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1997 IEEE International Conference on Neural Networks (ICNN 97)

作者： Fern, A Musavi, MT Miranda, J Intelligent Systems Laboratory Dept. of Electrical and Computer Engineering University of Maine Orono ME 04469 United States

ISBN: (纸本)0780341236

This paper describes a local network approach for the automatic extraction of drainage networks from Digital Terrain Elevation Data (DTED). The extraction of drainage networks from topological data is one of the more important uses of such information. An extracted network may be used in many applications, such as determining drainage network metrics or selecting control points for image registration and mapping applications. In this research, a network of local processing units has been designed and applied to the automatic extraction of drainage networks. The results show that the network described is a promising tool for the extraction of drainage networks from DTED.

关键词： Extraction

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Pulp digester level prediction using multiresolution networks of locally active units

Pulp digester level prediction using multiresolution network...

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1997 IEEE International Conference on Neural Networks (ICNN 97)

作者： Fern, A Miranda, J Musavi, MT Coughlin, DR Intelligent Systems Laboratory Dept. of Electrical and Computer Engineering University of Maine Orono ME 04469 United States

ISBN: (纸本)0780341236

Complex processes such as those found in some manufacturing plants have many dynamically related variables which interact to produce a system response. The goal of system identification is to construct a model of a complex process, based on observations, in order to predict future system responses and help improve its control, In this research, neural networks constructed with multiresolution locally active units are used to model the content level of a paper plant pulp digester. This problem represents a real world multidimensional dynamic system for which a predictive model does not yet exist. Two local networks are considered which use radial basis functions (RBF) and utilize the concept of multiresolution analysis (MRA). The networks differ in the way each generates an MRA candidate node set, from which the most important nodes are selected for the approximation wing a fast orthogonal search (FOS) algorithm. The MRA networks are compared to each other and are also shown to produce approximations using fewer nodes than those obtained using a standard RBF architecture. This report demonstrates that locally active MRA networks produce promising results for the system identification task of digester level prediction.

关键词： Neural networks

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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Conference on Sensor Fusion and Decentralized Control in Autonomous Robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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A supply chain configuration tool

A supply chain configuration tool

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ASME 1997 Design engineering Technical Conferences, DETC 1997

作者： Graser, Thomas J. McGiverin, Brian J. Barber, K. Suzanne The Laboratory for Intelligent Processes and Systems Department of Electrical and Computer Engineering University of Texas at Austin AustinTX78712 United States

ISBN: (纸本)9780791880470

The manufacturing of complex products often involves the assembly of other products, or sub-assemblies. Furthermore, these sub-assemblies may be manufactured by different suppliers. As a result, the specification of the assembly process for the final product contains relationships between multiple supply chain components, including business entities, manufacturing processes, products, and parts. This specification, involving the coordination and arrangement of supply chain components to support final product assembly, is referred to as a supply chain configuration. A supply chain configuration tool is used to recognize and modify the relationships between these components. Users of this tool may be engineers, purchasing agents, program managers, or other personnel concerned with the configuration's dependencies. The focus of this paper is on the development of such a tool and its use from the perspective of a purchasing agent. © 1997 by ASME.

关键词： Supply chains

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GMA Welding Process Regulation via Hierarchical GPC with Assured Stability

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IFAC Proceedings Volumes 1997年第3期30卷 221-226页

作者： S.G. Tzafestas E.J. Kyriannakis Intelligent Robotics and Automation Laboratory National Technical University of Athens Department of Electrical and Computer Engineering 15773 Zografou Campus Athens Greece

This paper deals with the regulation of the thermal characteristics of Gas Metal Arc (GMA) welding. A previously developed model is used for the open loop predictions. At the first level of the hierarchy, a parameterized Generalized Predictive Control (GPC) algorithm is selected among other control techniques, due to its robustness against modeling errors and parameter variations. A coordinator, at the second level of the hierarchy, specifies a set of reliable values for the parameters of GPC, so that stability is assured. A representative set of simulation results is included, along an evaluation of the advantages and limitations of the proposed hierarchical GPC technique.

关键词： Predictive control Hierarchical structures Regulation Stabilization Arc welding

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Sonar based map building for a mobile robot

Sonar based map building for a mobile robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kok Seng Chong L. Kleeman Intelligent Robotics Research Centre (IRRC) Department of Electrical and Computer Systems Engineering Monash University VIC Australia

This paper describes a mobile robot equipped with a sonar sensor array, Werrimbi, in a guided feature based map building task in an indoor environment. Common indoor landmarks such as planes, corners and edges are located and classified with a multiple transducer sensor array. Accurate odometry information is derived from a pair of narrow unloaded encoder wheels. Discrete sonar observations are incrementally merged into partial planes to produce a realistic representation of environment. Collinearity constraints among features are exploited to enhance state estimation. The map update utilises Julier-Uhlmann Kalman filter which improves the accuracy of covariance propagation through nonlinear equations and eliminates the need to derive Jacobian matrices. Correlation among map features and robot location are explicitly represented. Partial planes are also used to eliminate phantom targets caused by sonar specular reflection.

关键词： Sonar Mobile robots Sensor arrays Sensor phenomena and characterization Indoor environments Transducers Wheels State estimation Nonlinear equations Jacobian matrices

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Indoor exploration using a sonar sensor array: a dual representation strategy

Indoor exploration using a sonar sensor array: a dual repres...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： K.S. Chong L. Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper presents an environmental acquisition strategy for a mobile robot using an advanced sonar sensor to achieve mapping navigation in an a priori unknown, imperfectly structured indoor environment. Most existing feature based strategies rely on unrealistic assumptions about the environment, while their grid based counterparts hinder localisation which leads to rapid degradation of map quality. A dual representation strategy is proposed here which exploits the strength of both a feature map and a grid map. With the advantage sensor, the environment is scanned and the obtained features are classified into planes, corners, edges and unknowns. The feature map is only updated with the first three types of features. The grid map is updated with all measurement, including the unknowns resulting from complicated objects, to enable obstacle avoidance. On the grid map, distance transform based exploratory path planning is implemented. Adaptation has been made so that an explore-local-first behaviour is exhibited.

关键词： Sensor arrays Path planning intelligent sensors intelligent robots Mobile robots Robot sensing systems Sonar navigation Degradation Space exploration intelligent structures

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Robust telemanipulator control using a partitioned neural network architecture

Robust telemanipulator control using a partitioned neural ne...

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1997 IEEE International Conference on Neural Networks (ICNN 97)

作者： Tzafestas, SG Prokopiou, PA Tzafestas, CS Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical Unhersity of Athens Zografou 15773 Athens Greece Laboratoire de Robotique de Paris CNRS UPMC-UVSQ 78140 Velizy 10-12 AV. de 1' Europe France

ISBN: (纸本)0780341236

In this paper the control problem of telemanipulators is considered under the condition that they are subject to modeling and other uncertainties of considerable levels. The design is based on the S. Lee and H. S. Lee teleoperator control scheme, which is modified so as to be able to compensate the uncertainties, and is implemented using a partitioned multilayer perceptron neural network. Several subnetworks are used each one identifying a term of the manipulator's dynamic model. A new learning algorithm is proposed which distributes the learning error to each subnetwork and enables online training Several simulation results are provided which show the robustness ability by the partitioned neurocontroller, and compare it with the results obtained through sliding mode control.

关键词： Sliding mode control

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Accurate odometry and error modelling for a mobile robot

Accurate odometry and error modelling for a mobile robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kok Seng Chong L. Kleeman Intelligent Robotics Research Centre (IRRC) Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper presents the key steps involved in the design, calibration and error modelling of a low cost odometry system capable of achieving high accuracy dead-reckoning. A consistent error model for estimating position and orientation errors has been developed. Previous work on propagating odometry error covariance relies on incrementally updating the covariance matrix in small time steps. The approach taken here sums the noise theoretically over the entire path length to produce simple closed form expressions, allowing efficient covariance matrix updating after the completion of path segments. Systematic errors due to wheel radius and wheel base measurement were first calibrated with UMBmark test. Experimental results show that, despite its low cost, our system's performance, with regard to dead-reckoning accuracy, is comparable to some of the best reported odometry vehicle.

关键词： Mobile robots Wheels Robot kinematics Covariance matrix Rotation measurement computer errors Motion measurement intelligent robots Calibration Costs

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Automatic extraction of drainage networks from digital terrain elevation data: a local network approach

Automatic extraction of drainage networks from digital terra...

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International Conference on Neural Networks

作者： A. Fern M.T. Musavi J. Miranda Intelligent Systems Laboratory Department of Electrical & Computer Engineering University of Maine Orono ME USA

This paper describes a local network approach for the automatic extraction of drainage networks from digital terrain elevation data (DTED). The extraction of drainage networks from topological data is one of the more important uses of such information. An extracted network may be used in many applications, such as determining drainage network metrics or selecting control points for image registration and mapping applications. In this research, a network of local processing units has been designed and applied to the automatic extraction of drainage networks. The results show that the network described is a promising tool for the extraction of drainage networks from DTED.

关键词： Data mining Terrain mapping Level measurement computer networks Image segmentation Earth Spatial resolution intelligent systems intelligent networks Laboratories

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