With the rapid progress of the robotic technology, it is becoming increasingly common to have multiple robots working together for material transport, cooperative assembly, etc. To ensure the proper handling of the lo...
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Human action understanding is crucial to the success of many human-machine interfaces based on vision. In this research, we apply artificial intelligence and statistical techniques towards observation of people, leadi...
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ISBN:
(纸本)0780384636
Human action understanding is crucial to the success of many human-machine interfaces based on vision. In this research, we apply artificial intelligence and statistical techniques towards observation of people, leading to modeling of their actions, and understanding of their intentions. In order to actualize the paradigm of learning from demonstration, a tracking system that is capable of locating the head and hand positions of moving humans has been developed. We propose to classify the motion trajectories of humans in the scene by using support vector classification. Since the data size of human motion trajectories is large, we apply principal component analysis (PCA) and independent component analysis (ICA) for data reduction. We have successfully applied the developed technique on two different applications: action recognition of table tennis players, and detection of human fighting motions.
Micro and Nano Technology has been growing for the research and development and is a promising area for the advanced Mechatronics and automation. This presentation focuses on the recent topics of micro and nano mechat...
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Micro and Nano Technology has been growing for the research and development and is a promising area for the advanced Mechatronics and automation. This presentation focuses on the recent topics of micro and nano mechatronics, such as micro sensor and actuator, bio-applications and nano-roboticsapplications
Synthesizing images of a real scene at novel viewpoints other than those of some given images is important for Image-based Rendering, Hybrid Reality, and other applications that involve real scenes. Novel view synthes...
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ISBN:
(纸本)0780384636
Synthesizing images of a real scene at novel viewpoints other than those of some given images is important for Image-based Rendering, Hybrid Reality, and other applications that involve real scenes. Novel view synthesis bas been dealt with via explicit 3D reconstruction, image transfer, or plenoptic modeling. In this paper we present an interpolation-based solution that avoids the need of explicit 3D reconstruction. The key difficulty in the interpolation approach is, as viewpoint changes, not only could a scene feature's intensity profile in the image change, its image position could also shift. We show that a novel interpolation scheme, which we refer to as iEBI (indexed function Example-Based Interpolation) mechanism, could tackle the difficulty and acquire quality novel views even from only a few example views. Experimental result on some benchmarking image data is shown to illustrate the solution's performance.
This paper demonstrates the use of small area acoustic array technology as passive sonar for an autonomous mobile robot sound localization and direction control. Real-time target tracking is based solely on received a...
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This paper demonstrates the use of small area acoustic array technology as passive sonar for an autonomous mobile robot sound localization and direction control. Real-time target tracking is based solely on received audio signals.
The following topics are dealt with: vision based navigation and tracking; automation of manufacturing process; automation of security surveillance; adaptive navigation; humanoids; sensor network; sensor fusion; human...
The following topics are dealt with: vision based navigation and tracking; automation of manufacturing process; automation of security surveillance; adaptive navigation; humanoids; sensor network; sensor fusion; human-machine interface; visual servoing; haptic device; robot grasping; medical robot applications; simultaneous localization and mapping; nanomanipulation; probabilistic based planning; robot vision; Petri nets; robot localization; haptic interface; human robot interface; MEMS; flexible automation; smart sensors; assembly task; human assisted robot; stereo vision; virtual reality application; microrobotics; robotics education; visual tracking technique; monitoring automation; sensor evaluation; telepresence; teleoperation; mobile robot design; mechanism kinematics; mechanism dynamics; calibration; path planning; rehabilitation robotics; space robots; multirobot system; multilegged robots; underactuated system; UAV; biomechanical system; transportation automation; manufacturing system automation; quadruped robot; learning technique; supply chain automation; reconfigurable robot; multiagent system; biped locomotion; adaptive control; omnidirectional robot; scheduling; disassembly; range sensing; motion control; speech production; service robot; environmental robot; actuator; map building; collision avoidance; flexible manipulator; redundant manipulator; AUV; discrete event system; tracking; pose estimation; snake robot; failure monitoring; neuro fuzzy technique; and imaging.
The CubeSystem is a collection of hardware- and software-components for fast robot prototyping. The main goal of the Cubesystem project is to provide an open source collection of generic building blocks that can be fr...
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The CubeSystem is a collection of hardware- and software-components for fast robot prototyping. The main goal of the Cubesystem project is to provide an open source collection of generic building blocks that can be freely combined into an application. This paper describes the first release of the CubeSystem, that evolved in more than five years of research and development. The benefits of the CubeSystem are illustrated by several applications, ranging from educational activities to industrial projects.
This paper develops a physical model of a MEMS capacitive accelerometer in order to use the accelerometer effectively in low-g motion tracking applications. The proposed physical model includes common physical paramet...
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This paper develops a physical model of a MEMS capacitive accelerometer in order to use the accelerometer effectively in low-g motion tracking applications. The proposed physical model includes common physical parameters used to rate an accelerometer: scale factor, bias, and misalignment. Simple experiments used to reveal the behavior and characteristics of these parameters are described. A phenomenological modeling method is used to establish mathematical representations of these parameters in relation to errors such as nonlinearity, hysteresis, cross-axis effect, and temperature effect, without requiring a complete understanding of the underlying physics. Experimental results are presented, in which the physical model reduces RMSE by 93.1% in comparison with the manufacturer's recommended method.
It is important to be able to guarantee the safety and effectiveness of robot behavior in applications where robots must operate alongside people or in hazardous situations. A modeling framework based on port automata...
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It is important to be able to guarantee the safety and effectiveness of robot behavior in applications where robots must operate alongside people or in hazardous situations. A modeling framework based on port automata and asynchronous communication is introduced in this paper. By looking at the internal transitions between port communications, an analysis approach is developed that removes the combinatoric issues of looking at an asynchronous combination of robot and environment. An example application of the approach to wheel slippage in a mobile robot is presented.
This paper is concerned with a study in which the advantages of telerobotics and supervisory control are combined with those of a multi-robot system, in the context of robot soccer. We propose our solutions to two imp...
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This paper is concerned with a study in which the advantages of telerobotics and supervisory control are combined with those of a multi-robot system, in the context of robot soccer. We propose our solutions to two important issues in such systems, namely, the level of abstraction at which the commands to a robot collective are issued, and the selection of the group within the collective to direct the commands. The design philosophy as well as its implementation are described. We show through experiments that, statistically, a supervised robot soccer team out-performs an unsupervised team, with the help of coaching advices. The proposed approach has applications beyond robotic soccer.
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