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Developing a cognitive architecture to be embedded in the physical world

Developing a cognitive architecture to be embedded in the ph...

引用

15th Conference on Behavior Representation in Modeling and Simulation 2006

作者： Benjamin, D. Paul Lonsdale, Deryle Lyons, Damian Pace University Robotics Laboratory Computer Science Department 1 Pace Plaza New York NY 10038 United States Brigham Young University Department of Linguistics and English Language Provo UT 84602 United States Fordham University Robotics Laboratory Department of Computer and Information Science 441 E. Fordham Rd. Bronx NY 10458 United States

ISBN: (纸本)9781604238969

ADAPT is a cognitive architecture specifically designed to be embodied in a mobile robot. Work in cognitive modeling has accomplished much in the construction of cognitive architectures that model reasoning and learning in individual tasks, and that reason about spatial and temporal relationships in simulated domains. Abstract cognitive models of perception and motion have also been developed. This accumulating body of research leads us to believe that it is time to embed a cognitive model in the physical world and test the power of these perceptual, reasoning and learning mechanisms when they are faced with the full complexity of the real world. The goal of the ADAPT project is to implement and test a complete cognitive model for a mobile robot;however, we have found that there are major respects in which existing cognitive architectures are inadequate for robot cognition. In particular, current cognitive architectures lack support for true concurrency and for active perception. ADAPT's approach to remedying these deficiencies is to model the world as a network of concurrent schemas, and to model perception as problem solving. Schemas are activated by spreading activation, and are represented using the RS language. The formal semantics of RS provides the basis for the semantics of ADAPT's use of natural language. The RS language is implemented in Soar. Soar's subgoaling capability provides the means of synthesizing hierarchies of schemas by decomposition, and Soar's chunking capability provides the means of learning new schemas, including learning distributed, concurrent control. This paper describes the issues faced in developing an embodied cognitive architecture, and describes the ADAPT system and its implementation.

关键词： Mobile robots

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Improving the efficiency and effectiveness of railcar safety appliance inspection using machine vision technology

Improving the efficiency and effectiveness of railcar safety...

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ASME/IEEE Joint Conference on Rail

作者： R. Edwards C.P.L. Barkan J.M. Hart S. Todorovic N. Ahuja Department of Civil and Environmental Engineering Newmark Civil Engineering Laboratory University of Illinois Urbana-Champaign Urbana IL USA Computer Vision and Robotics Laboratory Beckman Institute for Advanced Science and Technology Urbana IL USA Department of Electrical and Computer Engineering Computer Vision and Robotics Laboratory Beckman Institute for Advanced Science and Technology Urbana IL USA

Before a train departs a yard, many aspects of the freight cars and locomotives undergo inspection, including their safety appliances. Safety appliances are handholds, ladders and other objects that serve as the interface between humans and railcars during transportation. Federal safety rules govern the design and condition of safety appliances. The current car inspection process is primarily visual making it laborious, redundant, and generally lacking of memory. There exists a potential to increase both the effectiveness and efficiency of safety appliance inspections by utilizing machine vision technology to enhance the railcar inspection process. Machine vision consists of capturing digital video and using algorithms capable of detecting and analyzing the particular objects or patterns of interest. computer algorithms can objectively inspect railcars without tiring or becoming distracted and can also focus on certain parts of the railcar not easily seen by an inspector on the ground. Thus far, algorithms have been developed that can detect deformed ladders, handholds, and brake wheels on open-top gondolas and hoppers. Next, visual learning will be employed to teach the algorithm the differences between Federal Railroad Administration (FRA) safety appliance defects and other types of deformation not requiring a car to be bad ordered. The final product will be a wayside inspection system capable of detecting safety appliance defects on passing railcars.

关键词： Railway safety Home appliances Inspection Machine vision Vehicle safety US department of Transportation Humans Rail transportation Object detection Pattern analysis

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Method for Detecting and Tracking Ships Using Navigational Image Sequence as an Application of Integrated Navigation Systems

Method for Detecting and Tracking Ships Using Navigational I...

引用

2006 National Technical Meeting of the Institute-of-Navigation

作者： Shimpo, M. Hirasawa, M. Yu, X. Arvelyna, Y. Oshima, M. Mitsubishi Electric Corporation Japan Tokyo University of Marine Science and Technology Japan Information Systems Planning and Development Department Mitsubishi Electric Corporation Japan Department of Marine Electronics and Mechanical Engineering Tokyo University of Marine Science and Technology Japan Electro Technical Laboratory Japan Computer Vision Section Japan Tokyo University of Mercantile Marine Tokyo Japan

This paper proposes the method detecting and tracking ships using navigational image sequence taken by the camera installed at ship's bridge. Since an image is influenced by roll and pitch, general image processing technique, such as Background Difference method cannot be applied. Moreover in a navigational image, the sea wave appears as noise. In this paper, we propose a novel technique to eliminate the influence of roll, pitch and sea waves in an image. And we tracked moving ships through navigational image sequence. The image is divided into small regions using brightness value, and these regions are labeled. Each of these regions is considered as a template. The template is assumed to be a ship. Then the template is matched on frames after selected time from an original image. During matching process, the coordinate points are recorded on an Excel table. The moving vector of a region is calculated on an Excel table. We distinguish ships from the character of a moving vector. The detected regions of ships are tagged. Each of the tagged regions is considered as a template and matched on frames after selected time. At this time, the template is replaced by new region to take measures against the change of illumination. The detection processes is started at a suitable interval to prepare for the appearance of another ships. Disappearances of ships are decided by the degree of coincidence of matching. This is the measure to against an occlusion or a frame out of ships. Twelve hours duration of video image have been taken in Tokyo Bay and Tokyo Port, and have been processed by proposal method. It is necessary to extract ship's regions precisely for exact tracking. For that, it is necessary to raise accuracy of extraction. We tried some method to enhance the accuracy of extraction and to prevent incorrect extraction. The result of an effective of measure has described in this paper. The video image that has been taken at Uraga Traffic Route captured several ships. Our

关键词： Navigation systems

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A visual servoing approach for tracking features in urban areas using an autonomous helicopter

A visual servoing approach for tracking features in urban ar...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Mejias P. Campoy S. Saripalli G.S. Sukhatme Computer Vision Group Universidad Politécnica de Madrid Madrid Spain Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

The use of unmanned aerial vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust

关键词： Visual servoing Urban areas Helicopters Aircraft navigation Machine vision Control systems Unmanned aerial vehicles Global Positioning System computer vision Robot vision systems

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Robust adaptive control for complex systems employing ANN emulation of nonlinear functions

Robust adaptive control for complex systems employing ANN em...

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8th Seminar on Neural Network Applications in Electrical Engineering, Neurel-2006

作者： Dimirovski, Georgi M. Jing, Yuanwei Zhang, Yanxin Vukobratovic, Miomir K. IEEE Dogus University Department of Computer Engineering Acibadem - Kadikoy 34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Skopje Macedonia School of Information Science and Engineering Northeastern University Shenyang China Mihailo Pupn Institute Laboratory of Robotics and Flexible Automation Karaburma 11000 Belgrade Serbia

ISBN: (纸本)1424404339

A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been derived. This approach makes an adequate use of the structural feature of composite similarity systems and neural networks to resolve the representation issue of uncertainty interconnections and subsystem gains by on-line updating the weights. This synthesis does guarantee the real stability in closed-loop but requires skills to obtain larger attraction domains. Mechatronic example of an axis-tray drive system, possessing uncertainties, is used to illustrate the proposed technique. © 2006 IEEE.

关键词： Neural networks

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Robust Adaptive Control for Complex Systems Employing ANN Emulation of Nonlinear Functions

Robust Adaptive Control for Complex Systems Employing ANN Em...

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Seminar on Neural Network Applications in Electrical Engineering

作者： Georgi M. Dimirovski Yuanwei Jing Yanxin Zhang Miomir K. Vukobratovic Faculty of Electrical Engineering SS Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Dogus University Kadikoy Istanbul Turkey School of Information Science and Engineering Northeastern University Shenyang China Laboratory of Robotics & Flexible Automation Mihajlo Pupin Institute Belgrade Serbia

关键词： Robust control Adaptive control Emulation Network synthesis Neural networks Mechatronics Uncertainty Artificial neural networks Control system synthesis Stability

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Rotational legged locomotion

Rotational legged locomotion

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12th International Conference on Advanced robotics, 2005. ICAR '05

作者： Lyons, Damian M. Pamnany, Kiran Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY 10458

ISBN: (纸本)0780391772

In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotating the mechanism about one leg, and moving the center of the mechanism, is presented. The concept of a gait for this mechanism is defined, and is used to show how extremely agile the mechanism can be. Specific resistance is employed as a way to explore the relative efficiency of this mechanism versus a wheel. Finally, we describe our first prototype rotopod and report on experiments conducted to characterize stepping. © 2005 IEEE.

关键词： Gait analysis

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Rank-based multisensory fusion in multitarget video tracking

Rank-based multisensory fusion in multitarget video tracking

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IEEE Conference on Advanced Video and Signal Based Surveillance, AVSS 2005

作者： Lyons, Damian M. Hsu, D. Frank Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY 10458

ISBN: (纸本)0780393856

An attractive approach to improve tracking performance for visual surveillance is to use information from multiple visual sensory cues such as position, color, shape, etc. Previous work in fusion for tracking has tended to focus on fusion by numerically combining the scores assigned by each cue. We argue that for video scenes with many targets in a crowded situation, the splitting and merging of regions associated with targets, and the subsequent dramatic changes in cue values and reliabilities, renders this form of fusion less effective. In this paper we present experimental results showing that use of cue rank information in fusion produces a significantly better tracking result in crowded scenes. We also present a formalization of this fusion problem as a step in understanding why this effect occurs and how to build a tracking system that exploits it. © 2005 IEEE.

关键词： Tracking (position)

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A dynamic pruning and feature selection strategy for real-time tracking

A dynamic pruning and feature selection strategy for real-ti...

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19th International Conference on Advanced information Networking and Applications, AINA 2005

作者： Hsu, D. Frank Lyons, Damian M. Computer Vision and Robotics Laboratory Department of Computer and Information Science Fordham University Bronx NY 10458 United States

ISBN: (纸本)0769522491

Automated video tracking is useful in a number of applications such as surveillance, multisensor networks, robotics and virtual reality. In this paper we investigate an approach to tracking based on fusing the output of a collection of video trackers, each attending to a different feature or cue on the target. We show both theoretically and experimentally that the method used to prune the growth of target hypotheses can have a great impact on the trackers performance, and indirectly, change the benefit of using linear score combination as opposed to a non-linear rank combination for fusion. We also show that the rank-score graph defined by Hsu and Taksa can be used to select a subset of features to fuse to reduce classification error. © 2005 IEEE.

关键词： Real time systems

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A dynamic pruning and feature selection strategy for real-time tracking

A dynamic pruning and feature selection strategy for real-ti...

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International Conference on Advanced information Networking and Applications (AINA)

作者： D.F. Hsu D.M. Lyons Computer Vision & Robotics Laboratory Department of Computer & Information Science Fordham University Bronx NY USA

关键词： Target tracking robotics and automation Fuses computer vision Surveillance Virtual reality Time measurement Robot vision systems Laboratories information science

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