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IEEE International Conference on robotics and automation (ICRA)

作者： Da-Yin Liao MuDer Jeng MengChu Zhou Department of Information Management National Chi Nan University Nantou Taiwan Department of Electrical Engineering National Taiwan Ocean University Keelung Taiwan Laboratory of Complex Systems and Intelligence Science Institute of Automation CAS Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark USA

Instead of making decisions with fast but local dispatching functions, the increasing computing power and up-to-moment information provisioning have made possible real-time vehicle scheduling in an automated material handling environment in 300mm semiconductor manufacturing. To our best knowledge, this paper is the first work to adopt the scheduling approach to solve the 300mm vehicle transportation problems. We adopt Petri nets to model the coupling dynamics among transport jobs and OHT vehicles in an intrabay loop. The congestion phenomenon among OHT vehicles is captured. The OHT scheduling problem is then formulated into an integer programming problem whose goal is to efficiently allocate OHT vehicles to jobs such that average job delivery time is minimized. A solution methodology that combines Lagrangian relaxation and the surrogate subgradient methods [13] is developed. To reduce computational efforts in solving each subproblem optimally, an approximation method is developed to solve for subproblems. A heuristic algorithm is developed to adjust the dual solution to a feasible schedule. Numerical results demonstrate that our solution methodology can generate good schedules within a reasonable amount of computation time for realistic problems. Compared to a popular vehicle dispatching rule, our approach can achieve 25.6% improvements on the average delivery time in our realistic test cases.

关键词： Lagrangian functions Vehicles Job shop scheduling Virtual manufacturing Semiconductor device manufacture Processor scheduling Dispatching computer aided manufacturing Materials handling Manufacturing automation

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Using a non-prior training active feature model

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3333卷 69-78页

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul 156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN 27996-2100 United States

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 2004.

关键词： Optical flows

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Low order sampled data H/sub /spl infin// control using the delta operator and LMIs

Low order sampled data H/sub /spl infin// control using the ...

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IEEE Conference on Decision and Control

作者： B. Lennartson R. Middleton A.-K. Christiansson T. McKelvey Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden Complex Dynamic Systems & Control School of Electrical Engineering & Computer Science University of Newcastle Callaghan NSW Australia University of Trollhättan/Uddevalla Trollhattan Sweden Department of Signals and Systems Chalmers University of Technology Goteborg Sweden

A procedure for H/sub /spl infin// optimization of low order controllers for discrete-time and sampled-data systems is presented in this paper. Generally, low order H/sub /spl infin// controllers may be achieved by solving bilinear matrix inequalities (BMIs). In this paper an iterative alternation between two LMIs gives a suboptimal solution. To avoid local minima in this search the initial controller is obtained by a frequency weighted controller reduction scheme, where the closed loop properties of a full order controller is taken into account. A minimal number of parameters in the state space realization of the controller also reduces the complexity and improves numerical robustness. The complete presentation is based on delta operator models, which shows a close relationship between the continuous- and discrete-time solutions. The sensitivity of the ordinary discrete-time shift operator LMI formulation to small sampling periods is also analyzed.

关键词： Control systems Linear matrix inequalities Sampling methods Automatic control Frequency Weight control Robust control Signal processing State-space methods Robustness

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OPTIMIZING THE SUBDIVISION OF ELEMENTS IN DISCONTINUITY MESHING FOR HIERARCHICAL RADIOSITY

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International Journal on Artificial Intelligence Tools 2003年第4期12卷 395-411页

作者： IOANNIS A. PANTAZOPOULOS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens Greece

This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.

关键词： Hierarchical radiosity discontinuity meshing mesh pre(post)-processing multigriding aspect-ratio

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Textual message read by a mobile robot

Textual message read by a mobile robot

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： D. Letourneau F. Michaud J.-M. Valin C. Proulx Department of Electrical Engineering and Computer Engineering Universite de Sherbrooke LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Sherbrooke Quebec CANADA

Giving the ability to read characters and symbols is highly desirable for increased autonomy of mobile robots operating in the real world. The idea is fairly simple: give a robot the ability to acquire an image of a message to read, extract the symbols and recognize them. Image character recognition research has been going on for decades now, with good results. But compared to conventional character recognition systems, the challenge with a mobile robot is to find a textual message to capture in the world and to get a good view of the message, knowing that the viewpoint of the robot depends on its position in relation to the message, which cannot be pre-specified. In this paper we present our approach making it possible for an autonomous mobile robot to read messages. We outline the constraints under which the approach works, and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a pan-tilt-zoom camera.

关键词： Mobile robots Robot vision systems Cameras Intelligent robots Character recognition Image recognition Navigation Laboratories Mobile computing Intelligent systems

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Dynamic performance of the position-based visual servoing method in the Cartesian and image spaces

Dynamic performance of the position-based visual servoing me...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Lingfeng Deng W.J. Wilson F. Janabi-Sharifi Department of Electrical and Computer Engineering University of Waterloo Waterloo ONT Canada Robotics and Manufacturing Automation Laboratory Department of Mechanical Aerospace and Industrial Engineering Ryerson University Toronto ONT Canada

In this paper, the dynamic performance of position-based visual servoing methods in the Cartesian and image spaces are investigated. Two major classifications of the position-based method are analyzed. For motion control defined in the stationary desired end-effector frame, the shortest straight line Cartesian trajectory can be achieved, but the corresponding image trajectories are not controlled and may leave the camera field of view. For motion control defined in the moving current end-effector frame, the straight line Cartesian trajectory is not guaranteed, however, the im- age trajectories can be indirectly controlled in this method to move approximately along straight lines when the commanded orientation is small. Simulation results are given to compare the Cartesian and image trajectories of various implementations of the position-based method with those of the image-based and 2 1/2-D methods.

关键词： Visual servoing Cameras Motion control Aerodynamics Feedback Service robots Orbital robotics robotics and automation Manufacturing automation Laboratories

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Analysis of IR-drop scaling with implications for deep submicron P/G network designs

Analysis of IR-drop scaling with implications for deep submi...

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IEEE International Symposium on Quality Electronic Design

作者： A.H. Ajami K. Banerjee A. Mehrotra M. Pedram Magma Design Automation Cupertino CA USA Department of Electrical Engineering-Systems University of Southern California Los Angeles CA USA Electrical and Computer Engineering Department University of California슠Santa Barbara Santa Barbara CA USA Computer and System Research Laboratory University of Illinois Urbana-Champaign IL USA

This paper presents a detailed analysis of the power-supply voltage (IR) drop scaling in DSM technologies. For the first time, the effects of temperature, electromigration and interconnect technology scaling (including resistivity increase of Cu interconnects due to electron surface scattering and finite barrier thickness) are taken into consideration during this analysis. It is shown that the IR-drop effect in the power/ground (P/G) network increases rapidly with technology scaling, and using well-known counter measures such as wire-sizing and decoupling capacitor insertion with resource allocation schemes that are typically used in the present designs may not be sufficient to limit the voltage fluctuations over the power grid for future technologies. It is also shown that such voltage drops on power lines of switching devices in a clock network can introduce significant amount of skew which in turn degrades the signal integrity.

关键词： Voltage Land surface temperature Electromigration Conductivity Electrons Scattering Counting circuits Power measurement Switched capacitor networks Resource management

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Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

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Robust guaranteed cost filtering for a class of nonlinear systems

Robust guaranteed cost filtering for a class of nonlinear sy...

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International Conference on Information Fusion

作者： D.F. Coutinho K.A. Barbosa A. Trofino C.E. de Souza Department of Electrical Engineering Pont. University Católica do Rio Grande do Sul Rio Grande do Sul Brazil Department of Automation and Systems University Federal de Santa Catarina Florianopolis Santa Catarina Brazil Department of Systems and Control Laboratory Nac. Computer Cienífica-LNCC Petropolis Rio de Janeiro Brazil

ISBN: (纸本)0972184449

In this paper, we propose a deterministic approach to the robust filtering problem for a class of uncertain nonlinear systems. Based on polynomial Lyapunov functions and a relaxation technique, we derive linear matrix inequalities conditions that minimize an upper-bound on the finite horizon 2-norm of the estimation error for all admissible uncertainty and input signals (including disturbances and measurement noise). Through a simple redefinition of the Lyapunov matrix, we extended the results for the reduced-order case without considering non-convex rank constraints.

关键词： Robustness Costs Nonlinear systems State estimation Linear matrix inequalities automation Polynomials Lyapunov method Filtering theory Uncertainty

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Activation hebbian learning rule for Fuzzy Cognitive Maps 15th

Activation hebbian learning rule for Fuzzy Cognitive Maps

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Papageorgiou, Elpiniki Stylios, Chrysostomos D. Groumpos, Peter P. Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion26500 Greece

ISBN: (纸本)9783902661746

Fuzzy Cognitive Maps (FCM) is a soft computing, modeling methodology for complex systems, which is originated from the combination of fuzzy logic and neural networks. Many different learning algorithms have been suggested for the training of neural networks. Only some initial thoughts on learning rules have described for FCMs. A learning law is a mathematical algorithm, which can train the FCM by selecting the appropriate weights and it is very important for a system to have learning and adaptive capabilities. In this paper a new learning algorithm, the Activation Hebbian Learning (AHL) has been proposed for FCMs. The learning rule for a FCM is a procedure where FCM weight matrix is modified in order the FCM to model the behavior of a system. Simulation results proving the strength of the learning rule are provided. Copyright © 2002 IFAC.

关键词： Learning algorithms

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