Prof. Ernest L. Hall Profile

Prof. Ernest L. Hall

Emeritus Professor

SPIE Involvement:

Author | Science Fair Judge

Area of Expertise:

intelligent robots , computer vision

Websites:

Personal Website | Company Website

Profile Summary

Ernest Lenard Hall

From Wikipedia, the free encyclopedia

Ernest L. Hall

Born

Naylor, MO, USA

Residence

Cincinnati

Citizenship

American

Nationality

American

Fields

Robotics

Institutions

University of Cincinnati College of Engineering

Alma mater

University of Missouri

Ernest Lenard (Ernie) Hall, Ph.D., PE, is Professor Emeritus of Mechanical Engineering and Computer Science in the School of Dynamic Systems in the College of Engineering and Applied Science at the University of Cincinnati.[1] He was also the Paul E. Geier Professor of Robotics in the Department of Mechanical Engineering at the University of Cincinnati.[2] He has also held joint appointments at the University of Cincinnati with the Department of Electrical and Computer Engineering and Computer Science. He regularly collaborates with faculty and students in other colleges at University of Cincinnati, as well as civic groups, including the FIRST Lego League, the Ohio Academy of Science, and the Society of Manufacturing Engineers (Chapter 21).[2] While consulting with the Oak Ridge National Laboratory, he became interested in efforts to make useful robots for some of the dangerous tasks encountered by the Department of Energy, Department of Defense and NASA. He noted the importance of combining image processing algorithms with manipulators and controller to build intelligent robots,[3] especially in automatic target recognition. He has founded and has co-chaired an annual conference on Intelligent Robots and Computer Vision for the past 25 years to provide a forum for new innovations in this field.[4] He sits as the first Paul. E. Geier Professor of Robotics at the University of Cincinnati. At the University of Cincinnati, he established the Center for Robotics Research, which encourages robotics activities in industry, medicine, defense, and even at home with projects like a robot lawn mower.

Publications (75)

Proceedings Article | 18 January 2010 Paper

Paper

Predictive vision from stereo video: robust object detection for autonomous navigation using the Unscented Kalman Filter on streaming stereo images

Donald Rosselot, Mark Aull, Ernest Hall

Proceedings Volume 7539, 75390R (2010) https://doi.org/10.1117/12.839243

KEYWORDS: Filtering (signal processing), Video, Image processing, Calibration, Cameras, Algorithm development, Electronic filtering, Robots, Sensors, Detection and tracking algorithms

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Proceedings Article | 18 January 2010 Paper

Paper

Comparison of three control methods for an autonomous vehicle

Anup Deshpande, Kovid Mathur, Ernest Hall

Proceedings Volume 7539, 75390T (2010) https://doi.org/10.1117/12.838897

KEYWORDS: Control systems, Motion controllers, Computer programming, Servomechanisms, Safety, Amplifiers, Actuators, Switches, Computing systems, Vehicle control

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Proceedings Article | 18 January 2010 Paper

Paper

Engineering robust intelligent robots

E. Hall, S. M. Alhaj Ali, M. Ghaffari, X. Liao, M. Cao

Proceedings Volume 7539, 753904 (2010) https://doi.org/10.1117/12.838730

KEYWORDS: Robots, Databases, Control systems, Data modeling, Neural networks, Mobile robots, Computer programming, Complex systems, Sensors, Systems modeling

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Proceedings Article | 19 January 2009 Paper

Paper

Architectures for intelligent robots in the age of exploitation

E. Hall, S. M. Alhaj Ali, M. Ghaffari, X. Liao, Saurabh Sarkar, Kovid Mathur, Srinivas Tennety

Proceedings Volume 7252, 725203 (2009) https://doi.org/10.1117/12.806232

KEYWORDS: Databases, Robots, Control systems, Data modeling, Computer programming, Neural networks, Mobile robots, Complex systems, Systems modeling, Navigation systems

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Proceedings Article | 10 September 2007 Paper

Paper

Eclectic theory of intelligent robots

E. Hall, M. Ghaffari, X. Liao, S. M. Alhaj Ali, Saurabh Sarkar, Scott Reynolds, Kovid Mathur

Proceedings Volume 6764, 676403 (2007) https://doi.org/10.1117/12.730799

KEYWORDS: Databases, Robots, Data modeling, Control systems, Mobile robots, Complex systems, Computer programming, Neural networks, Motion models, Device simulation

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The purpose of this paper is to introduce a concept of eclecticism for the design, development, simulation and implementation of a real time controller for an intelligent, vision guided robots. The use of an eclectic perceptual, creative controller that can select its own tasks and perform autonomous operations is illustrated. This eclectic controller is a new paradigm for robot controllers and is an attempt to simplify the application of intelligent machines in general and robots in particular. The idea is to uses a task control center and dynamic programming approach. However, the information required for an optimal solution may only partially reside in a dynamic database so that some tasks are impossible to accomplish. So a decision must be made about the feasibility of a solution to a task before the task is attempted. Even when tasks are feasible, an iterative learning approach may be required. The learning could go on forever. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the Intelligent Ground Vehicle Contest. A novel feature of the proposed approach lies in the fact that it is applicable to both robot arm manipulators and mobile robots such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, medical robotics, and robots that aids older people in daily living activities.

Proceedings Article | 10 September 2007 Paper

Paper

Creative learning for intelligent robots

Xiaoqun Liao, Ernest Hall

Proceedings Volume 6764, 67640I (2007) https://doi.org/10.1117/12.735378

KEYWORDS: Robots, Control systems, Neural networks, Device simulation, Computer programming, Databases, Adaptive control, Mobile robots, Data modeling, Intelligence systems

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Proceedings Article | 10 September 2007 Paper

Paper

Virtual force field based obstacle avoidance and agent based intelligent mobile robot

Saurabh Sarkar, Scott Reynolds, Ernest Hall

Proceedings Volume 6764, 67640R (2007) https://doi.org/10.1117/12.734691

KEYWORDS: Sensors, Global Positioning System, Mobile robots, Laser range finders, Telecommunications, Environmental sensing, Robotic systems, Associative arrays, Robot vision, Laser scanners

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Proceedings Article | 2 October 2006 Paper

Paper

Intelligent robot control using an adaptive critic with a task control center and dynamic database

E. Hall, M. Ghaffari, X. Liao, S. M. Alhaj Ali

Proceedings Volume 6384, 63840J (2006) https://doi.org/10.1117/12.685367

KEYWORDS: Databases, Data modeling, Control systems, Mobile robots, Global Positioning System, Sensors, Complex systems, Neural networks, Robot vision, Motion models

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Proceedings Article | 2 October 2006 Paper

Paper

A comparison of two- and three-dimensional imaging

Ernest Hall, Donald Rosselot, Mark Aull, Manohar Balapa

Proceedings Volume 6384, 63840B (2006) https://doi.org/10.1117/12.687474

KEYWORDS: 3D modeling, 3D vision, Visual process modeling, Optical spheres, 3D image processing, 3D metrology, Spherical lenses, Cameras, Motion models, Commercial off the shelf technology

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Proceedings Article | 25 October 2005 Paper

Paper

The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map

Donald Rosselot, Ernest Hall

Proceedings Volume 6006, 60060K (2005) https://doi.org/10.1117/12.631018

KEYWORDS: Video, Calibration, Image processing, Video processing, Cameras, Machine vision, Computer vision technology, 3D image processing, Sensors, Robot vision

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Proceedings Article | 25 October 2005 Paper

Paper

Intelligent robots that adapt, learn, and predict

E. Hall, X. Liao, M. Ghaffari, S. Alhaj Ali

Proceedings Volume 6006, 600602 (2005) https://doi.org/10.1117/12.630920

KEYWORDS: Databases, Robots, Control systems, Mobile robots, Data modeling, Neural networks, Complex systems, Computer programming, Intelligence systems, Process control

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Proceedings Article | 25 October 2005 Paper

Paper

Design and simulation of a motion controller for a wheeled mobile-robot autonomous navigation

Souma Alhaj Ali, Ernest Hall

Proceedings Volume 6006, 60060M (2005) https://doi.org/10.1117/12.628557

KEYWORDS: Device simulation, Mobile robots, Motion controllers, Detection and tracking algorithms, Feedback control, Computed tomography, Fuzzy logic, Software development, Navigation systems, Control systems

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Proceedings Article | 25 October 2004 Paper

Paper

Processing real-time stereo video for an autonomous robot using disparity maps and sensor fusion

Donald Rosselot, Ernest Hall

Proceedings Volume 5608, (2004) https://doi.org/10.1117/12.571291

KEYWORDS: Stereo vision systems, Cameras, Imaging systems, Sensors, Sensor fusion, MATLAB, Image processing, Machine vision, Computer vision technology, Evolutionary algorithms

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Proceedings Article | 25 October 2004 Paper

Paper

Robotics and nature: from primitive creatures to human intelligence

Masoud Ghaffari, Ernest Hall

Proceedings Volume 5608, (2004) https://doi.org/10.1117/12.571381

KEYWORDS: Robotics, Artificial intelligence, Brain, Telecommunications, Manufacturing, Robot vision, Sensors, Bone, Control systems, Positron emission tomography

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Proceedings Article | 25 October 2004 Paper

Paper

Advances in learning for intelligent mobile robots

Ernest Hall, Masoud Ghaffari, Xiaoqun Liao, Souma Alhaj Ali

Proceedings Volume 5608, (2004) https://doi.org/10.1117/12.571195

KEYWORDS: Robots, Mobile robots, Databases, Control systems, Data modeling, Sensors, Device simulation, Intelligent sensors, Adaptive control, Computer programming

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Proceedings Article | 25 October 2004 Paper

Paper

Calculation of the shortest-time path for traversal of an obstacle course by a robot

Rishi Khar, Ernest Hall

Proceedings Volume 5608, (2004) https://doi.org/10.1117/12.571219

KEYWORDS: Mathematical modeling, Computer programming, Radon, Excel, Global Positioning System, Data modeling, Robotics, Algorithm development, Computing systems, Binary data

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Proceedings Article | 25 October 2004 Paper

Paper

Mines and human casualties: a robotics approach toward mine clearing

Masoud Ghaffari, Dinesh Manthena, Alireza Ghaffari, Ernest Hall

Proceedings Volume 5608, (2004) https://doi.org/10.1117/12.571260

KEYWORDS: Land mines, Mining, Sensors, Robotics, Metals, Infrared sensors, Ground penetrating radar, Infrared detectors, Infrared radiation, Global Positioning System

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Proceedings Article | 2 September 2004 Paper

Paper

A framework for the natural-language-perception-based creative control of unmanned ground vehicles

Masoud Ghaffari, Xiaoqun Liao, Ernest Hall

Proceedings Volume 5422, (2004) https://doi.org/10.1117/12.542334

KEYWORDS: Databases, Mobile robots, Control systems, Data modeling, Fuzzy logic, Computer programming, Unmanned ground vehicles, Robotics, Human-machine interfaces, Computer aided design

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Proceedings Article | 30 September 2003 Paper

Paper

Learning for intelligent mobile robots

Ernest Hall, Xiaoqun Liao, Souma Alhaj Ali

Proceedings Volume 5267, (2003) https://doi.org/10.1117/12.514831

KEYWORDS: Robots, Mobile robots, Databases, Control systems, Device simulation, Sensors, Data modeling, Adaptive control, Process control, Computer programming

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Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot’s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is “beyond the adaptive critic.” A mathematical model of the creative control process is presented that illustrates the use for mobile robots. Examples from a variety of intelligent mobile robot applications are also presented. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots that could lead to many applications.

Proceedings Article | 30 September 2003 Paper

Paper

Soil sampling sensor system on a mobile robot

Peter Cao, Ernest Hall, Evan Zhang

Proceedings Volume 5267, (2003) https://doi.org/10.1117/12.516367

KEYWORDS: Actuators, Sensors, Control systems, Soil science, Mobile robots, Global Positioning System, Resistance, Computer programming, Land mines, Artillery

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Proceedings Article | 30 September 2003 Paper

Paper

Internet-based control for the intelligent unmanned ground vehicle: Bearcat Cub

Masoud Ghaffari, Sugan Narayanan, Balaji Sethuramasamyraja, Ernest Hall

Proceedings Volume 5267, (2003) https://doi.org/10.1117/12.515027

KEYWORDS: Web services, Internet, Databases, Control systems, Unmanned ground vehicles, Robotics, Detection and tracking algorithms, Manufacturing, Network security, Computer security

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Proceedings Article | 30 September 2003 Paper

Paper

Experimental approach for the evaluation of neural network classifier algorithms

Masoud Ghaffari, Ernest Hall

Proceedings Volume 5267, (2003) https://doi.org/10.1117/12.515826

KEYWORDS: Neural networks, Evolutionary algorithms, MATLAB, Algorithm development, Robotics, Statistical analysis, Analytical research, Artificial neural networks, Glasses, Machine learning

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Proceedings Article | 30 September 2003 Paper

Paper

Automatic calibration and neural networks for robot guidance

Balaji Sethuramasamyraja, Masoud Ghaffari, Ernest Hall

Proceedings Volume 5267, (2003) https://doi.org/10.1117/12.515036

KEYWORDS: Calibration, Cameras, 3D image processing, Imaging systems, Image processing, Mobile robots, 3D modeling, Robot vision, Neural networks, Robotics

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Proceedings Article | 5 October 2001 Paper

Paper

Intelligent robot trends and predictions for the .net future

Ernest Hall

Proceedings Volume 4572, (2001) https://doi.org/10.1117/12.444228

KEYWORDS: Control systems, Robotics, Manufacturing, Sensors, Mechatronics, Robot vision, Intelligent sensors, Design for manufacturability, Inspection, Artificial intelligence

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Proceedings Article | 5 October 2001 Paper

Paper

Beyond adaptive-critic creative learning for intelligent mobile robots

Xiaoqun Liao, Ming Cao, Ernest Hall

Proceedings Volume 4572, (2001) https://doi.org/10.1117/12.444207

KEYWORDS: Robots, Neural networks, Neurons, Computer programming, Mobile robots, Machine learning, Nonlinear control, Cognitive modeling, Intelligence systems, Sensors

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Intelligent industrial and mobile robots may be considered proven technology in structured environments. Teach programming and supervised learning methods permit solutions to a variety of applications. However, we believe that to extend the operation of these machines to more unstructured environments requires a new learning method. Both unsupervised learning and reinforcement learning are potential candidates for these new tasks. The adaptive critic method has been shown to provide useful approximations or even optimal control policies to non-linear systems. The purpose of this paper is to explore the use of new learning methods that goes beyond the adaptive critic method for unstructured environments. The adaptive critic is a form of reinforcement learning. A critic element provides only high level grading corrections to a cognition module that controls the action module. In the proposed system the critic's grades are modeled and forecasted, so that an anticipated set of sub-grades are available to the cognition model. The forecasting grades are interpolated and are available on the time scale needed by the action model. The success of the system is highly dependent on the accuracy of the forecasted grades and adaptability of the action module. Examples from the guidance of a mobile robot are provided to illustrate the method for simple line following and for the more complex navigation and control in an unstructured environment. The theory presented that is beyond the adaptive critic may be called creative theory. Creative theory is a form of learning that models the highest level of human learning - imagination. The application of the creative theory appears to not only be to mobile robots but also to many other forms of human endeavor such as educational learning and business forecasting. Reinforcement learning such as the adaptive critic may be applied to known problems to aid in the discovery of their solutions. The significance of creative theory is that it permits the discovery of the unknown problems, ones that are not yet recognized but may be critical to survival or success.

Proceedings Article | 5 October 2001 Paper

Paper

Symbolic processing methods for 3D visual processing

Maurice Tedder, Ernest Hall

Proceedings Volume 4572, (2001) https://doi.org/10.1117/12.444231

KEYWORDS: Data modeling, Logic, 3D modeling, Laser scanners, Visual process modeling, 3D visualizations, Visualization, Machine vision, Data processing, Artificial intelligence

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Proceedings Article | 5 October 2001 Paper

Paper

Omnivision-based autonomous mobile robotic platform

Zuoliang Cao, Jun Hu, Jin Cao, Ernest Hall

Proceedings Volume 4572, (2001) https://doi.org/10.1117/12.444211

KEYWORDS: Robotics, Sensors, Databases, Navigation systems, Distortion, Image processing, Mobile robots, Computing systems, Cameras, Computer programming

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Proceedings Article | 5 October 2001 Paper

Paper

Comparison of three obstacle-avoidance methods for a mobile robot

Sachin Modi, Pravin Chandak, Vidya Murty, Ernest Hall

Proceedings Volume 4572, (2001) https://doi.org/10.1117/12.444194

KEYWORDS: Laser scanners, Sensors, Transducers, Mobile robots, Ultrasonics, Binary data, Time metrology, Navigation systems, Scanners, Robotics

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Proceedings Article | 5 October 2001 Paper

Paper

Application of GPS systems on a mobile robot

Peter Cao, Mayank Saxena, Maurice Tedder, Steve Mischalske, Ernest Hall

Proceedings Volume 4572, (2001) https://doi.org/10.1117/12.444198

KEYWORDS: Global Positioning System, Satellites, Receivers, Mobile robots, Robots, Navigation systems, Robotics, Control systems, Tolerancing, Signal processing

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Proceedings Article | 5 October 2001 Paper

Paper

Case study of rotating sonar sensor application in unmanned automated guided vehicle

Pravin Chandak, Ming Cao, Ernest Hall

Proceedings Volume 4572, (2001) https://doi.org/10.1117/12.444230

KEYWORDS: Amplifiers, Computer programming, Motion controllers, Control systems, Systems modeling, Servomechanisms, Sensors, Analog electronics, MATLAB, Feedback signals

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Proceedings Article | 11 October 2000 Paper

Paper

Video switching and sensor fusion for multicamera sensing systems

Mayank Saxena, Vishnuvardhanaraj Selvaraj, Rahul Dhareshwar, Ernest Hall

Proceedings Volume 4197, (2000) https://doi.org/10.1117/12.403758

KEYWORDS: Cameras, Video, Sensors, Switches, Switching, Video surveillance, Robots, Mobile robots, Imaging systems, Signal processing

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Proceedings Article | 11 October 2000 Paper

Paper

Simple obstacle detection to prevent miscalculation of line location and orientation in line following using statistically calculated expected values

Terrell Mundhenk, Michael Rivett, Ernest Hall

Proceedings Volume 4197, (2000) https://doi.org/10.1117/12.403789

KEYWORDS: Cameras, Robotics, Switches, Fourier transforms, Video, Imaging systems, Switching, Visualization, Mobile robots, Education and training

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Proceedings Article | 11 October 2000 Paper

Paper

Computer vision system for an autonomous mobile robot

Xiaoqun Liao, Jin Cao, Ming Cao, Tayib Samu, Ernest Hall

Proceedings Volume 4197, (2000) https://doi.org/10.1117/12.403759

KEYWORDS: Calibration, Visual process modeling, Cameras, Data modeling, Imaging systems, 3D image processing, Mathematical modeling, Computing systems, Mobile robots, 3D modeling

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Proceedings Article | 11 October 2000 Paper

Paper

Intelligent robot trends and predictions for the first year of the new millennium

Ernest Hall

Proceedings Volume 4197, (2000) https://doi.org/10.1117/12.403760

KEYWORDS: Control systems, Robotics, Mechatronics, Robot vision, Sensors, Manufacturing, Intelligent sensors, Kinematics, Artificial intelligence, Motion controllers

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Proceedings Article | 11 October 2000 Paper

Paper

Techniques for fisheye lens calibration using a minimal number of measurements

Terrell Mundhenk, Michael Rivett, Xiaoqun Liao, Ernest Hall

Proceedings Volume 4197, (2000) https://doi.org/10.1117/12.403762

KEYWORDS: Distortion, Calibration, Cameras, Spherical lenses, Error analysis, Robot vision, Robotics, Video, C++, Manufacturing

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Proceedings Article | 11 October 2000 Paper

Paper

Detection and avoidance of simulated potholes in autonomous vehicle navigation in an unstructured environment

Jaiganesh Karuppuswamy, Vishnuvardhanaraj Selvaraj, Meyyappa Ganesh, Ernest Hall

Proceedings Volume 4197, (2000) https://doi.org/10.1117/12.403788

KEYWORDS: Cameras, Robots, Logic, Device simulation, Edge detection, Environmental sensing, Control systems, Navigation systems, Binary data, Image processing

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Proceedings Article | 11 October 2000 Paper

Paper

Survey of robot lawn mowers

Rob Hicks, Ernest Hall

Proceedings Volume 4197, (2000) https://doi.org/10.1117/12.403770

KEYWORDS: Control systems, Robotics, Sensors, Switches, Patents, Prototyping, Manufacturing, Navigation systems, Signal detection, Environmental sensing

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Proceedings Article | 26 August 1999 Paper

Paper

Steering of an automated vehicle in an unstructured environment

Sampath Kanakaraju, Sathish Shanmugasundaram, Ramesh Thyagarajan, Ernest Hall

Proceedings Volume 3837, (1999) https://doi.org/10.1117/12.360292

KEYWORDS: Control systems, Logic, Ultrasonics, Transducers, Computer programming, Robotics, Mobile robots, Cameras, Motion controllers, Data modeling

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Proceedings Article | 26 August 1999 Paper

Paper

Intelligent robot trends and predictions for the new millennium

Ernest Hall, Terrell Mundhenk

Proceedings Volume 3837, (1999) https://doi.org/10.1117/12.360303

KEYWORDS: Control systems, Robotics, Mechatronics, Sensors, Robot vision, Manufacturing, Intelligent sensors, Kinematics, Safety, Defense and security

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Proceedings Article | 26 August 1999 Paper

Paper

Reactive navigation for autonomous guided vehicle using neuro-fuzzy techniques

Jin Cao, Xiaoqun Liao, Ernest Hall

Proceedings Volume 3837, (1999) https://doi.org/10.1117/12.360289

KEYWORDS: Mobile robots, Fuzzy logic, Navigation systems, Neural networks, Control systems, Sensors, Robot vision, Fuzzy systems, Robotics, Roads

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Proceedings Article | 26 August 1999 Paper

Paper

Motion control design of the Bearcat II mobile robot

Ming Cao, Xiaoqun Liao, Ernest Hall

Proceedings Volume 3837, (1999) https://doi.org/10.1117/12.360290

KEYWORDS: Control systems, Motion controllers, Amplifiers, Computer programming, Mobile robots, Robotics, Vehicle control, Safety, Control systems design, Fuzzy logic

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Proceedings Article | 26 August 1999 Paper

Paper

Probabilistic model for AGV mobile robot ultrasonic sensor

Xiaoqun Liao, Ming Cao, Jin Cao, Ernest Hall

Proceedings Volume 3837, (1999) https://doi.org/10.1117/12.360291

KEYWORDS: Sensors, Ultrasonics, Mobile robots, Systems modeling, Transducers, Environmental sensing, Performance modeling, Control systems, Data modeling, Ranging

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Proceedings Article | 6 October 1998 Paper

Paper

Design development of steering and speed control for an intelligent mobile robot

Kaylan Kolli, Krishnamohan Kola, Ernest Hall

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325775

KEYWORDS: Control systems, Mobile robots, Amplifiers, Motion controllers, Computer programming, Fuzzy logic, Simulink, Robot vision, MATLAB, Device simulation

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Proceedings Article | 6 October 1998 Paper

Paper

Intelligent robot trends for 1998

Ernest Hall

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325768

KEYWORDS: Control systems, Robotics, Robot vision, Mechatronics, Manufacturing, Sensors, Visualization, Intelligent sensors, Kinematics, Safety

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Proceedings Article | 6 October 1998 Paper

Paper

Path planning for mobile robot using sonar map and neural network

Jin Cao, Wen-chuan Chiang, Terrell Mundhenk, Ernest Hall

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325771

KEYWORDS: Neural networks, Mobile robots, Control systems, Sensors, Robot vision, Space robots, Evolutionary algorithms, Detection and tracking algorithms, Environmental sensing, Computing systems

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Proceedings Article | 6 October 1998 Paper

Paper

Range detection for AGV using a rotating sonar sensor

Wen-chuan Chiang, Dhyana Chandra Ramamurthy, Terrell Mundhenk, Ernest Hall

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325788

KEYWORDS: Computer programming, Transducers, Sensors, Motion controllers, Robot vision, Ultrasonics, Mobile robots, Computing systems, Ranging, Control systems design

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Proceedings Article | 6 October 1998 Paper

Paper

Sensor fusion for the navigation of an autonomous guided vehicle using neural networks

Jin Cao, Ernest Hall

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325774

KEYWORDS: Sensors, Neural networks, Mobile robots, Sensor fusion, Control systems, Computer programming, Ultrasonics, Environmental sensing, Artificial neural networks, Robotics

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Proceedings Article | 6 October 1998 Paper

Paper

Comparison of optical modeling and neural networks for robot guidance

Sameer Parasnis, Sasanka Velidandla, Ernest Hall, Sam Anand

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325802

KEYWORDS: Fuzzy logic, Neural networks, Systems modeling, Mobile robots, Data processing, Algorithm development, Sensors, Neurons, Robot vision, Binary data

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Proceedings Article | 6 October 1998 Paper

Paper

Expert system approach to design an automated guided vehicle

Karthikeyan Kumaraguru, Ernest Hall

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325792

KEYWORDS: Computer aided design, Databases, Manufacturing, Logic, Human-machine interfaces, Mobile robots, Mechanical engineering, Robotics, Computing systems, Control systems

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Proceedings Article | 6 October 1998 Paper

Paper

Fuzzy logic control for an automated guided vehicle

Ming Cao, Ernest Hall

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325776

KEYWORDS: Fuzzy logic, Sensors, Roads, Control systems, Mobile robots, Argon, Model-based design, Cameras, Environmental sensing, Fuzzy systems

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Proceedings Article | 26 September 1997 Paper

Paper

Obstacle avoidance system with sonar sensing and fuzzy logic

Wen-chuan Chiang, Nikhal Kelkar, Ernest Hall

Proceedings Volume 3208, (1997) https://doi.org/10.1117/12.290283

KEYWORDS: Sensing systems, Fuzzy logic, Mobile robots, Manufacturing, Medicine, Defense and security, Sensors, Ultrasonics, Transducers, Distance measurement

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Proceedings Article | 26 September 1997 Paper

Paper

Speed control for a mobile robot

Kaylan Kolli, Sreeram Mallikarjun, Krishnamohan Kola, Ernest Hall

Proceedings Volume 3208, (1997) https://doi.org/10.1117/12.290282

KEYWORDS: Mobile robots, Surgery, Computing systems, Manufacturing, Medicine, Defense and security, Control systems, Ultrasonics, Sensors, Motion controllers

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Proceedings Article | 26 September 1997 Paper

Paper

Remote-controlled vision-guided mobile robot system

Raymond Ande, Tayib Samu, Ernest Hall

Proceedings Volume 3208, (1997) https://doi.org/10.1117/12.290285

KEYWORDS: Mobile robots, Robotic systems, Data processing, Switches, Manufacturing, Medicine, Defense and security, Surgery, Unmanned vehicles, Control systems

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Proceedings Article | 26 September 1997 Paper

Paper

Intelligent robot trends for factory automation

Ernest Hall

Proceedings Volume 3208, (1997) https://doi.org/10.1117/12.290310

KEYWORDS: Factory automation, Control systems, Robotics, Robot vision, Intelligent sensors, Sensors, Kinematics, Motion controllers, Roads

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Proceedings Article | 26 September 1997 Paper

Paper

Fuzzy logic control of an AGV

Nikhal Kelkar, Tayib Samu, Ernest Hall

Proceedings Volume 3208, (1997) https://doi.org/10.1117/12.290287

KEYWORDS: Fuzzy logic, Control systems, Mobile robots, Ultrasonics, Telecommunications, Manufacturing, Medicine, Defense and security, Ultrasonography, Sensing systems

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Proceedings Article | 26 September 1997 Paper

Paper

Steering control system for a mobile robot

Kaylan Kolli, Ernest Hall

Proceedings Volume 3208, (1997) https://doi.org/10.1117/12.290289

KEYWORDS: Mobile robots, Control systems, Motion controllers, Manufacturing, Medicine, Defense and security, Actuators, Systems modeling, Motion models

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Proceedings Article | 26 September 1997 Paper

Paper

Fault diagnostic system for a mobile robot

Umesh Nikam, Ernest Hall

Proceedings Volume 3208, (1997) https://doi.org/10.1117/12.290292

KEYWORDS: Mobile robots, Robotic systems, Diagnostics, Failure analysis, Ultrasonics, Control systems, Databases, Visualization, Electrical breakdown

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Proceedings Article | 29 October 1996 Paper

Paper

Line following using a two camera guidance system for a mobile robot

Tayib Samu, Nikhal Kelkar, David Perdue, Michael Ruthemeyer, Bradley Matthews, Ernest Hall

Proceedings Volume 2904, (1996) https://doi.org/10.1117/12.256287

KEYWORDS: Cameras, Calibration, Control systems, Mobile robots, Imaging systems, Mathematical modeling, Robot vision, 3D image processing, Computing systems, Image processing

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Proceedings Article | 24 May 1996 Paper

Paper

Three-dimensional moment invariants for automated target recognition

Tayib Samu, Firooz Sadjadi, Ernest Hall

Proceedings Volume 2756, (1996) https://doi.org/10.1117/12.241150

KEYWORDS: Target recognition, Systems modeling, 3D acquisition, Automatic target recognition, 3D image processing, Sensors, Computing systems, Data modeling, Performance modeling, 3D modeling

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Proceedings Article | 27 December 1995 Paper

Paper

Development of a mobile robot for the 1995 AUVS competition

Bradley Matthews, Michael Ruthemeyer, David Perdue, Ernest Hall

Proceedings Volume 2591, (1995) https://doi.org/10.1117/12.228975

KEYWORDS: Control systems, Sensors, Mobile robots, Computing systems, Cameras, Ultrasonics, Calibration, Transducers, Telecommunications, Fourier transforms

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Proceedings Article | 3 October 1995 Paper

Paper

Omnidirectional vision applications for line following

Bradley Matthews, David Perdue, Ernest Hall

Proceedings Volume 2588, (1995) https://doi.org/10.1117/12.222697

KEYWORDS: Mobile robots, 3D acquisition, Target detection, 3D image processing, Control systems, Calibration, Distortion, Detection and tracking algorithms, Cameras, Target recognition

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Proceedings Article | 3 October 1995 Paper

Paper

Line following for a mobile robot

Bradley Matthews, Michael Ruthemeyer, David Perdue, Ernest Hall

Proceedings Volume 2588, (1995) https://doi.org/10.1117/12.222714

KEYWORDS: Control systems, Mobile robots, Computing systems, Sensors, Switches, Detection and tracking algorithms, Robot vision, Fourier transforms, Visual process modeling, Cameras

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Proceedings Article | 3 October 1995 Paper

Paper

Petri nets for modeling automated target recognition systems

Ernest Hall, Frank Cheng

Proceedings Volume 2588, (1995) https://doi.org/10.1117/12.222687

KEYWORDS: Systems modeling, Target recognition, Automatic target recognition, Data modeling, Performance modeling, Control systems, Telecommunications, Sensors, Detection and tracking algorithms, Computing systems

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Proceedings Article | 13 October 1994 Paper

Paper

Three-dimensional line following using omnidirectional vision

Ron Elkins, Ernest Hall

Proceedings Volume 2354, (1994) https://doi.org/10.1117/12.189080

KEYWORDS: Mobile robots, Control systems, 3D acquisition, Target detection, Calibration, Sensors, Distortion, 3D image processing, 3D vision, Target recognition

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Proceedings Article | 6 August 1993 Paper

Paper

Line-following using omnidirectional vision control

Manoj Ghayalod, Ernest Hall, Fred Reckelhof, Bradley Matthews, Michael Ruthemeyer

Proceedings Volume 2056, (1993) https://doi.org/10.1117/12.150203

KEYWORDS: Mobile robots, Robot vision, Sensors, Machine vision, Ultrasonics, Computer vision technology, Navigation systems, Computer programming, Robotics, Image processing

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Proceedings Article | 6 August 1993 Paper

Paper

Fundamental principles of robot vision

Ernest Hall

Proceedings Volume 2056, (1993) https://doi.org/10.1117/12.150210

KEYWORDS: Robot vision, Machine vision, Sensors, Computer vision technology, Robotic systems, Kinematics, Robotics, Cameras, Imaging systems, Mobile robots

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Proceedings Article | 1 November 1992 Paper

Paper

Approach for description and recognition of arbitrary curves based on segment code

Hongjian Liu, Jiangchuan Du, Wu Xian, Ernest Hall

Proceedings Volume 1825, (1992) https://doi.org/10.1117/12.131530

KEYWORDS: Image segmentation, Image compression, Image processing, Osmium, Robots, Machine vision, Computer vision technology, Robot vision, Pattern recognition, Computer graphics

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Proceedings Article | 1 November 1992 Paper

Paper

Intelligent robot control using omnidirectional vision

Manoj Ghayalod, Ernest Hall

Proceedings Volume 1825, (1992) https://doi.org/10.1117/12.131563

KEYWORDS: Control systems, Mobile robots, Image processing, Intelligence systems, Navigation systems, Robot vision, Image visualization, Visualization, Distortion, Target recognition

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Proceedings Article | 1 November 1992 Paper

Paper

Zero cylinder coordinate system approach to image reconstruction in fan beam ICT

Yan-Chun Yan, Wu Xian, Ernest Hall

Proceedings Volume 1826, (1992) https://doi.org/10.1117/12.131625

KEYWORDS: Image restoration, Fluctuations and noise, Reconstruction algorithms, Computed tomography, Printed circuit board testing

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Proceedings Article | 1 November 1992 Paper

Paper

Basic characteristics and realization of production system control

Shaopeng Cheng, Richard Shell, Ernest Hall

Proceedings Volume 1825, (1992) https://doi.org/10.1117/12.131558

KEYWORDS: Control systems, Robot vision, Telecommunications, Computing systems, Systems modeling, Visual process modeling, Machine vision, Computer vision technology, Process control, Photonic integrated circuits

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Proceedings Article | 1 November 1992 Paper

Paper

Robot control using neural networks with adaptive learning steps

Wanek Golnazarian, Richard Shell, Ernest Hall

Proceedings Volume 1826, (1992) https://doi.org/10.1117/12.131592

KEYWORDS: Neural networks, Artificial neural networks, Kinematics, Dynamical systems, Systems modeling, Evolutionary algorithms, Robotics, Computer simulations, Computer programming, Algorithm development

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Proceedings Article | 1 November 1992 Paper

Paper

Comparative study of moment invariants for perspective transformation

Shan Yu, Adam Klette, Charles Olinger, Ernest Hall

Proceedings Volume 1825, (1992) https://doi.org/10.1117/12.131519

KEYWORDS: Machine vision, Robots, Computer vision technology, Robot vision, Object recognition, 3D modeling, Imaging systems, 3D image processing, Zernike polynomials, Robotics

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Proceedings Article | 1 February 1992 Paper

Paper

Learning the optimal discriminant function through genetic learning algorithm

James Tu, Ernest Hall

Proceedings Volume 1607, (1992) https://doi.org/10.1117/12.57097

KEYWORDS: Genetic algorithms, Genetics, Binary data, Robots, Robot vision, Machine vision, Computer vision technology, Machine learning, Pattern recognition, Detection and tracking algorithms

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Proceedings Article | 1 February 1991 Paper

Paper

New scheme for real-time visual inspection of bearing roller

Yu Zhang, Wu Xian, Ping Li, Ernest Hall, James Tu

Proceedings Volume 1384, (1991) https://doi.org/10.1117/12.25310

KEYWORDS: Inspection, Optical inspection, Line edge roughness, Image processing, Binary data, Optical character recognition, Pattern recognition, Detection and tracking algorithms, Digital image processing, Machine vision

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Proceedings Article | 1 February 1991 Paper

Paper

Intelligent packaging and material handling

Ernest Hall, Richard Shell, Gale Slutzky

Proceedings Volume 1381, (1991) https://doi.org/10.1117/12.25146

KEYWORDS: Robots, Sensors, Robot vision, Computing systems, Packaging, Intelligence systems, Object recognition, 3D metrology, Machine vision, Algorithm development

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Showing 5 of 75 publications

Proceedings Volume Editor (15)

SPIE Conference Volume | 24 January 2011

Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques

SPIE Conference Volume | 17 January 2010

Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques

SPIE Conference Volume | 19 January 2009

Intelligent Robots and Computer Vision XXVI: Algorithms and Techniques

SPIE Conference Volume | 9 September 2007

Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision

SPIE Conference Volume | 1 October 2006

Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision

Showing 5 of 15 publications

Conference Committee Involvement (16)

Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques

24 January 2011 | San Francisco Airport, California, United States

Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques

18 January 2010 | San Jose, California, United States

Intelligent Robots and Computer Vision XXVI: Algorithms and Techniques

19 January 2009 | San Jose, California, United States

Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision

9 September 2007 | Boston, MA, United States

Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision

3 October 2006 | Boston, Massachusetts, United States

Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision

23 October 2005 | Boston, MA, United States

Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision

25 October 2004 | Philadelphia, Pennsylvania, United States

Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision

28 October 2003 | Providence, RI, United States

Photonics Technologies for Robotics, Automation, and Manufacturing

27 October 2003 | Providence, United States

Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision

29 October 2001 | Boston, MA, United States

Expert Robots for Industrial Use

7 November 1988 | Boston, MA, United States

Intelligent Robots and Computer Vision VI

2 November 1987 | Cambridge, CA, United States

Intelligent Robots and Computer Vision

23 October 1984 | Cambridge, United States

Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls

7 November 1983 | Cambridge, United States

Robotics and Robot Sensing Systems

23 August 1983 | San Diego, United States

Digital Processing of Aerial Images

22 May 1979 | Huntsville, United States

Showing 5 of 16 Conference Committees

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