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International Conference on Advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory.experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation computer aided manufacturing Laboratories Data mining

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A Polynomial Function Discovery System — FFS

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International Journal on Artificial Intelligence Tools 1997年第1期6卷 1-13页

作者： Spyros Tzafestas Zhifang Ma Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece On leave from the Department of Computer Science Jilin University Changchun P.R.China

This paper presents a function discovery system FFS that has two core parts: FFS-0-CORE and FFS-1-CORE. Both cores are with polynomial time complexity in discovering functions of either a•f(x)+b form or a 1 f 1 (x)+…+a n f n (x)+b form. FFS-0-CORE allows users to define their own models. FFS-1-CORE uses novel principles to increase information which helps the function discovery procedures. Three computational examples are included.

关键词： Formula discovery machine discovery machine learning artificial intelligence

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A TDMA-CDMA cellular system

A TDMA-CDMA cellular system

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IEEE Conference on Vehicular Technology (VTC)

作者： F. Hendessi A.U.H. Sheikh T.A. Gulliver Mobile Research Group Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan Iran PCS Research Laboratory. Department of Systems and Computer Engineering Carleton University Ottawa Canada Department of Electrical Engineering University of Canterbury Canterbury New Zealand

This paper proposes a new cellular system which combines code division multiple access (CDMA) and time division multiple access (TDMA) to improve the performance of the cellular system. A synchronized TDMA-FDMA system is used within cells and an asynchronous CDMA system is used across the cells. The cell signals are spread by unique spreading codes to reduce inter-cell interference. Simulations show that the bit error rate (BER) delivered by the proposed system for a E/sub b//N/sub 0/ greater than a certain value is better than that for conventional cellular TDMA system. This improvement is the direct result of spreading signals used to decrease the inter-cell co-channel interference (CCI). The improvement thus realized can be translated into reduction of cluster size and thus towards capacity improvement.

关键词： Time division multiple access Multiaccess communication Interference Bit error rate GSM Spread spectrum communication Frequency division multiaccess Mobile computing Laboratories systems engineering and theory

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control computer aided manufacturing Manufacturing processes Parameter estimation

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation robotics and automation Shape Power system modeling computer aided manufacturing Manufacturing processes Containers Inorganic materials

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A fast and accurate 3-D rangefinder using the Biris technology: the TRID sensor

A fast and accurate 3-D rangefinder using the Biris technolo...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： F. Loranger D. Laurendeau R. Houde Computer Vision and Systems Laboratory (CVSL) Electrical and Computer Engineering Department Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes Canada

In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.

关键词： Robot vision systems Robustness computer vision Application software Robot kinematics Layout Cameras computer industry Costs Geometrical optics

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Telemanipulator neurocontrol using multiple RBF networks

Telemanipulator neurocontrol using multiple RBF networks

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IEEE International Symposium on Intelligent Control (ISIC)

作者： S.G. Tzafestas P.A. Prokopiou C.S. Tzafestas Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece Laboratoire de Robotique de Paris CNRS UPMC UVSQ France

This paper addresses the control problem of masterslave systems which involve severe modeling errors and other high-level uncertainties, using neural networks. The solution approach is based on a recent teleoperator control scheme of S. Lee and H.S. Lee (1993, 1994), which is suitably enhanced such that to become capable of compensating the uncertainties. The class of radial-basis functions (RBF) neural networks are employed in a multipartitioned neural network architecture, and a special learning scheme is adopted which distributes the learning error to each subnetwork and allows online learning. The effectiveness of the present RBF neurocontroller was investigated through extensive simulation and compared to that of MLP (multilayer perceptron) neurocontroller and a robust sliding-mode controller representative.

关键词： Radial basis function networks Robot kinematics Error correction Neural networks Teleoperators Master-slave Uncertainty Delay effects robotics and automation Neurocontrollers

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Growing region technique in the detection of autonomous structures within X-ray radiographs

Growing region technique in the detection of autonomous stru...

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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： S.N. Raptis S.G. Tzafestas S. Pavlopoulos D. Koutsouris S. Kollias Intelligent Robotics and Automation Laboratory National and Technical University of Athens Athens Greece Biomedical Engineering Laboratory National and Technical University of Athens Athens Greece Department of Electrical & Computer Engineering National and Technical University of Athens Athens Greece

Nodule identification is a major issue in chest radiography and cancer prevention and detection. The recognition of cancer nodule characteristics in chest radiographs is a key point to the detection procedure. The method described here is based on the extraction of the major geometrical as well as luminance characteristics that make nodule recognizable and easy to detect. The purpose of the proposed method is to detect within a given block of chest X-ray image any homogeneous and autonomous mass that might means the existence of a nodule or some structure within it. The idea of pixels of interest is introduced which makes the growing a finite steps procedure. The growing of the region around a given point is realized gradually in a finite number of iterations at each one of which a set of criteria is evaluated. These criteria are established in a prior training procedure.

关键词： X-ray detection X-ray detectors X-ray imaging Diagnostic radiography Pixel Laboratories Biomedical engineering Cancer detection Character recognition Shape

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The active kinematic histogram method for path planning of non-point, non-holonomically constrainted mobile robots

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Advanced robotics 1997年第4期12卷 373-395页

作者： Katevas, Nikos I. Tzafestas, Spyros G. Zenon SA - Industrial Automation Athens 15344 Kanari 5 Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Athens 15773 Zografou Campus Greece

The paper presents a novel path planning method for non-point, non-holonomically constrainted mobile robots. The proposed method, named the Active Kinematic Histogram (AKH) method, is a potential field path-planning method based on the Vector Field Histogram (VFH) method introducedby J. Borenstein and Y. Koren. The method relies on one-dimensional environment representations named AKHs, derived from the available information on the obstacle space and the robot itself. The AKHs provide the information abstraction required for fast, collision-free and kinematically feasiblepath planning for non-point, non-holonomically constrainted mobile robots. The method constructs two AKH structures incorporating the information stored in occupancy grid environment representations as well as the exact robot's size, shape and kinematic features. The method applies simpleand fast procedures, e.g. histogram shifting, in order to determine kinematic feasibility and the result of the robot's steering limits. Being a potential field method, the AKH method uses adaptive thresholding procedures to reduce the inherited drawback of the local minima traps ***, the method proposes specific updating and coding procedures for the environmental information and introduces the Ageing function to insert time parameterization in the path-planning results. Also, the so-called bicycle kinematic model is presented in order to describe the kinematicfamily of mobile robots suitable for applying the AKH method. The method integrates a velocity control procedure which is also based on information provided by the active kinematic histograms. The method produced smooth, collision-free paths in a variety of experimental configurations. Simulationand experimental results are presented. © VSP and robotics Society of Japan 1997.

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Neural Fault Detection and Accommodation for Interconnected Power systems

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IFAC Proceedings Volumes 1997年第18期30卷 943-947页

作者： Spyros Tzafestas Yiannis Anthopoulos Efthimios Kyriannakis Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou 15773 Athens Greece. Tel: +30-1-7722489 +30-1-772-1527 Fax: +30-1-7722490 +30-1-7722459

Due to increasing safety and reliability demands fault detection and accommodation is a key issue in the design of industrial control systems. This paper presents a neural network based method for fault detection and accommodation, appropriate for interconnected power systems. The simulation results show that the method is very promising.

关键词： fault detection neural networks interconnected systems

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