A Fast BCS/FCS Algorithm for Image Segmentation

A fast and efficient segmentation algorithm based on the Boundary Contour System/Feature Contour System (BCS/FCS) of Grossberg and Mingolla [3] is presented. This implementation is based on the FFT algorithm and the parallelism of the system.Consejo Nacional de Ciencia y Tecnología (63l462); Defense Advanced Research Projects Agency (AFOSR 90-0083); Office of Naval Research (N00014-92-J-l309

An Active Pattern Recognition Architecture for Mobile Robots

An active, attentionally-modulated recognition architecture is proposed for object recognition and scene analysis. The proposed architecture forms part of navigation and trajectory planning modules for mobile robots. Key characteristics of the system include movement planning and execution based on environmental factors and internal goal definitions. Real-time implementation of the system is based on space-variant representation of the visual field, as well as an optimal visual processing scheme utilizing separate and parallel channels for the extraction of boundaries and stimulus qualities. A spatial and temporal grouping module (VWM) allows for scene scanning, multi-object segmentation, and featural/object priming. VWM is used to modulate a tn~ectory formation module capable of redirecting the focus of spatial attention. Finally, an object recognition module based on adaptive resonance theory is interfaced through VWM to the visual processing module. The system is capable of using information from different modalities to disambiguate sensory input.Defense Advanced Research Projects Agency (90-0083); Office of Naval Research (N00014-92-J-1309); Consejo Nacional de Ciencia y Tecnología (63462

Invariance principles for switched systems with restrictions

In this paper we consider switched nonlinear systems under average dwell time switching signals, with an otherwise arbitrary compact index set and with additional constraints in the switchings. We present invariance principles for these systems and derive by using observability-like notions some convergence and asymptotic stability criteria. These results enable us to analyze the stability of solutions of switched systems with both state-dependent constrained switching and switching whose logic has memory, i.e., the active subsystem only can switch to a prescribed subset of subsystems.Comment: 29 pages, 2 Appendixe

Navite: A Neural Network System For Sensory-Based Robot Navigation

A neural network system, NAVITE, for incremental trajectory generation and obstacle avoidance is presented. Unlike other approaches, the system is effective in unstructured environments. Multimodal inforrnation from visual and range data is used for obstacle detection and to eliminate uncertainty in the measurements. Optimal paths are computed without explicitly optimizing cost functions, therefore reducing computational expenses. Simulations of a planar mobile robot (including the dynamic characteristics of the plant) in obstacle-free and object avoidance trajectories are presented. The system can be extended to incorporate global map information into the local decision-making process.Defense Advanced Research Projects Agency (AFOSR 90-0083); Office of Naval Research (N00014-92-J-l309); Consejo Nacional de Ciencia y Tecnología (63l462

A new method to find the potential center of N-body systems

We present a new and fast method to nd the potential center of an N-body distribution. The method uses an iterative algorithm which exploits the fact that the gradient of the potential is null at its center: it uses a smoothing radius to avoid getting trapped in secondary minima. We have tested this method on several random realizations of King models (in which the numerical computation of this center is rather dicult, due to the constant density within their cores), and com- pared its performance and accuracy against a more straightforward, but computer intensive method, based on cartesian meshes of increasing spatial resolution. In all cases, both methods converged to the same center, within the mesh resolution, but the new method is two orders of magnitude faster. We have also tested the method with one astronomical problem: the evolu- tion of a 105 particle King model orbiting around a xed potential that represents our Galaxy. We used a spherical harmonics expansion N-body code, in which the potential center determination is crucial for the correct force computation. We compared this simulation with another one in which a method previously used to determine the expansion center is employed (White 1983). Our routine gives better results in energy conservation and mass loss.Fil: Aguilar, L. A.. Universidad Nacional Autonoma de Mexico. Instituto de Astronomia; MéxicoFil: Cruz, F.. Universidad Nacional Autonoma de Mexico. Instituto de Astronomia; MéxicoFil: Carpintero, Daniel Diego. Universidad Nacional de la Plata. Facultad de Ciencias Astronómicas y Geofísicas; Argentin