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2006 Australasian Conference on robotics and Automation, ACRA 2006

作者： Chong, Leon Jarvis, Raymond Intelligent Robotics Research Department of Electrical and Computer Systems Engineering Monash University Clayton Australia

ISBN: (纸本)9780958758383

This paper explores the use of Dynamic Bayesian Networks as a decision process to aid a mobile robot in planning its surveillance route. The primary concern of mobile surveillance robots is to determine the optimal route that will reduce the risk of not observing a relevant surveillance event. To aid the robot's decision process, a popular approach is to model the environment with prior probabilities of observing relevant events and utility values to represent the penalty costs of relevant events that remain undetected. By exploiting the general layout of indoor office buildings, a Dynamic Bayesian Network is applied to model the decision planning task as a Bayesian estimation problem. Combined with the prior and utility value, the expected cost for each segment of the building is obtained from the Bayesian estimate to aid in planning an optimal route for the mobile robot.

关键词： Mobile 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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A Panoramic color vision system for following ill-structured roads

A Panoramic color vision system for following ill-structured...

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2006 Australasian Conference on robotics and Automation, ACRA 2006

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)9780958758383

The ability to follow ill-structured roads, such as footpaths, dirt tracks and corridors is important for mobile robot navigation. This paper presents a panoramic colour vision based road following system for ill-structured roads. Roads are modeled with rapidly adapting 3D colour histograms and a simple yet generic geometric model. The computational complexity of the geometric model fitting stage has been significantly reduced compared to other works. A Kalman filter is used to smooth out any measurement noise. Results from experiments in tracking a footpath demonstrate the robustness of the system.

关键词： Color vision

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Who moved?! An investigation into distribution of actions and behaviors in a multi agent system

Who moved?! An investigation into distribution of actions an...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Daneshvar, Roozbeh Lucas, Caro Artificial Intelligence and Robotics Lab. Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering University of Tehran and School of Intelligent Systems Tehran Iran

ISBN: (纸本)0780397134

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group. © 2006 IEEE.

关键词： Multi agent systems

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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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Cancellation predictive control for three-phase PWM rectifiers under harmonic and unbalanced input conditions

Cancellation predictive control for three-phase PWM rectifie...

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Xiao, Peng Corzine, Keith A. Venayagamoorthy, Ganesh K. Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri-Rolla MO 65409 United States

ISBN: (纸本)1424401364

This paper presents an intuitive and simple-to-implement control scheme to improve the performance of three-phase boost-type PWM rectifiers under harmonic and unbalanced input conditions. Unlike most other control strategies, the proposed method does not need to extract either the harmonic or the negative-sequence components in the supply voltages and currents. A near-synchronous reference frame is used to determine the positive-sequence fundamental-frequency component in the input voltages. Utilizing only the extracted component, the dc-link voltage control and power factor control are implemented independently to determine the phase angle and magnitude of the PWM reference voltage. The commanded rectifier voltage adjustments are superimposed upon the grid voltages in such a way that the distortions (both harmonic and negative sequence components) are effectively cancelled. By employing a near-synchronous reference frame, no line-synchronization algorithm or hardware PLL is needed, so very little computational effort is required for its implementation. Simulation results show that the proposed method performs very well under extreme harmonic and unbalanced conditions such as when one or even two phases of the grid voltages are zero. In order to further verify its effectiveness, a laboratory hardware platform has been developed. © 2006 IEEE.

关键词： Pulse width modulation

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Detecting incorrect intentions of trainees by context deviations

Detecting incorrect intentions of trainees by context deviat...

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15th Conference on Behavior Representation in Modeling and Simulation 2006

作者： Fernlund, Hans Gonzalez, Avelino J. Ekblad, Joakim Intelligent Systems Laboratory School of Electrical Engineering and Computer Science University of Central Florida Orlando FL 32816-2450 United States

ISBN: (纸本)9781604238969

Conducting After Action Reviews that provides feedback to the majority of the participants in large exercises, with trainees that may reside in different locations can be very complicated. This process requires extensive time and resources, and the review might be limited to the few most important tactical decisions made. However, the evaluation of an exercise is highly important to improve performance of the trainees. This paper presents the latest results in research to automate the After Action Review. Here we present how the intent of a trainee might deviate from the desirable intent and be detected in any training scenario. The technique is to use an expert modeling paradigm based on contexts together with a deviation detection mechanism that can infer the context of the trainee in order to detect discrepancies between him and the expert model. Furthermore, the model is automatically created by observing real human performance. Preliminary results of this approach are described.

关键词： Behavioral research

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A novel seven-level shunt active filter for high-power drive systems

A novel seven-level shunt active filter for high-power drive...

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

ISBN: (纸本)1424401364

In high-power adjustable speed motor drives, such as those used in electric ship propulsion systems, active filters provide a viable solution to mitigating harmonic related issues caused by diode or thyristor rectifier front-ends. To handle the large compensation currents and provide better thermal management, two or more paralleled semiconductor switching devices are often used. In this paper, a novel topology is proposed where two active filter inverters are connected with tapped reactors to share the compensation currents. The proposed active filter topology can also produce seven voltage levels, which significantly reduces the switching current ripple and the size of ripple filters. Based on the joint redundant state selection strategy, a current-balancing algorithm is proposed to keep the reactor magnetizing current to a minimum. It is shown through simulation that the proposed active filter can achieve high overall system performance. The system is also implemented on a real-time digital simulator to further verify its effectiveness. © 2006 IEEE.

关键词： Bandpass filters

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Software engineering tools for designing and comprehending agent systems

Software engineering tools for designing and comprehending a...

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作者： Lam, D.N. Ahn, J. Barber, K.S. Laboratory for Intelligent Processes and Systems Electrical and Computer Engineering University of Texas at Austin AustinTX78712 United States

Software agents have become a useful paradigm for developing intelligent, distributed software architectures in which proactive software entities collaborate with each other to achieve goals. Given the sophistication and variety of agent functionalities and Multi-Agent System implementations, agent-oriented software engineering (AOSE) tools are needed to aid the user in designing, implementing, debugging and maintaining these systems of agents. Software comprehension, which is essential for maintaining software systems, has been a manual process, involving the interpretation of agent behavior in the implemented system. This paper presents the Designer's Agent Creation and Analysis Toolkit (DACAT) for the architectural design phase of the software engineering lifecycle, and describes the Tracer tool to automate interpretations and explanations of the implementation, thus helping users comprehend implemented agent behaviors. By explicitly modeling the user's comprehension of the implemented system as background knowledge for Tracer, feedback can be provided as to whether the user's comprehension accurately represents the implementation's behavior. The contributions of this research are two AOSE tools-DACAT offers design tools that provide visualization and automated evaluation of the agent architecture, and the Tracer tool offers automation of the manual tasks, such as verifying that agents are behaving as expected, identifying unexpected behavior, and generating explanations. © 2006-IOS Press and the authors. All rights reserved.

关键词： Multi agent systems

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A study of particle swarm optimization in gene regulatory networks inference

A study of particle swarm optimization in gene regulatory ne...

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Xu, Rui Venayagamoorthy, Ganesh Wunsch II, Donald C. Applied Computational Intelligence Laboratory 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

ISBN: (纸本)3540344829

Gene regulatory inference from time series gene expression data, generated from DNA microarray, has become increasingly important in investigating genes functions and unveiling fundamental cellular processes. Computational methods in machine learning and neural networks play an active role in analyzing the obtained data. Here, we investigate the performance of particle swarm optimization (PSO) on the reconstruction of gene networks, which is modeled with recurrent neural networks (RNN). The experimental results on a synthetic data set are presented to show the parameter effects of PSO on RNN training and the effectiveness of the proposed method in revealing the gene relations. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Genetic engineering

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