检索结果-内蒙古大学图书馆

Integration of topological and metric maps for indoor mobile robot path planning and navigation 2nd

2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Zavlangas, Panagiotis G. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Athens15773 Greece

ISBN: (纸本)3540434720

Autonomous mobile robots need to use spatial information about the environment in order to effectively plan and execute navigation tasks. The information can be represented at different levels of abstraction, ranging from detailed geometric maps to coarse topological maps. Each level is adequate for some sub-task, but not for others. In this paper, we consider the representation of spatial knowledge at two different levels of abstraction, which are commonly considered in the robotics literature: the geometric level, and the topological level. We propose to represent the environment by local metric maps connected into a topological network. This technique allows us to use maps that are not metrically consistent on the global scale, although they are metrically consistent locally. The structure allows also the combination of abstract global reasoning and precise local geometric computations. Moreover, this structure reflects the typical organization of indoor environments, where rooms and hallways define independent but connected local working spaces. To navigate in the environment, the robot uses the topological information to plan a sequence of sectors to traverse, and uses the metric information in each sector to locally move within the sector and to the next one. The functioning of the proposed system with respect to omnidirectional mobile robots and results of simulated experiments are presented. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Abstracting

来源：评论

学校读者我要写书评

暂无评论

Image Processing-Based Mine Detection Techniques: A Review

引用

Subsurface Sensing Technologies and Applications 2002年第3期3卷 153-202页

作者： Paik, Joonki Lee, Cheolha P. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee Knoxville

Various mine detection techniques are reviewed with particular emphasis on signal and image processing methods. Based on the target, mines are classified into two types; anti-tank mine (ATM) and anti-personnel mine (APM). Because of the variety of mine types, current mine detection techniques are diversified. The assumption is made that most mine detection techniques consist of sensor, signal processing, and decision processes. For the sensor part, ground penetration radar (GPR), infrared (IR), and ultrasound (US) sensors are reviewed and their characteristics are summarized for the corresponding output signals. For the signal processing and decision parts, a set of image processing techniques including filtering, enhancement, feature extraction, and segmentation are surveyed. Segmentation is used to extract mine signal from various competing signals. For most image processing techniques covered by this paper, mine detection related experimental results are included or reproduced from existing works.

关键词：

来源：评论

学校读者我要写书评

暂无评论

On-line improvement for the decentralized predictive control of the heat dynamics of a greenhouse 15th

On-line improvement for the decentralized predictive control...

引用

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

作者： Kyriannakis, E.J. Arvanitis, K.G. Sigrimis, N. National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou Athens15773 Greece Agricultural University of Athens Department of Agricultural Engineering Athens11855 Greece

ISBN: (纸本)9783902661746

A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are proposed for the approximation of the decentralized part of the control and the on-line improvement of the overall control problem. A state space model is used to predict the corresponding local indoor temperature over a long-range time-period and approximate models are used to predict the interactions among the subsystems. The sun radiation and outdoor temperature are treated as external disturbances that affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature. Copyright © 2002 IFAC.

关键词： Discrete time control systems

来源：评论

学校读者我要写书评

暂无评论

Affecting the accuracy of an active vision head 2nd

引用

2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Gasteratos, Antonios Sandini, Giulio Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-671 00 Greece Laboratory for Integrated Advanced Robotics Department of Communication Computer and System Sciences University of Genoa Viale Causa 13 GenoaI-16145 Italy

ISBN: (纸本)3540434720

In any measuring system the categorization of the error generation factors leads to simplification of complex error problems and to higher suppression of the error. In this paper we categorize, quantify and analyze the errors that affect a binocular active vision head. Simulations have been made and experimental results on a high resolution pan-tilt-vergence mechanism are also proposed. As a conclusion it can be said that the system performs optimal when it is initialized so that the two cameras are perfectly aligned and perpendicular to the baseline. Small variations in the vergence angle or small horizontal deviations of the principal point alters the measurement dramatically. On the other hand, variations in pan and tilt and vertical deviations of the principal point, affect the measurement insignificantly. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Errors

来源：评论

学校读者我要写书评

暂无评论

Design and implementation of a logic controller using petri nets and ladder logic diagrams

引用

systems Analysis Modelling Simulation 2002年第1期42卷 135-167页

作者： Tzafestas, S.G. Pantelelis, M.G. Kostis, D.L. Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece

Design methods for sequence controllers play an important role in modern industrial automation. The Programmable Logic Controller (PLC) in general meets today's automation requirements. The increasing complexity and varying needs of modern discrete industrial systems have challenged the traditional design methods such as the use of Ladder Logic Diagrams (LLDs) for PLCs. This paper presents a new method for using Petri net models in order to design and implement a sequence controller for a small scale robotic cell which consists of a robotic manipulator, a variety of sensors and electro-pneumatic actuators. The proposed method leads directly to the generation of the associated LLD and it has proved to be effective through the application to sequence control of a small-scale industrial system. In addition, it has reduced the period for developing, debugging and reengineering of the LLD, compared to the traditional method that directly prepares an LLD. Experimental results are included to show the effectiveness of the PN/LLD controller. © 2002 Taylor & Francis Ltd.

关键词： Programmable logic controllers

来源：评论

学校读者我要写书评

暂无评论

Triangle mesh-based edge detection and its application to surface segmentation and adaptive surface smoothing

Triangle mesh-based edge detection and its application to su...

引用

IEEE International Conference on Image Processing

作者： Y. Sun D.L. Page J.K. Paik A. Koschan M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

Triangle meshes are widely used in representing surfaces in computer vision and computer graphics. Although 2D image processing-based edge detection techniques have been popular in many application areas, they are not well developed for surfaces represented by triangle meshes. This paper proposes a robust edge detection algorithm for triangle meshes and its applications to surface segmentation and adaptive surface smoothing. The proposed edge detection technique is based on eigen analysis of the surface normal vector field in a geodesic window. To compute the edge strength of a certain vertex, the neighboring vertices in a specified geodesic distance are involved. Edge information are used further to segment the surfaces with the watershed algorithm and to achieve edge-preserved, adaptive surface smoothing. The proposed algorithm is novel in robustly detecting edges on triangle meshes against noise. The 3D watershed algorithm is an extension from previous work. Experimental results on surfaces reconstructed from multi-view real range images are presented.

关键词： Image edge detection Smoothing methods Application software Image segmentation Surface reconstruction computer vision computer graphics Geophysics computing Noise robustness Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

NeuroFAST: high accuracy neuro-fuzzy modeling

NeuroFAST: high accuracy neuro-fuzzy modeling

引用

IEEE International Conference on Artificial Intelligence systems (ICAIS)

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

Most fuzzy modeling algorithms rely either on simplistic (grid type) or off-line (trial-and-error type) structure identification methods. The proposed neurofuzzy modeling architecture, NeuroFAST, is an on-line, structure and parameter learning algorithm, featuring high function approximation accuracy. It is based on the first order Takagi-Sugeno-Kang (TSK) model (functional reasoning), where the consequence part of each fuzzy rule is a linear equation of the input variables. Fuzzy rules are allocated as learning evolves by a modified Fuzzy ART (Adaptive Resonance Theory) mechanism, assisted by fuzzy rule splitting and adding procedures (structure learning). The well known /spl delta/-rule continuously tunes learning weights on both premise and consequence parts (parameter identification). Tested on the Box-Jenkins gas furnace process modeling and the Mackey-Glass chaotic time series prediction, NeuroFAST yields very good results in terms of approximation accuracy, outperforming all known approaches.

关键词： Function approximation Approximation algorithms Takagi-Sugeno-Kang model Fuzzy reasoning Equations Input variables Subspace constraints Resonance Parameter estimation Testing

来源：评论

学校读者我要写书评

暂无评论

ON–LINE IMPROVEMENT FOR THE DECENTRALIZED PREDICTIVE CONTROL OF THE HEAT DYNAMICS OF A GREENHOUSE

引用

IFAC Proceedings Volumes 2002年第1期35卷 37-42页

作者： E.J. Kyriannakis K.G. Arvanitis N. Sigrimis National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE

关键词： Decentralized control predictive control greenhouse heat dynamics

来源：评论

学校读者我要写书评

暂无评论

Entire region filling in indoor environments using neural networks

Entire region filling in indoor environments using neural ne...

引用

World Congress on intelligent Control and Automation (WCICA)

作者： Chaomin Luo S.X. Yang M. Meng Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph Canada Department of Electrical and Computer Engineering University of Alberta Edmonton Canada

Entire region filling is a special type of robot path planning strategy that requires the mobile robot to cover every part of the whole workspace, which has many applications such as cleaning robots, vacuum cleaners, painter robots, land mine detectors, lawn mowers, and window cleaners. In this paper, a novel biologically inspired neural network approach is proposed for entire region filling with obstacle avoidance of a mobile cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location. The proposed model algorithm is computationally efficient. It can deal with an unstructured environment with irregular obstacles. The effectiveness of the proposed model is demonstrated by simulation results.

关键词： Filling Indoor environments Neural networks Mobile robots Equations Cleaning Landmine detection Neurons Computational modeling Path planning

来源：评论

学校读者我要写书评

暂无评论

Cooperative Q-learning with heterogeneity in actions

Cooperative Q-learning with heterogeneity in actions

引用

IEEE International Conference on systems, Man and Cybernetics

作者： S.M. Reza MirFattah M.N. Ahmadabadi Institute for Studies on Theoretical Physics and Mathematics School of Intelligent Systems Tehran Iran Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Cooperation in learning improves the speed of convergence and the quality of learning. Special care is needed when heterogeneous agents cooperate in learning. It is discussed that, cooperation in learning may cause the learning process to diverge if heterogeneity is not handled properly. In this paper, it is assumed that two heterogeneous Q-learning agents cooperate to learn. The heterogeneity is assumed in their action order (and not in their action set). A Q-learning-based method is introduced for the agents to learn the mapping among their actions. It is shown that, the agents are able to learn this mapping while cooperating in learning. Some simulation results are reported to show the effectiveness of the proposed method.

关键词： intelligent agent intelligent robots Humans Telecommunication control Artificial intelligence Laboratories intelligent systems Physics Mathematics Convergence

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：