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International Conference on Pattern Recognition

作者： Mohamed Amine Marnissi Hajer Fradi Anis Sahbani Najoua Essoukri Ben Amara Universite de Sfax Ecole Nationale d'Ingenieurs de Sfax Sfax Tunisie Universite de Sousse Institut Supérieur des Sciences Appliquées LATIS-Laboratory of Advanced Technology and Intelligent Systems Sousse Tunisie Enova Robotics Sousse Tunisie Universite de Sousse Ecole Nationale d'Ingénieurs de Sousse LATIS-Laboratory of Advanced Technology and Intelligent Systems Sousse Tunisie

Infrared imaging has recently played an important role in a wide range of applications including video surveillance, robotics and night vision. However, infrared cameras often suffer from some limitations, essentially about low-contrast and blurred details. These problems contribute to the loss of observation of target objects in infrared images, which could limit the feasibility of different infrared imaging applications. In this paper, we mainly focus on the problem of pedestrian detection on thermal images. Particularly, we emphasis the need for enhancing the visual quality of images before performing the detection step. To address that, we propose a novel thermal enhancement architecture called TE-GAN based on Generative Adversarial Network, and composed of two modules contrast enhancement and denoising with a post-processing step for edge restoration in order to improve the overall image quality. The effectiveness of the proposed architecture is assessed by means of visual quality metrics and better results are obtained compared to the original thermal images and to the obtained results by other existing enhancement methods. These results have been conducted on a subset of KAIST dataset that we make available to encourage research in this direction¹¹https://***/AmineMarnissi/TE-GAN, Using the same dataset, the impact of the proposed enhancement architecture has been demonstrated on the detection results by obtaining better performance with a significant margin using YOLOv3 detector.

关键词： Night vision Visualization Superresolution Noise reduction Robot vision systems Detectors Generative adversarial networks

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Hair Direction Detection*

Hair Direction Detection*

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WRC Symposium on advanced robotics and Automation (WRC SARA)

作者： Peng Ba Pengyi Wang Hongde Wu Qian Yang Yongqiang Feng Junchen Wang Yida David Hu Changsheng Li Wenyong Liu Shaolong Kuang Bai-Quan Su Medical Robotics Laboratory School of Intelligent Engineering and Automation Beijing University of Posts and Telecommunications Beijing China Plastic Surgery Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China School of Health Science and Environmental Engineering Shenzhen University of Technology Shenzhen China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

Hair direction is an important external feature of hair, and recognising hair direction is a prerequisite for processing hair. In this paper, a new algorithm is proposed and systematically verified experimentally for the problem of recognising hair direction. The main goal of this paper is to develop an algorithm that can identify hair direction in a complex image environment. A curve segment analysis method based on image skeletonisation is adopted, which is based on skeleton extraction, intersection identification, curve segmentation and direction prediction. In addition, this paper combines the technique of non-maximal value suppression and PCA analysis to improve the accuracy and stability of the estimation. In the experimental design, this paper chooses a representative image dataset to verify the effectiveness of this paper's algorithm. The experimental process includes the steps of image preprocessing, skeletonisation processing, intersection detection and merging, and direction prediction. The experimental results show that the method in this paper can accurately and effectively identify the hair direction. The main contribution of this paper is to propose a new hair direction recognition method and experimentally verify its effectiveness and accuracy in complex backgrounds.

关键词： Hair Image segmentation Accuracy Three-dimensional displays Merging Prediction algorithms Stability analysis

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An intelligent Trust Cloud Management Method for Secure Clustering in 5G enabled Internet of Medical Things

arXiv

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arXiv 2022年

作者： Yang, Liu Yu, Keping Yang, Simon X. Chakraborty, Chinmay Lu, Yinzhi Guo, Tan The School of Communication and Information Engineering Chongqing University of Posts and Telecommunications Chongqing China Global Information and Telecommunication Institute Waseda University Shinjuku Tokyo169-8050 Japan The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada Birla Institute of Technology Mesra India

5G edge computing enabled Internet of Medical Things (IoMT) is an efficient technology to provide decentralized medical services while Device-to-device (D2D) communication is a promising paradigm for future 5G networks. To assure secure and reliable communication in 5G edge computing and D2D enabled IoMT systems, this paper presents an intelligent trust cloud management method. Firstly, an active training mechanism is proposed to construct the standard trust clouds. Secondly, individual trust clouds of the IoMT devices can be established through fuzzy trust inferring and recommending. Thirdly, a trust classification scheme is proposed to determine whether an IoMT device is malicious. Finally, a trust cloud update mechanism is presented to make the proposed trust management method adaptive and intelligent under an open wireless medium. Simulation results demonstrate that the proposed method can effectively address the trust uncertainty issue and improve the detection accuracy of malicious devices. © 2022, CC BY.

关键词： Edge computing

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Inverse kinematics problem of industrial robot based on PSO-RBFNN

Inverse kinematics problem of industrial robot based on PSO-...

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IEEE Information Technology, Networking, Electronic and Automation Control Conference

作者： Yanan Zhang Congzhe Wang Lei Hu Guang Qiu Institute of intelligent systems and robotics Chongqing University of Posts and Telecommunications School of Advanced Manufacturing Engineering Chongqing University of Posts and Telecommunications

ISBN: (数字)9781728143903

ISBN: (纸本)9781728143910

In order to solve the kinematics solution of industrial robots, the solution is slow and has low precision. In this paper, the Particle Swarm Optimization algorithm(PSO) is introduced into the Radial Basis Function Neural Network(RBFNN) to optimize, and a high precision PSO-RBFNN algorithm for industrial robots is proposed. The algorithm uses 3-layer RBFNN to solve the inverse kinematics of industrial robots, and combines the kinematics model of industrial robots with PSO to optimize the network structure and connection weight of RBFNN. It realizes the nonlinear mapping from the working space pose of the industrial robot to the joint angle, thus replacing the cumbersome formula derivation and improving its solving speed. Moreover, the training success rate and the accuracy of the solution of the PSO-RBFNN algorithm are improved.

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Training Human Teacher to Improve Robot Learning from Demonstration: A Pilot Study on Kinesthetic Teaching

Training Human Teacher to Improve Robot Learning from Demons...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Maram Sakr Martin Freeman H. F. Machiel Van der Loos Elizabeth Croft Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory Mechanical Engineering University of British Columbia Electrical and Computer Systems Engineering Monash University Stanford University

ISBN: (数字)9781728160757

ISBN: (纸本)9781728160764

Robot Learning from Demonstration (LfD) allows robots to implement autonomous manipulation by observing the movements executed by a demonstrator. As such, LfD has been established as a key element for useful user interactions in everyday environments. Kinesthetic teaching, a teaching technique within LfD, entails physically guiding the robot to achieve a task. When demonstrating complex actions on a multi-DoF manipulator, novice users typically encounter difficulties with trajectory continuity and joint orientation, necessitating training by an expert. A comparison between different training approaches is conducted in a study of nine novice users. These approaches are kinesthetic, observational and discovery-learning. The kinesthetic method utilizes record and playback functions implemented on a 7-DoF Barrett Technology WAM robot. A novice user passively holds the arm while an expert's trajectory is replayed. A visual demonstration by the expert is used for the observational training group. The discovery-learning group does not receive an expert demonstration; they use trial-and-error to produce the trajectory on their own. Task-space performance is evaluated pre- and post-training for each user to determine the relative and absolute performance improvements of the groups across the three training approaches. Absolute performance improvements are compared to the performance of an expert and a minimum-jerk trajectory to gauge how skillful the participant becomes with respect to the expert. The kinesthetic approach shows superior indicators of performance in trajectory similarity to the minimum-jerk trajectory with 39% and 13% improvement over the observational and discovery methods, respectively. Observational training shows greater improvement in terms of the smoothness of the velocity profile with 32.7% compared to 29.5% and 21.9% for both discovery and kinesthetic training, respectively.

关键词： Robots Task analysis Training Trajectory End effectors Robot learning Robot sensing systems

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An Evolutionary Game based Secure Clustering Protocol with Fuzzy Trust Evaluation and Outlier Detection for Wireless Sensor Networks

arXiv

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arXiv 2022年

作者： Yang, Liu Lu, Yinzhi Yang, Simon X. Zhong, Yuanchang Guo, Tan Liang, Zhifang The School of Communication and Information Engineering Chongqing University of Posts and Telecommunications Chongqing China The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada The State Key Laboratory of Power Transmission Equipment & System Security and New Technology School of Electrical Engineering Chongqing University Chongqing400044 China

Trustworthy and reliable data delivery is a challenging task in Wireless Sensor Networks (WSNs) due to unique characteristics and constraints. To acquire secured data delivery and address the conflict between security and energy, in this paper we present an evolutionary game based secure clustering protocol with fuzzy trust evaluation and outlier detection for WSNs. Firstly, a fuzzy trust evaluation method is presented to transform the transmission evidences into trust values while effectively alleviating the trust uncertainty. And then, a K-Means based outlier detection scheme is proposed to further analyze plenty of trust values obtained via fuzzy trust evaluation or trust recommendation. It can discover the commonalities and differences among sensor nodes while improving the accuracy of outlier detection. Finally, we present an evolutionary game based secure clustering protocol to achieve a trade-off between security assurance and energy saving for sensor nodes when electing for the cluster heads. A sensor node which failed to be the cluster head can securely choose its own head by isolating the suspicious nodes. Simulation results verify that our secure clustering protocol can effectively defend the network against the attacks from internal selfish or compromised nodes. Correspondingly, the timely data transfer rate can be improved significantly. © 2022, CC BY.

关键词： Sensor nodes

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Teleoperation of Humanoid Robots: A Survey

arXiv

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arXiv 2023年

作者： Darvish, Kourosh Penco, Luigi Ramos, Joao Cisneros, Rafael Pratt, Jerry Yoshida, Eiichi Ivaldi, Serena Pucci, Daniele Artificial and Mechanical Intelligence Center for Robotics and Intelligent Systems Istituto Italiano di Tecnologia Genoa Italy Florida Institute for Human and Machine Cognition 40 S Alcaniz St PensacolaFL32502 United States Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign United States Department of Information Technology and Human Factors Tsukuba Japan Inria Loria Université de Lorraine CNRS Nancy France Department of Applied Electronics Faculty of Advanced Engineering Tokyo University of Science Japan

Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform for a wide range of applications when teleoperating in a remote environment. However, the complexity of humanoid robots imposes challenges for teleoperation, particularly in unstructured dynamic environments with limited communication. Many advancements have been achieved in the last decades in this area, but a comprehensive overview is still missing. This survey paper gives an extensive overview of humanoid robot teleoperation, presenting the general architecture of a teleoperation system and analyzing the different components. We also discuss different aspects of the topic, including technological and methodological advances, as well as potential applications. A web-based version of the paper can be found at https://***/. © 2023, CC BY.

关键词： Remote control

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Angel's girl for blind painters: An efficient painting navigation system validated by multimodal evaluation approach

arXiv

引用

arXiv 2021年

作者： Liu, Hang Hu, Menghan Chen, Yuzhen Li, Qingli Zhai, Guangtao Yang, Simon X. Zhang, Xiao-Ping Yang, Xiaokang The Shanghai Key Laboratory of Multidimensional Information Processing East China Normal University The Key Laboratory of Articial Intelligence Ministry of Education The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph The Department of Electrical Computer and Biomedical Engineering Ryerson University

For people who ardently love painting but unfortunately have visual impairments, holding a paintbrush to create a work is a very difficult task. People in this special group are eager to pick up the paintbrush, like Leonardo da Vinci, to create and make full use of their own talents. Therefore, to maximally bridge this gap, we propose a painting navigation system to assist blind people in painting and artistic creation. The proposed system is composed of cognitive system and guidance system. The system adopts drawing board positioning based on QR code, brush navigation based on target detection and bush real-time positioning. Meanwhile, this paper uses human-computer interaction on the basis of voice and a simple but efficient position information coding rule. In addition, we design a criterion to efficiently judge whether the brush reaches the target or not. According to the experimental results, the thermal curves extracted from the faces of testers show that it is relatively well accepted by blindfolded and even blind testers. With the prompt frequency of 1s, the painting navigation system performs best with the completion degree of 89% ± 8.37% and overflow degree of 347% ± 162.14%. Meanwhile, the excellent and good types of brush tip trajectory account for 74%, and the relative movement distance is 4.21 ± 2.51. This work demonstrates that it is practicable for the blind people to feel the world through the brush in their hands. In the future, we plan to deploy "Angle's Eyes" on the phone to make it more portable. The demo video of the proposed painting navigation system is available at: https://***/10.6084/***.9760004.v1. © 2021, CC BY.

关键词： Cognitive systems

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Comprehensive Analysis for the Effect of Thermal Barrier Coating Porosity on Ultrasonic Longitudinal Wave Velocity 6th

Comprehensive Analysis for the Effect of Thermal Barrier Coa...

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6th International Conference on Life System Modeling and Simulation, LSMS 2020, and 6th International Conference on intelligent Computing for Sustainable Energy and Environment, ICSEE 2020

作者： Zhang, Shuxiao Ma, Zhiyuan Lin, Li Feng, Wei Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China NDT & E Laboratory Dalian University of Technology Dalian116000 China Guangdong Ultrasonic Nondestructive Testing Engineering Technology Research Center Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9789813363779

According to SEM photos of ZrO2 coatings prepared by plasma spraying, 24 physical models with different porosities were constructed, and ultrasonic testing was simulated by finite-difference time-domain method, and the change of longitudinal wave velocity under porosities was analyzed according to the ultrasonic reflection coefficient amplitude spectroscopy. The simulation shows that the longitudinal wave velocity and porosity of the coating show a linear correlation given that the pore morphology and distribution state are unchanged. The simulation is verified by experiments, and it is found that the experiments and the simulation are in good agreement. This research work has important value for the determination of longitudinal wave velocity of thermal barrier coating in ultrasonic testing. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Thermal barrier coatings

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Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM

Enhanced Visual Feedback with Decoupled Viewpoint Control in...

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IEEE-RAS International Conference on Humanoid Robots

作者： Yang Chen Leyuan Sun Mehdi Benallegue Rafael Cisneros-Limón Rohan P. Singh Kenji Kaneko Arnaud Tanguy Guillaume Caron Kenji Suzuki Abderrahmane Kheddar Fumio Kanehiro School of Integrative and Global Majors (SIGMA) University of Tsukuba Japan CNRS-AIST JRL (Joint Robotics Laboratory) IRL National Institute of Advanced Industrial Science and Technology (AIST) Department of Intelligent and Mechanical Interaction Systems Graduate School of Science and Technology University of Tsukuba Japan MIS lab Universite de Picardie Jules Verne Amiens France Faculty of Engineering and Center for Cybernetics Research University of Tsukuba Japan

ISBN: (数字)9798350309799

ISBN: (纸本)9798350309805

In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: (i) the lag between the motion of the operator's and robot's head due to network communication delays or slow robot joint motion. This latency could cause a noticeable delay in the visual feedback, which jeopardizes the embodiment quality, can cause dizziness, and affects the interactivity resulting in operator frequent motion pauses for the visual feedback to settle; (ii) the mismatch between the camera's and the headset's field-of-views (FOV), the former having generally a lower FOV; and (iii) a mismatch between human's and robot's range of motions of the neck, the latter being also generally lower. In order to leverage these draw-backs, we developed a decoupled viewpoint control solution for a humanoid platform which allows visual feedback with low-latency and artificially increases the camera's FOV range to match that of the operator's headset. Our novel solution uses SLAM technology to enhance the visual feedback from a reconstructed mesh, complementing the areas that are not covered by the visual feedback from the robot. The visual feedback is presented as a point cloud in real-time to the operator. As a result, the operator is fed with real-time vision from the robot's head orientation by observing the pose of the point cloud. Balancing this kind of awareness and immersion is important in virtual reality based teleoperation, considering the safety and robustness of the control system. An experiment shows that the effectiveness of our solution.

关键词： Point cloud compression Visualization Simultaneous localization and mapping Humanoid robots Virtual reality Real-time systems Robustness

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