Now showing items 1-20 of 152

    • Recursive Learning for Deformable Object Manipulation 

      Howard, Ayanna M.; Bekey, George A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1997-07)
      This paper presents a generalized approach to handling of 3D deformable objects. Our task is to learn robotic grasping characteristics for a non-rigid object represented by a physically-based model. The model is derived ...
    • A Multi-Stage Neural Network for Automatic Target Detection 

      Howard, Ayanna M.; Padgett, Curtis; Liebe, Carl Christian (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1998-05)
      Automatic Target Recognition (ATR) involves processing two-dimensional images for detecting, classifying, and tracking targets. The first stage in ATR is the detection process. This involves discrimination between target ...
    • Intelligent Target Detection in Hyperspectral Imagery 

      Howard, Ayanna M.; Padgett, Curtis; Brown, Kenneth (Georgia Institute of Technology, 1999-03)
      Many applications that use hyperspectral imagery focus on detection and recognition of targets that occupy a portion of a hyperspectral pixel. We address the problem of sub-pixel target detection by evaluating individual ...
    • Intelligent learning for deformable object manipulation 

      Howard, Ayanna M.; Bekey, George A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-11)
      The majority of manipulation systems are designed with the assumption that the objects’being handled are rigid and do not deform when grasped. This paper addresses the problem of robotic grasping and manipulation of 3-D ...
    • A generalized approach to real-time pattern recognition in sensed data 

      Howard, Ayanna M.; Padgett, Curtis (Georgia Institute of TechnologyElsevier, 1999-12)
      Many applications that focus on target detection in an image scene develop algorithms specific to the task at hand. These algorithms tend to be dependent on the type of input data used in the application and thus generally ...
    • Real Time Intelligent Target Detection and Analysis with Machine Vision 

      Howard, Ayanna M.; Padgett, Curtis; Brown, Kenneth (Georgia Institute of Technology, 2000-06)
      This paper presents an algorithm for detecting a specified set of target objects embedded in visual imagery for an Automatic Target Recognition (ATR) application. ATR involves processing images for detecting, classifying, ...
    • A Learning Methodology for Robotic Manipulation of Deformable Objects 

      Howard, Ayanna M.; Bekey, George A. (Georgia Institute of Technology, 2000-06)
      The majority of manipulation systems are designed with the assumption that the objects being handled are rigid and do not deform when grasped. This paper address the problem of robotic grasping and manipulation of 3- D ...
    • A Real-Time Autonomous Rover Navigation System 

      Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of Technology, 2000-06)
      To enable real-time autonomous navigation, a mobile robot is equipped with on-board processing power, image-processing algorithms, and a fuzzy computation engine that allow the rover to safely navigate to a designated goal ...
    • Intelligent Learning for Deformable Object Manipulation 

      Howard, Ayanna; Bekey, George A. (Georgia Institute of TechnologySpringer Verlag, 2000-08)
      The majority of manipulation systems are designed with the assumption that the objects being handled are rigid and do not deform when grasped. This paper addresses the problem of robotic grasping and manipulation of 3-D ...
    • Real-Time Assessment of Terrain Traversability for Autonomous Rover Navigation 

      Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-11)
      This paper presents a novel technique for real-time measurement of terrain characteristics and incorporation of this information into the navigation strategy of an autonomous mobile robot. The proposed methodology utilizes ...
    • Shape Based Object Recognition Using a Fast Analog Convolution Processor 

      Padgett, Curtis; Howard, Ayanna; Udomkesmalle, Suraphol (Gabriel) (Georgia Institute of Technology, 2000-12)
    • Fuzzy Rule-Based Reasoning for Rover Safety and Survivability 

      Tunstel, Edward; Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)
      Operational safety and health monitoring are critical matters for autonomous field mobile robots such as planetary rovers operating on challenging terrain. The paper describes relevant rover safety and health issues and ...
    • A Rule-Based Fuzzy Traversability Index for Mobile Robot Navigation 

      Howard, Ayanna M.; Seraji, Homayoun; Tunstel, Edward (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)
      This paper presents a rule-based fuzzy traversability index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved from imagery data. These ...
    • Safe Navigation on Hazardous Terrain 

      Seraji, Homayoun; Howard, Ayanna M.; Tunstel, Edward (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)
      This paper presents a new strategy for autonomous navigation of field mobile robots on hazardous natural terrain using a fuzzy logic approach and a measure of terrain traversability. The navigation strategy comprises three ...
    • Terrain-Based Navigation of Planetary Rovers: A Fuzzy Logic Approach 

      Seraji, Homayoun; Howard, Ayanna M.; Tunstel, Edward (Georgia Institute of TechnologyCanadian Space Agency, 2001-06)
      This paper presents a new strategy for autonomous navigation of eld mobile robots on hazardous natural terrain using a fuzzy logic approach and a novel mea- sure of terrain traversability. The navigation strategy is comprised ...
    • Enhancing Fuzzy Robot Navigation Systems by Mimicking Human Visual Perception of Natural Terrain Traversability 

      Howard, Ayanna M.; Tunstel, Edward; Edwards, Dean; Carlson, Alan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-07)
      This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data. The ...
    • Vision-Based Terrain Characterization and Traversability Assessment 

      Howard, Ayanna; Seraji, Homayoun (Georgia Institute of TechnologyWiley-Blackwell, 2001-10)
      This article presents novel techniques for real-time terrain characterization and assessment of terrain traversability for a field mobile robot using a vision system and artificial neural networks. The key terrain ...
    • Application of Fuzzy Logic in Sunsensor Data Interpretation 

      Mobasser, Sohrab; Liebe, Carl Christian; Howard, Ayanna (Georgia Institute of TechnologyAssumption University (Bangkok), 2001-11)
    • An intelligent terrain-based navigation system for planetary rovers 

      Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      A fuzzy logic framework for onboard terrain analysis and guidance towards traversable regions. An onboard terrain-based navigation system for mobile robots operating on natural terrain is presented. This system utilizes a ...
    • Fuzzy Image Processing in Sun Sensor 

      Mobasser, Sohrab; Liebe, Carl Christian; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      Sun sensors are widely used in spacecraft attitude determination subsystems to provide a measurement of the Sun vector in spacecraft coordinates. At the Jet Propulsion Laboratory, California Institute of Technology, there ...