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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Naoto Nakamura Yoshiaki Akazawa Shigeru Takano Yoshihiro Okada Graduate School of Information Science and Electrical Engineering Kyushu University Fukuoka Japan Waterfront 3F Digital Human Research Center National Institute for Advanced Industrial Science and Technology Koto Tokyo Japan

This paper discusses about an automatic 3D scene generation system. Recently 3D graphics applications has become in great demand in various fields, especially in the video game industry year by year. The development of 3D graphics applications is still not easy and needs much time. Many tools or development systems for 3D graphics applications have been proposed so far. Even using such a development system, we have to prepare 3D scenes by manually laying out various 3D objects using a mouse device on a computer screen when developing 3D graphics applications. It also takes much time. We need any tool or system that can automatically generates 3D scenes. The authors have already proposed an automatic 3D scene generation system based on contact constraints. The contact constraints among 3D objects are defined as semantic database records by manually. It is useful to generate such semantic database records automatically from the information about layouts of real objects in the real world. So, this paper discusses about the usability of the robot vision technology to automatically generate such semantic database records.

关键词： Space technology Orbital robotics Robot vision systems Layout Computer graphics Application software Databases Robotics and automation Service robots Games

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Walking Phase Recognition for People with Lower Limb Disability

Walking Phase Recognition for People with Lower Limb Disabil...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Sang Wan Lee Taeyoub Yi Jeong-Su Han Hyoyoung Jang Heon-Hui Kim Jin-Woo Jung Zeungnam Bien Electrical Engineering and Computer Science Department Korean Advanced Institute of Science and Technology Daejeon South Korea Core Technology Laboratory Digital Appliances Research and Development Center Samsung Electronics Company Limited Suwon South Korea Human-friendly Welfare Robot System Engineering Research Center Korean Advanced Institute of Science and Technology Daejeon South Korea Computer Engineering Department Dongguk University Seoul South Korea

This paper presents a total solution on EMG signal-based walking phase recognition for people with lower limb disability. Various environmental factors such as sensed location, walking speed, and ground inclination are taken into consideration in all the phases of signal sensing, feature extraction, feature selection, and classification. Based on analysis on fourteen well-known feature extraction methods in varying environmental situation, this paper proposes a methodology for selecting a good feature set, and then demonstrates effectiveness of the proposed approach with the classification results.

关键词： Legged locomotion Electromyography Muscles Feature extraction Environmental factors Humans Rehabilitation robotics Robots Systems engineering and theory Working environment noise

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Performance Measurement and Analysis of High-Performance Parallel Applications over Lambda Grid

Performance Measurement and Analysis of High-Performance Par...

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International Conference on advanced Communication Technology (ICACT)

作者： Dongwook Kim Hyun-Wook Jin Karpjoo Jeong Jonghyun Lee Minki Noh Electronics and Telecommunications Research Institute South Korea Department of Computer Science and Engineering Konkuk University South Korea Department of Advanced Technology Fusion Konkuk University South Korea Department of Computing Education Sungkyunkwan University South Korea

Due to the huge computing resources the grid can provide, researchers have utilized the grid to run very large scale applications over a large number of computing and I/O nodes. However, since the computing nodes in grid are spread geographically over a wide area, communication latency varies significantly between nodes. Thus, running existing parallel applications over the whole grid can result in a worse performance even with larger number of computing nodes. Hence, in the grid environment, usually parallel applications still run on a cluster. It is expected that the emerging lambda network technology can be used for the backbone networks of grids and improve the communication performance between computing nodes. In this paper, we show the potential benefit of the lambda network for the parallel applications in grid environment. Our measurement results reveal that the NAS parallel benchmark over lambda grid can achieve more than 50% higher performance than a single cluster case. In addition, the results show that the parallel programming library such as MPI still needs to be improved with respect to the tolerance on the network delay and the topology awareness.

关键词： Measurement Performance analysis Grid computing Large-scale systems Delay Concurrent computing Spine Computer networks Parallel programming Libraries

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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ParalleX: A Study of A New Parallel Computation Model

ParalleX: A Study of A New Parallel Computation Model

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International Symposium on Parallel and Distributed Processing (IPDPS)

作者： Guang R. Gao Thomas Sterling Rick Stevens Mark Hereld Weirong Zhu Department of Electrical and Computer Engineering University of Delaware USA Center for Advanced Computing Research California Institute of Technology USA Department of Computer Science Louisiana State University USA Mathematics and Computer Science Division Argonne National Laboratory USA

This paper proposes the study of a new computation model that attempts to address the underlying sources of performance degradation (e.g. latency, overhead, and starvation) and the difficulties of programmer productivity (e.g. explicit locality management and scheduling, performance tuning, fragmented memory, and synchronous global barriers) to dramatically enhance the broad effectiveness of parallel processing for high end computing. In this paper, we present the progress of our research on a parallel programming and execution model - mainly, ParalleX. We describe the functional elements of ParalleX, one such model being explored as part of this project. We also report our progress on the development and study of a subset of ParalleX $the LITL-X at University of Delaware. We then present a novel architecture model - Gilgamesh II - as a ParalleX processing architecture. A design point study of Gilgamesh II and the architecture concept strategy are presented.

关键词： Concurrent computing Computational modeling High performance computing Degradation Delay Programming profession Productivity Processor scheduling Memory management Parallel processing

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Mutiple-view object tracking using metadata

Mutiple-view object tracking using metadata

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International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR)

作者： Inho Paek Changhan Park Myeongsuk Ki Kyoungju Park Joonki Paik Image Processing and Intelligent System Laboratory Department of Image Engineering Chung-Ang University Seoul South Korea Advanced Technology Research & Development Center Samsung Thales Company Limited Yongin si Gyeonggi South Korea Digital Broadcasting Research Division ETRI Electronics and Telecommunication Research Institute Daejeon South Korea Next Generation Imaging Contents Laboratory Department of Image Engineering Chung-Ang University Seoul South Korea

In this paper we present a moving object tracking method in a multiple camera tracking system using meta-data. The proposed method acquires image sequences from multiple fixed cameras without a priori camera calibration. The tracking is performed based on object's robust characteristics, such as motion, shape, color, and etc. Elements of meta-data and the optimal tracking method are selected at each frame. Because object's characteristics are affected by camera position and environmental condition, tracking method between individual cameras is selected by optimal metadata. Tracking in a single view can be divided into three classes, such as; optical flow-based moving object detector, active shape model (ASM), color correlation based detector. The proposed method matches objects to most similar object color information, by comparing meta-data and ASM. In the experiment, the proposed multi-camera tracking system is show to be robust for non-rigid objects.

关键词： Cameras Tracking Robot vision systems Surveillance Humans Biological system modeling Image analysis Robustness Object detection Active shape model

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Providing Statistical Measures of Reliability for Body Core Temperature Predictions

Providing Statistical Measures of Reliability for Body Core ...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Andrei V. Gribok Mark J. Buller Reed W. Hoyt Jaques Reifman Nuclear Engineering Department University of Tennessee Knoxville USA Telemedicine and Advanced Technology Research Center (TATRC) U.S. Army Medical Research and Materiel Command (USAMRMC) Bioinformatics Cell Frederick MD USA U. S. Army Research Institute of Environmental Medicine Natick MA USA Chief of Biophysics and Biomedical Modeling Division of USARIEM Natick MA USA TATRC USAMRMC Biotechnology High Performance Computing Software Applications Institute Fort Detrick MD USA

This paper describes the use of a data-driven autoregressive integrated moving average model to predict body core temperature in humans during physical activity. We also propose a bootstrap technique to provide a measure of reliability of such predictions in the form of prediction intervals. We investigate the model's predictive capabilities and associated reliability using two distinct datasets, both obtained in the field under different environmental conditions. One dataset is used to develop the model, and the other one, containing an example of heat illness, is used to test the model. We demonstrate that accurate and reliable predictions of an extreme core temperature value of 39.5 degC, can be made 20 minutes ahead of time, even when the predictive model is developed on a different individual having core temperatures within healthy physiological limits. This result suggests that data-driven models can be made portable across different core temperature levels and across different individuals. Also, we show that the bootstrap prediction intervals cover the actual core temperature, and that they exhibit intuitively expected behavior as a function of the prediction horizon and the core temperature variability.

关键词： Temperature distribution Predictive models Biomedical monitoring Injuries Biological system modeling Humans Temperature sensors Biomedical measurements Military computing Testing

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Presentation and Visualization of Redundant Code: Working Session Summary

Presentation and Visualization of Redundant Code: Working Se...

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Duplication, Redundancy, and Similarity in Software 2006

作者： Walenstein, Andrew Cordy, Jim Evans, Will Hassan, Ahmed Kamiya, Toshihiro Kapser, Cory Merlo, Ettore University of Louisiana at Lafayette Center for Advanced Computer Studies P.O. Box 44330 LafayetteLA70504-4330 United States Queen's University School of Computing KingstonONK7L 3N6 Canada University of British Columbia Department of Computer Science 201-2366 Main Mall VancouverBCV6T 1Z4 Canada University of Victoria Electrical and Computer Engineering Engineering Office Wing 315 P.O. Box 3055 VictoriaBCV8W 3P6 Canada Information Technology Research Institute Ubiquitous Software Group University of Waterloo David R. Cheriton School of Computer Science WaterlooONN2L 3G1 Canada C.P. 6079 Succ. Centre Ville MontréalQCH3C 3A7 Canada

This report summarizes the proceedings of a workshop discussion session presentation and visualization of aspects relating to duplicated, copied, or cloned code. The main outcomes of the working session were: (a) a realization that two researchers had independently generated very similar methods for browsing and visualization clone "clusters", and (b) a list of questions for visualization, particularly in relation to how the "proximity" of clones may relate to interest in the clone. © Duplication, Redundancy, and Similarity in Software *** rights reserved.

关键词： Visualization

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Quantitative analysis of vibrotactile threshold and the effect of vibration frequency difference on tactile perception

Quantitative analysis of vibrotactile threshold and the effe...

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SICE-ICASE International Joint Conference

作者： Lim, Soo-Chul Kim, Seung-Chan Kyung, Ki-Uk Kwon, Dong-Soo Department of Weapons Mechanical Engineering Korea Military Academy South Korea Telerobotics and Control Lab Korea Advanced Institute of Science and Technology South Korea POST-PC Group Digital Home Division Electronics and Telecommunication Research Institute South Korea

ISBN: (纸本)9788995003848

in this paper, the effect of vibration frequency using a developed tactile display is described. In the first experiment, the skin perception threshold of vibrotactile stimuli at the finger tip is measured. From the experiment, the fingertip (right index finger) vibrotactile threshold is measured when the subjects start to feel the stimulus. The frequency is varied from 6.31Hz to 398.1Hz at a regular dB interval via a small contact area (0.196 mm(2), 0.785 mm(2), and 3.142mm(2)). The results show a U-shaped curve and the threshold is reciprocally related to the contact area. A second experiment is performed to examine whether a shape display on the fingertip area is possible by changing the vibration frequency without any change in amplitude when passive touch is applied at a tactile display mouse. The subjects were able to discern six different small scale shapes established via different vibration frequencies. From the result of the experiments, we can conclude that vibration frequency can be effectively employed to sense shapes with different heights, even when a stimulus having a fixed amplitude is applied.

关键词： tactile display vibrotactile threshold perceived intensity sensation level frequency

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Hierarchical multithreading: Programming model and system software 20

Hierarchical multithreading: Programming model and system so...

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20th IEEE International Parallel and Distributed Processing Symposium, IPDPS 2006

作者： Gao, Guang R. Sterling, Thomas Stevens, Rick Hereld, Mark Zhu, Weirong Department of Electrical and Computer Engineering University of Delaware United States Center for Advanced Computing Research California Institute of Technology United States Department of Computer Science Louisiana State University United States Mathematics and Computer Science Division Argonne National Laboratory United States

ISBN: (纸本)1424400546

This paper addresses the underlying sources of performance degradation (e.g. latency, overhead, and starvation) and the difficulties of programmer productivity (e.g. explicit locality management and scheduling, performance tuning, fragmented memory, and synchronous global barriers) to dramatically enhance the broad effectiveness of parallel processing for high end computing. We are developing a hierarchical threaded virtual machine (HTVM) that defines a dynamic, multithreaded execution model and programming model, providing an architecture abstraction for EEC system software and tools development. We are working on a prototype language, LITL-X (pronounced "little-X") for Latency Intrinsic-Tolerant Language, which provides the application programmers with a powerful set of semantic constructs to organize parallel computations in a way that hides/manages latency and limits the effects of overhead. This is quite different from locality management, although the intent of both strategies is to minimize the effect of latency on the efficiency of computation. We will work on a dynamic compilation and runtime model to achieve efficient LITL-X program execution. Several adaptive optimizations will be studied. A methodology of incorporating domain-specific knowledge in program optimization will be studied. Finally, we plan to implement our method in an experimental testbed for a HEC architecture and perform a qualitative and quantitative evaluation on selected applications. © 2006 IEEE.

关键词： Parallel processing systems

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