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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： M. Masavi P. Natarajan S. Binello J. McNeely Intelligent Syst. Lab. Maine Univ. Orono ME USA Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Maine Orono ME USA

A fuzzy rule based approach for extracting ridge lines from digital terrain elevation data (DTED) and digital elevation model (DEM) is presented. The algorithm consists of three major steps: Fuzzy rule based classification of the elevation data, ridge pixel detection from the pixel class under consideration, and filtration of unwanted pixels. The algorithm was tested on different DTED level 1 files and digital elevation model (DEM) and works well for both.

关键词： Data mining Level measurement Terrain mapping Polynomials Testing Face detection Image segmentation intelligent systems Filtration Digital elevation models

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Smoother based 3D attitude estimation for mobile robot localization

Smoother based 3D attitude estimation for mobile robot local...

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IEEE International Conference on robotics and Automation (ICRA)

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

The mobile robot localization problem is decomposed into two stages; attitude estimation followed by position estimation. The innovation of our method is the use of a smoother, in the attitude estimation loop that outperforms other Kalman filter based techniques in estimate accuracy. The smoother exploits the special nature of the data fused; high frequency inertial sensor (gyroscope) data and low frequency absolute orientation data (from a compass or sun sensor). Two Kalman filters form the smoother. During each time interval one of them propagates the attitude estimate forward in time until it is updated by an absolute orientation sensor. At this time, the second filter propagates the recently renewed estimate back in time. The smoother optimally exploits the limited observability of the system by combining the outcome of the two filters. The system model uses gyro modeling which relies on integrating the kinematic equations to propagate the attitude estimates and obviates the need for complex dynamic modeling. The indirect (error state) form of the Kalman filter is developed for both parts of the smoother. The proposed approach is independent of the robot structure and the morphology of the ground. It can easily be transferred to another robot which has an equivalent set of sensors. Quaternions are used for the 3D attitude representation mainly for practical reasons discussed in the paper. Proposed innovative algorithm is tested in simulation and the overall improvement in position estimation is demonstrated.

关键词： Mobile robots Frequency Sensor fusion Filters Robot sensing systems Technological innovation Gyroscopes Sun Observability Kinematics

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A study of database system with KANSEI information

A study of database system with KANSEI information

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IEEE International Conference on systems, Man and Cybernetics

作者： K. Yoshida T. Kato T. Yanaru Department of Computer Science & Electronics Kyushu Institute of Technology Fukuoka Japan Intelligent Systems Division Electro Technical Laboratory Tsukuba Ibaraki Japan Department of Industrial and Systems Engineering Chuo University Bunkyo Tokyo Japan Department of Electrical Engineering Kyushu Institute of Technology Fukuoka Japan

These days, the development of computer devices leads to computer user explosion. On the other hand, conventional technology cannot handle user diversity, because the computer cannot treat each user's subjectivity. It is important to materialize techniques which can answer the user's subjective requests flexibly for the coming new media epoch. The article focuses on studying how subjective impressions are grounded in physical perceptions, especially in visual perception. We propose a model for subjectivity and physical perceptions, and give an example in an image database system.

关键词： Database systems Humans Space technology Multimedia databases Cities and towns Visual perception Image databases Information retrieval Multimedia systems Psychology

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Towards variable-time-delays-robust telemanipulation through master state prediction

Towards variable-time-delays-robust telemanipulation through...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： P.A. Prekopiou S.G. Tzafestas W.S. Harwin Dept. of Electr. & Comput. Eng. Nat. Tech. Univ. of Athens Greece Intelligent Robotics & Automation Laboratory Department of Electrical & Computer Engineering National and Technical University of Athens Zografou Greece The Human-Robot Interface Laboratory Department of Cybernetics University of Reading Reading UK

This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it.

关键词： Humans Predictive models Master-slave Delay effects intelligent robots robotics and automation Communication channels Displays Computational modeling computer simulation

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A new solution methodology for fuzzy relation equations 11th

A new solution methodology for fuzzy relation equations

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11th International Conference on Industrial and engineering Applications of Artificial Intelligence and Expert systems, IEA/AIE 1998

作者： Tzafestas, Spyros G. Stamou, Giorgos B. Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou Athens15773 Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Greece

ISBN: (纸本)3540645829

In this paper a general methodology for studying and solving fuzzy relation equations based on sup-t composition, where t is any continuous triangular norm, is proposed. To this end the concept of the "solution matrices" is introduced, as a way of representing the process information required for the resolution. Using this concept, the solution existence of a fuzzy relation equation is first examined. When the relation equation has no solution, the reasons for this lack of solvability are found. Otherwise, the solution set is determined. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Fuzzy systems

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The classification and specification of a domain independent agent architecture 11th

The classification and specification of a domain independent...

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11th International Conference on Industrial and engineering Applications of Artificial Intelligence and Expert systems, IEA/AIE 1998

作者： Goel, A. Barber, K.S. The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering ENS 240 The University of Texas at Austin AustinTX78712-1084 United States

ISBN: (纸本)3540645829

The use of multi-agent systems to model and control complex domains is increasing. The application of multi-agent systems to distributed real-world domains motivates the development of domain independent agent architectures to foster the re-use of existing research. A domain independent agent architecture is defined as a set of representations, reasoning mechanisms and algorithms that can be used to define the behavior of an agent. Ideally, a classification method for agent architectures should ease the process of requirements matching between domains and architectures by allowing system designers to understand the relationship between domains and architectures. This paper presents the need for a classification schema and proposes a starting point for future discussion. The Sensible Agent architecture is then introduced within the classification schema. Sensible Agents perceive, process, and respond based on an understanding of both local and system goals. The core capabilities and internal architecture of a Sensible Agent is given as an example of how accurate specifications can help foster the re-use of research. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Multi agent systems

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Progress on the deictically controlled wheelchair

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Lecture Notes in computer Science

作者： Crisman, Jill D. Cleary, Michael E. Robotics and Vision Systems Laboratory Dept. of Electrical and Computer Engineering Northeastern University Boston MA 02115 United States College of Computer Science Northeastern University Boston MA 02115 United States

ISBN: (纸本)9783540647904

We aim to develop a robot which can be commanded simply and accurately, especially by users with reduced mobility. Our shared control approach divides task responsibilities between the user (high level) and the robot (low level). A video interface shared between the user and robot enables the use of a deictic interface. The paper describes our progress toward this goal in several areas. A complete command set has been developed which uses minimal environmental features. Our video tracking algorithms have proven robust on the types of targets used by the commands. Specialized hardware and new tactile and acoustic sensors have been developed. These and other advances are discussed, as well as planned work. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Robots

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MULTI-AGENT ROBOT ARCHITECTURES: THE DECOMPOSITION ISSUE AND A CASE STUDY

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International Journal on Artificial Intelligence Tools 1998年第2期7卷 163-187页

作者： ELPIDA S. TZAFESTAS SPYROS N. RAPTIS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zographou 15773 Greece

In this paper, some fundamental issues of modern multi-agent robot architectures are discussed. It is argued that the multi-agent approach provides the necessary flexibility and adaptivity for such architectures, and that the primary issue in designing a multi-agent robot architecture is the selection of the granularity level, i.e., the decision on decomposing the overall desired functionality physically or across tasks. It is explained why at the various system levels different decomposition grains are needed; physical components, tasks or hybrid. This granularity decision is made on the basis of specific criteria of control localization, knowledge decoupling and interaction minimization so as to identify the decision points of the overall functionality. The above criteria lead to a dual composition-decomposition relation, which provides a good basis for system scaling. The paper specializes the discussion to a proposed neuro-fuzzy multi-agent architecture, which is then applied to design the local path planning system of an indoor mobile robot.

关键词： Multi-agent robot systems distributed artificial intelligence robotic modeling decomposition neuro-fuzzy systems fuzzy agents neural agents robot path planning

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Decentralized Predictive Control of Large Scale systems Using Neuro-Fuzzy Identifiers for their Interconnections

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IFAC Proceedings Volumes 1998年第12期31卷 35-40页

作者： Spyros Tzafestas Efthimios Kyriannakis George Apostolikas Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou 15773 Athens Greece.

This paper proposes an approach for the design of discrete-time decentralized control systems covering not only the case of m-step delay sharing information pattern, but also any general nonclassical information pattern where the non-local information is not spread among the subsystems. It employs the model-based predictive control (MBPC) scheme combined with fuzzy prediction for the interconnections among the subsystems. A state space model is used at each control station to predict the corresponding subsystem output over a long-range time period. The interaction trajectories are considered to be non-linear functions of the states of the subsystems. In all cases, the interconnections and the necessary predictions for them are estimated by an appropriate neuro-fuzzy identifier trained on-line using the back-propagation training algorithm. Representative computer simulation results are provided and compared for nontrivial example systems.

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A Fuzzy Adaptive - Predictive Scheme for the Decentralized Control of a Class of Interconnected systems

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IFAC Proceedings Volumes 1998年第20期31卷 1097-1102页

This paper proposes an approach for the design of discrete-time decentralized control systems with m-step delay sharing information pattern, employing the modelbased predictive control (MBPC) scheme combined with fuzzy prediction for the interconnections among the subsystems. A state-space model is used at each control station to predict the corresponding subsystem output over a long-range time period. The interaction trajectories are considered to be non-linear functions of the states of the subsystems. For all cases the interconnections and the necessary predictions for them are estimated by an appropriate adaptive fuzzy identifier based on the generation of linguistic IF-THEN rules and the on-line construction of a common fuzzy rule base. Representative computer simulation results are provided and compared for nontrivial example systems.

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