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IEEE International Symposium on Intelligent Control (ISIC)

作者： C. Stylios P.P. Groumpos Laboratory for Automation & Robotics Department of Electrical & Computer Engineering University of Patras Rio-Patras Greece

This paper describes a soft computing technique for modelling and controlling systems: fuzzy cognitive maps (FCM). The description, representation and models of FCM are examined in detail. A FCM model is proposed, its characteristics and advantages are presented, and a development algorithm is described. Fuzzy cognitive maps and similar soft computing techniques may contribute to the development of more sophisticated systems.

关键词： Fuzzy cognitive maps Intelligent control Fuzzy systems computer networks Fuzzy logic Neural networks Fuzzy neural networks robotics and automation Signal processing algorithms Genetic algorithms

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A Genetic Algorithm for Warehouse Multi-Objective Optimisation

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IFAC Proceedings Volumes 2000年第17期33卷 963-969页

作者： S.G. Tzafestas P. Poulos G.G. Rigatos A. Koukos Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou Campus 15773 Athens Greece

The rapid increase of warehouse use demands automated management services in order to make decisions for all tasks concerned. These decisions must ensure optimised usage of resources, which leads to cost reduction and better customer service. A major consideration is the way the warehouse area, which consists of different storage types and similar product groups, is exploited. The optimisation of the warehouse's occupied area is the target of replenishment, which iS essentially a constrained placement problem. In this paper, a genetic algorithm with revised operators iS developed. This algorithm is applied to real warehouse data and results show that it produces successful replenishments in a complex environment where many criteria have to be considered and met to some user-defined extent.

关键词： genetic algorithms multi-objective optimisation constrained placement warehouse management

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Dense range image smoothing using adaptive regularization

Dense range image smoothing using adaptive regularization

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IEEE International Conference on Image Processing

作者： Yiyong Sun Joon-Ki Paik J.R. Price M.A. Abidi Department of Electrical and Computer Engineering Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Image Engineering Graduate School of Advanced Imaging Science Chung-Ang University Seoul South Korea

We propose an adaptive regularization algorithm for smoothing dense range images using a novel, first order stabilizing function. The stabilizer we suggest is based upon minimizing the reconstructed surface area and is derived in the native, spherical coordinate system of the range scanner. This allows adjustments to be made along only the direction of measurement, thereby preventing the data overlapping problem that can arise in dense images. Adaptation is achieved by adjusting the regularization parameter according to the results of 2D edge analysis. Results indicate effective noise suppression along with well preserved edges and details in the reconstructed, 3D surfaces.

关键词： Smoothing methods Surface reconstruction Image reconstruction Image edge detection Intelligent robots Robot kinematics Intelligent systems Laboratories Laser noise Noise measurement

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Procedure of system-formation as process of the purpose achievement in manufacturing systems

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IFAC Proceedings Volumes 2000年第20期33卷 499-504页

作者： Peter Groumpos Salavat Kusimov Barry Ilyasov Larisa Ismagilova Roza Valeeva Ilmira Gerasimova University of Patras Department of Electrical and Computer Engineering Laboratory for Automation & Robotics GR-265 OORion Greece Fax: +50 61 997 309 Ufa State Aviation Technical University 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18

There are considered the creation problems of organizational and manufacturing systems as formalized system-formation process according to the construction conception of resource-goal triads. Triad is formed and is used as the base element of description formalization of the purpose achievement procedure by means of system-formation process and connects three components necessary for creation of any system (reasons of system origin, existence purpose, possibility of creation). The proposed procedure of system-formation is a basis for development of theoretical bases for modeling and research of controlled manufacturing systems.

关键词： system concepts system methodology system design manufacturing systems

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Factorization method for multiple perspective views via iterative depth estimation

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systems and computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots

Recent algorithms for fuzzy and neurofuzzy path planning and...

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1999 European Control Conference, ECC 1999

作者： Tzafestas, Costas S. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zografou Athens157 73 Greece

ISBN: (纸本)9783952417355

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions. © 1999 EUCA.

关键词： Fuzzy inference

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Critical aspects of structural control schemes for multilevel hierarchical systems

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IFAC Proceedings Volumes 1999年第2期32卷 5909-5914页

作者： Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical & Computer Engineering University of Patras Rion 26500 GREECE Tel +30 61 997295 Fax +***

In this paper a class of two level systems where N linear subsystems S1, S2,…, SN in a lower hierarchical level are interconnected through a cordinator S 0 in a higher hierarchical level is considered. The model of such a system is presented together with a controlling algorithm that preserves the structure of the system. The paper is mainly a survey of all related work and presents all the critical aspects of such a controlling scheme such as structural controllability, fixed modes, the algorithm itself and stability of the closed loop system.

关键词： Large Scale systems Decentralized Control Multilevel Hierarchical systems

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Virtual reality in telerobotics: the state-of-the-art

Virtual reality in telerobotics: the state-of-the-art

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： S.G. Tzafestas C.S. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National and Technical University of Athens Athens Greece

This paper presents state-of-the-art issues concerning virtual reality (VR) as applied to robotics and control. After a short outline of the fundamental VR notions, the use of VR in robot (manipulator, mobile) telecontrol is discussed and some principal results are provided. Two representative examples are briefly described along with some concluding remarks.

关键词： Virtual reality Telerobotics Robot control Virtual environment Mobile robots Humans Geometry Intelligent robots robotics and automation Laboratories

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The challenge of using soft computing methodologies in supervisory control systems

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IFAC Proceedings Volumes 1999年第2期32卷 285-290页

作者： Chrysostomos D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 Greece Tel +30 61 997293 Fax. +30 61 997309

In Complex Large Scale systems there is an oncoming need for more autonomous and intelligent systems, new methodologies from discipline research areas have been proposed. A general formulation for the Overall Control Problem of Complex systems is presented. Then, the use of a hybrid methodology, which combines fuzzy logic and neural networks, Fuzzy Cognitive Map (FCM), for the modeling Supervisory Complex systems, using is investigated. The description and the construction of Fuzzy Cognitive Map is examined and a model for the supervisor is proposed.

关键词： Supervisory Control Cognitive systems Modeling Complex systems

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