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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Kim, Sijong Ahn, Seunguk Chung, Myung Jin Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of Robotics Program Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781457707223

There has been meaningful research into the development of 3D world modeling techniques that are important requisite for intelligent vehicle navigation. In this paper we describe a 3D probabilistic voxel mapping process using stereo matching confidence. Proposed 3D probabilistic voxel map is more reliable representation than general voxel map that just contains the occupancy information. To get the matching confidence value, we evaluate stereo matching costs and its propagation. We test the proposed method in large-scale outdoor environment. © 2011 IEEE.

关键词： Intelligent vehicle highway systems

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Global path planning using improved ant colony optimization algorithm through bilateral cooperative exploration

Global path planning using improved ant colony optimization ...

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5th IEEE International Conference on Digital Ecosystems and Technologies, DEST 2011

作者： Lee, Joon-Woo Lee, Dong-Hyun Lee, Ju-Jang Dept. of Electrical Engineering KAIST 335 Gwahangno Yuseong-gu Daejeon 305-701 Korea Republic of Robotics Program KAIST 335 Gwahangno Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781457708725

We proposed the Heterogeneous Ant Colony Optimization (HACO) algorithm to solve the global path planning problem for autonomous mobile robot in the previous paper. The HACO algorithm was modified and optimized to solve the global path planning problem unlike the conventional ACO algorithm which was proposed to solve the Traveling Salesman Problem (TSP) or Quadratic Assignment Problem (QAP). However, there is a common shortcoming in the ACO algorithms for global path planning, including HACO algorithm. Ants carry out the exploration task relatively well around the starting point. On the other hand, they are hindered in their work as they approached the goal point, because they are attracted by the intensity of heuristic value and the accumulated pheromone while the ACO algorithm works. As a result, they have a strong tendency not to explore and most of them follow the path that found in the beginning of the search. This could cause the local optimal solutions. Thus, we propose a way to solve this problem in this paper. It is the Bilateral Cooperative Exploration (BCE) method. The BCE is the idea that performs the search task again by changing the goal point into the starting point and vice versa. The simulation shows the effectiveness of the proposed method. © 2011 IEEE.

关键词： Traveling salesman problem

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Normalization for sparse encoding of odors by a wide-field interneuron (vol 332, pg 721, 2011)

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SCIENCE 2011年第6035期332卷 1263-1263页

作者： Papadopoulou, M. Division of Biology Computation and Neural Systems Program California Institute of Technology Pasadena CA 91125 USA. Broad Fellows Program in Brain Circuitry California Institute of Technology Pasadena CA 91125 USA. Centre for Computational Neuroscience and Robotics (CCNR) School of Informatics University of Sussex Falmer Brighton BN1 9QJ UK. Max Planck Institute for Brain Research 60528 Frankfurt Germany.

Sparse coding presents practical advantages for sensory representations and memory storage. In the insect olfactory system, the representation of general odors is dense in the antennal lobes but sparse in the mushroom bodies, only one synapse downstream. In locusts, this transformation relies on the oscillatory structure of antennal lobe output, feed-forward inhibitory circuits, intrinsic properties of mushroom body neurons, and connectivity between antennal lobe and mushroom bodies. Here we show the existence of a normalizing negative-feedback loop within the mushroom body to maintain sparse output over a wide range of input conditions. This loop consists of an identifiable “giant” nonspiking inhibitory interneuron with ubiquitous connectivity and graded release properties.

关键词： Action Potentials Animals Arthropod Antennae/cytology Arthropod Antennae/physiology Axons/physiology Dendrites/physiology Excitatory Postsynaptic Potentials Feedback, Sensory Feedback, Sensory Female gamma-Aminobutyric Acid/physiology gamma-Aminobutyric Acid/physiology Grasshoppers/cytology Grasshoppers/physiology Inhibitory Postsynaptic Potentials Interneurons/physiology Male Mushroom Bodies/cytology Mushroom Bodies/physiology Neural Inhibition Odors Olfactory Pathways/physiology

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Global path planning using improved ant colony optimization algorithm through bilateral cooperative exploration

Global path planning using improved ant colony optimization ...

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Inaugural IEEE-IES Digital EcoSystems and Technologies Conference, DEST

作者： Joon-Woo Lee Dong-Hyun Lee Ju-Jang Lee Department of Electrical Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea

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Towards energy efficiency in micro hovering air vehicles

Towards energy efficiency in micro hovering air vehicles

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2011 IEEE Aerospace Conference, AERO 2011

作者： Ratti, Jayant Vachtsevanos, George Ph.D. Robotics Program School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States

ISBN: (纸本)9781424473502

Micro Aerial Vehicles (MAVs) have gained a significant amount of research lately, with a number of universities and industry sponsors paving the way with micro flying robots to perform Intelligence, Surveillance and Reconnaissance (ISR) Missions. However, much of the work done in VTOL/Hover-Capable MAVs till date has not shown performance improvement in flight endurance and payload capacities. In this paper we introduce and detail the Energy Dynamics of a novel Quad-Wing MAV (QV) design and illustrate the improvement in-flight energy consumption, directed towards higher payload capacities and longer flight times. Additionally we show that independent wing control of the QV generates all 6 Degrees of Freedom (DoF) flight maneuvers. By the use of passive elastic elements, we can produce resonant flapping, generating lift and further improvements in energy savings. © 2011 IEEE.

关键词： Energy utilization

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Hole filled 3D map using mobile robots in the urban environment

Hole filled 3D map using mobile robots in the urban environm...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Sang Un Park Inwook Shim Myung Jin Chung Department of Electrical Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea

ISBN: (纸本)9781457707223

3D mapping and expression of the environment are very important with various applications in many different fields. Among the various sensors (vision sensor, infrared sensor, and LiDAR (Light Detection and Ranging) sensor), we used the LiDAR sensor in this paper because its accuracy is good and easy to handle. There exist holes in the result of 3D reconstruction. When these holes are filled, improved results of localization, and path planning are expected. We propose a contour based sampling algorithm to fill holes. It uses the information from regions near the holes for the prediction, and the results confirm that the filled regions look similar to the real environment.

关键词： Filling Three dimensional displays Laser radar Robot sensing systems Vehicles

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3D mapping in urban environment using geometric featured voxel

3D mapping in urban environment using geometric featured vox...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Inwook Shim Yungeun Choe Myung Jin Chung Robotics Program KAIST Daejeon South Korea Departments of Electrical Engineering KAIST Daejeon South Korea

ISBN: (纸本)9781457707223

In recent year, much progress has been made in outdoor 3D mapping. However, 3D mapping in real time is still a daunting challenge in urban environment. This paper addresses the problem of 3D mapping from 3D laser scans in urban environments in real time. To do this, we proposed geometric featured voxel which can efficiently represent 3D urban structure without loss of geometric properties. For evaluation of the proposed voxel, we use Oakland dataset.

关键词： Three dimensional displays Image color analysis Robot kinematics Real time systems Urban areas Electronic mail

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Vision-based corridor path search of a mobile robot

Vision-based corridor path search of a mobile robot

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Yeoun-Jae Kim Joon-Yong Lee Majed S. Aldosari Mazin S. Altokhais Ju-Jang Lee Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea National Robotics & Intelligent Systems Center KACST Riyadh Saudi Arabia

In this paper, We made an algorithm for a mobile robot to determine direction normal to the wall with two cameras in an indoor environment without any direction-notification marks. Furthermore, with this direction determination ability, made a method with which a mobile robot can navigate and search through an indoor corridor path without any predefined map information is made. the direction determination scheme uses Hough transform and horizontal line search. While the path search algorithm uses SIFT(Scale-Invariant Feature Transformation), 3D reconstruction and binary search tree algorithm. In the direction determination stage, the mobile robot detects lines in the image and detects horizontal lines to determine the normal to the wall direction. After the direction determination stage is completed, the robot determines the corridor path range through SIFT, RANSAC algorithm, and 3D reconstruction, and finally navigates through its pathway. The direction determination and navigation stage constitutes the binary search tree algorithm. After searching through all its pathway in the indoor environment, the robot returns to its original position with various corridor position information.

关键词： Mobile robots Robot vision systems Cameras Navigation Transforms

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Hierarchical on-line boosting based background subtraction

Hierarchical on-line boosting based background subtraction

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Korea-Japan Joint Workshop on Frontiers of Computer Vision

作者： Yongcheol Lee Jiyoung Jung In-So Kweon Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea

ISBN: (纸本)9781612846774

This paper presents a real-time background subtraction method which handles illumination changes and dynamic backgrounds such as flapping flags and waving trees. Previous approaches based on Gaussian mixture models usually generates models pixelwise, which makes it difficult to operate in realtime due to computational complexity. Moreover, pixelwise models tend to fail in sudden illumination changes or in dynamic backgrounds. In order to solve this problem, we propose an on-line boosting based background subtraction algorithm. Our approach divides the background area into overlapping patches instead of pixels, and learn classifiers with those patches. The main contribution of this paper is to propose a novel training process for classifiers which use block based Opponent Color Local Binary Pattern (OCLBP). Experimental results show that in environments containing illumination changes and/or dynamic backgrounds, our on-line boosting method using block based OCLBP outperforms previous on-line boosting methods or Gaussian mixture model based methods for robust background subtraction.

关键词： Boosting Training Pixel Image color analysis Lighting Computational modeling Heuristic algorithms

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Interval type-2 fuzzy logic controllers for flocking behavior

Interval type-2 fuzzy logic controllers for flocking behavio...

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Inaugural IEEE-IES Digital EcoSystems and Technologies Conference, DEST

作者： Seung-Mok Lee Hyun Myung Department of Civil and Environmental Engineering Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produce better performances under noisy environments. In this paper, therefore, we present a control architecture for flocking behavior that is based on interval type-2 FLC to implement the flocking behaviors of separation, obstacle avoidance, and velocity matching. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC.

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