Autonomous and Intelligent Systems

Name: Autonomous and Intelligent Systems | Second International Conference, AIS 2011, Burnaby, BC, Canada, June 22-24, 2011, Proceedings
Brand: Springer
Price: 53.49 EUR
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Second International Conference, AIS 2011, Burnaby, BC, Canada, June 22-24, 2011, Proceedings

Mohamed Kamel Fakhri Karray Wail Gueaieb Alaa Khamis(Editor)

Springer (Publisher)

Published on 28. June 2011

XVI, 418 pages

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978-3-642-21538-4 (ISBN)

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Content

Title
Preface
Table of Contents
Autonomous and Intelligent Systems
Global Optimal Path Planning for Mobile Robots Based on Hybrid Approach with High Diversity and Memorization
Introduction
Background
Potential Field (PF)
Genetic Algorithm (GA)
The Hybrid Approach
Structure of PF+GA Path Planner
Implementation Strategies
Experimental Results
Experimental Setup
Results
Discussion
Conclusion
References
Small Tree Probabilistic Roadmap Planner for Hyper-Redundant Manipulators
Introduction
Small Tree PRM
Simulations
Implementation
Simulation Results
Discussion
Conclusion and Future Work
References
A Fuzzy Logic Approach for Indoor Mobile Robot Navigation Using UKF and Customized RFID Communication
Introduction
Related Study
Proposed Navigation System
Robot Model
Customized RFID System
Guiding Principle
Pose Estimation Using UKF
Simulation Results
Conclusion
References
Toward Opportunistic Collaboration in Target Pursuit Problems
Introduction
Problem Description
System Architecture
Robot's Opportunistic Inference Engine
Action Selection through Two-Level State-Rating System
Mediator
Case Study
Conclusions and Future Works
References
A Multi-agent Framework with MOOS-IvP for Autonomous Underwater Vehicles with Sidescan Sonar Sensors
Introduction
Background of Research
Sidescan Sonar Sensor
MOOS-IvP
MAS Framework with MOOS-IvP
System Overview
ConfidenceMap
3D Visualizer
Conclusion
References
Three-Dimensional Path-Planning for a Communications and Navigation Aid Working Cooperatively with Autonomous Underwater Vehicles
Introduction
Surveys with AUVs and CNAs
Review of Recent CNA Developments
New Contributions to Optimized CNA Path-Planning
Three-Dimensional Path-Planning - Variable Depths
Three-Dimensional Path-Planning - Distance Penalty
Results
3D Path-Planning - Variable Depth
3D Path-Planning - Distance Penalty
Current and Future Work
Conclusions
References
Autonomous Haulage Systems - Justification and Opportunity
Introduction
Layout of the Model
Vehicle Motion
Small Increment Approach
Rolling Resistance
Rimpull Forces
Fuel Consumption
Conclusions
References
Building a No Limit Texas Hold'em Poker Agent Based on Game Logs Using Supervised Learning
Introduction
Texas Hold'em Poker
Hand Ranking
No Limit Texas Hold'em
Related Work
Opponent Modeling in Poker
Poker Hand Rank Evaluation
Odds Calculation
Agent Development Tools
Poker Data Extraction and Analysis
Learning Game Strategies
Agent Implementation
Tests and Results
Conclusions and Future Work
References
Intelligent and Advanced Control Systems
Autonomous Manipulation Combining Task Space Control with Recursive Field Estimation
Introduction
Problem Statement and Basic Formulation
Manipulator Dynamics in Task Space
Spatial Field Estimation and Tracking
Recursive Estimation of Spatial Field of Interest
Field Tracking with Gradient Climbing
Experimental Results
Conclusion
References
Accessibility of Fuzzy Control Systems
Introduction
Background
TS FLCs
Definition of Accessibility
Accessibility Analysis
Linearization
Examples
Conclusion
References
Thermal Dynamic Modeling and Control of Injection Moulding Process
Introduction
Injection Mould and Various Cycle-Times
Thermal Dynamics Modeling
Finite Element Analysis
System Identification Using NARX Model and FEA
Controller Design
Control of Cavity-Wall Temperature
Self-tuning PID with RBF Neural Network
Controller Performance
Conclusion
References
Analysis of Future Measurement Incorporation into Unscented Predictive Motion Planning
Introduction
Problem Statement
The Nonholonomic System Model
The Motion Planning Formulation
Chance Constraints
Unscented Model Predictive Motion Planning
Unscented Transformed Motion Equations
Unscented Model Predictive Motion Planning Using Output Feedback
Simulation Results and Discussions
Conclusion
References
Nonlinear Maneuvering Control of Rigid Formations of FixedWing UAVs
Introduction
Modeling and Problem Definition
Modelling the Formation
UAV Agent Dynamics
The Cohesive Motion Control Problem
High-Level Distributed Formation Control Design
On-Line Trajectory Generation
Distributed Control Law Generating Desired Velocities
Low Level Motion Control Design for Fixed-Wing UAV Agents
Simulations
Simulations for the High-Level Coordination Control Law
Fixed-Wing UAV Formations
Conclusion
References
Intelligent Control System Design for a Class of Nonlinear Mechanical Systems
Introduction
Classical Adaptive Control
Intelligent Control System Using Multiple Model Parameters: A Hybrid Control Approach
Experimental Results
Conclusion
References
Trends in the Control Schemes for Bilateral Teleoperation with Time Delay
Introduction
Time Delay in Teleoperation
Control Schemes for Time-Delayed Bilateral Teleoperation
Passivity-Based Schemes
Prediction Based Schemes
Sliding-Mode Control Schemes
Other Control Schemes
Remarks about Future Trends
Conclusion
References
Bilateral Teleoperation System with Time Varying Communication Delay: Stability and Convergence
Introduction
System Dynamics and Objective
Teleoperation Control Design Under Symmetric Time Varying Communication Delay
Stability Analysis
Teleoperation Control System Under Asymmetrical Time Varying Communication Delay
Stability Analysis
Conclusion
References
Online Incremental Learning of Inverse Dynamics Incorporating Prior Knowledge
Introduction
Overview of Model-Based Control
Learning Inverse Dynamics
Locally Weighted Projection Regression
Incorporating A-Priori Knowledge into LWPR
Simulations
Conclusions and Future Work
References
Experimental Comparison of Model-Based and Model-Free Output Feedback Control System for Robot Manipulators
Introduction
Observer-Based Output Feedback Control Methods: Model-Free and Model-Based Design
Experimental Comparison: Model-Based and Model-free Approach
Discussion and Conclusion
References
P-Map: An Intuitive Plot to Visualize, Understand, and Compare Variable-Gain PI Controllers
Introduction
P-Map: Theory
P-Map for Understanding a Variable-Gain PI Controller
P-Map for Comparing Two PI Controllers
Discussions
P-Map: Examples
Configurations of the FLCs
Example 1: Constant-Gain T1 Fuzzy PI Controller
Example 2: Variable-Gain IT2 Fuzzy PI Controller
Example 3: Comparing Two Fuzzy PI controllers
Conclusions
References
Sufficient Conditions for Global Synchronization of Continuous Piecewise Affine Systems
Introduction
Problem Formulation
Controller Synthesis
Application to Mechanical and Electrical Systems
A Non-smooth Mechanical System
A Non Linear Electrical Circuit
Comparative Study
Conclusion
References
Intelligent Sensing and Data Analysis
Question Type Classification Using a Part-of-Speech Hierarchy
Introduction
Background
Methodology
Part-of-Speech Hierarchy
Informer-Learning Algorithm
Experimental Results
Discussion
Conclusion
References
Exploring Wikipedia's Category Graph for Query Classification
Introduction
Background
Methodology
Building the Category Graph
Starting the Search
Exploration Algorithm
Experimental Results
Conclusion
References
Combination of Error Detection Techniques in Automatic Speech Transcription
Introduction
Background Material
Proposed Approach
Case Study: PMI- and LSI-Based Error Detection Combination
PMI-Based Error Detection
LSI-Based Error Detection
Combination of LSI and PMI
Experimental Assessment
Experimental Framework
Experimental Results
Conclusion
References
Developing a Secure Distributed OSGi Cloud Computing Infrastructure for Sharing Health Records
Introduction
Sharing EHRs over the Cloud
EHR Specification
Cloud Challenges
Designing a Secure Cloud for Sharing EHRs
Health Cloud Exchange (HCX)
Role-Based Single-Sign-On (RBSSO)
Implementation Details
HCX
RBSSO
Conclusions
References
Extreme Learning Machine with Adaptive Growth of Hidden Nodes and Incremental Updating of Output Weights
Introduction
Brief on Error Minimized Extreme Learning Machine
The Proposed Algorithm AIE-ELM
Experimental Verification
Comparison of AIE-ELM and EM-ELM with the Same Expected Accuracy
Comparison of AIE-ELM and EM-ELM with the Same Step
Conclusion
References
Face Recognition Based on Kernelized Extreme Learning Machine
Introduction
Dimensionality Reduction Methods: PCA and LDA
Review of Least Square Support Vector Machine (LS-SVM)
Kernelized Extreme Learning Machine
Performance Evaluation
Parameter Settings
Testing Accuracy
Computational Complexity and Training Time
Sensitivity of User Specified Parameters
Conclusions
References
Detection and Tracking of Multiple Similar Objects Based on Color-Pattern
Introduction
Proposed Approach
Object Detection Based on Color Patterns
Object Tracking
Multi-frame Object Correspondence Problem
Multi-frame Object Correspondence Solution
Proposed Multi-frame Object Correspondence Algorithm
Results
Conclusions
References
Argo Vehicle Simulation of Motion Driven 3D LIDAR Detection and Environment Awareness
Introduction
Background
Grid-Based Mapping
Algorithm Assumptions
3D Occupancy Grid Based Mapping Algorithm
Saving Range Distance Data for Obstacles in FOV
Performing Inverse Measurement Calculation
Ensure Local Inverse Measurements are within Bounds
Performing Log-Odds Ratio on the Global Coordinate System
Simulation Parameters and Environment
Conclusion
References
Signal Processing and Pattern Recognition for Eddy Current Sensors, Used for Effective Land-Mine Detection
Introduction
Compensation of "Uncooperative" Soils
Feature Extraction and Classification
Signal Adapted Fuzzy Membership Functions
The Fuzzy Classifier
Results
Test Field from the University of Rostock (Germany)
Test Field from the JRC-Ispra (Italy)
Conclusions
References
Velocity Measurement for Moving Surfaces by Using Spatial Filtering Technique Based on Array Detectors
Introduction
Principle of Spatial Filtering Velocimetry
Spatial Filtering System with Dedicated Structured Detector
Measurement Results for Speed of Solid Surface Motion
Angle Measurement
Speed Measurements of a Moving Surface
Conclusion
References
Human-Machine Interaction
Towards Unified Performance Metrics for Multi-robot Human Interaction Systems
Introduction
Effective Modeling of Fan Out Mteric
Fan Out and Human Reliability
Robot Attention Demand and Human Trust in Automation
Proposed Human Trust in Automation and Human Reliability Fuzzy Temporal Model
Human Trust in Automation Model
Human Reliability Model
Metrics Generalization Models for Multi-robot Cognitive Systems
Sequential Execution of Tasks
Parallel Execution of Tasks
Simulations and Experimental Results
Conclusion
References
Augmented HE-Book: A Multimedia Based Extension to Support Immersive Reading Experience
Introduction
Related Study
Haptic Ebook System
Annotation Manager
Mobile GUI Client
Multimedia Manager
Interaction Controller
Implementation and Results
Implementation Details
User Study
Conclusion
References
Human-Machine Learning for Intelligent Aircraft Systems
Introduction
An Associative Case-Based Reasoning Approach to Learning
Preliminary Results
Concluding Remarks
References
Haptic Data Compression Based on Curve Reconstruction
Introduction
Related Work
Haptic Data Compression and Reconstruction
Haptic Data and Curve Reconstruction
Haptic Perceptibility and Deadband Approach
The Proposed Algorithm
Results
Conclusion
References
Intelligent Circuit Analysis and Signal Processing
Diastolic Timed Vibrator: Applying Direct Vibration in Diastole to Patients with Acute Coronary Ischemia during the Pre-hospitalization Phase
Introduction
Principle of DTV
Implementation of DTV
System Implementation
Software Implementation
Experimental Result
Conclusion
Future Work
References
Low Noise CMOS Chopper Amplifier for MEMS Gas Sensor
Introduction
Basic Principle
Design Consideration and Simulation Results
Design Comparison
Conclusion
References
Modeling Reliability in Wireless Sensor Networks
Introduction
Related Work
Error-Free Transmission
Retransmission Techniques
End-to-End Retransmission (EER)
Hop-by-Hop Retransmission (HHR)
Simulation Results
Variable-Power Gain
Energy Costs versus Link Error Rate in EER
Threshold Link Error Rate versus $\Delta$N in EER
Error-Free Transmission versus EER and HHR
Conclusion and Future Work
References
Fading Compensation for Improved Indoor RF Tracking Based on Redundant RSS Readings
Introduction
Tracking System Architecture
Indoor RF Propagation Model
Diversity RF Transceiver Module
Experimental Results
Path Loss Measurement
Tracking Performance
Conclusion and Future Work
References
Redundant Reader Elimination Approaches for RFID Networks
Introduction
Related Work
Genetic Algorithm
First Approach (Omni-directional Reader Antenna)
Second Approach (Directional Reader Antenna)
Simulation Setups and Results
Simulation Setups for First Approach
Simulation Setup for Second Approach
Conclusion
References
NoC-MPSoC Performance Estimation with Synchronous Data Flow (SDF) Graphs
Introduction
Related Work
Approach of Performance Estimation of Migration Software Task to Hardware Component with SDF Graphs
Annotation KPN Model
Transformation the Annotated KPN Model to SDF Model
Synthesis under Constraints
Comparison of Results
The SDF3 Tool and Communication Protocols
Description of SDF3 Tool
Communication Protocols Modeling with SDF Graphs
Case Study: MJPEG DECODER
Description of MJPEG Decoder
Validation of Approach
Conclusion
References
Author Index

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Autonomous and Intelligent Systems

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