In this paper, a system to determine the emotion of a group of people via facial expression analysis is proposed for the Waseda Entertainment Robots. General models and standard methods for emotion definition and reco...
详细信息
ISBN:
(纸本)9781538680940
In this paper, a system to determine the emotion of a group of people via facial expression analysis is proposed for the Waseda Entertainment Robots. General models and standard methods for emotion definition and recognition are briefly described, as well as strategies for computing the group global emotion, knowing the individual emotions of group members. this work is based on Ekman's extended "Big Six" emotional model, popular in Computer Science and Affective Computing. Emotion recognition via facial expression analysis is performed with a cloud-computing based solution, using Microsoft Azure Cognitive services. First, the performances of boththe Face API to detect faces, and Emotion API, to compute emotion via face expression analysis, are tested. After that, a solution to compute the emotion of a group of people has been implemented and its performances compared to human perceptions. this work presents concepts and strategies which can be generalized for applications within the scope of assistive robotics and, more broadly, affective computing, wherever it will be necessary to determine the emotion of a group of people.
In this paper, a hybrid procedure of tuning the control structure of a newly developed multirotor aerial platform is presented. Such situation presents a demanding task because there are no initial parameters of PID c...
详细信息
Robust grasping is a major, and still unsolved, problem in robotics. Information about the 3D shape of an object can be obtained either from prior knowledge (e.g., accurate models of known objects or approximate model...
详细信息
ISBN:
(纸本)9781538680940
Robust grasping is a major, and still unsolved, problem in robotics. Information about the 3D shape of an object can be obtained either from prior knowledge (e.g., accurate models of known objects or approximate models of familiar objects) or real-time sensing (e.g., partial point clouds of unknown objects) and can be used to identify good potential grasps. However, due to modeling and sensing inaccuracies, local exploration is often needed to refine such grasps and successfully apply them in the real world. the recently proposed unscented Bayesian optimization technique can make such exploration safer by selecting grasps that are robust to uncertainty in the input space (e.g., inaccuracies in the grasp execution). Extending our previous work on 2D optimization, in this paper we propose a 3D haptic exploration strategy that combines unscented Bayesian optimization with a novel collision penalty heuristic to find safe grasps in a very efficient way: while by augmenting the search-space to 3D we are able to find better grasps, the collision penalty heuristic allows us to do so without increasing the number of exploration steps.
To generate dynamic motions such as hopping and running on legged robots, model-based approaches are usually used to embed the well studied spring-loaded inverted pendulum (SLIP) model into the whole-body robot. In pr...
详细信息
ISBN:
(纸本)9781538680940
To generate dynamic motions such as hopping and running on legged robots, model-based approaches are usually used to embed the well studied spring-loaded inverted pendulum (SLIP) model into the whole-body robot. In producing controlled SLIP-like behaviors, existing methods either suffer from online incompatibility or resort to classical interpolations based on lookup tables. Alternatively, this paper presents the application of a data-driven approach which obviates the need for solving the inverse of the running return map online. Specifically, a deep neural network is trained offline with a large amount of simulation data based on the SLIP model to learn its dynamics. the trained network is applied online to generate reference foot placements for the humanoid robot. the references are then mapped to the whole-body model through a QP-based inverse dynamics controller. Simulation experiments on the WALK-MAN robot are conducted to evaluate the effectiveness of the proposed approach in generating bio-inspired and robust running motions.
the Fifth generation of wireless networks will bring, among other benefits, a revolution on the performance of mobile telecommunications services, allowing new applications, some with very stringent quality of service...
详细信息
ISBN:
(纸本)9781728125312
the Fifth generation of wireless networks will bring, among other benefits, a revolution on the performance of mobile telecommunications services, allowing new applications, some with very stringent quality of service requirements, such as, drones, robotics, industrial control processes, smart grid distribution automation, driving support systems, autonomous cars, but others with a moderate accepted response like enhanced mobile broadband, high mobility cases (planes, trains, etc.), smart cities etc. the goal of this paper is to present a study of the performance reaction of selected parameters, in a wireless cell environment with fixed capacity, under multiservice intense traffic variation, by means of simulation experiments, including mass communications events of unexpected traffic growth. Although motivated by a research on how tight such parameters should be in a Fifth generation environment, the present study applies also to former networks generations, providing a framework of practical measures to handle a growing traffic close to or greater than nominal cell capacity, and, consequently, in this sense it may constitute a useful contribution to network management methods. the simulation model was built following a methodology to assure increasing conceptual model validation.
India is having one of the highest road casualty rates of almost nearly 1.5 lakh a year. the rate of road related deaths come down by a good margin if Advanced Driver Assistance System(ADAS) becomes mandatory for the ...
详细信息
India is having one of the highest road casualty rates of almost nearly 1.5 lakh a year. the rate of road related deaths come down by a good margin if Advanced Driver Assistance System(ADAS) becomes mandatory for the vehicles. Since Indian car manufacturers focus on cost cutting, only Anti-lock Braking System(ABS) and airbags are offered as standard. Withthe advent of deep learning methods and computer vision, the use of an on-board camera and real time processing of captured images of road scenes makes it possible to achieve a wide range of ADAS features. In this paper a deep learning and computer vision based approach is used to develop a multi-functional ADAS system. the proposed system combines various objectives such as Vehicle Detection, Pedestrian Detection, Traffic Sign Board Detection, Traffic Light Detection and Blind-spot Vehicle Detection. the detection model is implemented using Tensorflow and various models are trained and tested using different detection algorithms and deep neural network(DNN) architectures. Networks such as SSD Inception, SSD Mobilenet, Faster RCNN Inception are trained on the same hardware set-up in order to perform a comparative study. the optimal model is selected based on a trade-off between detection time and accuracy. the model developed can detect 35 classes of objects that are commonly seen while driving a vehicle. the optimal model can be implemented on a suitable hardware and converted to a low-cost portable vehicle accessory.
the lack of models for the development of products oriented to the R&D projects of the Brazilian Electrical Sector generated the need of specific knowledge for this purpose. Aiming to close this gap Pereira and Ca...
详细信息
ISBN:
(纸本)9781614998983;9781614998976
the lack of models for the development of products oriented to the R&D projects of the Brazilian Electrical Sector generated the need of specific knowledge for this purpose. Aiming to close this gap Pereira and Canciglieri Junior ( 2014) have structured the Integrated Product Development Model-Oriented to the Research and Development Projects ( MOP&D), a conceptual model, that uses the principals of concurrent engineering, to support the R&D projects foreseen by the Brazilian Electric Energy National Agency's ( ANEEL) Innovation Chain composed of six modules. the model has been validated through case studies but has no user interface for the application. thus, to make this features tangible, this article proposes the use of the tools from the Business Process Modeling and Notation ( BPMN), considered the de-facto standard for the representation of the process, for the modeling and automation of the MOP&D. To reach this objective it was proposed the automation of the three last modules of the chain. At first, it was made a Systematic Bibliographic Review regarding the theme, then the modeling of the modules process was developed, followed by its automation using an appropriate engine. the Systematic Bibliographic Review showed that the application of BPMN for modeling Product Development Process is scarce but suitable. the automation proposed in this article provides the multidisciplinary team a consistent vehicle for the correct execution of the modules as structured in the MOP&D, with a decision support system based on process integration taking in to account the concurrent engineering parameters stated in the model.
this paper presents two symplectic discretization methods in the context of online parameter estimation for nonlinear mechanical systems. the symplectic approaches are compared to established discretization methods (e...
详细信息
Edge-preserving smoothing based multi-scale exposure fusion is a state-of-the-art method to fuse differently exposed images of a high dynamic range (HDR) scene. However, its complexity could be an issue. In this paper...
详细信息
Edge-preserving smoothing based multi-scale exposure fusion is a state-of-the-art method to fuse differently exposed images of a high dynamic range (HDR) scene. However, its complexity could be an issue. In this paper, a novel multi-scale exposure fusion algorithm is proposed by adopting an approximation method at the highest layer of the pyramid. Experimental results show that the proposed algorithm can be applied to fuse images with comparable or even better quality withthe edge-preserving smoothing based multi-scale fusion algorithms. It simplifies the complexity of the edge-preserving smoothing based multi-scale exposure fusion algorithms significantly.
In this technical note, the event-based leader-following control is investigated for a multiple non-identical Euler-Lagrange system with a directed graph. An event-triggered observer is provided to estimate the state ...
详细信息
In this technical note, the event-based leader-following control is investigated for a multiple non-identical Euler-Lagrange system with a directed graph. An event-triggered observer is provided to estimate the state of a dynamic leader. To avoid continuous interaction among agents, a broadcasting communication mechanism based on models is utilized. Combining withthe event-triggered observer, a distributed adaptive tracking control is presented for multiple lagrangian systems with uncertainties such that all nodes asymptotically follow a virtual leader governed by a linear model. Finally, a simulation with 2-degree-of-freedom manipulators is presented to verify the usefulness of our proposed methods.
暂无评论