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41st International Conference on Environmental Systems 2011, ICES 2011

作者： Mousavi, M. Mehdi S. Ambrosio, Elisa Paola Appendino, Silvia Chen, Fai Chen Favetto, Alain Manfredi, Diego Pescarmona, Francesco Somà, Aurelio Italian Institute of Technology Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Mechanics Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Control and Computer Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy

ISBN: (纸本)9781600869488

The total time of Extravehicular Activity (EVA) performed by astronauts has increased significantly during the past few years. On the other hand, the bulk and stiffness of the suit itself and in particular of the gloves generate some difficulties for the astronauts to perform their tasks in space. Therefore, it is necessary to improve the EVA glove technology for future needs. Since a lack of categorized information for those who want to improve EVA gloves is evident, in this work a survey on related literature has been carried out and fundamental data has been categorized. The paper starts with an overview on the historical and chronological progress of EVA suits and EVA gloves followed by a review of the previously demonstrated EVA gloves including American and Russian ones. The remaining part of the paper is dedicated to the characteristics of current EVA gloves and to present and future trends in research for further improvements. © 2011 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Manned space flight

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Fourier shape-frequency words for actions

Fourier shape-frequency words for actions

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International Conference on Image Information Processing

作者： Bishwajit Sharma KS Venkatesh Amitabha Mukerjee Centre for AI & Robotics DRDO Complex Bangalore India Department of Electrical Engineering Indian Institute of Technology Kanpur India Department of Computer Science Indian Institute of Technology Kanpur India

Actions consist of short shape-motion fragments which recur in a seemingly unique sequence. We propose that these short fragments may constitute a concise vocabulary for actions. Models based on such “words” sometimes use the bag of words paradigm, which ignores sequence information. Also, despite the well-known utility of Fourier and similar features for temporal modelling, Fourier models have not received due attention to model action words until recently. Hence, we employ shape-frequency features as a temporally windowed Fourier transform to capture local motion and shape information. Unsupervised clustering discovers the naturally occurring modes (words) of these features. Each labelled video can thus be represented as a sequence of cluster transitions. Though different actions share common words, we observe that the word sequences are different for different actions, enabling easy discrimination. We evaluate the model on the Weizmann action dataset [1] and achieve 96.7% classification accuracy, and show how it compares to other similar algorithms.

关键词： Shape Hidden Markov models Training Feature extraction Information processing Discrete Fourier transforms Testing

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A mechanism to recover voice from logged VoIP sessions based on RTP

A mechanism to recover voice from logged VoIP sessions based...

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International Conference on Internet Multimedia Services Architecture and Applications, IMSAA

作者： Paromita Choudhury K. R. Prasanna Kumar G. Athithan Sukumar Nandi Center for Artificial Intelligence and Robotics Bangalore Karnataka India Department of Computer Science and Engineering Indian Institute of Technology Guwahati India

The convergence of voice and data on Internet Protocol (IP) networks has led to tremendous growth of Voice over IP (VoIP). While SIP/ H.323 are dominant signaling protocols, RTP is widely used for media transfer. Certain situations may require logging of RTP sessions along with the signaling information for call and voice analysis. Recovering voice from RTP packets requires explicit handling of RTP stack and decoding. In this paper, we propose a scheme that uses softphones with appropriate codec support for voice recovery from logged RTP packets. It is done using inherent provisions of RTP, specifically SSRC-multiplexing. The scheme also suggests the possibility of an active stream injection attack in RTP based VoIP.

关键词： Media Codecs Protocols IP networks Payloads Multiplexing Decoding

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Extracting salient lines by Visual Attention for omnidirectional image classification

Extracting salient lines by Visual Attention for omnidirecti...

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IEEE Symposium on Computational Intelligence for Multimedia, Signal and Vision Processing (CIMSIVP)

作者： AmirHossein Habibian Majid Nili-Ahmadabadi Babak Nadjar Araabi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences Tehran Iran

Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.

关键词： Feature extraction Visualization Image classification Gabor filters Image edge detection Histograms Computational modeling

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Initial Development of a Portable Acoustic Array on a Large-Scale E-Textile Substrate

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MRS Online Proceedings Library (OPL) 2011年第1期736卷 D3.7-D3.7页

作者： K. A. Luthy L. S. Mattos J. C. Braly E. Grant J. F. Muth A. Dhawan K. Natarajan T. Ghosh A. Seyam Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC Department of Textile and Apparel Technology and Management North Carolina State University Raleigh NC

Electronic textiles offer possibilities for producing large-area sensors circuits on conformal substrates. To demonstrate this concept, a 5×4 element acoustic array was produced on a 3m × 1m fabric substrate. In the course of fabricating the acoustic array a variety of production issues were identified that impacted the performance of the prototype when experimental tests were carried out with this prototype acoustic array. Fabric-based acoustic array design and production, along with design issues related to scaling an acoustic array to handle larger numbers of microphones on large-area fabrics, are the focus of this paper.

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A Cascade Traffic Accident Recognition System Using Multi-sensor Cooperation

A Cascade Traffic Accident Recognition System Using Multi-se...

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International Conference on computer Communication and Management（ICCCM 2011）

作者： Ilkyun Jung Seung-Hun Kim Minho Lee Sung-Bae Cho Intelligent Robotics Research Center Korea Electronics Technology Institute School of Electronics Engineering Kyungpook University Department of Computer Science Yonsei University

This paper presents a cascade system to reliably recognize traffic accidents using multi-sensor cooperation. The system is consisted of a MSN (Master Sensor Node) and number of SN (Sensor Node)s with both low cost DSP and CCD. Each SN computes probabilities of accident with a set of images over time taken at different locations. Once more than one accident being reported, MSN is stimulated and conducts a synthetic decision making process with various information taken from each SN related to the accident. Experimental results show that the proposed cascade system drastically enhance reliability of traffic accident recognition and enables to be set in real environments.

关键词： traffic accident recognition, cascade system, multi-senor cooperation, SN, MSN

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Periodic disturbance rejection of a PMSM with adaptive control algorithms

Periodic disturbance rejection of a PMSM with adaptive contr...

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IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Permanent magnet synchronous motors (PMSMs) produce a parasitic oscillating torque due to several reasons. This contribution cancels the oscillating torque with adaptive control algorithms. Therefore a mathematical model of the PMSM is necessary. A model with nonlinear dynamics and a Fourier approach for the ripples is used as a mathematical description. Through comparisons between measured data and simulated data it is shown that the model assumptions are valid. The adaptive algorithm is implemented as an add-on controller to the already existing control system which consists of a feedforward part and a basis controller. The challenge is that the closed loop system has a resonant frequency and the algorithm should have the same performance for all frequencies. Experimental results show the performance and convergence of the adaptive algorithm at constant and non constant velocity.

关键词： Torque Mathematical model Transfer functions Control systems Feedforward neural networks Equations Adaptation models

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Reports of the AAai 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAai) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAai Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Beta-eigenspaces for autonomous mobile robotic trajectory outlier detection

Beta-eigenspaces for autonomous mobile robotic trajectory ou...

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Shyba Zaheer Tauseef Gulrez Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai Academic City UAE Department of Computer Science Center of Intelligent Machines & Robotics Research COMSATS Institute of Information Technology Lahore Pakistan

This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of “free configuration eigenspaces” method, with specific focus on outlier detection. The key idea proposed in this paper is to replace the Gaussian distribution utilized by the probabilistic principal component analysis (PPCA) with the beta-distribution. It is a well known issue that the conventional PCA is sensitive to anomalous observations because the calculation of sample mean and covariance matrix can be significantly influenced by a small number of outliers. Similarly, PPCA is not robust to outliers since the data are assumed to follow a multivariate Gaussian distribution that is easily affected by deviant observations. An outlier detection is done using Beta-Probabilistic Principal Component Analysis (BPPCA), further more an analysis is proposed to identify which variables contribute the most to the occurrence of outliers. The proposed technique is applied on real-time robotics sensor data as well as on the real-time robotics simulation environment.

关键词： Trajectory Principal component analysis Robot sensing systems Lasers Mobile communication Mobile robots

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Retinal vessel tortuosity evaluation via Circular Hough Transform

Retinal vessel tortuosity evaluation via Circular Hough Tran...

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Iranian Conference of Biomedical engineering (ICBME)

作者： Farnoosh Ghadiri HamidReza Pourreza Touka Banaee Morteza Delgir Computer Engineering Department Machine Vision Laboratory Ferdowsi University of Mashhad Iran Computer Engineering Department Machine Vision Laboratory University of Ferdowsi Mashhad Iran Ophthalmic Research Center Khatam-Al-Anbia Hospital Medical science University of Mashhad Iran Computer Science Department Robotics Laboratory Northeastern University USA

Retinal vessel tortuosity has shown to be significantly associated with cardiovascular diseases such as hypertension and diabetes. Despite importance of this field a few techniques have been proposed yet. All previous methods rely on a vessel extraction phase, which its accuracy affects final output and also time consuming. Nobility of presented algorithm is to introduce a method for evaluating retinal vessel tortuosity without any explicit vessel detection. We use the Circular Hough Transform (CHT) based on gradient field of the retinal image. Each vessel curve is detected as a semi-circle by Hough transform and tortuosity of the curve is determined with the help of accumulated value of circle center and its radius. As there are no any specific database for tortuosity evaluation, the algorithm was tasted on database consisting of 40 images, mixture of DRIVE database and images from Khatam-Al-Anbia Hospital consisting of 40 retinal images, of which 20 were tortuous and 20 were non-tortuous. The proposed algorithm can achieve classification rate of 92% along with less computation time in compare of previous methods.

关键词： Transforms Retinal vessels Classification algorithms Biomedical measurements Biomedical imaging Image segmentation

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