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International Conference on Neural Networks

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

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 using 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： Function approximation System identification Predictive models Artificial neural networks computer aided manufacturing Neural networks Testing intelligent manufacturing systems Laboratories Manufacturing processes

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SmartATMS : A Simulator For Air Traffic Management systems

SmartATMS : A Simulator For Air Traffic Management Systems

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Simulation Winter Conference

作者： Tak-Kuen John Koo Yi Ma G.J. Pappas C. Tomlin Robotics and Intelligent Machines Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

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An approach for the teleoperator control of the Stanford/JPL Dexterous Hand

An approach for the teleoperator control of the Stanford/JPL...

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IEEE International Conference on systems, Man and Cybernetics

作者： S. Iqbal Omar A. Hernandez R. McLauchlan R. Challoo Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science Texas A and M University Kingsville Kingsville TX USA

Developing a telerobot control system for a dexterous hand requires the integration of two very complex systems. The paper presents an approach for controlling the Stanford/JPL Dexterous Hand through a communications network, using an EXOS Dexterous Hand Master. The two major problems to be solved were: mapping of the output of the Hand Master into the corresponding input for the Dexterous Hand Controller, and delivery of the output of the Hand Master to the input of the Dexterous Hand Controller through a communications network in a timely manner. The approach consists of the following steps: division of the system into subsystems, determining the characteristics of individual subsystems, development of suitable mapping algorithms, development of an ancillary graphics subsystem to facilitate the integration of subsystems, and integrating the subsystems using a step by step approach. This approach resulted in process in which the analog signals from the Dexterous Hand Master were conditioned and then converted to digital integers. The integers were mapped into integers representing half degrees. The half degree integers were transmitted to Stanford/JPL Dexterous Hand Controller in data packets via an Ethernet 802.3 data link. The destination node of the data link extracted the half degree integers and input them to another subsystem which mapped them into Dexterous Hand Controller commands. These commands were used to control the Dexterous Hand. The process was implemented in the laboratory and used to successfully control a Stanford/JPL Dexterous Hand by an EXOS Dexterous Hand Master through an Ethernet data link.

关键词： Teleoperators Manipulators Fingers Communication system control Control systems Humans Exoskeletons Sensor phenomena and characterization Communication networks Ethernet networks

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A Polynomial Function Discovery System — FFS

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International Journal on Artificial Intelligence Tools 1997年第1期6卷 1-13页

作者： Spyros Tzafestas Zhifang Ma Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece On leave from the Department of Computer Science Jilin University Changchun P.R.China

This paper presents a function discovery system FFS that has two core parts: FFS-0-CORE and FFS-1-CORE. Both cores are with polynomial time complexity in discovering functions of either a•f(x)+b form or a 1 f 1 (x)+…+a n f n (x)+b form. FFS-0-CORE allows users to define their own models. FFS-1-CORE uses novel principles to increase information which helps the function discovery procedures. Three computational examples are included.

关键词： Formula discovery machine discovery machine learning artificial intelligence

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A fast and accurate 3-D rangefinder using the Biris technology: the TRID sensor

A fast and accurate 3-D rangefinder using the Biris technolo...

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

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

In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.

关键词： Robot vision systems Robustness computer vision Application software Robot kinematics Layout Cameras computer industry Costs Geometrical optics

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Emergence and Effectiveness of Communication Interface in a System of Distributed intelligent Agents

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Journal of robotics and Mechatronics 1997年第2期9卷 146-151页

作者： Agah, Arvin Bekey, George A. Bio-Robotics Division Mechanical Engineering Laboratory AIST- Ministry of International Trade and Industry 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States

The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific tasks in the world. Some of the tasks require the simultaneous cooperation of two robotic agents. These agents are able to sense other agents and communicate via simple, task-related messages. Using genetic algorithms, a colony of agents is evolved, producing agents with improved performance. It is shown that the tendency of the robotics agents to communicate increases through evolution, as the colony cooperates more, in order to perform more tasks. The concepts developed through computer simulation are tested for feasibility in a team of four small mobile-manipulator robots, each controlled autonomously via an on-board micro-processor. © Fuji Technology Press Ltd.

关键词： Multi agent systems

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Telemanipulator neurocontrol using multiple RBF networks

Telemanipulator neurocontrol using multiple RBF networks

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IEEE International Symposium on intelligent Control (ISIC)

作者： S.G. Tzafestas P.A. Prokopiou C.S. Tzafestas Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece Laboratoire de Robotique de Paris CNRS UPMC UVSQ France

This paper addresses the control problem of masterslave systems which involve severe modeling errors and other high-level uncertainties, using neural networks. The solution approach is based on a recent teleoperator control scheme of S. Lee and H.S. Lee (1993, 1994), which is suitably enhanced such that to become capable of compensating the uncertainties. The class of radial-basis functions (RBF) neural networks are employed in a multipartitioned neural network architecture, and a special learning scheme is adopted which distributes the learning error to each subnetwork and allows online learning. The effectiveness of the present RBF neurocontroller was investigated through extensive simulation and compared to that of MLP (multilayer perceptron) neurocontroller and a robust sliding-mode controller representative.

关键词： Radial basis function networks Robot kinematics Error correction Neural networks Teleoperators Master-slave Uncertainty Delay effects robotics and automation Neurocontrollers

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Sensible agents

Sensible agents

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IEEE International Conference on systems, Man and Cybernetics

作者： K.S. Barber A. Goel T.J. Graser T.H. Liu R.H. Macfadzean C.E. Martin S. Ramaswamy The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA University of Texas at Austin Austin TX US

The practical deployment of distributed agent-based systems mandates that each agent behave sensibly. The paper focuses on the development of flexible, responsive, adaptive systems based on sensible agents. Sensible agents perceive, process, and respond based on an understanding of both local and system goals. Each agent is capable of (1) deliberative or reactive planning and execution of one or more domain-specific service/task, (2) maintaining and interpreting knowledge about states, events, and goals related to itself, other agents, and the environment, and (3) adapting its behavior according to its understanding of its own local goals and overall system goals. The paper addresses the above issues in the context of applied semiotics, a field that analyzes and develops the formal tools of knowledge acquisition, representation, organization, generation, enhancement, communication, and utilization. A sensible agent architecture has been developed where each agent is composed of five modules: a self-agent modeler, an external agent modeler, an action planner, an autonomy reasoner, and a conflict resolution advisor.

关键词： Adaptive systems Laboratories intelligent systems intelligent agent Multiagent systems Context

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Growing region technique in the detection of autonomous structures within X-ray radiographs

Growing region technique in the detection of autonomous stru...

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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： S.N. Raptis S.G. Tzafestas S. Pavlopoulos D. Koutsouris S. Kollias Intelligent Robotics and Automation Laboratory National and Technical University of Athens Athens Greece Biomedical Engineering Laboratory National and Technical University of Athens Athens Greece Department of Electrical & Computer Engineering National and Technical University of Athens Athens Greece

Nodule identification is a major issue in chest radiography and cancer prevention and detection. The recognition of cancer nodule characteristics in chest radiographs is a key point to the detection procedure. The method described here is based on the extraction of the major geometrical as well as luminance characteristics that make nodule recognizable and easy to detect. The purpose of the proposed method is to detect within a given block of chest X-ray image any homogeneous and autonomous mass that might means the existence of a nodule or some structure within it. The idea of pixels of interest is introduced which makes the growing a finite steps procedure. The growing of the region around a given point is realized gradually in a finite number of iterations at each one of which a set of criteria is evaluated. These criteria are established in a prior training procedure.

关键词： X-ray detection X-ray detectors X-ray imaging Diagnostic radiography Pixel Laboratories Biomedical engineering Cancer detection Character recognition Shape

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American Control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control intelligent sensors Control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors Control systems Robust stability Flexible structures

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