lighting

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systems AND COMPUTERS IN JAPAN 1996年第8期27卷 83-92页

作者： Tsukiyama, T Member Electrotechnical Laboratory Tsukuba Japan 305 Tosbifumi Tsukiyama:graduated in 1972 from the Biological Engineering Department Osaka University where he also received his Dr. of Eng. degree. He joined Electrotechnical Laboratory Ministry of Tread and Industry (Japan) in 1972. At present he is Senior Researcher at Computer Vision Section Intelligent Systems Division ETL. He was a Visiting Researcher at University of Illinois during 1984–1985. He has been interested in vision system for mobile robots and image processing architectures. He is a member of the Society of Instrumental and Control Engineers Japan Robotics Society of Japan and Information Processing Society of Japan.

This paper proposes a method of 3-dimensional measurement of a planar surface by using two fixed light sources and a TV camera. A set of two images is recorded by the camera switching on each light alternately. The peak of the luminance distribution in each image is detected, and the orientation and distance of the planar surface are calculated. The position of the peak of a luminance distribution can be estimated accurately by using an image processing. The light sources can be conventional apparatus with no particular structure. The method is simple and suitable for a vision system on an indoor mobile robot.

关键词： distance to surface orientation of planar surface point light source luminance distribution ring light

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