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A Generalized and Automatic Image Contrast Enhancement Using Gray Level Grouping

A Generalized and Automatic Image Contrast Enhancement Using...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Yu Chen B.R. Abidi D.L. Page M.A. Abidi Electrical and Computer Engineering Department Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Contrast enhancement has an important role in image processing applications. Conventional contrast enhancement techniques either fail to produce satisfactory results for a broad variety of low-contrast images, or cannot be automatically applied to different images, because their parameters must be specified manually to produce a satisfactory result for a given image. This paper describes a new automatic method for contrast enhancement. The basic procedure is to first group the histogram components of a low-contrast image into the proper number of bins according to a selected criterion, then redistribute these bins uniformly over the grayscale, and finally ungroup the previously grouped gray-levels. Accordingly, this new technique is named gray-level grouping (GLG). GLG not only produces results superior to conventional contrast enhancement techniques, but is also fully automatic in most circumstances, and is applicable to a broad variety of images

关键词： Histograms Gray-scale Background noise Intelligent robots Image processing Helium robotics and automation Intelligent systems Laboratories Electronic mail

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

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International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems Intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms Intelligent systems

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Fast Image Retrieval Based on Attributes of the Human Visual System

Fast Image Retrieval Based on Attributes of the Human Visual...

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Proceedings of the Nordic Signal Processing Symposium (NORSIG)

作者： Georgios Panitsidis Konstantinos Konstantinidis Vasileios Vonikakis Ioannis Andreadis Antonios Gasteratos Laboratory of Electronics Department of Electrical & Computer Engineering Democritus University of Thrace Greece Laboratory of Robotics and Automation Department of Production & Management Engineering Democritus University of Thrace Greece

In this paper we present a new method for content-based image retrieval (CBIR), based on the retinal signal processing of the human visual system (HVS). A center-surround operator similar to the receptive fields of the ganglion cells of the retina is employed to create a new form of color histogram, the center-surround histogram (CSH). Unlike other proposed color histograms, the CSH takes into consideration only the visual signal surrounding the zero-crossings of an image. This reduces the processed amount of visual information and minimizes the computational burden. Furthermore, a combination of spatial and chromatic information of the image is also achieved. The method is compared to other contemporary methods for image retrieval, exhibiting better results in shorter computational times

关键词： Image retrieval Humans Visual system Histograms Retina Laboratories Content based retrieval Multimedia databases Image databases robotics and automation

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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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A High-Level Controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control systems

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Introducing Grammatical Evolution in Fetal Heart Rate Analysis and Classification

Introducing Grammatical Evolution in Fetal Heart Rate Analys...

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International IEEE Conference on Intelligent systems, IS

作者： Ioannis Tsoulos George Georgoulas Dimitris Gavrilis Chrysostomos Stylios Joao Bemardes Peter Groumpos Computer Science Department University of Ioannina Ioannina Greece Laboratory for Automation and Robotics University of Patras Patras Greece Department of Electrical and Computer Engineering University of Patras Patras Greece Laboratory for Automation and Robotics Informatics and Management Artas Greece Department of Gynecology and Obstetrics Porto Portugal Department of Gynecology and Obstetrics Porto Faculty of Medicine Porto Portugal Laboratory for Automation & Robotics University of Patras Patras Greece

Electronic fetal monitoring is an essential tool for fetal surveillance during labor. It is mainly based on the monitoring and evaluation of the fetal heart rate (FHR) signal, which has to be interpreted online. Evaluation and interpretation of FHR gives an indication of the fetal condition. A lot of research efforts have been done towards the development of automatic and reliable methods for processing and evaluating FHR. This research work introduces an integrated methodology for processing and classifying FHR based on the novel approach of grammatical evolution for feature construction and selection. The proposed methodology is presented, and it is applied to a data set. Experimental results are promising paving the way for further research in that direction

关键词： Fetal heart rate robotics and automation Signal processing Heart rate measurement computerized monitoring Neural networks Cardiology Laboratories Telephony Medical robotics

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Fuzzy reinforcement learning for embedded soccer agents in a multi-agent context

Fuzzy reinforcement learning for embedded soccer agents in a...

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作者： Tehrani, A.M. Kamel, M.S. Khamis, A.M. Pattern Analysis and Machine Intelligence Lab. Electrical and Computer Engineering Department University of Waterloo Waterloo Ont. N2L 3G1 Canada Mechanical Engineering Department University of Waterloo Canada Department of Cooperative Intelligent Systems Canada Pattern Analysis and Machine Intelligence Laboratory University of Waterloo Canada Department of Systems Engineering and Automation Carlos III University of Madrid Spain

The work presented in this paper aims at combining fuzzy function approximation and reinforcement learning in order to create robotic soccer agents that are able to coordinate their behaviours locally and socially while learning from experience. This simultaneous coordination and learning ability can play a crucial role in improving the behaviour usage of robotic soccer agents. To achieve this goal, a fuzzy reinforcement learning technique for a single agent is first examined and then this technique is applied to multiple agents. The conducted experiments through a soccer simulation system show that the performance of robot scoring speed is improved using the proposed approach.

关键词： Multi agent systems

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Stability analysis of network data flow control for dynamic link capacity case

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作者： Yang, Yuequan Li, Yaqin Tan, Min Yi, Jianqiang Wen, John T. Guo, Xuewu College of Information Engineering Yangzhou University Yangzhou 225009 China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180 United States Shanxi Jinyao Coking Co. Ltd. Shanxi 030001 China

ISBN: (纸本)3540372555

Much attention has been paid upon network data flow control in recent years. The main problem in this field is how to design good algorithm or control law for flow rate of network data flow sources and for updated price of communication links. Base on Lyapunov stability theory, this paper makes a deep analysis of stability of such network data flow control systems with the consideration of dynamic link capacity case. Simulations show that the stability analysis of dynamic link capacity of network data flow control system provided in the paper is enlightening and meaningful to further understand and design good control strategy of network data flow control problem. © Springer-Verlag Berlin/Heidelberg 2006.

关键词： Flow control

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Accurate Positioning of AFM Probe for AFM Based Robotic Nanomanipulation System

Accurate Positioning of AFM Probe for AFM Based Robotic Nano...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xiaojun Tian Yuechao Wang Ning Xi Zaili Dong Wenjung Li Graduate school of Chinese Academy of sciences Beijing China Robotics Laboratory of CAS Shenyang Institute of Automation China Department of Electrical and Computer Engineering Michigan State University USA

For AFM based robotic nanomanipulation system without displacement sensor, one of the key technical problems is to realize high accurate positioning of the AFM probe. To solve the problem, based on the hysteresis and nonlinear characteristics analysis of AFM PZT actuator, a new actuating method called "actuating method based on reappearing the scanning trajectory" is presented to actuate the PZT actuator. Then two kinds of probe positioning errors, namely kinematics coupling errors due to the tube actuator's bend motion and probe tip's positioning errors caused by cantilever deflections, are compensated to further improve the probe's positioning accuracy. Nanopatterning experiments are performed to verify the effectiveness of the new actuating method and the compensation methods of probe positioning errors

关键词： Probes Actuators Kinematics Intelligent robots robotics and automation Sensor systems Hysteresis Voltage Content addressable storage Robot sensing systems

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Singular perturbation control for vibration rejection in HDDs with a PZT active suspension

Singular perturbation control for vibration rejection in HDD...

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45th IEEE Conference on Decision and Control 2006, CDC

作者： Pang, Chee Khiang Lewis, Frank L. Ge, Sam Shuzhi Guo, Xiao Chen, Ben M. Lee, Tong Heng IEEE Central Research Laboratory Research and Development Group Hitachi Ltd. 2880 Kozu Odawara Kanagawa 256-8510 Japan A STAR Data Storage Institute Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington United States

ISBN: (纸本)1424401712

In this paper, the SPT (Singular Perturbation Theory) is applied to decompose the VCM's (Voice Coil Motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (Degrees-Of-Freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (Laser Doppler Vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3σ PES (Position Error Signal) during track following when compared to conventional notch-based servos. © 2006 IEEE.

关键词： Hard disk storage

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