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检索条件"机构=Laboratory of Robotics and Engineering Systems"

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Application of uncertain variables in an adaptive decision system for a complex of operations

Application of uncertain variables in an adaptive decision s...

引用

15th International Conference on systems Science

作者： Orski, Donat Sugisaka, Masanori Institute of Control and Systems Engineering Wroclaw University of Technology Wyb. Wyspianskiego 27 50-370 Wroclaw Poland Artificial Life and Robotics Laboratory Department of Electrical and Electronic Engineering Oita University 700 Dannoharu Oita 870-1192 Japan

The paper concerns a decision plant consisting of parallel operations, which are described by relational models with unknown parameters. Unknown parameters are assumed to be values of uncertain variables characterized by certainty distributions given by an expert. The solution of a decision problem and, consequently, performance of the knowledge-based decision system is very sensitive to the forms and parameters of certainty distributions. In the paper it is showed how application of an adaptation process, consisting in step by step changing of parameters in certainty distributions based on current performance evaluation, may improve performance of a decision system under consideration. An illustrative example and results of simulations are included.

关键词： Decision support systems

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A knowledge based genetic algorithm for path planning of a mobile robot

A knowledge based genetic algorithm for path planning of a m...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yanrong Hu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a knowledge based genetic algorithm (GA) for path planning of a mobile robot is proposed, which uses problem-specific genetic algorithms for robot path planning instead of the standard GAs. The proposed knowledge based genetic algorithm incorporates the domain knowledge into its specialized operators, where some also combine a local search technique. The proposed genetic algorithm also features a unique and simple path representation and a simple but effective evaluation method. The knowledge based genetic algorithm is capable of finding an optimal or near-optimal robot path in both complex static and dynamic environments. The effectiveness and efficiency of the proposed genetic algorithm is demonstrated by simulation studies. The irreplaceable role of the specialized genetic operators in the proposed GA for solving robot path planning problem is demonstrated by a comparison study.

关键词： Genetic algorithms Path planning Mobile robots Biological cells Intelligent robots Encoding Intelligent systems Genetic engineering Knowledge engineering Neural networks

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Fusion of Visual and Thermal Signatures with Eyeglass Removal for Robust Face Recognition

Fusion of Visual and Thermal Signatures with Eyeglass Remova...

引用

IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Jingu Heo S.G. Kong B.R. Abidi M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions.

关键词： Robustness Face recognition Face detection Lighting Optical imaging Intelligent robots Infrared imaging Pattern recognition Computer vision Temperature

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Fusion of visual, thermal, and range as a solution to illumination and pose restrictions in face recognition

Fusion of visual, thermal, and range as a solution to illumi...

引用

International Carnahan Conference on Security Technology

作者： B. Abidi S. Huq M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper summarizes the various components of face recognition research conducted at the IRIS Lab. First, fusion of visual and thermal infrared (IR) images for robust face recognition is discussed. Two techniques are implemented: data fusion and decision fusion. With the knowledge that eyeglasses block the emission of thermal energy, an algorithm is designed to detect and replace eyeglasses with an eye template in thermal images. A commercial face recognition software (FaceIt/spl reg/) is used in the evaluation of the various fusion algorithms. Comparison results show that fusion-based face recognition outperforms individual visual or thermal face recognizers under illumination variations and facial expressions. Efforts in the 3D arena are also described. Results of high resolution stereo-based 3D reconstruction of faces are shown and analyzed, in a first approach, then in a second approach, a warping technique is applied to overlay color and thermal textures on 3D mannequin head models, obtained using a laser range scanner.

关键词： Lighting Face recognition Face detection Iris Infrared imaging Robustness Algorithm design and analysis Software algorithms Image reconstruction Image color analysis

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Assembling virtual fixtures for guidance in training environments

Assembling virtual fixtures for guidance in training environ...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems (HAPTICS)

作者： A.B. Kuang S. Payandeh Bin Zheng F. Henigman C.L. MacKenzie Human Motor Systems Laboratory School of Kinesiology Experimental Robotics Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

We set up a library of virtual fixtures with both haptic and graphic properties and behaviors. For a given task, Virtual Fixture Assembly Language (VFAL) could be used to construct various virtual fixture series, with graphic and force guidance rules, making the low-level haptic and graphic rendering details transparent to the developers. An experiment evaluated the application of virtual fixtures as an aid for guiding a user in a path navigation task. The task was performed with or without force field guidance of virtual fixtures, and then transferred to the condition with no virtual fixtures. Results showed significant learning and transfer effects measured by performance time and path length. However, training using virtual fixtures with force guidance had comparable results to training with graphic only fixtures representing the path. Results are discussed in terms of motor learning theory, future work and applications for the design of better VR training environments.

关键词： Assembly Fixtures Graphics Haptic interfaces Libraries Rendering (computer graphics) Navigation Length measurement Time measurement Virtual reality

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Localization of simultaneous moving sound sources for mobile robot using a frequency- domain steered beamformer approach

Localization of simultaneous moving sound sources for mobile...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： J.-M. Valin F. Michaud B. Hadjou J. Rouat LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. We present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.

关键词： Mobile robots Auditory system Orbital robotics Intelligent robots Head Acoustic noise Humans Robustness Microphone arrays Signal processing

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Enhanced robot audition based on microphone array source separation with post-filter

Enhanced robot audition based on microphone array source sep...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J.-M. Valin J. Rouat F. Michaud Department of Electrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrook Sherbrooke QUE Canada

We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of geometric source separation and a post-filter that gives us a further reduction of interferences from other sources. We present results and comparisons for separation of multiple non-stationary speech sources combined with noise sources. The main advantage of our approach for mobile robots resides in the fact that both the frequency domain geometric source separation algorithm and the post-filter are able to adapt rapidly to new sources and non-stationarity. Separation results are presented for three simultaneous interfering speakers in the presence of noise. A reduction of log spectral distortion (LSD) and increase of signal-to-noise ratio (SNR) of approximately 10 dB and 14 dB are observed.

关键词： Microphone arrays Source separation Mobile robots Acoustic noise Auditory system Humans Intelligent robots Interference Robot sensing systems Mobile computing

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A Dynamics Simulation of a 3-DOF Parallel Manipulator

A Dynamics Simulation of a 3-DOF Parallel Manipulator

引用

第十一届IFTOMM世界大会

作者： Mario Acevedo Gabriel Aguirre Giuseppe Carbone Erika Ottaviano Multibody Systems and Mechatronics Laboratory Engineering School Universidad PanamericanaMexico City 03920Mexico Multibody Systems and Mechatronics Laboratory Engineering School Universidad PanamericanaMexico City 03920Mexico Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino 03043Italy Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino 03043Italy

＜正＞In this paper a new version of the Cassino parallel manipulator （CaPaMan 2） is presented. A model describing the multibody system through mixed coordinates has been created, and a simulation program has been developed to perform both kinematic and dynamic analysis of the manipulator. This program uses an entirely symbolic formulation of the equations of motion for the mechanism.

关键词： Multibody systems Parallel manipulators Numerical simulation

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A Serpentine Robot Based on 3 DOF Coupled-driven Joint

A Serpentine Robot Based on 3 DOF Coupled-driven Joint

引用

IEEE International Conference on robotics and Biomimetics

作者： Shugen Ma Guangping Lan Y. Tanabe R. Sasaki K. Inoue Robotics Laboratory Shenyang Institute of Automation China Department of Systems Engineering Faculty of Eng Ibaraki University Hitachi Ibaraki Japan

This paper presents a novel joint design for serpentine robot. It has three degrees of freedom and can make the serpentine robot move in extremely difficult environments, such as the rubble of a collapsed structure in earthquake. The leading feature of this serpentine robot is that the novel designed joints based on coupled-driven mechanism was employed, providing more powerful torque under the same condition, and therefore allowing the serpentine robot to perform all kinds of locomotion effectively in three dimensional space. Moreover, the coupled-driven mechanism and the rear actuator performing roll action make the serpentine robot perform multiplex complex locomotion, which improve its flexibility and capability of traversing rugged terrain

关键词： Orbital robotics robotics and automation Mobile robots Propulsion Laboratories Earthquakes Parallel robots Rubber Design engineering systems engineering and theory

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Shape control of hyper-redundant modularized manipulator using variable structure regular polygon

Shape control of hyper-redundant modularized manipulator usi...

引用

2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS) (IEEE Cat. No.04CH37566)

作者： Jinguo Liu Yuechao Wang Shugen Ma Bin Li Robotics Laboratory Shenyang Institute of Automation (SIA) Graduate School Chinese Academy and Sciences Beijing China Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan

Hyper-redundant manipulator has more degrees of freedom than the least necessary to perform a given task, thus it has the features of overcoming conventional industrial robot's limitation such as improving its kinematics and dynamic performances. Crucial as it is, effective control of hyper-redundant manipulator is difficult for its redundancy. A novel shape control technique based on the concept of variable structure regular polygon and subsystem has been proposed. This technique, using variable structure regular polygon and neural networks models, is completely capable of solving the control problem of a planar hyper-redundant manipulator with any number of links following any desired path. With regular polygon side number's variety and its shape's transformation, the manipulator's configuration changes accordingly and moves actively to perform the task form point to point or following a path. Compared with other methods to our knowledge, this technique has such superiorities as fewer control parameters, higher precision and less computation. Simulation of a six-link modularized manipulator's inspection work in a bottle-like concave has demonstrated that this control technique is available and effective.

关键词： Shape control Manipulator dynamics Kinematics robotics and automation Service robots Neural networks Jacobian matrices systems engineering and theory Electrical equipment industry Modeling

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