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2007 International Symposium on Computational Intelligence in Robotics and Automation最新文献

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A Comparison Between a Fuzzy Behavioral Algorithm and a Vector Polar Histogram Algorithm for Mobile Robot Navigation 移动机器人导航中模糊行为算法与矢量极坐标直方图算法的比较
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382894
Dongqing Shi, D. Dunlap, E. Collins
{"title":"A Comparison Between a Fuzzy Behavioral Algorithm and a Vector Polar Histogram Algorithm for Mobile Robot Navigation","authors":"Dongqing Shi, D. Dunlap, E. Collins","doi":"10.1109/CIRA.2007.382894","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382894","url":null,"abstract":"The navigation of autonomous ground vehicles (AGVs) through uncertain environments has received substantial research attention. However, the literature contains very few comparisons of the navigation paradigms for AGVs, especially for algorithms using range finders. The fuzzy behavioral approach and vector field histogram (VFH) approach are well known methods that can be implemented using range finders. This paper will focus on comparing their structure, ease of programming and algorithm tuning, and performance. Both approaches are implemented on a Pioneer 2 robot, equipped with a SICK laser range finder.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"4 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":"115500214","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
Computer Vision Studies Using Stochastic Resonance/Information-theoretic Methods 随机共振/信息论方法的计算机视觉研究
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382847
D. Repperger, R. Roberts, A. Pinkus
{"title":"Computer Vision Studies Using Stochastic Resonance/Information-theoretic Methods","authors":"D. Repperger, R. Roberts, A. Pinkus","doi":"10.1109/CIRA.2007.382847","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382847","url":null,"abstract":"An investigation into computer vision techniques is conducted using a procedure from nonlinear dynamics termed \"stochastic resonance.\" This work involves concepts from detection theory, information theory and nonlinear dynamics. An information distance metric is synthesized which helps define the dependent measure to be used with the stochastic resonance optimization. Monte Carlo simulations show the efficacy of the proposed method. A class of test objects are presented to fairly evaluate the utility of the proposed methods introduced.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"24 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":"115821259","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
A Simulation-Based Approach to Decision Support for Robot-Human Team Configuration 基于仿真的人机团队配置决策支持方法
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382890
Teresa Nieten, P. Fishwick
{"title":"A Simulation-Based Approach to Decision Support for Robot-Human Team Configuration","authors":"Teresa Nieten, P. Fishwick","doi":"10.1109/CIRA.2007.382890","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382890","url":null,"abstract":"Missions that involve tasks such as search-and-rescue or reconnaissance have traditionally involved humans, perhaps with the assistance of one or more robots. The robots, or unmanned systems, are typically teleoperated - operated by remote control to inspect a suspicious object, for example. With the advent of newer and less expensive forms of autonomy and one-on-one communication, the robots are becoming more capable of acting as peers, rather than tools, alongside the humans. As the diversity of mixed human-robot teams is increased, so is the complexity of trying to decide on questions regarding configuration: what robots should be used, how many, and how many humans should be employed in the teaming process? We propose a decision support approach that builds a large number of discrete event simulations, with dynamic queuing models partially induced from CAD layout specifications in an urban environment. This work describes a detailed design with an implementation plan for the decision support.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"55 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":"126576533","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
Vision Based Vehicle Localization for Autonomous Navigation 基于视觉的车辆自主导航定位
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382905
Steve Velat, Jaesang Lee, Nicholas Johnson, C. Crane
{"title":"Vision Based Vehicle Localization for Autonomous Navigation","authors":"Steve Velat, Jaesang Lee, Nicholas Johnson, C. Crane","doi":"10.1109/CIRA.2007.382905","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382905","url":null,"abstract":"The vast majority of Autonomous Ground Vehicles in development today operate with GPS based navigation systems. While the accuracy of GPS systems has improved greatly over the previous decade, the stability of their signal has not. The phenomenon is commonly known as \"drift\" and may have a magnitude of more than a few meters. This paper outlines a method for vision based correction and localization of vehicle position through consideration of a priori information and perceived road characteristics. The approach is called Vision Based Position Correction for Urban Environments, and it will be deployed in the 2007 DARPA Urban Challenge.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"25 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":"126655138","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: 18
Real-Time Disturbance Compensation with Accelerometers & Piezoelectric-Driven Mechanism 基于加速度计和压电驱动机构的实时扰动补偿
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382879
U. Tan, W. T. Latt, Marcellus Tanjaya, H. T. Wirawan, C. Shee, W. T. Ang
{"title":"Real-Time Disturbance Compensation with Accelerometers & Piezoelectric-Driven Mechanism","authors":"U. Tan, W. T. Latt, Marcellus Tanjaya, H. T. Wirawan, C. Shee, W. T. Ang","doi":"10.1109/CIRA.2007.382879","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382879","url":null,"abstract":"Disturbance / vibration reduction is critical in many applications. One example is disk drive industry. With the advance in optical disk drive technology, the off-track or off-focusing error caused by disturbance is limiting the performance. Instead of going with the more familiar approach like vibration absorber, a real-time disturbance compensation without much phase lag is proposed. In this paper, to illustrate the idea of real-time compensation, a one dof cancellation of tremor is performed. Instantaneous motion due to the disturbance is sensed by an accelerometer inertial measurement unit (IMU). Modeling of the accelerometer is done to provide better readings. The compensation motion is provided by manipulating a piezoelectric-driven flexure-based mechanism. Due to the existence of backslash in revolute joints, flexure-based mechanism is proposed to achieve better result. Piezoelectric actuator is proposed because of its high frequency and precision. The hysteretic non-linearity of the piezoelectric actuator is modeled using Prandtl-Ishlinskii operator. Based on this model, an open-loop inverse feed-forward controller is implemented to accurately provide the required motion.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"17 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":"123840273","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
Real-time Feature Tracking on an Embedded Vision Sensor for Small Vision-guided Unmanned Vehicles 基于嵌入式视觉传感器的小型视觉制导无人机实时特征跟踪
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382882
Jonathan D. Anderson, Dah-Jye Lee, Barrett Edwards, J. Archibald, C. Greco
{"title":"Real-time Feature Tracking on an Embedded Vision Sensor for Small Vision-guided Unmanned Vehicles","authors":"Jonathan D. Anderson, Dah-Jye Lee, Barrett Edwards, J. Archibald, C. Greco","doi":"10.1109/CIRA.2007.382882","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382882","url":null,"abstract":"Small unmanned vehicles (UVs) are seeing more widespread use In military, scientific, and civil sectors in recent years. Because of the limitations inherent in small UVs, including power consumption and payload, the selection of light weight and low power sensors and processors becomes critical. Low power CMOS cameras and real-time vision processing algorithms can provide fast and reliable information to the UVs. These vision algorithms often require computational power that limits their use in traditional general purpose processors using conventional software. The latest developments in field programmable gate arrays (FPGAs) provide an alternative for hardware and software co-design of complicated real-time vision algorithms. Many vision algorithms utilize image features as the main source of information. By tracking features from one frame to another, it becomes possible to perform many different high-level vision tasks. This paper describes a feature tracking algorithm and an FPGA hardware implementation that operates in real-time.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"37 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":"115687053","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
Optimization of Source Identification Algorithm Derived from Moth-Inspired Plume Tracing Strategies 基于飞蛾羽流追踪策略的源识别算法优化
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382842
Wei Li, Joseph E. Sutton
{"title":"Optimization of Source Identification Algorithm Derived from Moth-Inspired Plume Tracing Strategies","authors":"Wei Li, Joseph E. Sutton","doi":"10.1109/CIRA.2007.382842","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382842","url":null,"abstract":"This paper presents a method of designing and optimizing a single chemical sensor-based source identification algorithm, derived from moth-inspired chemical plume tracing (CPT) strategies. In doing it, we define a source identification zone (SIZ) using last chemical detection points (LCDPs). Then, we optimize the proposed algorithm using a simulated plume with significant meander and filament intermittency by considering dynamics of a REMUS vehicle. The simulation studies show that for 1000 test runs the optimized algorithm achieves a success rate of over 90% in identifying source locations, an average identification time of 3-4 minutes, and an average error of identified source locations 1~2 meters in an operation area with length scales of 100 meters. In addition, we discuss an extension of the moth-inspired strategies to trace a plume and identify the odor source with static location in a three-dimensional space.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"33 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":"123563851","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
Is There Mathematics of Emergence? 有涌现的数学吗?
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382832
R. Shumaker
{"title":"Is There Mathematics of Emergence?","authors":"R. Shumaker","doi":"10.1109/CIRA.2007.382832","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382832","url":null,"abstract":"There continues to be a lot of research done, papers delivered, and talks about adaptive systems using a variety of methods and approaches. While some interesting and even useful results have been produced, a coherent body of knowledge still seems to be eluding us. Is there, or could there even in theory, be an underlying mathematics of emergent properties yet to be discovered that would allow us to understand all manner of natural and build synthetic systems with the robustness seen in nature? This talk will present some recent results in understanding complex behavior and discuss application to agent-based systems.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"2 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":"130117076","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
A Fast Learning Algorithm for Robotic Emotion Recognition 机器人情感识别的快速学习算法
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382865
Jung-Wei Hong, M. Han, K. Song, F. Chang
{"title":"A Fast Learning Algorithm for Robotic Emotion Recognition","authors":"Jung-Wei Hong, M. Han, K. Song, F. Chang","doi":"10.1109/CIRA.2007.382865","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382865","url":null,"abstract":"The capability of robotic emotion recognition is an important factor for human-robot interaction. In order to facilitate a robot to function in daily live environments, a emotion recognition system needs to accommodate itself to various persons. In this paper, an emotion recognition system that can adapt to new facial data is proposed. The main idea of the proposed learning algorithm is to adjust parameters of SVM hyperplane for learning emotional expressions of a new face. After mapping the input space to Gaussian-kernel space, support vector pursuit learning (SVPL) is applied to retrain the hyperplane in the new feature space. To expedite the retraining procedure, only samples classified incorrectly in previous iteration are combined with critical historical sets to restrain a new SVM classifier. After adjusting hyperplane parameters, the new classifier will recognize previous erroneous facial data. Experimental results show that the proposed system recognize new facial data with high correction rates after fast retraining the hyperplane. Moreover, the proposed method also keeps satisfactory recognition rate of old facial samples.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 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":"129138913","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
A New Iterative Algorithm for the Inverse Kinematic Problem and Its Application to Unmanned Electric Bicycle System 一种新的反运动学迭代算法及其在无人驾驶电动自行车系统中的应用
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382889
W. Ham, Seunghwan Kim
{"title":"A New Iterative Algorithm for the Inverse Kinematic Problem and Its Application to Unmanned Electric Bicycle System","authors":"W. Ham, Seunghwan Kim","doi":"10.1109/CIRA.2007.382889","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382889","url":null,"abstract":"In the former researches (Ingyu Park, et al., 2001), (Sangduck Lee and Woonchul Ham, 2002), (Seonghoon Kim and Woonchul Ham, 2004), we suggested an algorithm which can be used for deriving the nonlinear inverse kinematic problem in unmanned bicycle system by using iterative method. In this short note, we reinforce the former method and propose a new iterative algorithm for a certain type of nonlinear dynamic equation such as inverse kinematics of bicycle system. The idea of proposed algorithm is similar to Piccard's iterative method in basic concept. We also propose a robust control strategy for tracking problem in bicycle system based on nonlinear compensation. In this control algorithm, we invent and attach the load mass balance system for the self stabilization with more ease. From the computer simulation results, we can see that the proposed control algorithm can be applied to the real system.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"42 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":"127014649","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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