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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： D. Sakamoto T. Kanda T. Ono M. Kamashima M. Imai H. Ishiguro ATR Intelligent Robotics and Communication Laboratories Soraku-gun Kyoto Japan Department of Media Architecture Future University-Hakodate Hakodate Hokkaido Japan Department of Computer Science Graduate School of Science and Technology Keio University Yokohama Kanagawa Japan Department Adaptive Machine Systems Graduate School of Engineering Osaka University Osaka Japan

Research on humanoid robots has produced various uses for their body properties in communication. In particular, mutual relationships of body movements between a robot and a human are considered to be important for smooth and natural communication, as they are in human-human communication. We have developed a semi-autonomous humanoid robot system that is capable of cooperative body movements with humans using environment-based sensors and switching communicative units. And we conducted an experiment using this robot system and verified the importance of cooperative behaviors in a route-guidance situation where a human gives directions to the robot. This result indicates that the cooperative body movements greatly enhance the emotional impressions of human in a route-guidance situation. We believe these results allow us to develop interactive humanoid robots that sociably communicate with humans.

关键词： Humanoid robots Robot sensing systems Intelligent robots Human robot interaction Laboratories Sensor systems Communication switching computer science Adaptive systems Educational institutions

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Optimizing Supervision and Control for Industrial Furnaces: Predictive Control Based Design

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IFAC Proceedings Volumes 2004年第19期37卷 17-28页

作者： Georgi M. Dimirovski A. Talha Dinibütün Miomir K. Vukobratovic J. Zhao SS Cyril and Methodius University Faculty of Electrical Engineering MK-1000 Skopje Republic of Macedonia Dogus University Computer Engineering Department Faculty of Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey Institute “Mihailo Pupin” Centre of Robotics and Flexible Automation 11000 Belgrade Serbia and Montenegro Northeastern University School of Information Science and Engineering Institute of Control Theory Shenyang Liaoning 110004 P.R. of China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons.

关键词： Complex time-delay processes generalized predictive control integrated control and supervision optimization set-point control

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Improving project design through process awareness agents

Improving project design through process awareness agents

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International Conference on computer Supported Cooperative Work in Design

作者： A. Vivacqua D. Pinho J. de Souza S. Medeiros Computer Science Program Graduate School of Engineering COPPE DCC/IM-Institute of Mathematics Federal University of Rio de Janeiro Rio de Janeiro Rio de Janeiro Brazil DEL/POLI-Department of Electronics and Computing Federal University of Rio de Janeiro Rio de Janeiro Rio de Janeiro Brazil

We start from a case study of an architecture company and move on to a framework of agents to identify and inform conceptual design. The processes and problems exhibited by the company involved are quite common and can be found in other similar companies. Our intent is to instrument the current process using agent technology, in an effort to improve global awareness during the conceptual design phase, allowing the designers to design so as to facilitate later steps and optimize the process as a whole.

关键词： Process design Companies Design engineering computer science Mathematics computer architecture Instruments Design optimization Feedback Delay

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Extreme ecosystem studies in the deep OCEan: Technological developments EXOCET/D

Extreme ecosystem studies in the deep OCEan: Technological d...

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The Fourteenth International Offshore and Polar engineering Conference - ISOPE 2004

作者： Sarradin, P.-M. Sarrazin, J. Cadiou, J.F. Olu, K. Desbruyères, D. Rigaud, V. Drogou, J.F. Lecornu, F. Rolin, J.F. Vuillemin, R. Cambon-Bonavita, M.A. Sauter, E. Von Juterzenka, K. Boetius, A. Serrão Santos, R. Colaço, A. Pascoal, A. Oliveira, P. Shillito, B. Zal, F. Schultz, A. Taylor, P. Lane, D. Loke, R.E. Du Buf, H. Waldmann, C. Cormack, A. Sanfilippo, L. Masson, M. Ifremer DRO/EP Plouzané and La Seyne sur Mer France DNIS Plouzané and La Seyne sur Mer France TMSI Plouzané and La Seyne sur Mer France DRV/VP Plouzané and La Seyne sur Mer France AWI Dept. Geosystem and Project Group Deep-Sea Research Bremerhaven Germany Project Group AUV Payload Development and Deep-Sea Gradients Bremerhaven Germany Geosystem Paleoenvironment from Marine Sediments Bremerhaven Germany University of the Azores Horta Portugal Dept. of Electrical Engineering Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal UMR CNRS 7138 Systématique Adaptation et Evolution Université Pierre et Marie Curie Paris France Equipe Ecophysiologie Station Biologique Roscoff France School of Earth Ocean and Planetary Sciences Cardiff University Cardiff United Kingdom Dept. Electrical Electronic and Computer Engineering Heriot-Watt University Edinburgh United Kingdom Dept. of Electronics and Computer Science Vision Laboratory University of Algarve Faro Portugal University of Bremen FB5/MARUM Bremen Germany SeeByte Ltd Edinburgh United Kingdom Systea Srl Anagni Italy CAPSUM Technologie GmbH Trittau Germany

The general objective of EXOCET/D is to develop, implement and test specific instruments aimed at exploring, describing, quantifying and monitoring biodiversity in deep-sea fragmented habitats as well as at identifying links between community structure and environmental dynamics. Onboard experimental devices will complement the approach, enabling experiments on species physiology. The EXOCET/D working fields include: video and acoustic imagery, in situ analysis of physico-chemical factors, quantitative sampling of macro- and micro-organisms, in vivo experiments, integration of multidisciplinary data, implementation on European deep-submersibles and a final phase of technical and scientific validation. Copyright © 2004 by The International Society of Offshore and Polar Engineers.

关键词： Submersibles

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A robot-assisted system for long bone intramedullary distal locking: Concept and preliminary results

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International Congress Series 2003年第C期1256卷 485-491页

作者： Joskowicz, L. Milgrom, C. Shoham, M. Yaniv, Z. Simkin, A. School of Computer Science Engineering Hebrew University of Jerusalem Givat Ram 91904 Jerusalem Israel Department of Orthopaedic Surgery Hadassah University Hospital Jerusalem Israel Faculty of Mechanical Engineering Masor Robotics Ltd. Haifa Israel

This paper presents a new robot-based system to assist orthopaedic surgeons in performing distal intramedullary locking in femoral and tibial fracture reduction. The system consists of a miniature bone-mounted robot fitted with a drill guide that provides mechanical guidance for manual drilling of the distal screws' pilot holes. The drill guide and the nail's distal locking holes axes are automatically aligned with a few X-ray fluoroscopic images. The goal is to eliminate the guesswork from drill positioning, thus reducing surgery time and surgeon's cumulative radiation exposure, and to ensure drill and hole's axis alignment during drilling, thus eliminating geometric errors and their complications. We describe the system's rationale and concept, its architecture and usage protocol, the image processing and registration algorithms, and preliminary experimental results. © 2003, Elsevier science B.V. and CARS. All rights reserved.

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An overview of RoboCup 2002 Fukuoka/Busan

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6th Robot World Cup Soccer and Rescue Competitions and Conference, RoboCup 2002

作者： Asada, Minoru Kaminka, Gal A. Emergent Robotics Area Dept. of Adaptive Machine Systems Graduate School of Engineering Osaka University Yamadaoka 2-1 SuitaOsaka Japan Computer Science Dept Bar Ilan University Israel

The sixth Robot World Cup Competition and Conference (RoboCup 2002) Fukuoka/Busan took place between June 19th and 25th in Fukuoka: competitions were held at Fukuoka Dome Baseball Stadium from June 19th to 23rd, 2002,... 详细信息

ISBN: (纸本)3540406662

关键词： robotics

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Optimal framework for low bit-rate block coders

Optimal framework for low bit-rate block coders

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Proceedings: 2003 International Conference on Image Processing, ICIP-2003

作者： Tsaig, Yaakov Elad, Michael Golub, H. Milanfar, Peyman SCCM Program Computer Science Department Stanford University Stanford CA 94305 United States Baskin School of Engineering 237 Baskin Engineering Bldg. University of California 1156 High Street Santa Cruz CA 95064

Block coders are among the most common compression tools available for still images and video sequences. Their low computational complexity along with their good performance make them a popular choice for compression of natural images. Yet, at low bitrates, block coders introduce visually annoying artifacts into the image. One approach that alleviates this problem is to downsample the image, apply the coding algorithm, and interpolate back to the original resolution. In this paper, we consider the use of optimal decimation and interpolation filters in this scheme. We first consider only optimization of the interpolation filter, by formulating the problem as least-squares minimization. We then consider the joint optimization over both the decimation and the interpolation filters, using the Variable Projection method. The experimental results presented clearly exhibit a significant improvement over other approaches.

关键词： Block codes

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Optimal framework for low bit-rate block coders

Optimal framework for low bit-rate block coders

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IEEE International Conference on Image Processing

作者： Y. Tsaig M. Elad G.H. Golub P. Milanfar SCCM Program Computer Science Department University of Stanford Stanford CA USA Baskin School of Engineering University of California Santa Cruz CA USA

Block coders are among the most common compression tools available for still images and video sequences. Their low computational complexity along with their good performance make them a popular choice for compression of natural images. Yet, at low bit-rates, block coders introduce visually annoying artifacts into the image. One approach that alleviates this problem is to downsample the image, apply the coding algorithm, and interpolate back to the original resolution. In this paper, we consider the use of optimal decimation and interpolation filters in this scheme. We first consider only optimization of the interpolation filter, by formulating the problem as least-squares minimization. We then consider the joint optimization over both the decimation and the interpolation filters, using the variable projection method. The experimental results presented clearly exhibit a significant improvement over other approaches.

关键词： Filters Image coding Interpolation Video sequences Computational complexity Image resolution Performance gain computer science Optimization methods Discrete cosine transforms

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GA Optimized Sliding Mode Control of a Mobile Robot

GA Optimized Sliding Mode Control of a Mobile Robot

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2003年中国智能自动化会议

作者： Simon X．Yang Peter X．Liu Advanced Robotics and Intelligent Systems(ARIS)Lab School of Engineering University of Guelph Guelph ON N1G 2W1 Canada Department of Systems and Computer Engineering Carleton University Ottawa Canada K1S 5B6 School of Computer Science University of Windsor Windsor ON N9B 3P4 Canada

Due to the nonholonomic constraint and restricted mobility, the design of stabilizing control laws for a mobile is a challenging problem. Sliding mode control is a robust design methodology based on a sliding surface and a Lyapunov's stability theorem, where the system uncertainties and external disturbances can be handled under the invariance characteristics of system's sliding condition with guaranteed system stability. In this paper, a genetic algorithm is used to optimize the parameters in sliding mode controller for a nonholonomic mobile robot. The effectiveness of the proposed GA based sliding model controller is demonstrated by simulation studies.

关键词： Mobile GA Optimized Sliding Mode Control of a Mobile Robot

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Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

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