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Proceedings of Tenth International Symposium on Intelligent Control最新文献

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Vision-based intelligent control of transportation systems 基于视觉的交通系统智能控制
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525108
C. Richards, C.E. Smith, N. Papanikolopoulos
{"title":"Vision-based intelligent control of transportation systems","authors":"C. Richards, C.E. Smith, N. Papanikolopoulos","doi":"10.1109/ISIC.1995.525108","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525108","url":null,"abstract":"In response to the overcrowding of transportation systems, there has been an increase in the emphasis placed upon intelligent vehicle/highway systems (IVHS). Whether the application is keeping a safe distance between vehicles on highways or allowing a pedestrian to safely cross a street, environmental sensing and control play a crucial role in IVHS applications. In this paper we present robust visual detection and tracking techniques for IVHS applications, where computer vision may be the only sensor used or a part of a larger multi-sensor system. We have selected the application of pedestrian detection and tracking to demonstrate that the controlled active vision framework can provide precisely the type of information required to effectively manage traffic situations.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"8 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123547311","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: 4
Evolutionary learning of temporal behaviour using discrete and fuzzy classifier systems 使用离散和模糊分类器系统的时间行为进化学习
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525057
B. Carse, T. Fogarty
{"title":"Evolutionary learning of temporal behaviour using discrete and fuzzy classifier systems","authors":"B. Carse, T. Fogarty","doi":"10.1109/ISIC.1995.525057","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525057","url":null,"abstract":"We propose an architecture and representation, based on the learning classifier system, for the learning of temporal behaviour in intelligent agents operating in environments where reasoning about time, as well as space, plays an important part in the success of a learning agent. We draw our inspiration from two main biological sources: first, the Darwinian model of evolution, embraced by the genetic algorithm (GA) and second, the proposed existence of internal clocks in organisms for learning of period and interval timing. Biological evidence for internal clocks and their use in living organisms are briefly summarised. We describe two versions, discrete and fuzzy, of a novel learning classifier system which incorporates internal clocks for the express purpose of learning temporal behaviour. Several possible application areas of the proposed classifier system can be envisaged. These include intelligent control, using the classifier system either for direct control or as a temporal model; artificial life in environments with temporal as well as spatial characteristics; and temporal pattern recognition.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130124502","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: 7
Certainty grids method in robot perception and navigation 机器人感知与导航中的确定性网格方法
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525111
Tianzhen Wang, Jie Yang
{"title":"Certainty grids method in robot perception and navigation","authors":"Tianzhen Wang, Jie Yang","doi":"10.1109/ISIC.1995.525111","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525111","url":null,"abstract":"Reviews the certainty grids method, developed in CMU, MIT, and Stanford, and introduces how to use the method in the central program in robot perception and navigation. The authors also describe the sensor model in detail. Then the authors explain a simulation result.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127985533","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
Noncolocated vibration control using neural networks 基于神经网络的非配位振动控制
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525030
T. Long, E.L. Hanzevack, S. Caggiano
{"title":"Noncolocated vibration control using neural networks","authors":"T. Long, E.L. Hanzevack, S. Caggiano","doi":"10.1109/ISIC.1995.525030","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525030","url":null,"abstract":"We have previously successfully developed collocated neurocontrollers for vibration suppression. The objective of this research is to develop neural network controllers for vibration suppression under the constraint of noncollocated control. Noncollocated control may be necessary under at least two scenarios: physical constraints of sensor/actuator placement, or reconfiguration due to damaged elements. The neural controller is based on forward dynamics and decentralized control. This controller has been demonstrated to be effective in vibration suppression for two different systems.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126611296","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: 4
An obstacle avoidance algorithm for mobile robot: the improved weighted safety vector field method 移动机器人避障算法:改进的加权安全向量场法
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525096
Y. Kwon, J.S. Lee
{"title":"An obstacle avoidance algorithm for mobile robot: the improved weighted safety vector field method","authors":"Y. Kwon, J.S. Lee","doi":"10.1109/ISIC.1995.525096","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525096","url":null,"abstract":"An obstacle avoidance algorithm, the weighted safety vector field (WSVF) method, is presented. In determining the orientation of the mobile robot, the algorithm first computes the primary steering angle for normal manuevering which is derived based on the fuzzy inference rule. To cope with the constrained environments such as corner and hallway, the algorithm then computes the secondary steering angle which is derived based on the fuzzy inference rule. The primary steering angle is used for the normal manuevering whereas the secondary steering angle compensates for the wiggling motion of the mobile robot that occurs frequently at the corner or at the hallway. The presented algorithm has been successfully tested on the simulation example.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116554571","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: 13
Design and stability of self-organizing fuzzy control of high-order systems 高阶系统自组织模糊控制的设计与稳定性
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525088
Z. Kovačić, S. Bogdan, P. Crnosija
{"title":"Design and stability of self-organizing fuzzy control of high-order systems","authors":"Z. Kovačić, S. Bogdan, P. Crnosija","doi":"10.1109/ISIC.1995.525088","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525088","url":null,"abstract":"The paper describes a model reference-based self-organizing fuzzy control scheme which is suitable for high-order systems of well-known structure. The conditions for stability of the learning process, which may be used for determination of the learning coefficient values, have been worked out. The way of improving the system response in the initial stage of learning by using the referent model-based method of presetting a fuzzy control surface is described. The proposed fuzzy control method has been tested in the angular speed control loop of a DCM servo drive. The results obtained have shown the feasibility and marked effectiveness of the self-organizing fuzzy control scheme indicating a better performance of the system with the preset fuzzy controller than with a blank fuzzy rule-table in the initial stage of learning.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116757235","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: 21
Motion coordination based on multiple performance criteria with a hyper-redundant serial robot example 基于多性能标准的超冗余串行机器人运动协调实例
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525049
R. Hooper, D. Tesar
{"title":"Motion coordination based on multiple performance criteria with a hyper-redundant serial robot example","authors":"R. Hooper, D. Tesar","doi":"10.1109/ISIC.1995.525049","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525049","url":null,"abstract":"This paper describes a method of redundancy resolution that combines closed form inverse kinematics with multicriteria optimization to form a method able to coordinate the motion of a hyper-redundant serial robot at deterministic speeds greater than 100 cycles per second on a personal computer. The work includes a listing of over 30 task-based performance criteria derived from physical models of the robot and presents formulations for several of them. It discusses a motion coordination method that explicitly generates motion options and evaluates them based on any number of performance criteria. The highest-ranking option becomes the next motion command for the robot's servo controllers. Finally, the paper presents a simulation of motion coordination for a hyper-redundant serial robot with 21 degrees of freedom.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131616005","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
Genetic design of computed torque/fuzzy-logic controllers for robotic manipulators 机械臂计算力矩/模糊逻辑控制器的遗传设计
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525054
B. Porter, N. Zadeh
{"title":"Genetic design of computed torque/fuzzy-logic controllers for robotic manipulators","authors":"B. Porter, N. Zadeh","doi":"10.1109/ISIC.1995.525054","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525054","url":null,"abstract":"In this paper, a new class of computed-torque/fuzzy-logic controllers is introduced and designed using genetic algorithms. It is demonstrated that these computed-torque/fuzzy-logic controllers are more robust than computed-torque/proportional-plus-derivative controllers.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132738412","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: 21
Potential fields for nonholonomic vehicles 非完整飞行器的势场
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525099
K. Kyriakopoulos, P. Kakambouras, N. J. Krikelis
{"title":"Potential fields for nonholonomic vehicles","authors":"K. Kyriakopoulos, P. Kakambouras, N. J. Krikelis","doi":"10.1109/ISIC.1995.525099","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525099","url":null,"abstract":"The problem of motion planing of a wheeled nonholonic vehicle is treated by decomposing the problem to the subproblems: 1) find a collision free path; and 2) approximate this path with a nonholonomic collision free path. This is treated, in real time, by solving the first subproblem using a potential fields strategy and the second one with nonholonomic tracking. Thus, collision avoidance of a nonholonomic wheeled vehicle in a feedback formulation is achieved.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131798524","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
Chromatic measures for color texture description and analysis 色度测量用于颜色纹理的描述和分析
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525077
George Paschos, K. Valavanis
{"title":"Chromatic measures for color texture description and analysis","authors":"George Paschos, K. Valavanis","doi":"10.1109/ISIC.1995.525077","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525077","url":null,"abstract":"Texture has been widely accepted as a feature of primary importance in computer vision. However, the majority of the research has focused on methods applied to grey-level images, where only the luminance component of the input signal is utilized. A method for describing the chromatic aspects of textures is proposed, that can be used for scene segmentation as well as classification. Experiments with synthesized and natural images justify the use of chromaticity-based measures.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134314320","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: 4
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