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检索条件"机构=Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering"

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A method for the registration of a known cad model into the workspace frame of a robot

A method for the registration of a known cad model into the ...

引用

作者： Aristos, Dimitris Tzafestas, Spyros Intelligent Robotics and Automation Laboratory School of Electrical and Computer Engineering National Technical University of Athens Zographou Athens 15773 Greece

In many robotic applications it is required to manipulate a specific rigid object whose CAD model is known a priori, but its position and orientation in space are unknown. This category of tasks includes piercing, painting or iron welding on some specific points of the rigid object's surface. For this kind of tasks to become feasible the CAD data of the rigid object should be registered into the robot's workspace frame, so that the robot arm becomes aware of the position and orientation of the rigid body with reference to its own flange or base coordinate frame. In order to achieve this goal several techniques from the fields of image processing, 3D modeling and robot kinematics should be combined. This paper provides a convenient combination of such methods that can be used for the successful on-line registration of a rigid object's CAD data to the robot's workspace frame. © 2010 World Scientific Publishing Company.

关键词： Iterative methods

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Adaptive Iterative Learning Control for Uncertain Delay systems Based on Model Matching Technique

Adaptive Iterative Learning Control for Uncertain Delay Syst...

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2011 American Control Conference (ACC)

作者： Haixia Su Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

In this paper, an adaptive iterative learning control (ILC) scheme is proposed for trajectory tracking of uncertain delay systems based on model matching technique. The reference model is a delay system operating over in a finite time interval. An iterative model matching controller is designed and an iteration domain adaptive law is chosen to estimate the unknown parameters. It shows that the model matching technique can be applied in a straightforward method to ILC problem. A simulation example is included to illustrate the designed scheme.

关键词： Adaptation models Polynomials Adaptive systems Delay effects Delay systems

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Gaussian Mixture PHD Smoother for Jump Markov Models in Multiple Maneuvering Targets Tracking

Gaussian Mixture PHD Smoother for Jump Markov Models in Mult...

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2011 American Control Conference (ACC)

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper presents a Gaussian mixture probability hypothesis density (GM-PHD) smoother for tracking multiple maneuvering targets that follow jump Markov models. Unlike the generalization of the multiple model GM-PHD filters, our aim is to approximate the dynamics of the linear Gaussian jump Markov system (LGJMS) by a best-fitting Gaussian (BFG) distribution so that the GM-PHD smoother can be carried out with respect to an approximated linear Gaussian system. Our approach is inspired by the recognition that the BFG approximation provides an accurate performance measure for the LGJMS. Furthermore, the multiple model estimation is avoided and less computational cost is required. The effectiveness of the proposed smoother is verified with a numerical simulation.

关键词： Target tracking Approximation methods Markov processes Covariance matrix Smoothing methods Radar tracking Computational efficiency

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Conceptual hierarchical clustering of documents using Wikipedia knowledge

引用

25th International Symposium on computer and Information Sciences, ISCIS 2010

作者： Spanakis, Gerasimos Siolas, Georgios Stafylopatis, Andreas Intelligent Systems Laboratory School of Electrical and Computer Engineering National Technical University of Athens 15780 Zografou Athens Greece

ISBN: (纸本)9789048197934

In this paper, we propose a novel method for conceptual hierarchical clustering of documents using knowledge extracted from Wikipedia. A robust and compact document representation is built in real-time using the Wikipedia API. The clustering process is hierarchical and creates cluster labels which are descriptive and important for the examined corpus. Experiments show that the proposed technique greatly improves over the baseline approach. © 2011 Springer Science+Business Media B.V.

关键词： Clustering algorithms

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One Day Smart Grid Supersession - Analytics and Integration

One Day Smart Grid Supersession - Analytics and Integration

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General Meeting of the IEEE-Power-and-Energy-Society (PES)

作者： Liu, W-H Edwin McArthur, Stephen Giri, Jay Miu, Karen Pratt, Rob Wen, Jun Uluski, Bob Dow, Luther Labut, Gerard IEEE Computing and Analytical Methods Subcommittee United States IEEE PES Intelligent Systems Subcommittee United States IEEE PES Multi-Agent System Working Group United States Power Systems Technology and Strategic Initiatives ALSTOM Grid Redmond WA United States Electrical and Computer Engineering Department Drexel University United States Pacific Northwest National Laboratory's (PNNL's) Smart Grid R and D Program U.S. Department of Energy United States Transmission and Interconnection Planning Group Southern California Edison (SCE) Company United States WECC Modeling and Validation Working Group United States EPRI Power Delivery and Utilization Area United States Distribution and West Coast Operations Quanta Technology United States Distribution Operations SmartCurrentssm Program Strategy DTE Energy Detroit MI United States

ISBN: (纸本)9781457710018

The effort of "Smart Grid" is to modernize grid infrastructure and build-in intelligence to power grids and delivery systems, and their interfaces to customer premises. However, the perspectives range from an emphasis on infrastructure to an emphasis on new paradigm-shifting applications. Alternatively, the smart grid can be thought of as the advanced information technologies that enable the desired analytical applications. As a general understanding, we believe that Smart Grid needs to integrate power system analysis, computing and economics to enhance grid reliability, efficiency, and security, and contributes to the climate change strategic goal. In this Supersession, the analytics that empowers smart grid applications is discussed;and the practical implementation and integration challenges will be presented.

关键词： smart grid analytical applications system integration

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engineering for industrial robots in content based virtual space

Engineering for industrial robots in content based virtual s...

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Horváth, László Rudas, Imre J. Jezernik, Karel Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Budapest Hungary Institute of Robotics Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia

ISBN: (纸本)9781424468867

One of the main recent achievements in engineering is description of complex products and their physical environment in a single object model. This model has capabilities to serve engineering from the first specification of a product to recycling. New research programs were needed in order to establish a new style of engineering where engineers communicate model creation and application procedures. The authors joined to these efforts and developed new modeling methods for the above purpose. In this paper they introduce some of these methods considering needs by the complex and knowledge intensive engineering for robot systems. Paper starts with an outline of application of virtual spaces in robot system modeling. Following this, a content based contextual object definition is explained considering robotic application. Next, application of human control by contextual spaces for adaptive definition of engineering objects and the related control of product definition are shown. Finally, object space for robot system is outlined as application related issue of the proposed modeling. © 2010 IEEE.

关键词： Industrial robots

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Shared control for obstacle avoidance in intelligent wheelchairs

Shared control for obstacle avoidance in intelligent wheelch...

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2010 IEEE International Conference on robotics, Automation and Mechatronics, RAM 2010

作者： Petry, Marcelo R. Moreira, Antonio Paulo Braga, Rodrigo A. M. Reis, Luis Paulo Robotics and Intelligent Systems - INESCPorto Faculty of Engineering of the University of Porto - FEUP Porto Portugal Artificial Intelligence and Computer Science Laboratory Faculty of Engineering of the University of Porto - FEUP Porto Portugal

ISBN: (纸本)9781424465033

intelligent wheelchairs operating in dynamic environments need to sense its neighborhood and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, real-time obstacle avoidance extension of the classic potential field methodology. Our algorithm is specially adapted to share the wheelchair's control with the user avoiding risky situations. This method relies on the idea of virtual forces, generated by the user command (attractive force) and by the objects detected on each ultrasonic sensor (repulsive forces), acting on the wheelchair. The resultant wheelchair's behavior is obtained by the sum of the attractive force and all the repulsive forces at a given position. Experimental results from drive tests in a cluttered office environment provided statistical evidence that the proposed algorithm is effective to reduce the number of collisions and still improve the user's safety perception. ©2010 IEEE.

关键词： Wheelchairs

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Imitating personalized expressions in an avatar through machine learning

Imitating personalized expressions in an avatar through mach...

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作者： Puklavage, Cassondra Pirela, Alexander Gonzalez, Avelino J. Georgiopoulos, Michael Intelligent Systems Laboratory School of Electrical Engineering and Computer Science University of Central Florida Orlando FL 32816-2362 United States

ISBN: (纸本)9781577354475

This paper describes a method for automatically reproducing personalized facial expressions in a computergenerated avatar and a proof-of-concept test is implemented to evaluate the preliminary viability of the method. The method employed is a combination of an expression recognition system derived from the Facial Action Coding System, mapped by a Particle Swarm Optimization algorithm onto a computerized facial rig with 'musculature' based on the Facial Action Coding System. This approach is analyzed in depth, and an initial test of the algorithm is implemented and tested with promising initial results. Copyright © 2010, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Learning systems

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Effective structure learning for EDA via L1-regularized Bayesian networks 10

Effective structure learning for EDA via L1-regularized Baye...

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12th Annual Genetic and Evolutionary Computation Conference, GECCO-2010

作者： Yang, Jiadong Xu, Hua Cai, Yunpeng Jia, Peifa Key Laboratory on Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing 100084 China Department of Electrical and Computer Engineering University of Florida Gainesville FL 32608 United States

ISBN: (纸本)9781450300728

The Bayesian optimization algorithm (BOA) uses Bayesian networks to explore the dependencies between decision variables of an optimization problem in pursuit of both faster speed of convergence and better solution quality. In this paper, a novel method that learns the structure of Bayesian networks for BOA is proposed. The proposed method, called LIBOA, uses L1-regularized regression to find the candidate parents of each variable, which leads to a sparse but nearly optimized network structure. The proposed method improves the efficiency of the structure learning in BOA due to the reduction and automated control of network complexity introduced with L1-regularized learning. Experimental studies on different types of benchmark problems are carried out, which show that LIBOA outperforms the standard BOA when no a-priori knowledge about the problem structure is available, and nearly achieves the best performance of BOA that applies explicit complexity controls. Copyright 2010 ACM.

关键词： Bayesian networks

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A pure vision-based approach to topological SLAM

A pure vision-based approach to topological SLAM

引用

2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Wen Lik Dennis Lui Ray Jarvis Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Australia

This paper describes a topological SLAM system using a purely vision-based approach. This robot utilizes a GPU-based omnidirectional catadioptric stereovision system to perceive and plan its path in the environment. Subsequently, the omnidirectional images generated are used to incrementally build a database of image signatures based on the standard 2D Haar Wavelet decomposition. In order to maintain a globally consistent topological map, a relaxation algorithm, which requires local metric information between nodes, is employed each time the appearance-based localization system revisits an existing node in the topological map. The relative transformation of the current position of the robot with respect to the actual position of the matched node is recovered by using a least squares estimation of the transformation parameters of two 3D point patterns generated by the stereovision system. In addition, local metric information is obtained by using the proposed visual odometry system which combines distance measurements calculated by using optical flow techniques which estimates the movement of a web camera relative to the ground being observed and bearing estimates from the omnidirectional catadioptric vision system. Experiments were conducted in a variety of environments ranging from indoor to outdoor environments which demonstrate the feasibility of this approach.

关键词： Visualization Robot kinematics Three dimensional displays Databases Cameras Robustness

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