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

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Robust appearance based visual route following in large scale outdoor environments

Robust appearance based visual route following in large scal...

引用

2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Zhang, Alan M. Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9780958758390

Route following is defined as the ability to repeat the same route after having traversed it once under the control of a human operator. This paper presents a fast and robust appearance based route following algorithm that utilises only monocular panoramic vision and odometry in large scale outdoor environments. Extensive experimental results have shown robustness against lighting variations and occlusion not yet demonstrated in the literature. The cumulative distance traveled by the robot in these experiments exceeds 20km and the longest repeated route is 732 meters.

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Registration of a known CAD model into the workspace frame of a robot 9

Registration of a known CAD model into the workspace frame o...

引用

2007 9th European Control Conference, ECC 2007

作者： Aristos, Dimitris Tzafestas, Spyros Intelligent Robotics and Automation Laboratory School of Electrical and Computer Engineering National Technical University of Athens Zographou Athens15773 Greece

ISBN: (纸本)9783952417386

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. 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 base coordinate frame. In order to achieve this goal several techniques from the fields of image processing, pattern analysis and robot kinematics should be combined. This paper provides a convenient combination of such methods that can be used successfully for the real-time registration of the rigid object CAD data to the robot's base frame. © 2007 EUCA.

关键词： Calibration

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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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Multimodal human-robot interaction in an assistive technology context

Multimodal human-robot interaction in an assistive technolog...

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Harte, Elizabeth Jarvis, Professor Raymond Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia ARC Centre for Perceptive and Intelligent Machines in Complex Environments Australia

ISBN: (纸本)9780958758390

In this paper, we present a prototype robotic system that captures, processes and fuses speech, vision and laser-depth data to more accurately interpret and perform simple tasks in a domestic environment. We can never assume that any one of these inputs are completely accurate, but by using a combination, a more accurate interpretation could be found. For each speech, gesture recognition and object recognition input, an associated probability of correctness is calculated. Using these probabilities, a predefined associative map between specific words and gestures, and contextual information, we update the associated probability until some threshold has been reached. This contextual information includes the history of recently uttered phrases, as well as the information about known objects in the environment. Once an interpretation, complete or otherwise, is found, a response is formulated. This system has been developed using a Mitsubishi Heavy Industries robot, Wakamaru, as a platform.

关键词： Probability

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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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Optimum feature and extraction for fault diagnosis and prognosis

Optimum feature and extraction for fault diagnosis and progn...

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Artificial Intelligence for Prognostics - Papers from the AAAI Fall Symposium

作者： Saxena, Abhinav Vachtsevanos, George Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 0250 United States School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States

ISBN: (纸本)9781577353478

Fault diagnosis and failure prognosis of critical dynamic systems, such as aircraft and industrial processes, rely on degradation or fatigue models and measurements typically acquired on-line in real-time. Such sensor data must be pre-processed in order to remove artifacts and improve the signal-to-noise ratio. Furthermore, they must be processed appropriately so that useful information in compact form can be extracted and used to detect incipient failures and predict the remaining useful life of failing components. We present a methodology to select an optimum feature vector from a list of candidate features, prioritize and rank them to meet set performance objectives. The enabling technologies include genetic programming tools, data fusion and model-based approaches for feature selection and extraction. We will suggest a multi-core processing environment for the efficient and expedient implementation of these technologies. Performance metrics are defined to assess the efficacy of the methodology. Typical examples from aircraft systems are used to demonstrate the proposed techniques.

关键词： Failure analysis

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Autonomous SoC for fuzzy robot path tracking

Autonomous SoC for fuzzy robot path tracking

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European Control Conference (ECC)

作者： Kyriakos M. Deliparaschos George P. Moustris Spyros G. Tzafestas School of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Athens GR

In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mobile robots is presented. The SoC consists of a digital fuzzy logic processor and a flow control program that runs under the Xilinx Microblaze™ soft processor core. The fuzzy processor implements a fuzzy path tracking algorithm introduced by the authors. The system was tied to an actual P3-DX8 robot and field experiments have been performed in order to assess the overall performance. Quantization problems and limitations imposed by the system configuration are also discussed.

关键词： System-on-chip Robot kinematics Field programmable gate arrays Fuzzy logic IP networks MATLAB

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Optimal control of class of non-linear plants using artificial immune systems: Application of the clonal selection algorithm

Optimal control of class of non-linear plants using artifici...

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2007 IEEE 22nd International Symposium on intelligent Control, ISIC 2007

作者： Panimadai Ramaswamy, S.A. Venayagamoorthy, G.K. Balakrishnan, S.N. IEEE Department of Electrical and Computer Engineering University of Missouri Rolla MO 65409 United States Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO 65409 United States Department of Mechanical Aerospace and Engineering Mechanics University of Missouri Rolla MO 65409 United States

ISBN: (纸本)142440441X

The function of natural immune system is to protect the living organisms against invaders/pathogens. Artificial Immune System (AIS) is a computational intelligence paradigm inspired by the natural immune system. Diverse engineering problems have been solved in the recent past using AIS. Clonal selection is one of the few algorithms that belong to the family of AIS techniques. Clonal selection algorithm is the computational implementation of the clonal selection principle. The process of affinity maturation of the immune system is explicitly incorporated in this algorithm. This paper presents the application of AIS for the optimal control of a class of non-linear plants which are affine in control. The clonal selection algorithm is adapted for optimal control. A new mutation operator that operates on real values and one that aids in fast convergence is developed in this paper. AIS is used to obtain constant coefficient Kalman gain matrices. The validation and evaluation of the results thus obtained are carried out by comparing with standard and the widely used State Dependent Algebraic Riccati Equation (SDARE) method for the non-linear plants. In case of non-linear systems with hard state constraints, the SDARE formulation requires the use of mathematically involved expressions to incorporate these state constraints. However, the modified clonal selection algorithm developed in this paper has been used with hardly any changes to incorporate the hard state constraints and obtain the Kalman gain matrix. © 2007 IEEE.

关键词： Artificial intelligence

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Implementing and Improving a method for non-invasive elicitation of probabilities for bayesian networks 07

Implementing and Improving a method for non-invasive elicita...

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International Conference on computer systems and Technologies and Workshop for PhD Students in Computing, CompSysTech '07

作者： De Jongh, Martinus Druzdzel, Marek Rothkrantz, Leon Faculty of Electrical Engineering Mathematics and Computer Science Man-Machine Interaction Group Delft University of Technology Delft Netherlands Decision Systems Laboratory School of Information Sciences and Intelligent Systems Program University of Pittsburgh Pittsburgh PA United States

ISBN: (纸本)9789549641509

Knowledge elicitation is difficult for expert systems that are based on probability theory. The elicitation of probabilities for a probabilistic model requires a lot of time and interaction between the knowledge engineer and the expert. Druzdzel and van der Gaag [5] have proposed a theoretical framework that would allow the use of multiple types of probabilistic information for elicitation of Bayesian networks. This framework has been used as a starting point for the implementation of a non-invasive elication method. © 2007 ACM.

关键词： Linear programming

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Fuzzy Arithmetic-based Stability Analysis and Design of Fuzzy Controller

Fuzzy Arithmetic-based Stability Analysis and Design of Fuzz...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis Control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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