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Detection and segmentation of near-duplicate fragments in random images

Detection and segmentation of near-duplicate fragments in ra...

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11th international conference on control, automation, robotics and Vision, ICARCV 2010

作者： Śluzek, Andrzej Paradowski, Mariusz Duanduan, Yang School of Comp.Eng. Nanyang Technological University Singapore Singapore Institute of Applied Informatics Wroclaw U. of Technology Wroclaw Poland F. of Physics Astr. and Appl. Inform. Nicolaus Copernicus University Toruń Poland

ISBN: (纸本)9781424478132

Retrieval of near-duplicate image fragments is one of the most challenging problems is CBIR (content-based image retrieval). The objective is to identify almost the same fragments in random images of unpredictable contents. Such fragments usually represent identical object, though captured from a different viewpoint, under different photometric conditions and/or by a different camera. The paper presents techniques developed for such applications. In general, the proposed methods are based on statistical properties of keypoint similarities between compared images. In the first approach, we assume that near-duplicates are (approximately) related by affine transformations, i.e. the underlying objects are locally planar. In the second approach, a wider range of shape distortions is acceptable. Implementations (including online detection in realtime videos) are presented and their performances discussed. Additionally, an algorithm for a highly accurate segmentation of detected near-duplicate fragments is presented. © 2010 IEEE.

关键词： Affine transforms

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Ontology-based semantic data processing in Semantic Programming Language

Ontology-based semantic data processing in Semantic Programm...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Kai Zhao Shi Ying Hu Luo-Kai Lin-Lin Zhang Zhi-Hao Zeng Rui Chen State Key Lab of Software Engineering Wuhan University Wuhan P.R. of China School of Information Science and Engineering Xinjiang University Wuhan P.R. of China Wuhan University Wuhan Hubei CN

The Semantic Programming Language (SPL) employs concepts and its relationships in ontology to specify the data used within a process and implements data flow via semantic variables. Therefore, one of the most challenging aspects in Semantic Web Services orchestration realized by SPL is transforming ontological represented data into XML data with equivalent meaning. In This paper, we propose an Ontology-Based transformation approach for the SPL program, which offers an effective solution to convert semantically enriched data into a common XML data structure. And we also introduce the concept of semantic data adapter for this transformation during deployment time and run time. Instead of coming up with proprietary solutions, programmers should be able to rely on this transformation method for specifying data manipulation declaratively and benefit from the ontological knowledge.

关键词： Ontologies Data processing Computer languages Web services Logic programming Semantic Web XML robotics and automation Programming profession asia

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A new public transportation data model and shortest-path algorithms

A new public transportation data model and shortest-path alg...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Hongmei Wang Ming Hu Wei Xiao School Of Computer Science and Technology JiLin University ChangChun JiLin China School Of Computer Science and Engineering Changchun University Of Technology ChangChun JiLin China

ISBN: (纸本)9781424451920;9781424451937

By studying the best-path problem for public transportation systems, we found that the nature of transfer is that it requires extra costs from an edge to its adjacent edge. Therefore, we propose the notion of direct/indirect adjacent edges in weighted directed multigraphs and extend the notion of path to the line. We use the direct/indirect adjacent edges weighted directed multigraph as a public transportation data model and improve the storage of an adjacency matrix. We introduce the space storage structure, the matrix VL, in order to store the scattered information of transfer in indirect adjacent edges lists. Thus, we solve the problem of complex network graphs' storage and design a new shortest path algorithm to solve transit problem based on the data model we propose in this paper. Algorithm analysis exhibits that the data model and the algorithm we propose are prior to a simple graph based on the Dijkstra's algorithm in terms of time and space .

关键词： Transportation Data models Costs Algorithm design and analysis robotics and automation Computer science Space technology Complex networks Legged locomotion Automatic control

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Biologicaly-inspired control of a compliant anthropomimetic robot

Biologicaly-inspired control of a compliant anthropomimetic ...

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IASTED international conference on robotics and Applications, RA 2010

作者： Potkonjak, Veljko Svetozarevic, Bratislav Jovanovic, Kosta Holland, Owen Faculty of Electrical Engineering University of Belgrade Bulevar kralja Aleksandra 73 Serbia School of Informatics University of Sussex Brighton BN1 9QJ Falmer United Kingdom

ISBN: (纸本)9780889868625

Anthropomimetics - copying nature in order to construct and control similar mechanism in technical world - is an increasingly attractive research topic. Its core objective is achieving human efficiency in the aspects of technical world where engineering still cannot compete biology (diversity of motions, manoeuvrability, etc). This paper attempts to develop the appropriate dynamic model and design control for an anthropomimetic humanoid - ECCEROBOT. Robot has a human-like mechanical structure - skeleton. To mimic muscles, robot joints are driven by antagonistically coupled DC motors with tendons. Since the robot is expected to work in a human centered environment and in the presence of humans, an important accent is given to the safe interaction with the surrounding. To resolve the safety, robot involves passive mechanical compliance - elastic springs in tendons. The paper derives the mathematical model of robot dynamics, designed for simulation. The control of antagonistic drives is based on a biologically inspired puller-and-follower concept where the puller is responsible for joint motion while the follower keeps the inactive tendon from slackening. The advanced theory of nonlinear control was used for particular joints and the theory of robustness was necessary for applying the control to multi-joint robot body.

关键词： DC motors

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Walking activity detection with lower limbs rehabilitative training robot by wearable wireless sensors

Walking activity detection with lower limbs rehabilitative t...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Dianchun Bai Junyou Yang Le Ma Shuoyu Wang School of Electrical Engineering Shenyang University of Technology Shenyang China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi Japan

ISBN: (纸本)9781424451920

This paper describes a new detection method of walking activity with a lower limbs rehabilitative training robot. The robot is designed to improve walking ability of patients who suffer from impairment in locomotion after neurology injuries or aged persons who lack walking capability. Kinematic sensors are applied to monitoring postural transitions (PTs), and the sensor signals are sent to host computer to control lower limbs rehabilitative training robot. If the trained person does not follow the robot, sensors detect abnormal body posture. The host computer sends stop instruction to prevent the trained person from falling down. This paper describes composition of whole wireless data monitoring and control system in details. Original data and processed data from experiment show the status of this system operation. In the study, the wavelet transform is employed to process collected data. At last, a detection scheme of abnormal walking activity is discussed for protecting the person in rehabilitative training.

关键词： Legged locomotion Robot sensing systems Rehabilitation robotics Wireless sensor networks Wearable sensors Computerized monitoring Biomedical monitoring Nervous system Injuries Aging

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Formation control of multi-robots via sliding-mode technique

Formation control of multi-robots via sliding-mode technique

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作者： Solea, Razvan Cernega, Daniela Filipescu, Adrian Serbencu, Adriana Control Systems and Industrial Informatics Department Computer Science Faculty Dunarea de Jos University of Galati Domneasca 111 800201 Galati Romania

ISBN: (纸本)9789898425010

This paper addresses the control of a team of nonholonomic mobile robots. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the sliding-mode controller to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control laws has been proved by simulation on different situations.

关键词： Sliding mode control

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A novel hybrid-genetic-algorithm process applied in blood-glucose soft sensing

A novel hybrid-genetic-algorithm process applied in blood-gl...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Dongping Ma Xuan Wang Hui Cao Heping Hang Yuzhang Han Jianguo Han Biochemical Engineer College Beijing Union University Beijing China Institute of Scientific Computing University of Technology Vienna Vienna Austria

ISBN: (纸本)9781424451920;9781424451937

A novel hybrid-genetic-algorithm process in multi-objective parallel mode (NHMGA), operated for tracking a 2-period-BP model-mapping, supported by optimally equipped Grid-computing framework, is proposed. This NHMGA is specially designed for personal on-line and real-time bio-information modeling which is successfully applied in soft-sensing of blood-glucose. The related application example and its result analysis are described. Owing to the non-invasive soft-sensing based on the NHMGA which possesses the advantages, such as resource-sharing, high speed and accuracy of function approach, flexible real-time model-tracking, the number of blood-taking-times of every patient with serious diabetes can be reduced onto 30% of the original one per day, thus the on-line-diagnosis-medical-measurement based on the NHMGA is very strongly valued in asia and Europe, and sequentially developed in the CAD-grid (CAD-G) 2# (¿China-Austria-Data-Grid¿-cooperation-project) which supports the NHMGA using a Grid-computing framework optimally equipped by workflow engine WEEP, and CEFSP 200805# (Chinese Education Foundation Science Project) which developed the NHMGA tool-software realized in a PC-embedded-FPGA-system (PEF) , thus, the NHMGA is facing a wide application future linked with the fields such as real-time tracking, analyzing, diagnosis and control of bio-information process, industrial automation process, natural synusiologic process.

关键词： Optimal control Automatic control robotics and automation Instruments Robot control Robot sensing systems Parallel robots Educational institutions Diabetes asia

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Development of a hybrid humanoid platform and incorporation of the passive actuators

Development of a hybrid humanoid platform and incorporation ...

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2010 IEEE international conference on robotics and Biomimetics, ROBIO 2010

作者： Santos, V. Moreira, R.A.S. Ribeiro, M. Silva, F. Department of Mechanical Engineering Center for Mechanical Technology and Automation University of Aveiro Portugal Department of Electronics Telecommunications and Informatics/IEETA University of Aveiro Portugal

ISBN: (纸本)9781424493173

This paper describes the design and development of a new hybrid humanoid platform conceived to use both active and passive actuators. Power efficiency and mechanical response capability of the robot were the main concerns driving this development. Maintaining the use of off-the-shelf RC servomotors, due to their limited cost and commercial availability, the platform was nonetheless custom-designed for lightness, mechanical stiffness and prone to vast sensorial enrichment for future advanced control. Low-cost actuators may degrade and perform poorly and erroneously in demanding conditions;therefore, one major inspiration for this work relies on the potential energy storage mechanism, using elastic elements to overcome the motors limitation, avoiding their operation near the limits, while saving energy and wearing, and also obtain faster responses of the overall platform in various motion schemes and gaits. A standard simulation environment allows the initial design and future tuning of the passive actuators for several joints in motion tasks. The early simulation results show that the elastic elements approach indeed eases the actuators tasks and is a must in the future development of the new platform now presented. © 2010 IEEE.

关键词： Actuators

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A reactive learning mechanism for multihoming MN on PMIPv6

A reactive learning mechanism for multihoming MN on PMIPv6

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international asia conference on informatics in control, automation and robotics, CAR

作者： Lingjiao Wang Hua Guo Yongxin Su Chuan Liu College of Information Engineering Xiangtan University Xiangtan China Departement of Sceience & Research CNGC Jiang Nan Machinery (Group) CO.LTD Xiangtan China

For a multihoming Mobile Node (MN), more resource is consumed because of multiple copies of every packet being forwarded to an MN according to the basic Proxy Mobile IPv6 (PMIPv6) specification. Therefore, network congestion and some security issues can't be avoided. To tackle the issues, this paper presents a reactive learning mechanism that a Local Mobility Anchor (LMA) initiates a learning procedure of IP addresses of interfaces when it firstly forwards a packet to a registered ¿pending¿ interface. The statuses of Binding Cache Entry (BCE) are set for ¿active¿ from ¿pending¿ after the Home Network Prefixes (HNPs) at BCEs have been updated with the learned IP addresses respectively. For achieving an IP address, minimum required messages and extension of messages are defined and detailed message sequence charts are elaborated in the mechanism. The mechanism is applicable to all current access technologies and possesses well expansibility. It does not change the BCE's matching principle of PMIPv6 and abides by the network prefix match. Moreover the mechanism can suite the alternation of IP address.

关键词： Learning systems Mobile radio mobility management Internet Peer to peer computing Network servers robotics and automation Next generation networking Technology management Telecommunication network management Protocols

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Aircraft discrimination in high resolution SAR images based on texture analysis

Aircraft discrimination in high resolution SAR images based ...

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international asia conference on informatics in control, automation and robotics, CAR

作者： Liping Zhang Chao Wang Hong Zhang Bo Zhang Chinese Academy of Sciences Beijing China Digital Earth Laboratory Center of Earth Observation and Digital Earth Chinese Academy and Sciences China

ISBN: (纸本)9781424451920

Target discrimination is the key step of automatic target detection in synthetic aperture radar (SAR) images. Aiming at the issue of aircraft discrimination in high resolution SAR images, a novel discrimination method is proposed with using texture features. First of all the method of gray level co-occurrence matrix is used to generate eight discrimination texture features: mean, variance, deficit moment, inertia moment, entropy, angular second moment, relevance and non-similarity and then forming a feature vector. Differing with the common method of extracting the holistic texture features of image to represent the target, the texture features of each pixel are extracted and the feature vectors of all pixels are used to represent the target. Then J-M distance is used to measure the different targets, and supervised training method is applied to achieve the parameters of discrimination rule. Finally, suspected targets are discriminated to different classes by the trained discrimination rule and large numbers of false alarms are eliminated efficiently. The experiments show that the aircraft has small distance to other aircrafts while large difference to false alarms, so this discrimination method has high accuracy with excellent applicability.

关键词： Aircraft Image resolution Image analysis Image texture analysis Backscatter Synthetic aperture radar Geoscience robotics and automation Object detection Pixel

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