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Congress on Evolutionary Computation

作者： E. Hourdakis P. Trahanias Department of Computer Science University of Crete Greece Computational Vision and Robotics Laboratory Foundation for Research and Technology - Hellas Heraklion Greece

Computational modeling of natural systems can be used for interdisciplinary applications, such as the configuration of robotic systems or the validation of biological ones. Up to date there has been a little progress on suggesting a framework for automating the process of creating a computational model for biological processes. Instead researchers focus on the implementations of systems that are intended to replicate a tight set of biological behaviors. Such framework should be able to construct any system based on the appropriate level of abstraction chosen by the designer, as well as be able to enforce the appropriate biological consistency without compromising on performance or scalability of the generated models. In this paper we propose a framework that can automate the construction of computational models using genetic algorithms and demonstrate how this framework can construct a model of the parieto-frontal and premotor regions involved in grasping.

关键词： Computational modeling Biological system modeling Biology computing Biological systems computer science Brain modeling Genetic algorithms computer vision Robot vision systems Laboratories

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A model change detection approach to dynamic scene modeling

A model change detection approach to dynamic scene modeling

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Seon Joo Kim Gianfranco Doretto Jens Rittscher Peter Tu Nils Krahnstoever Marc Pollefeys Department of Computer Science North Carolina State University Chapel Hill USA Visualization and Computer Vision Laboratory GE Global Research Center Niskayuna USA Department of Computer Science ETH Zürich Switzerland

In this work we propose a dynamic scene model to provide information about the presence of salient motion in the scene, and that could be used for focusing the attention of a pan/tilt/zoom camera, or for background modeling purposes. Rather than proposing a set of saliency detectors, we define what we mean by salient motion, and propose a precise model for it. Detecting salient motion becomes equivalent to detecting a model change. We derive optimal online procedures to solve this problem, which enable a very fast implementation. Promising results show that our model can effectively detect salient motion even in severely cluttered scenes, and while a camera is panning and tilting.

关键词： Layout Cameras Motion detection Focusing Vehicle dynamics computer science Testing Surveillance Visualization computer vision

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An embedded system for vehicle surrounding monitoring

An embedded system for vehicle surrounding monitoring

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Workshop on Power Electronics and Intelligent Transportation System, PEITS

作者： Yi-Yuan Chen Yuan-Yao Tu Cheng-Hsiang Chiu Yong-Sheng Chen Industrial Technology and Research Institute Hsinchu Taiwan Department of Computer Science National Chiao Tung University Hsinchu Taiwan Computer Vision Research Center National Chiao Tung University Hsinchu Taiwan

In this paper, we present a low-cost driving assistant system which can provide the surrounding image of a vehicle in a bird's-eye view. By implementing a fast image stitching algorithm on an embedded platform, this system can generate the around-vehicle view in real time from four fisheye cameras mounted around the vehicle. Moreover, we also propose a dynamic boundary determination method to allow the automatic switch among image sources and to reduce the chance of missing obstacles in the overlapping area. With this bird's-eye view surrounding monitoring system, drivers can visually perceive the condition of the surrounding environment. Driving and parking can then become more easily and safely.

关键词： Embedded system Vehicles Monitoring

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Video observation of humanoid robot movements elicits motor interference

Video observation of humanoid robot movements elicits motor ...

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23rd Convention of the Society for the Study of Artificial Intelligence and Simulation of Behaviour, AISB 2009

作者： Kupferberg, Aleksandra Glasauer, Stefan Huber, Markus Rickert, Markus Knoll, Alois Brandt, Thomas Center for Sensorimotor Research Clinical Neurosciences Ludwig-Maximilians-Univ. Munich Germany Robotics and Embedded Systems Lab. Dept. of Computer Science Technical Univ. München Germany Department of Clinical Neurosciences Ludwig-Maximilians-Univ. München Germany

ISBN: (纸本)1902956850

Anthropomorphic "humanoid" robots are suggested to be more competent in social communicative interactions than industrial robots, because humans interact more intuitively with them. It is, therefore, critical to evaluate the acceptance of an agent as possible partner for joint interaction. One possible method is to utilize the phenomenon of motor interference (MI). It claims, that observation of an incongruent movement of another individual leads to a higher variance in one's own movement trajectory. Although this effect has been demonstrated while observing a human agent, the researchers were unable to show increased variance in the subjects' movements if they observed an arm of an industrial robot moving with piecewise-constant velocity. In contrast, in other recent studies, MI was demonstrated when subjects watched a humanoid robot performing biological movements based on prerecording of a human experimenter, even if it was not the case when the same robot moved with constant (artificial) velocity. The purpose of the present study was two-fold: 1) we aimed to replicate these results using video-presentations of the agents, and 2) we asked whether quasi-biological movement trajectories are sufficient to elicit MI. We presented subjects, who were instructed to perform horizontal and vertical arm movements, with videos of a human agent or of a humanoid robot, who performed congruent or incongruent arm movements. Robotic movements were produced with a quasi-biological minimum-jerk velocity profile. We found MI both for the human agent and the robot, suggesting that an artificial human-like movement velocity profile (minimum-jerk) is sufficient to facilitate perception of humanoid robots as interaction partners, and that the measurement of MI using a face-to-face video setup can serve as a tool for objectively evaluating humanoid robots.

关键词： Anthropomorphic robots

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Replica Placement Algorithm for Highly Available Peer-to-Peer Storage Systems

Replica Placement Algorithm for Highly Available Peer-to-Pee...

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International Conference on Advances in P2P Systems (AP2PS)

作者： Gyuwon Song Suhyun Kim Daeil Seo Imaging Media Research Center Korea Institute of Science and Technology Seoul South Korea Human Computer Interaction and Robotics Department University of Science and Technology Seoul South Korea

Peer-to-peer (P2P) technology is an emerging approach to overcoming the limitations of the traditional client-server architecture. However, building a highly available P2P system is quite challenging, in particular a P2P storage system. The reason is due to the fundamental nature of P2P systems: peers can join and leave at any time without any notice. Replication is one of the strategies in overcoming the unpredictable behavior of peers. A good replication algorithm should use the minimum number of replicas to provide the desired availability of data. The popular approach in the previous studies is a random placement of replicas, but it ignores the wide difference in the availability of each peer. In this paper, we develop a replica placement algorithm which exploits the availability pattern of each individual peer. By comparing our algorithm with a random placement scheme, we show that our algorithm dramatically improves the data availability with moderate overhead in terms of memory consumption and processing time in both ideal and practical conditions.

关键词： Peer to peer computing Storage automation Image storage computer architecture Space technology Power system reliability Bandwidth Human computer interaction Human robot interaction Buildings

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Cartoon Motion Capturing and Retargeting by Rigid Shape Manipulation

Cartoon Motion Capturing and Retargeting by Rigid Shape Mani...

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Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Mohammad Rastegari Mohammad Rouhani Niloofar Gheissari Mir Mohsen Pedram Institute of Research in Fundamental Science (IPM) Science & Research Branch Islamic Azad University Tehran Iran Center of Vision Speech and Signal Processing (CVSSP) University of Surrey Guildford Surrey UK Computer Vision Center (cVc) Universitat Authnòma de Barcelona Barcelona Spain Department of Computer Engineering Tarbiat Modares University Tehran Iran

Motion capture from live performance has received a lot of attention in the past few years. However, little work has been done on capturing the motions from existing cartoons. This paper presents a novel approach for capturing motion from existing cartoons and retargeting it to new characters in order to animate them. Most current approaches rely on the identification of key shapes and they fail to directly handle articulated shapes or local deformations. In contrast, we propose to use key-points as more efficient descriptors of motion. We use shape context to capture the motion between successive source frames. Then for retargeting the captured motion to a new character, we use an efficient rigid shape manipulation method that handles local deformations. The proposed method relies on user interaction only for the first source frame. Our algorithm has been applied to a set of test cases and the results shows improved performance in preserving the target's visual style particularly for articulated objects.

关键词： Shape computer vision Interpolation Facial animation Digital images computer applications Application software Speech processing Digital signal processing Signal processing algorithms

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Biomimetic evolutionary analysis: Robotically-simulated vertebrates in a predator-prey ecology

Biomimetic evolutionary analysis: Robotically-simulated vert...

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IEEE Symposium on Artificial Life, ALIFE

作者： Nicole Doorly Kira Irving Gianna McArthur Keon Combie Virginia Engel Hassan Sakhtah Elise Stickles Hannah Rosenblum Andres Gutierrez Robert Root Chun Wai Liew John H. Long Mechanical and Aerospace Engineering Department Case Western Reserve University Cleveland OH USA Interdisciplinary Robotics Research Laboratory and the Cognitive Science Program Vassar College Poughkeepsie NY USA Neuroscience Institute Stanford University School of Medicine Stanford CA USA Neuroscience and Behavior Program Vassar College Poughkeepsie NY USA Memorial Sloan Kettering Cancer Care Center New York NY USA Department of Biology Vassar College Poughkeepsie NY USA Biochemistry Program Vassar College Poughkeepsie NY USA College of Medicine Howard University College of Medicine Washington D.C. USA School of Oceanography University of Washington Seattle WA USA Vassar College Poughkeepsie NY USA Department of Mathematics Lafayette College Easton PA USA Computer Science Department Lafayette College Easton PA USA Interdisciplinary Robotics Research Laboratory the Department of Biology and the Cognitive Science Program Vassar College Poughkeepsie NY USA

To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates, we previously combined evolutionary robotics and software simulations to create autonomous biomimetic swimmers in a simple aquatic environment competing and foraging for a single source of food. This system allowed us to test the hypothesis that selection for improved forage navigation drove the evolution of stiffer tails. In this paper, we extend our framework to evaluate more complex environments and hypotheses. Specifically, we test the hypothesis that predator-prey dynamics and the need for effective foraging strategies, operating simultaneously, were key selection pressures driving the evolution of morphological and sensory traits in early, fish-like vertebrates. Three evolvable traits were chosen because of their importance in propulsion and predator avoidance: (1) the number of vertebrae in the axial skeleton, (2) the trailing edge span of the caudal fin, and (3) the sensitivity of the sensory lateral line. To produce variable offspring, we used a genetic algorithm that rewarded parents with high fitness, allowing them to mate randomly and combine their mutated gametes. Offspring were then instantiated as autonomous embodied robots, the prey. These prey were chased by a non-evolving autonomous predator. Both kinds of robots were surface swimmers. The prey used a control architecture based on that of living fish: a two-layer subsumption architecture with predator escape over-riding steady swimming during foraging. The performance of six different prey robots in each generation was judged with a relative fitness function that rewarded a combination of high speed, rapid escape acceleration, escape responses, and the ability to stay away from the predator while at the same time staying close to the food source. This approach, which we call biomimet

关键词： Biomimetics Environmental factors Biological system modeling System testing Evolution (biology) Robot sensing systems Animals Navigation Tail Propulsion

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robotics as a tool for immersive, hands-on freshmen engineering instruction

Robotics as a tool for immersive, hands-on freshmen engineer...

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2008 ASEE Annual Conference and Exposition

作者： Mataric, Maja Fasola, Juan Feil-Seifer, David University of Southern California Department of Computer Science and Neuroscience University of Southern California USC Center for Robotics and Embedded Systems USC Robotics Research Lab. USC Viterbi School of Engineering Computer Science Department University of Southern California Computer Science Department University of Southern California Interaction Lab.

Hands-on experience plays a key role in undergraduate engineering education. It is a recognized tool for recruitment and retention, as well as for encouraging participation in class and in research outside of the classroom. However, early undergraduate engineering education, especially during the freshman year, is often focused on foundational theory, and delivered through lecture format, rather than hands-on projects. We have developed and taught a semesterlong class at the University of Southern California Viterbi School of Engineering (VSoE) that uses robotics as a pedagogical tool for engaging students in engineering, and illustrating general engineering principles and techniques in a hands-on manner. The model for the new course is to combine lectures on principles and applications of engineering from professors from a variety of VSoE departments with lab experience, wherein students work with robots in order to directly apply those principles and scratch the surface of some applications. Our goal is to create a curriculum where, with little to no prior experience with either programming or robotics, freshmen interested in engineering can explore both the breadth of engineering, and glimpse the depth of a single domain through engaging hands-on projects. Unlike most other robotics courses, especially introductory ones that use simple robot platforms such as LEGO robots, ours features highly sophisticated mobile and humanoid robots, allowing the students to develop engaging and sophisticated-appearing behavior. The semester culminated in a public exhibition of team projects at a local science museum. We will use the experiences of the students and instructors of this new course to study the impact of hands-on engineering, team-work, and open challenges on encouraging retention in engineering beyond the first year, for recruitment and retention of traditionally under-represented student groups. © American Society for Engineering Education, 2008.

关键词： Teaching

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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