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Simulation Winter Conference

作者： Tak-Kuen John Koo Yi Ma G.J. Pappas C. Tomlin Robotics and Intelligent Machines Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on Advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation computer aided manufacturing Laboratories Data mining

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Growing region technique in the detection of autonomous structures within X-ray radiographs

Growing region technique in the detection of autonomous stru...

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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： S.N. Raptis S.G. Tzafestas S. Pavlopoulos D. Koutsouris S. Kollias Intelligent Robotics and Automation Laboratory National and Technical University of Athens Athens Greece Biomedical Engineering Laboratory National and Technical University of Athens Athens Greece Department of Electrical & Computer Engineering National and Technical University of Athens Athens Greece

Nodule identification is a major issue in chest radiography and cancer prevention and detection. The recognition of cancer nodule characteristics in chest radiographs is a key point to the detection procedure. The method described here is based on the extraction of the major geometrical as well as luminance characteristics that make nodule recognizable and easy to detect. The purpose of the proposed method is to detect within a given block of chest X-ray image any homogeneous and autonomous mass that might means the existence of a nodule or some structure within it. The idea of pixels of interest is introduced which makes the growing a finite steps procedure. The growing of the region around a given point is realized gradually in a finite number of iterations at each one of which a set of criteria is evaluated. These criteria are established in a prior training procedure.

关键词： X-ray detection X-ray detectors X-ray imaging Diagnostic radiography Pixel Laboratories Biomedical engineering Cancer detection Character recognition Shape

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control computer aided manufacturing Manufacturing processes Parameter estimation

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation robotics and automation Shape Power system modeling computer aided manufacturing Manufacturing processes Containers Inorganic materials

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Solving the find-path problem: a complete and less complex approach using the BIE methodology

Solving the find-path problem: a complete and less complex a...

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IEEE International Symposium on Computational Intelligence in robotics and automation (CIRA)

作者： I. Mantegh M.R.M. Jenkin A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada Department of Computer Science York University North York ONT Canada

Although significant progress has been made in the area of robot motion planning, many issues still need to be addressed. These include the computational complexity of navigation algorithms, their adaptability to different environments, and their sensitivity to changes in the environment. By capitalizing on the known properties of harmonic potential functions, this work develops a new approach towards model-based path planning which is intuitive, complete (goal attainability is guaranteed), free from local traps (local minima) and computationally less complex than many existing methods. Extending the advantages of hill-climbing method, which have low space and time complexity, to a global (model-based) path planning algorithm marks one of the major contributions of this work. Furthermore, the algorithm presented here is able to handle arbitrary geometries and does not require a geometrical or topological approximation at the environment representation level.

关键词： Path planning Orbital robotics Navigation Motion planning Robot sensing systems Intelligent robots Collision avoidance Geometry robotics and automation Laboratories

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Working with remote VRML scenes through low-bandwidth connections

Working with remote VRML scenes through low-bandwidth connec...

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Brazilian Symposium on computer Graphics and Image Processing (SIBGRAPI)

作者： A.B. Raposo L.P. Magalhaes I.L.M. Ricarte School of Electrical and Computer Engineering FEEC Department of Computer Engineering and Industrial Automation State University of Campinas Sao Paulo Brazil Computer Science Department Computer Graphics Laboratory University of Waterloo Waterloo ONT Canada

We have developed a Web based application to accelerate the visualization of VRML scenes located in a remote server. This application enables the user to extract only the parts of a scene that are of actual interest. The extracted parts represent one or more sub trees of the hierarchical structure of the VRML scene, and only these parts will be rendered and visualized in the local computer. By reducing the complexity (size) of the remote scene, less data are transmitted from the remote server and the rendering process becomes faster in the local computer. The application is written in Java and is executed as an applet embedded in an HTML page.

关键词： Layout Java World Wide Web Application software Tactile sensors Acceleration Data visualization HTML Graphics Animation

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The active kinematic histogram method for path planning of non-point, non-holonomically constrainted mobile robots

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Advanced robotics 1997年第4期12卷 373-395页

作者： Katevas, Nikos I. Tzafestas, Spyros G. Zenon SA - Industrial Automation Athens 15344 Kanari 5 Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Athens 15773 Zografou Campus Greece

The paper presents a novel path planning method for non-point, non-holonomically constrainted mobile robots. The proposed method, named the Active Kinematic Histogram (AKH) method, is a potential field path-planning method based on the Vector Field Histogram (VFH) method introducedby J. Borenstein and Y. Koren. The method relies on one-dimensional environment representations named AKHs, derived from the available information on the obstacle space and the robot itself. The AKHs provide the information abstraction required for fast, collision-free and kinematically feasiblepath planning for non-point, non-holonomically constrainted mobile robots. The method constructs two AKH structures incorporating the information stored in occupancy grid environment representations as well as the exact robot's size, shape and kinematic features. The method applies simpleand fast procedures, e.g. histogram shifting, in order to determine kinematic feasibility and the result of the robot's steering limits. Being a potential field method, the AKH method uses adaptive thresholding procedures to reduce the inherited drawback of the local minima traps ***, the method proposes specific updating and coding procedures for the environmental information and introduces the Ageing function to insert time parameterization in the path-planning results. Also, the so-called bicycle kinematic model is presented in order to describe the kinematicfamily of mobile robots suitable for applying the AKH method. The method integrates a velocity control procedure which is also based on information provided by the active kinematic histograms. The method produced smooth, collision-free paths in a variety of experimental configurations. Simulationand experimental results are presented. © VSP and robotics Society of Japan 1997.

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Using a robot arm to facilitate the learning in young and mentally development-delayed children

Using a robot arm to facilitate the learning in young and me...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： J. Gu F. Dong M. Meng A. Cook Department of Electrical and Computer Engineering ART (Advanced Robotics and Teleoperation) Laboratory Canada Faculty of Rehabilitation Medicine University of Alberta Edmonton AB Canada

The study is based on two assumptions: 1) the child is an active, goal-oriented participant in his or her own development; and 2) physical manipulation of objects is a major contributing factor in the development of cognitive and language skills in a very young child. The CRS robot arm system is used in our study. All the functions are under the control of a computer based software control algorithm. The training program uses either the teach pedant or a series of text commands to train the arm. With the teach pedant, the operator can move the arm in desired directions by pressing the button on the teach pedant. In the text training mode, the arm moves according to the command set predefined. Another important aspect of the project is how to set up the interface and communication environment between the young children and the robot arm. The final program lets the child to accomplish a series of processing complex tasks through simple operation of certain buttons. The programmed activities have a development sequence, which eventually brings the robot arm under the control of the child; at the same time it facilitates the learning process of the child.

关键词： Robots Medical robotics Rehabilitation robotics Pediatrics Cognitive robotics Pressing Switches computerized monitoring Wrist Grippers

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Neural Fault Detection and Accommodation for Interconnected Power Systems

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IFAC Proceedings Volumes 1997年第18期30卷 943-947页

作者： Spyros Tzafestas Yiannis Anthopoulos Efthimios Kyriannakis Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou 15773 Athens Greece. Tel: +30-1-7722489 +30-1-772-1527 Fax: +30-1-7722490 +30-1-7722459

Due to increasing safety and reliability demands fault detection and accommodation is a key issue in the design of industrial control systems. This paper presents a neural network based method for fault detection and accommodation, appropriate for interconnected power systems. The simulation results show that the method is very promising.

关键词： fault detection neural networks interconnected systems

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