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

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Virtual reality in telerobotics: the state-of-the-art

Virtual reality in telerobotics: the state-of-the-art

引用

IEEE International Symposium on Industrial Electronics (ISIE)

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

This paper presents state-of-the-art issues concerning virtual reality (VR) as applied to robotics and control. After a short outline of the fundamental VR notions, the use of VR in robot (manipulator, mobile) telecontrol is discussed and some principal results are provided. Two representative examples are briefly described along with some concluding remarks.

关键词： Virtual reality Telerobotics Robot control Virtual environment Mobile robots Humans Geometry intelligent robots robotics and automation Laboratories

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State estimation of an autonomous helicopter using Kalman filtering

State estimation of an autonomous helicopter using Kalman fi...

引用

Proceedings 1999 IEEE/RSJ International Conference on intelligent Robots and systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Myungsoo Jun S.I. Roumeliotis G.S. Sukhatme Department of Electrical Engineering-Systems USA Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Presents a technique to accurately estimate the state of a robot helicopter using a combination of gyroscopes, accelerometers, inclinometers and GPS. Simulation results of state estimation of the helicopter are presented using Kalman filtering based on sensor modeling. The number of estimated states of helicopter is nine : three attitudes(/spl theta/,/spl phi/,/spl psi/) from the gyroscopes, three accelerations(x/spl ***/,y/spl ***/,z/spl ***/) and three positions (x, y, z) from the accelerometers. Two Kalman filters were used, one for the gyroscope data and the other for the accelerometer data. Our approach is unique because it explicitly avoids dynamic modeling of the system and allows for can elegant combination of sensor data available at different frequencies. We also describe the larger context in which this work is embedded, namely the design and implementation of an autonomous robot helicopter.

关键词： State estimation Helicopters Kalman filters Gyroscopes Accelerometers Filtering Robot sensing systems Global Positioning System Acceleration Sensor systems

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

引用

2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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Dynamic adaptive autonomy in agent-based systems

Dynamic adaptive autonomy in agent-based systems

引用

International Symposium on Autonomous Decentralized systems (ISADAS)

作者： K.S. Barber The Laboratory for Intelligent Processes and Systems Electrical and Computer Engineering University of Texas Austin Austin TX USA

Agent-based systems require flexibility to perform effectively in complex and dynamic environments. Previous research has identified numerous motivations for adaptability in agent-based systems: however, the extent of this adaptability can be expanded. This paper asserts that agents should be able to benefit from controlling the problem-solving frameworks (also called planning-interaction frameworks) under which they plan for their goals. Dynamic Adaptive Autonomy (DAA) allows agents to control their planning-interaction styles, called autonomy levels, along a defined spectrum (from command-driven to consensus to locally autonomous/master). This allows agents to dynamically form, modify, or dissolve goal-oriented problem-solving groups. This paper presents motivation for DAA arguing that the best type of problem-solving framework for a group of agents depends not only on the problem domain and the pre-defined characteristics of the system, but also on run-time factors that can change during system operation. Thus, it is possible for agents to benefit from the capability to dynamically adapt their problem solving framework to their situation.

关键词： Artificial intelligence Laboratories intelligent systems intelligent agent Programmable control Adaptive control Runtime

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Pattern classification by an incremental learning fuzzy neural network

Pattern classification by an incremental learning fuzzy neur...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： O. Yen P. Meesad Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

A new learning algorithm suitable for pattern classification in machine condition health monitoring based on fuzzy neural networks called an "incremental learning fuzzy neuron network" (ILFN) has been developed. The ILFN, using Gaussian neurons to represent the distributions of the input space, is an online one-pass incremental learning algorithm. The network is a self-organized classifier with the ability to adaptively learn new information without forgetting old knowledge. To prove the concept the simulations have been performed with the vibration data known as Westland vibration data set. Furthermore, the classification performance of the network has been tested on other benchmark data sets, such as Fisher's iris data (1936) and a vowel data set. For the generalization capability, comparison studies among other well-known classifiers were performed and the ILFN was found competitive with or even superior to many existing classifiers. Additionally the ILFN uses far less training time than conventional classifiers.

关键词： Pattern classification Fuzzy neural networks Neural networks Condition monitoring Machine learning Vibrations Fuzzy sets computer networks Neurons Fuzzy set theory

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Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots

Recent algorithms for fuzzy and neurofuzzy path planning and...

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European Control Conference (ECC)

作者： Costas S. Tzafestas Spyros G. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zografou 157 73 Athens Greece

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions.

关键词： Navigation Collision avoidance Robot kinematics Mobile robots Path planning Neurons

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Visualization of radial basis function networks

Visualization of radial basis function networks

引用

International Joint Conference on Neural Networks (IJCNN)

作者： A. Agogino J. Ghosh C. Martin Laboratory for Artificial Neural Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA Laboratory for Intelligent Processes and Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

Presents a method for the 3D visualization of the structure of radial basis function networks. This method allows the visualization of basis function characteristics (centers and widths) along with second level weights. Network properties can be displayed simultaneously with the training data or test data in the same input space. Principal component analysis is used to transform the input data so that its most salient dimensions can be visualized. This method also allows changes made while graphically editing the network structure, in transformed space, to be projected back into the original input space.

关键词： Radial basis function networks Data visualization Neural networks Network topology Laboratories Training data Bonding intelligent systems Artificial intelligence intelligent structures

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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Fuzzy classifier system for edge detection

Fuzzy classifier system for edge detection

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Chi-Sun Joung Hoon Kang Kwee-Bo Sim Robotics and Intelligent Information System Laboratory School of Electrical and Electronics Engineering Chung-Ang University Seoul South Korea Fuzzy Systems and Neural Networks Laboratory School of Electrical and Electronics Engineering Chung-Ang University Seoul South Korea

We propose a fuzzy classifier system (FCS) to find a set of fuzzy rules which can carry out the edge detection. The classifier system of Holland (1985) can evaluate the usefulness of rules represented by classifiers with repeated learning. The FCS makes the classifier system be able to carry out the mapping from continuous inputs to outputs. It is the FCS that applies the method of machine learning to the concept of fuzzy logic. The antecedent and consequent of a classifier is same as a fuzzy rule. In the paper, the FCS is the Michigan style. A single fuzzy if-then rule is coded as an individual. The average gray levels which each group of neighbor pixels has are represented in a fuzzy set. Then it is decided whether a pixel is an edge pixel or not by using fuzzy if-then rules. Depending on the average of the gray levels, a number of fuzzy rules can be activated, and each rule makes the output. These outputs are aggregated and defuzzified to take a new gray value of the pixel. To evaluate this edge detection, we compare the new gray level of a pixel with the gray level obtained by other edge detection methods such as Sobel edge detection. This comparison provides a reinforcement signal for the FCS which is reinforcement learning. Also the FCS employs genetic algorithms to make new rules and modify rules when performance of the system needs to be improved.

关键词： Fuzzy systems Image edge detection Fuzzy sets Input variables intelligent robots Laboratories Fuzzy neural networks Learning Genetic algorithms Fuzzy control

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Team scheduling by genetic search

Team scheduling by genetic search

引用

Proceedings of the International Conference on intelligent Processing and Manufacturing of Materials, IPMM

作者： Tiehua Zhang W.A. Gruver M.H. Smith Intelligent Robotics and Manufacturing System Laboratory Simon Fraser University Burnaby BC Canada Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

We consider a photographic studio that must schedule multiple teams of photographers to a large number of elementary and secondary schools. The photographers' schedules are to be optimized so that time constraints are satisfied and each team is able to at least visit two schools daily. A multiple travelling salesman model is used where the total distance traveled and time consumed can be evaluated in a single cost function to achieve overall optimality. A genetic algorithm has been applied to solve the problem. The results show that this approach rapidly provides an effective means for solving the problem.

关键词： Genetics Job shop scheduling Educational institutions Processor scheduling intelligent robots Packaging Manufacturing systems Laboratories USA Councils Cost function

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