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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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Morphological structuring image decomposition

Morphological structuring image decomposition

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： X. Zhuang Y. Zhao M.Y. Chiu Department of Electrical and Computer Engineering University of Missouri Columbia Columbia MO USA Speech Technology Laboratory Panasonic Technologies Inc. Santa Barbara CA USA Intelligent Robotic Systems Siemens Corporate Research Inc. Princeton NJ USA

Two major structuring element decomposition techniques are compared, and the superiority of the two pixel decomposition techniques over the cellular decomposition technique is shown in terms of the number of pipeline stages. As for the general structuring function decomposition, to the authors' knowledge, there is no efficient algorithm that has been found. The difficulty can be overcome by using an adequate representation of the general gray-scale structuring function. Representing a gray-scale image as a specific 3-D set, i.e. an umbra, makes it easier to shift all morphological theorems from the binary domain to the gray-scale domain; however, a direct umbra representation is not appropriate for the general gray-scale structuring function decomposition. The authors also provide a morphologically realizable representation and decomposition for the general gray-scale structuring function and show recursive algorithms which are pipelineable for efficiently performing gray-scale morphological operations.< >

关键词： Image decomposition Gray-scale Hardware intelligent robots Pipelines Speech Laboratories intelligent systems intelligent structures computer architecture

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MOTION ESTIMATION OF 3-D OBJECTS USING MULTISENSOR DATA FUSION

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JOURNAL OF ROBOTIC systems 1990年第3期7卷 419-443页

作者： LUO, RC YANG, WS Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering North Carloina State University Raleigh NC 27695–7911

This article presents an approach to estimate the general 3-D motion of a polyhedral object using multiple sensor data some of which may not provide sufficient information for the estimation of object motion. Motion can be estimated continuously from each sensor through the analysis of the instantaneous state of an object. The instantaneous state of an object is specified by the rotation, which is defined by a rotation axis and rotation angle, and the displacement of the center of rotation. We have introduced a method based on Moore-Penrose pseudoinverse theory to estimate the instantaneous state of an object, and a linear feedback estimation algorithm to approach the motion estimation. The motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown object. The techniques of multisensor data fusion can be categorized into three methods: averaging, decision, and guiding. We present a fusion algorithm which combines averaging and decision. With the assumption that the motion is smooth, our approach can handle the data sequences from multiple sensors with different sampling times. We can also predict the next immediate object position and its motion. The simulation results show our proposed approach is advantageous in terms of accuracy, speed, and versatility.

关键词： Robots, Industrial

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PERFORMANCE EVALUATION OF THE CONSUMER ELECTRONIC BUS

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IEEE TRANSACTIONS ON CONSUMER ELECTRONICS 1990年第4期36卷 949-953页

作者： PAKKAM, SR MANIKOPOULOS, CN Intelligent Systems Laboratory Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

This paper reports on the results of a simulation study undertaken to evaluate the performance of the Consumer Electronic Bus (CEBUS) under various traffic patterns and especially under large traffic generated by high priority nodes. The CEBUS is based on the ISO/OSI model of layered architecture. The simulation results have shown that, when the throughput of the network is small (30%), the delay is bounded for all messages of all priorities. As the throughput of the network increases to more than 70%, due to an increasing number of high priority messages, the lower priority messages get queued at their nodes. It is also shown that the delay can be bounded, when needed, by assigning high priority status to nodes generating messages with urgent communications and lower priority status to nodes sending messages which do not require immediate response.

关键词： Consumer electronics Traffic control Telecommunication traffic ISO Throughput Communication standards Multiaccess communication Laboratories Computational modeling computer simulation

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Surface reconstruction based on descripions of cross-sectional contours

Surface reconstruction based on descripions of cross-section...

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Sensing and Reconstruction of Three-Dimensional Objects and Scenes 1990

作者： Kim, Yonghoon Luo, Ren C. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cross-sectional contours has been developed. Each cross-sectional contour is first partitioned into convex/concave segments based on the relative locations of points on the contour. Each segment of the contour is then described by a parametric cubic polynomial, and the boundary is recovered based on the description. A matching technique incorporating possible deformations between adjacent cross-sections is used to obtain the correspondence between adjacent cross-sectional contours. Once the correspondence is established, the surface between correspondent segments of adjacent crosssectional contours is reconstructed by a traditional triangulation technique. As the reconstruction is based on the shape of the cross-sections, the reconstructed surfaces are more close to that of the original object. © 1990 SPIE. All rights reserved.

关键词： Surface reconstruction

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An intelligent path planning system for robot navigation in an unknown environment

An intelligent path planning system for robot navigation in ...

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Mobile Robots IV 1989

作者： Luo, Ren C. Pan, Tai-Jee Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, and thus, the acquired obstacle knowledge for path planning needs to be updated dynamically. Therefore, the development of an adaptive path planning scheme capable of determining a desired path with uncertain, and incomplete obstacle knowledge is necessary. We use the concept of traversability vectors to analyze the spatial-relations between the robot and obstacles in the task environment. Then, these analyzed relations are used to determine the obstacles that must be bypassed by the robot, and the ways to bypass them. Dynamically changing obstacle knowledge can be accommodated by replanning the path at the time when a change is reported. The proposed scheme can work very efficiently since because of the elimination of an exhausted search process that is often required in previous approaches. We implement a computer program to simulated the proposed planning scheme. A graphical representation for robot motions guided by the planned paths is illustrated to show the feature of the presented work. © 1990 SPIE. All rights reserved.

关键词： Motion planning

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3D object recognition using a mobile laser range finder

3D object recognition using a mobile laser range finder

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1990 IEEE International Workshop on intelligent Robots and systems, IROS 1990

作者： Luo, Ren C. Scherp, Ralph S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

The objective of this paper is to present a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. In this paper we use a triangulation type laser range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirror. The sensor characteristics are described and modeled. A set of criteria for use in constraining the. possible sensor site location for future scans is presented. These constraint conditions are essential to drive the actual sensor placement algorithm for 3D object recognition. © 1990 Institute of electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Laser mirrors

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intelligent motion control system for autonomous vehicles operating in a factory floor

Intelligent motion control system for autonomous vehicles op...

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1990 IEEE International Workshop on intelligent Motion Control, IMC 1990

作者： Luo, Ren C. Pan, T.J. Aras, C.M. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University University RaleighNC27695 United States

To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network which can minimize the congestion problem. Given a path network, the collision problem can be eliminated by velocity planning for vehicles. To achieve this, we first represent each vehicle as an intersection of time varying half-planes. Then, we use traversability vectors method to predict vehicle collisions along their paths. Once a collision is predicted, time constraints on lower-priority vehicles are registered on a constraint map which shows time instances when the path is obstructed. Velocity planning is then accomplished ty a search on the map. To solve the congestion problem, we must reduce the average waiting time of vehicles. We use a queueing network model to evaluate the average waiting time for different path network configurations. As a result. the network that yields the best performance is selected. © 1991 IEEE.

关键词： Autonomous vehicles

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View-point independent 3D curved object recognition using range data

View-point independent 3D curved object recognition using ra...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： W.S. Yang R.C. Luo Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering North Carolina State University Raleigh NC USA

An approach to representing and recognizing general 3D curved objects using range data is introduced. A 3D generalized Hough transformation which can be applied to general 3D curved-object recognition and which reduces the computation time and storage requirements is developed. The approach makes use of the relative geometric differences between particular points on the object surface and some virtual points which are prespecified arbitrarily and by task. The method has several advantages, such as a simple knowledge base with less storage requirement, flexibility of the database design according to the tasks to be performed, and the capability of compensating for the uncertainties of position estimation due to noise and quantization error. However, the algorithm may not be suitable for a purely planar object.< >

关键词： Object recognition Shape Image recognition intelligent robots computer vision Least squares approximation Layout intelligent systems Laboratories Data engineering

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A tutorial on multisensor integration and fusion

A tutorial on multisensor integration and fusion

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Annual Conference of Industrial Electronics Society

作者： R.C. Luo M.G. Kay Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A tutorial introduction to the subject of multisensor integration and fusion is presented. The role of multisensor integration and fusion in the operation of intelligent systems is defined in terms of the unique type of information multiple sensors can provide. Multisensor integration is discussed in terms of basic integration functions and multisensor fusion in terms of the different levels at which fusion can take place. Numerical examples are given to illustrate a variety of different fusion methods. Speculations concerning possible research future directions and a guide to survey and review papers in the area of multisensor integration and fusion are presented.< >

关键词： Tutorial Sensor systems intelligent sensors intelligent robots intelligent systems Sensor fusion Machine intelligence Control systems Aircraft navigation Laboratories

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