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ANALYSIS OF HUMAN WALKING TRAJECTORIES FOR SURVEILLANCE

International Journal of Information Acquisition 2004年第2期1卷 169-189页

作者： KA KEUNG LEE YANGSHENG XU Department of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Hong Kong China

Surveillance of public places has become a worldwide concern in recent years. The ability to identify abnormal human behaviors in real-time is fundamental to the success of intelligent surveillance systems. The recognition of abnormal and suspicious human walking patterns is an important step towards the achievement of this goal. In this research, we develop an intelligent visual surveillance system that can classify normal and abnormal human walking trajectories in outdoor environments by learning from demonstration. The system takes into account both the local and global characteristics of the observed trajectories and is able to identify their normality in real-time. By utilizing support vector learning and a similarity measure based on hidden Markov models, the developed system has produced satisfactory results on real-life data during testing. Moreover, we utilize the approach of longest common subsequence (LCSS) in determining the similarity between different types of walking trajectories. In order to establish the position and speed boundaries required for the similarity measure, we compare the performance of a number of approaches, including fixed boundary values, variable boundary values, learning boundary by support vector regression, and learning boundary by cascade neural networks.

关键词： Trajectory analysis intelligent surveillance learning from demonstration

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A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

A case study of 3D stereoscopic vs. 2D monoscopic tele-reali...

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作者： Fung, Wai-Keung Lo, Wang-Tai Liu, Yun-Hui Xi, Ning Department of Automation and Computer-Aided Engineering Networked Sensors and Robotics Laboratory Chinese University of Hong Kong Shatin N. T. Hong Kong Department of Electrical and Computer Engineering Robotics and Automation Laboratory Michigan State University East Lansing MI 48824 United States

ISBN: (纸本)0780389123

This paper reports a case study of using single 3D stereoscopic visual feedback for real-time teleoperation of dexterous tasks. In traditional teleoperation systems, real-time visual feedbacks of multiple monoscopic views of the robot workspace are provided for remote operator. However, it is difficult for the operator to control remote robot to perform dexterous tasks by looking at multiple video feedbacks at the same time. During teleoperation, remote operators usually find multiple 2D visual feedbacks confusing, especially when performing dexterous tasks that require accurate positioning and orientating of robot end-effectors. In this paper, we propose to provide single real-time 3D stereoscopic visual feedback for remote operators so that they perceive remote robot workspace with the sense of depth. This sense of 3D empowers remote operators to accurately position and orient robot end-effector with confidence. Experiments have been conducted to reveal the usefulness of real-time 3D stereoscopic video feedback over multiple monoscopic video feedback in real-time teleoperation. © 2005 IEEE.

关键词： Remote control

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3-D shape recovery across two views based on approximate geometric constraints 6

3-D shape recovery across two views based on approximate geo...

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6th International Conference on Signal Processing, ICSP 2002

作者： Wong, Hau-San Chung, Ronald Dept. of Computer Science City University of Hong Kong Kowloon Tong Hong Kong Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin Hong Kong

ISBN: (纸本)0780374886

In this paper, we propose a new approach to object matching and shape reconstruction across two views. The approach relies on the topological relationship among the feature points and a crude rigidity constraint (epipolar condition) in carrying the object from the mnodel view to the scene view to a first good approximation. The correspondences are then refined by fitting an active contour model to the transferred feature points on the scene view, which automatically assumes the shape of the object on correct matching. Under the assumption of weak perspective projection, it could be shown that the establishment of such correct correspondences would result in the full determination of the relative depths of all the matched object points in 3-D space and thus recovery of the complete 3-D structure of the object. © 2002 IEEE.

关键词： Shape optimization

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Global exponential stability of continuous-time interval neural networks

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Physical Review E 2002年第3期65卷 036133-036133页

作者： Sanqing Hu Jun Wang Department of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Shatin New Territories Hong Kong

This paper addresses global robust stability of a class of continuous-time interval neural networks that contain time-invariant uncertain parameters with their values being unknown but bounded in given compact sets. We first introduce the concept of diagonally constrained interval neural networks and present a necessary and sufficient condition for global exponential stability of these interval neural networks irregardless of any bounds of nondiagonal uncertain parameters in connection weight matrices. Then we extend the robust stability result to general interval neural networks by giving a sufficient condition. Simulation results illustrate the characteristics of the main results.

关键词： .continuous-time neural network bounds matrices uncertain parameters constrained interval connection weight robust stability efficient condition compact sets interval neural Global exponential general interval

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A MULTILAYER RECURRENT NEURAL NETWORK FOR REAL-TIME ROBUST POLE ASSIGNMENT IN SYNTHESIZING OUTPUT FEEDBACK CONTROL SYSTEMS

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IFAC Proceedings Volumes 2002年第1期35卷 271-276页

作者： Sanqing Hu Jun Wang Department of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Shatin NT Hong Kong

Pole assignment is a basic design method for synthesis of feedback control systems. In this paper, a multilayer recurrent neural network is presented for robust pole assignment in synthesizing output feedback control systems. The proposed recurrent neural network is composed of three layers and is shown to be capable of synthesizing linear output feedback control systems via robust pole assignment in real time. Convergence of the neural network can be guaranteed. Moreover, with appropriate design parameters the neural network converges exponentially to an optimal solution to the robust pole assignment problem and the closed-loop control system based on the neural network is globally exponentially stable. These desired properties make it possible to apply the proposed recurrent neural network to slowly time-varying linear control systems. Simulation results are shown to demonstrate the effectiveness and advantages of the proposed neural network approach.

关键词： Recurrent neural network Output feedback control Robust pole assignment Self-tuning control

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Nonlinear 1

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丛书名： Advances in Industrial Control

1000年

作者： Murad Abu-Khalaf Frank L. Lewis Jie Huang

ISBN: (数字)9781846283505

ISBN: (纸本)9781846283499;9781849965842

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. Almost all physical systems are nonlinear and the success of linear control techniques depends on the extent of the nonlinear system behaviour and the careful attention given to switching linear controllers through the range of nonlinear system operations. In many industrial and process-control applications, good engineering practice, linear control systems and classical PID control can give satisfactory performance because the process nonlinearity is mild and the control system performance specification is not particularly demanding; however, there are other industrial system applications where the requirement for high-performance control can only be achieved if nonlinear control design techniques are used. Thus, in some industrial and technological domains there is a strong justification for more applications of nonlinear methods. One prevailing difficulty with nonlinear control methods is that they are not so easily understood nor are they easy to reduce to formulaic algorithms for routine application.

关键词： Control and Systems Theory Electrical engineering Automotive engineering Industrial and Production engineering Artificial Intelligence Industrial Chemistry/Chemical engineering

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Genetic algorithms-based minimum torque path planning for space manipulator

Genetic algorithms-based minimum torque path planning for sp...

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6th World Congress on Intelligent Control and automation

作者： Huang, Panfeng Yan, Jie Xu, Yangsheng Xu, Wenfu Liang, Bin College of Astronautics Northwestern Polytechnical University China Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong Shenzhen Space Technology Center Harbin Institute of Technology China

ISBN: (纸本)1424403316

In space environment, the power supply for space manipulator is limited because of lower ratio of the solar array. Therefore, the space manipulator's trajectory should be optimum so that the torque of manipulator can be minimized in order to save the power. This paper presents a minimum-torque path planning scheme for space manipulator. In this formulation, Genetic Algorithm (GA) is used to minimize the objective function. The planning procedure is performed in joint space and with respect to all constraints, such as joint angle constraints, joint velocity constraints, torque constraints. We use a GA to search the optimal joint inter-knot parameters in order to realize the minimum-torque. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation results test that the proposed minimum-torque path planning method has satisfactory performance.

关键词： space manipulator path planning minimum-torque genetic algorithms

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Propagation of uncertainty in landmark based self-localization of autonomous mobile robots

Propagation of uncertainty in landmark based self-localizati...

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10th IAPR Conference on Machine Vision Applications, MVA 2007

作者： Bais, Abdul Sablatnig, Robert Khawaja, Yahya M. Novak, Gregor Institute of Computer Technology Vienna University of Technology Vienna Austria Pattern Recognition and Image Processing Group Institute of Computer Aided Automation ViennaUniversity of Technology Vienna Austria Department of Electrical Engineering NWFP University of Engineering and Technology Peshawar Pakistan

ISBN: (纸本)9784901122078

This paper presents uncertainty propagation in landmark based position estimation methods. Analysis of two methods has been carried out where robot position is estimated by detecting one or two globally distinct features using a pivoted stereo vision system. We make a basic assumption about error in estimating point features in camera images and propagate it into robot position estimate using first order approximation of non-linear functions. Simulation results illustrate the performance of the method.

关键词： Stereo image processing

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Virtual reality based system for training on knee arthroscopic surgery

Virtual reality based system for training on knee arthroscop...

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4th Medicine Meets Virtual Reality Proceedings 1996, MMVR 1996

作者： Heng, Pheng-Ann Cheng, Chun-Yiu Wong, Tien-Tsin Xu, Yangsheng Chui, Yim-Pan Chan, Kai-Ming Tso, Shiu Kit Department of Computer Science and Engineering Hong Kong Department of Orthopaedics and Traumatology Hong Kong Department of Automation and Computer-Aided Enginering Chinese University of Hong Kong Hong Kong Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong

ISBN: (纸本)1586034049

Surgical training systems based on virtual reality (VR) and simulation techniques offer a cost-effective and efficient alternative to traditional training methods. This paper describes a virtual reality system for training arthroscopic knee surgery. The virtual model used in this system is constructed from the Visual Human Project dataset. The system simulates the real-time deformation of soft tissue with topological change using finite element analysis. To offer the realistic tactile feedback, we construct a specialized force feedback hardware.

关键词： Virtual reality

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Global and robust stability of interval hopfield neural networks with time-varying delays

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International Journal of Neural Systems 2003年第3期13卷 171-182页

作者： Liao, Xiaofeng Wang, Jun Cao, Jinde Department of Computer Science and Engineering Chongqing University Chongqing 400044 China Department of Electronic Engineering University of Electronic Science and Technology of China Chengdu 610054 China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Department of Mathematics Southeast University Nanjing 210096 China

In this paper, we investigate the problem of global and robust stability of a class of interval Hopfield neural networks that have time-varying delays. Some criteria for the global and robust stability of such networks are derived, by means of constructing suitable Lyapunov functionals for the networks. As a by-product, for the conventional Hopfield neural networks with time-varying delays, we also obtain some new criteria for their global and asymptotic stability. © World Scientific Publishing Company.

关键词： Interval Hopfield neural networks Lyapunov functionals Robust stability Time-varying delays

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