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2005 IEEE computer Society Conference on computer Vision and Pattern Recognition, CVPR 2005 - Workshops

作者： Chen, Zhiyu Zheng, Yue Abidi, Besma R. Page, David L. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996 United States

ISBN: (纸本)0769526608

X-ray luggage inspection systems play an important role in ensuring air travelers' security. However, the false alarm rate of commercial systems can be as high as 20% due to less than perfect image processing algorithms. In an effort to reduce the false alarm rate, this paper proposes a combinational scheme to fuse, de-noise and enhance dual-energy X-ray images for better object classification and threat detection. The fusion step is based on the wavelet transform. Fused images generally reveal more detail information;however, background noise often gets amplified during the fusion process. This paper applies a background-subtraction-based noise reduction technique which is very efficient in removing background noise from fused X-ray images. The de-noised image is then processed using a new enhancement technique to reconstruct the final image. The final image not only contains complementary information from both source images, but is also background-noise-free and contrast-enhanced, therefore easier to segment automatically or be interpreted by screeners, thus reducing the false alarm rate in X-ray luggage inspection. © 2005 IEEE computer Society. All rights reserved.

关键词： Wavelet transforms

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A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

A case study of 3D stereoscopic vs. 2D monoscopic tele-reali...

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作者： Fung, Wai-Keung Lo, Wang-Tai Liu, Yun-Hui Xi, Ning Department of Automation and Computer-Aided Engineering Networked Sensors and Robotics Laboratory Chinese University of Hong Kong Shatin N. T. Hong Kong Department of Electrical and Computer Engineering Robotics and Automation Laboratory Michigan State University East Lansing MI 48824 United States

ISBN: (纸本)0780389123

This paper reports a case study of using single 3D stereoscopic visual feedback for real-time teleoperation of dexterous tasks. In traditional teleoperation systems, real-time visual feedbacks of multiple monoscopic views of the robot workspace are provided for remote operator. However, it is difficult for the operator to control remote robot to perform dexterous tasks by looking at multiple video feedbacks at the same time. During teleoperation, remote operators usually find multiple 2D visual feedbacks confusing, especially when performing dexterous tasks that require accurate positioning and orientating of robot end-effectors. In this paper, we propose to provide single real-time 3D stereoscopic visual feedback for remote operators so that they perceive remote robot workspace with the sense of depth. This sense of 3D empowers remote operators to accurately position and orient robot end-effector with confidence. Experiments have been conducted to reveal the usefulness of real-time 3D stereoscopic video feedback over multiple monoscopic video feedback in real-time teleoperation. © 2005 IEEE.

关键词： Remote control

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An alternative dynamic channel assignment technique for use in satellite-aided cellular systems

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WSEAS Transactions on Communications 2005年第7期4卷 345-354页

作者： Dimitriadou, E. Ioannou, K. Panoutsopoulos, I. Mougiakakou, S. Stavroulakis, P. Kotsopoulos, S. Wireless Telecommunication Laboratory Department of Electrical and Computer Engineering University of Patras Rion 26500 Patras Greece Automation Laboratory Department of Electronic and Computer Engineering Technical University of Crete Kounoupidiana 73100 Chania Greece Institute of Communication and Computer Systems 9 Iroon Polytechniou Str. 15780 Zographou Athens Greece

This paper presents an alternative dynamic channel assignment technique for use in Satellite-Aided Cellular systems. It is based on a three-layer cellular architecture. The use of the proposed technique optimizes the QoS of Ultra High-Speed (UHSMT) and High-Speed Moving Terminals (HSMT). The lower layer of the proposed architecture absorbs the traffic loads of Low Speed Moving Terminals (LSMT). The second layer absorbs the traffic load of the HSMT and the higher layer based on a satellite cell absorbs the traffic load of UHSMT. The results of simulating the proposed technique show that assigning the optimum number of channels in every layer, the QoS of UHSMT and HSMT are optimized especially in High Traffic Conditions, having a small negative effect on the QoS of LSMT.

关键词： Cellular radio systems

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Intelligent control of biped robot with heterogeneous legs

Intelligent control of biped robot with heterogeneous legs

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作者： Wang, Binrui Xu, Xinhe Tan, Jindong Key Laboratory of Process Industry Automation Institute of AI and Robotics Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering Michigan Technological University Houghton MI 49931 United States

ISBN: (纸本)008045108X

Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joint angle are introduced for gait tracking. The iterative learning control is applied in conjunction with computed torque and PD control law for good tracking performance. Control simulation is done and shows intelligent control is good for BRHL. Copyright © 2005 IFAC.

关键词： Differential equations

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Optical flow-based tracking of deformable objects using a non-prior training active feature model 5th

Optical flow-based tracking of deformable objects using a no...

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5th Pacific Rim Conference on Multimedia, PCM 2004

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)9783540239857

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Optical flows

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A fast digital fuzzy logic controller: FPGA design and implementation

A fast digital fuzzy logic controller: FPGA design and imple...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： K.M. Deliparaschos F.I. Nenedakis S.G. Tzafestas Intelligent Robotics and Automation Laboratory Department of Electrical Engineering and Computer Science National and Technical University of Athens Athens Greece

This paper describes an improved approach to design a Takagi-Sugeno zero-order type fast parameterized digital fuzzy logic controller (DFLC) processing only the active rules (rules that give a non-null contribution for a given input data set), at high frequency of operation, without significant increase in hardware complexity. To achieve this goal, an improved method of designing the fuzzy controller model is proposed that significantly reduces the time required to process the active rules and effectively increases the input data processing rate. The DFLC discussed in this paper achieves an internal core processing speed of at least 200 MHz, featuring two 8-bit inputs and one 12-bit output, with up to seven trapezoidal shape membership functions per input and a rule base of up to 49 rules. The proposed architecture was implemented in a field programmable gate array (FPGA) chip with the use of a very high-speed integrated-circuits hardware-description-language (VHDL) and advanced synthesis and place and route tools

关键词： Fuzzy logic Digital control Field programmable gate arrays Takagi-Sugeno model Process control Frequency Hardware Design methodology Fuzzy control Data processing

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A Combinational Approach to the Fusion, De-noising and Enhancement of Dual-Energy X-Ray Luggage Images

A Combinational Approach to the Fusion, De-noising and Enhan...

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

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

X-ray luggage inspection systems play an important role in ensuring air travelers’ security. However, the false alarm rate of commercial systems can be as high as 20% due to less than perfect image processing algorithms. In an effort to reduce the false alarm rate, this paper proposes a combinational scheme to fuse, de-noise and enhance dual-energy X-ray images for better object classification and threat detection. The fusion step is based on the wavelet transform. Fused images generally reveal more detail information; however, background noise often gets amplified during the fusion process. This paper applies a backgroundsubtraction- based noise reduction technique which is very efficient in removing background noise from fused X-ray images. The de-noised image is then processed using a new enhancement technique to reconstruct the final image. The final image not only contains complementary information from both source images, but is also background-noise-free and contrastenhanced, therefore easier to segment automatically or be interpreted by screeners, thus reducing the false alarm rate in X-ray luggage inspection.

关键词： Noise reduction X-ray imaging Inspection Background noise Security Image processing Fuses Object detection X-ray detection X-ray detectors

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A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

A case study of 3D stereoscopic vs. 2D monoscopic tele-reali...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Wai-keung Fung Wang-tai Lo Yun-hui Liu Ning Xi Networked Sensors and Robotics Laboratory Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China Robotics and Automation Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

关键词： computer aided software engineering robotics and automation Feedback Robot sensing systems Delay effects System performance IP networks Control systems Real time systems Laboratories

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Internet-based teleoperation of a mobile robot using shared impedance control scheme: a pilot study

Internet-based teleoperation of a mobile robot using shared ...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： I. Hassan-Zadeh F. Janabi-Sharifi M.R. Akhavan X. Yang Department of Control Engineering University of Tabriz Iran Department of Mechanical and Industrial Engineering Robotics and Manufacturing Automation Laboratory (RMAL) Ryerson University Toronto Ontario Canada Robotics and Manufacturing Automation Laboratory (RMAL) Ryerson University Toronto Ontario Canada Department of Electrical and computer Engineering University of western Ontario Canada

In this paper, a shared impedance control scheme is proposed for Internet-based teleoperation of mobile robots. Also, pilot study is conducted to evaluate the effect of different teleoperation parameters. In particular, the effects of time delay, human operator training history, operator-machine interface modalities such as degree of haptic versus visual integration, and performance of virtual model versus real images were studied. The scheme was implemented using Matlab XPC Target and Simulink. Several measures were introduced for the evaluation of teleoperation performance. The study confirmed the significance of haptic cues integration for improving teleoperation of mobile robots. The results suggest that appropriate integration of haptic feedback to a proper image feedback could result in a relatively reliable teleoperation in unstructured environments, e.g., for dynamic obstacle avoidance

关键词： Internet Mobile robots Impedance Force feedback robotics and automation Haptic interfaces Manufacturing automation Laboratories Delay effects Humans

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INTELLIGENT CONTROL OF BIPED ROBOT WITH HETEROGENEOUS LEGS

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IFAC Proceedings Volumes 2005年第1期38卷 181-186页

作者： Binrui Wang Xinhe Xu Jindong Tan Key Laboratory of Process Industry Automation Ministry of Education Institute of AI and Robotics Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering Michigan Technological University Houghton MI 49931 USA

关键词： Intelligent control robot dynamics modeling computed torque control learning control hierarchical structures

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