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2005 International Symposium on Computational Intelligence in Robotics and Automation最新文献

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Two-dimensional weighted PCA algorithm for face recognition 二维加权PCA人脸识别算法
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554280
V. Nhat, Sungyoung Lee
{"title":"Two-dimensional weighted PCA algorithm for face recognition","authors":"V. Nhat, Sungyoung Lee","doi":"10.1109/CIRA.2005.1554280","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554280","url":null,"abstract":"Principle component analysis (PCA) technique is an important and well-developed area of image recognition and to date many linear discrimination methods have been put forward. Basically, in PCA the image always needs to be transformed into ID vector, however recently two-dimensional PCA (2DPCA) technique have been proposed. In 2DPCA, PCA technique is applied directly on the original images without transforming into ID vector. In this paper, we propose a new 2DPCA-based method that can improve the performance of the 2DPCA approach. In face recognition where the training data are labeled, a projection is often required to emphasize the discrimination between the clusters. Both PCA and 2DPCA may fail to accomplish this, no matter how easy the task is, as they are unsupervised techniques. The directions that maximize the scatter of the data might not be as adequate to discriminate between clusters. So we proposed a new 2DPCA-based scheme which can straightforwardly take into consideration data labeling, and makes the performance of recognition system better. Experiment results show our method achieves better performance in comparison with the 2DPCA approach with the complexity nearly as same as that of 2DPCA method.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122782963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 26
CoRoBA, an open framework for multi-sensor robotic system integration corba，一个多传感器机器人系统集成的开放框架
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554320
E. Colon, H. Sahli
{"title":"CoRoBA, an open framework for multi-sensor robotic system integration","authors":"E. Colon, H. Sahli","doi":"10.1109/CIRA.2005.1554320","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554320","url":null,"abstract":"This paper presents the recent developments of a distributed framework for integrating multi-sensor robotic systems and controlling robots. It is based on the communication middleware CORBA.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122876003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Task skill transfer of bolt attachment task 螺栓连接任务的任务技能转移
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554258
W. Yoon, T. Suehiro, H. Onda, K. Kitagaki
{"title":"Task skill transfer of bolt attachment task","authors":"W. Yoon, T. Suehiro, H. Onda, K. Kitagaki","doi":"10.1109/CIRA.2005.1554258","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554258","url":null,"abstract":"This paper describes how to write a task skill program for a bolt attachment. One of important features in this paper is that it is easy to find a knack for an axis adjustment and to program the axis adjustment. In a previous paper, we proposed a task skill transfer method using a bilateral teleoperation. The task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by the force and the position of the end-effector. The task skill motion is implemented by the hybrid impedance/force control. This hybrid impedance/force control is effective to a positional error. A motion process of the task skill is defined from the teleoperation procedure. The necessary parameters of the task skill are obtained from the results of teleoperation experiment. Thus, the task skill is generated from the teaching data and the teaching intention (motion strategy). In this paper, our task skill transfer method is applied to the bolt attachment. Some experiments show an efficiency of the bolt attachment task skill.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124609316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Forces analysis for micro-manipulation 微操纵力分析
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554262
P. Rougeot, S. Régnier, N. Chaillet
{"title":"Forces analysis for micro-manipulation","authors":"P. Rougeot, S. Régnier, N. Chaillet","doi":"10.1109/CIRA.2005.1554262","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554262","url":null,"abstract":"The aim of this article is to give an experimental analysis of the physical phenomena at a microscopic scale. In particular, this article presents experimental measurements based on an AFM system. These experiments show the influence of the contact forces and distance forces especially for micromanipulation applications.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124790513","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 31
Sensing planning to optimize work object location measurements in intelligent robotics 智能机器人中优化工作对象位置测量的传感规划
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554281
M. Sallinen, T. Heikkilä
{"title":"Sensing planning to optimize work object location measurements in intelligent robotics","authors":"M. Sallinen, T. Heikkilä","doi":"10.1109/CIRA.2005.1554281","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554281","url":null,"abstract":"This paper presents a method for planning the sensing features when the geometrical representation of the target object is known. The presented method is a synthesis -form and can be used in several measurement applications in robotics. Sensing planning is an important issue when the measurement data is sparse, includes a lot of noise or there are tight time-requirements. The criteria for selecting the measurement locations and orientations is a posteriori error covariance matrix of the parameters to be estimated. The presented approach is verified by simulation tests in the case of work object location.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129804753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Nonverbal interface for user-friendly manipulation based on natural motion 基于自然运动的非语言操作界面
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554326
E. Sato-Shimokawara, A. Nakajima, Toru Yamaguchi
{"title":"Nonverbal interface for user-friendly manipulation based on natural motion","authors":"E. Sato-Shimokawara, A. Nakajima, Toru Yamaguchi","doi":"10.1109/CIRA.2005.1554326","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554326","url":null,"abstract":"In this research, we show two experiments using non-verbal interaction. We think nonverbal communication is basic, and important for communication between human. Moreover, We focus on the networked robotics which is fusion of network technology and robot technology. We constructed nonverbal interface by using human natural motion. In the first experiment, we created commands using hand motion which is based on natural motion, such as beckoning, hissing away and so on. We constructed robot manipulation system using these commands. Furthermore, we compared the user-friendly of our system with present keyboard manipulation system. In the second experiment, in order to manipulate a robot using more natural motion, we proposed 'pointing movement'. Moreover, we constructed networked robots that recognizes human motion spatially. Accordingly, the user was able to manipulate the robot with more natural motion in larger space.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122240395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Towards an autonomous small-size humanoid robot: design issues and control strategies 面向自主小型人形机器人:设计问题与控制策略
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554259
Filipe M. T. Silva, Vítor M. F. Santos
{"title":"Towards an autonomous small-size humanoid robot: design issues and control strategies","authors":"Filipe M. T. Silva, Vítor M. F. Santos","doi":"10.1109/CIRA.2005.1554259","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554259","url":null,"abstract":"This paper presents the design considerations of a small-size humanoid robot. The design process has revealed much about the several problems, challenges and tradeoffs imposed by biped locomotion. Among them, we here focus on the control of a single leg and its behaviour when assuming a forward motion. The controller is based on simple motion goals taking into account the reaction forces between the feet and the ground. A new method is proposed which appears to be well adapted to the class of problem considered: the use of a fractional-order controller combined with a genetic algorithm for optimal tuning of the control parameters. The control algorithm is tested through several simulations and its robustness is discussed.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127949291","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
New objects seizure method in mobile robotic using a visual servoing and neural network classification 基于视觉伺服和神经网络分类的移动机器人目标捕获新方法
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554344
M. Trabelsi, N. Aitoufroukh, S. Lelandais
{"title":"New objects seizure method in mobile robotic using a visual servoing and neural network classification","authors":"M. Trabelsi, N. Aitoufroukh, S. Lelandais","doi":"10.1109/CIRA.2005.1554344","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554344","url":null,"abstract":"This paper describes the development of a new objects seizure method in the robotic service framework. Its main objective is to make a manipulator arm equipped with a grip and two sensors (camera and sonar) able to handle objects in a human environment. Ultrasonic information is used by a neural classifier in order to give us object recognition and distance information. In the same time, a camera takes an image of the object. We extract its edges by image processing. So it is possible to match image center and object center. The object seizure strategy uses image and ultrasonic information both. This strategy is applied to two kinds of objects: sphere and cylinder.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133473806","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Reactive and deliberative control and cooperation in multi-agent system based process automation 基于过程自动化的多智能体系统中的反应式与协商式控制与协作
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554321
I. Seilonen, K. Koskinen, T. Pirttioja, P. Appelqvist, A. Halme
{"title":"Reactive and deliberative control and cooperation in multi-agent system based process automation","authors":"I. Seilonen, K. Koskinen, T. Pirttioja, P. Appelqvist, A. Halme","doi":"10.1109/CIRA.2005.1554321","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554321","url":null,"abstract":"An approach to intelligent process automation based on a society of BDI-agents is presented in this paper. According to this approach a higher-level multi-agent systems based automation layer supervises an ordinary process automation system. The purpose of the agent layer is to monitor the operation of the lower-level automation system and semi-autonomously reconfigure its control logic when needed. The agent layer operates as a multi-agent system consisting of BDI-agents, which cooperatively create and run reconfiguration sequences on the ordinary automation system in order to adapt its control logic to various situations. The adaptation process may take place both in reactive and deliberative fashion. In this way the approach aims to increase the flexibility and responsiveness properties of the automation system. The approach is demonstrated with a laboratory test process where process startup and fault recovery experiments have been performed. Results from the experiments are described.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128823291","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Creating swing-up patterns of an acrobot using evolutionary computation 用进化计算创造一个机器人的摆动模式
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554287
K. Kawada, S. Fujisawa, M. Obika, Toru Yamamoto
{"title":"Creating swing-up patterns of an acrobot using evolutionary computation","authors":"K. Kawada, S. Fujisawa, M. Obika, Toru Yamamoto","doi":"10.1109/CIRA.2005.1554287","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554287","url":null,"abstract":"In recent years, the various controller design schemes have been examined for nonlinear mechanical systems with uncertainties. As one of such mechanical systems, acrobots attract attention in last decade, which belong to nonholonomic systems. Several controller design schemes have been proposed for the acrobots. In this paper, a new approach to control the acrobot is considered, in which a suitable swing-up pattern is created using the real-coded genetic algorithm(GA). Then, the energy and the extra motion which are totally consumed in the swing-up motion, are evaluated on the fitness function. The effectiveness of the newly proposed scheme is numerically verified on some simulation results.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"105 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131408485","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 15
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