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2009 10th European Control Conference, ECC 2009

作者： Petrovic, Tamara Bogdan, Stjepan Sindicic, Ivica Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Exor D.o.o Bani 72 Zagreb10000 Croatia

ISBN: (纸本)9783952417393

As the first step in resolving stability of a manufacturing system in the sense of deadlock, calculation of circular waits might involve time and memory consuming calculations. In this paper we propose an efficient method for determination of circular waits in multiple-reentrant flowline class (MRF) of manufacturing systems. We introduce machine-job incidence (MJI) matrix that can be obtained from Steward sequencing matrix and Kusiak machine-part incidence matrix. The method uses index vector and MJI matrix in order to allocate circular wait auxiliary vector. Resources involved in the circular wait are directly computed from the auxiliary vector. Although efficiency of the proposed method has been demonstrated on examples involving single- and multi- part type manufacturing workcells, the method can be used for other discrete event systems as well, as long as the system under study belongs to MRF class. © 2009 EUCA.

关键词： Manufacture

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Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

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Control system for reactor vessel inspection manipulator

Control system for reactor vessel inspection manipulator

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Alan Mutka Ivica Draganjac Zdenko Kovacic Zeljko Postruzin Ranko Munk Faculty of EE&C Department of Control and Computer Engineering LARICS-Laboratory of Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia Organization of Technology Development and Application HRID Limited Zagreb Croatia

In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.

关键词： Control systems Inductors Inspection Welding Parallel robots Visualization TCPIP Software architecture Graphical user interfaces Trajectory

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Camera handoff with adaptive resource management for multi-camera multi-target surveillance

Camera handoff with adaptive resource management for multi-c...

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IEEE 5th International Conference on Advanced Video and Signal Based Surveillance, AVSS 2008

作者： Chen, Chung-Hao Yi, Yao Page, David Abidi, Besma Koschan, Andreas Abidi, Mongi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN 37996 United States GE Global Research Center Niskayuna NY 12309 United States

ISBN: (纸本)9780769533414

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras' resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah. © 2008 IEEE.

关键词： Cameras

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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High performance differential elastic actuator for robotic interaction tasks

High performance differential elastic actuator for robotic i...

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2007 AAAI Spring Symposium

作者： Lauria, Michel Legault, Marc-Antoine Lavoie, Marc-André Michaud, François LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Que. J1K2R1 Canada

ISBN: (纸本)9781577353164

For complex robotic tasks (manipulation, locomotion, haptics, ...), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (force, speed, ...) in real time and the non-collocation of sensors and transducers have negative effects on performance and stability of robots when using simple force or simple movement controllers. To cope with these issues, some researchers proposed a new approach named «interaction control» that refers to regulation of the robot's dynamic behavior at its ports of interaction with the environment. Interaction control involves specifying a dynamic relationship between motion and force, and implementing a control law that attempts to minimize deviation from this relationship [1]. The implementation of machines able to precisely control interaction with its environment begins with the use of actuators specially designed for that purpose. To that effect, a new compact implementation design for high performance actuators that are especially adapted for integration in robotic mechanisms is presented, this design making use of a mechanical differential as central element. Differential coupling between an intrinsically high impedance transducer and an intrinsically low impedance spring element provides the same benefits as serial coupling [4]. However differential coupling allows new interesting design implementations possibilities, especially for rotational actuators.

关键词： robotics

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Spartacus attending the 2005 AAAI conference

Spartacus attending the 2005 AAAI conference

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作者： Michaud, F. Côté, C. Létourneau, D. Brosseau, Y. Valin, J.-M. Beaudry, E. Raïevsky, C. Ponchon, A. Moisan, P. Lepage, P. Morin, Y. Gagnon, F. Giguère, P. Roux, M.-A. Caron, S. Frenette, P. Kabanza, F. LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Qué. J1K 2R1 Canada CSIRO ICT Center Sydney Australia

Spartacus is our robot entry in the 2005 AAAI Mobile Robot Challenge, making a robot attend the National Conference on Artificial Intelligence. Designing robots that are capable of interacting with humans in real-life settings can be considered the ultimate challenge when it comes to intelligent autonomous systems. One key issue is the integration of multiple modalities (e.g., mobility, physical structure, navigation, vision, audition, dialogue, reasoning). Such integration increases the diversity and also the complexity of interactions the robot can generate. It also makes it difficult to monitor how such increased capabilities are used in unconstrained conditions, whether it is done while the robot is in operation of afterwards. This paper reports solutions and findings resulting from our hardware, software and decisional integration work on Spartacus. It also outlines perspectives in making intelligent and interaction capabilities evolve for autonomous robots. © Springer Science+Business Media, LLC 2007.

关键词： Robots

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Mobile scanning system for the fast digitization of existing roadways and structures

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Sensor Review 2006年第4期26卷 283-289页

作者： Grinstead, Brad Sukumar, Sreenivas Page, David Koschan, Andreas Gorsich, David Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN United States US Army RDECOM Tank-Automotive Research Development and Engineering Center Warren MI United States

Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment. Findings - The developed system can acquire accurate models of real-world environments in real time, at resolutions suitable for a variety of tasks. Originality/value - Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios. © Emerald Group Publishing Limited.

关键词： Analog to digital conversion

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Design and control of a four steered wheeled mobile robot

Design and control of a four steered wheeled mobile robot

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Lauria, Michel Nadeau, Isabelle Lepage, Pierre Morin, Yan Giguère, Patrick Gagnon, Fréderic Létourneau, Dominic Michaud, François Department of Electrical Engineering and Computer Engineering Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrooke Sherbrooke QC J1K 2R1 Canada

ISBN: (纸本)1424401364

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hypermotorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot. © 2006 IEEE.

关键词： Wheels

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A Generalized and Automatic Image Contrast Enhancement Using Gray Level Grouping

A Generalized and Automatic Image Contrast Enhancement Using...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

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

Contrast enhancement has an important role in image processing applications. Conventional contrast enhancement techniques either fail to produce satisfactory results for a broad variety of low-contrast images, or cannot be automatically applied to different images, because their parameters must be specified manually to produce a satisfactory result for a given image. This paper describes a new automatic method for contrast enhancement. The basic procedure is to first group the histogram components of a low-contrast image into the proper number of bins according to a selected criterion, then redistribute these bins uniformly over the grayscale, and finally ungroup the previously grouped gray-levels. Accordingly, this new technique is named gray-level grouping (GLG). GLG not only produces results superior to conventional contrast enhancement techniques, but is also fully automatic in most circumstances, and is applicable to a broad variety of images

关键词： Histograms Gray-scale Background noise intelligent robots Image processing Helium robotics and automation intelligent systems Laboratories Electronic mail

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