2007 International Symposium on Computational Intelligence in Robotics and Automation最新文献_第4页

Genetic Algorithms Multiobjective Optimization of a 2 DOF Micro Parallel Robot 二自由度微型并联机器人的遗传算法多目标优化

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382849

S. Stan, V. Maties, R. Balan

引用次数: 5

Execution Engine for Robotic Surgery Support Functions in an Unmanned Operating Room 无人手术室机器人手术支持功能的执行引擎

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382913

S. Gulati, Edwin H. Jung, C. Kapoor

{"title":"Execution Engine for Robotic Surgery Support Functions in an Unmanned Operating Room","authors":"S. Gulati, Edwin H. Jung, C. Kapoor","doi":"10.1109/CIRA.2007.382913","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382913","url":null,"abstract":"An unmanned robotic operating room consists of a tele-operated surgical robot and various other subsystems that perform surgery support functions such as dispensing tools and supplies. Execution Engine for such an operating room has to coordinate the subsystems to perform surgery support functions. A support function consists of a series of tasks along with other constructs such as conditional statements. A task, in turn, is composed of subsystem level actions connected by complex synchronization constraints. Previous research has focused on developing a language for specifying tasks and modeling the constraints between them. We present an approach where a task is specified as a data-structure rather than a language. This has the advantage of implicitly encoding the synchronization constraints in the data-structure itself, making it easy to write, debug and maintain task programs. We model a task as a directed acyclic graph and propose an algorithm to execute the task graph. The algorithm is general and language independent, thus eliminating the need for a special purpose language to specify tasks. We discuss implementation results on an emulated system.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115433263","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: 8

Mixed Reinforcement Learning for Partially Observable Markov Decision Process 部分可观察马尔可夫决策过程的混合强化学习

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382910

L. Dung, T. Komeda, M. Takagi

引用次数: 6

Vision Aided Stabilization and the Development of a Quad-Rotor Micro UAV 视觉辅助稳定与四旋翼微型无人机的研制

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382886

Spencer G. Fowers, Dah-Jye Lee, Beau J. Tippetts, Kirt D. Lillywhite, Aaron W. Dennis, J. Archibald

引用次数: 74

Anti-Spam Filtering Using Neural Networks and Baysian Classifiers 基于神经网络和贝叶斯分类器的反垃圾邮件过滤

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382929

Yue Yang, S. Elfayoumy

引用次数: 34

Design of a robotic automation system for transportation of goods in hospitals 医院货物运输机器人自动化系统的设计

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382926

A. Özkil, Steen Dawids, Zhun Fan, T. Sørensen

引用次数: 17

A general framework for vessel segmentation in retinal images 视网膜图像中血管分割的一般框架

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382924

Changhua Wu, G. Agam, P. Stanchev

引用次数: 32

Novel Kernels and Kernel PCA for Pattern Recognition 模式识别的新核与核主成分分析

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382927

J. Isaacs, S. Foo, A. Meyer-Bäse

引用次数: 11

A Vision System for Precision MAV Targeted Landing 一种MAV精确目标着陆视觉系统

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382912

Barrett Edwards, J. Archibald, Wade S. Fife, Dah-Jye Lee

{"title":"A Vision System for Precision MAV Targeted Landing","authors":"Barrett Edwards, J. Archibald, Wade S. Fife, Dah-Jye Lee","doi":"10.1109/CIRA.2007.382912","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382912","url":null,"abstract":"A field programmable gate array (FPGA) system implementation capable of being mounted onboard a micro aerial vehicle (MAV) (less than 5 pounds) that can perform the processing tasks necessary to identify and track a marked target landing site in real-time is presented. This implementation was designed to be an image processing subsystem that is mounted on a MAV to assist an autopilot system with vision-related tasks. This paper describes the FPGA vision system architecture and algorithms implemented to segment and locate a colored cloth target that specifies the exact landing location. Once the target landing site is identified, the exact location of the landing site is transmitted to the autopilot, which then implements the trajectory adjustments required to autonomously land the MAV on the target. Results of two flight test situations are presented. In the first situation, the MAV lands on a static target. The second situation includes a moving target, which in our tests was the back of a moving vehicle. This FPGA system is an application-specific configuration of the helios robotic vision platform developed at Brigham Young University.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124186354","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: 19

Cross Dock Scheduling Using Genetic Algorithms 基于遗传算法的交叉码头调度

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382928

Shayla Ley, S. Elfayoumy

{"title":"Cross Dock Scheduling Using Genetic Algorithms","authors":"Shayla Ley, S. Elfayoumy","doi":"10.1109/CIRA.2007.382928","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382928","url":null,"abstract":"Cross docking is a distribution system in which the merchandise received at a warehouse or distribution center is not stocked but immediately prepared for onward shipment. In other words, cross docking is the transfer of inward deliveries from the point of reception directly to the point of delivery with limited or no interim storage. One way to reduce cost in a cross dock terminal is to park incoming and outgoing trucks so that the loads can be efficiently moved across the dock. This means that the distance from loading and unloading is the shortest possible distance. The problem with generating an efficient schedule for the door assignments is that for n incoming and m outgoing trucks there are n!*m! possible solutions. This paper describes a solution to the cross dock scheduling problem using genetic algorithms. To judge the efficiency and accuracy of this solution, four programs were developed to test every possible combination of for small problem sizes (four, five, six, and seven incoming trucks). The results of the efficiency and accuracy testing shows that using genetic algorithms to schedule cross dock trucking operations provides an accurate and timely solution.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130370936","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: 24