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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making computer science Space technology robotics and automation Switches Automatic control Service robots

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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： E. Cheung M.E. Karagozler Sukho Park Byungkyu Kim M. Sitti The NanoRobotics Lab and the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA The NanoRobotics Lab and the Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA Senior Research Scientists at the Intelligent Microsystem Center Korea Institute of Science and Technology Information Seoul South Korea The director of the NanoRobotics Lab and an AssistantProfessor with the Department of Mechanical Engineering and Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it. A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inch worm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing

关键词： Robots Adhesives Intestines Fluids and secretions Testing Gastrointestinal tract Diseases Digestive system Shape memory alloys Wires

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PERFORMANCE-DERIVED BEHAVIOR VOCABULARIES: DATA-DRIVEN ACQUISITION OF SKILLS FROM MOTION

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International Journal of Humanoid robotics 2004年第2期1卷 237-288页

作者： JENKINS, ODEST CHADWICKE MATARIĆ, MAJA J. Robotics Research Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California 941 West 37th Place SAL 228 Los AngelesCA90089 United States Robotics Research Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California 941 West 37th Place SAL 228 Los AngelesCA90089 United States

Control for and interaction with humanoid robots is often restrictive due to limitations of the robot platform and the high dimensionality of controlling systems with many degrees of freedom. We focus on the problem of providing a "skill-level interface" for a humanoid robot. Such an interface serves as (i) a modular foundation for structuring task-oriented control, (ii) a parsimonious abstraction of motor-level control (e.g. PD-servo control), and (iii) a means for grounding interactions between humans and robots through common skill vocabularies. Our approach to constructing skill-level interfaces is two-fold. First, we propose a representation for a skill-level interface as a "behavior vocabulary," a repertoire of modular exemplar-based memory models expressing kinematic motion. A module in such a vocabulary encodes a flow field (or gradient field) in joint angle space that describes the "flow" of kinematic motion for a particular skill-level behavior, enabling prediction from a given kinematic configuration. Second, we propose a data-driven method for deriving behavior vocabularies from time-series data of human motion using spatio-temporal dimension reduction and clustering. Results from evaluating an implementation of our methodology are presented along with the application of derived behavior vocabularies as predictors towards on-line humanoid trajectory formation and off-line motion synthesis. © 2004 World Scientific Publishing Company

关键词： Kinematics

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Throat microphone signal for speaker recognition 8

Throat microphone signal for speaker recognition

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8th International Conference on Spoken Language Processing, ICSLP 2004

作者： Shahina, A. Yegnanarayana, B. Kesheorey, M.R. Speech and Vision Laboratory Department of Computer Science and Engg. Indian Institute of Technology Madras Chennai600 036 India Center for Artificial Intelligence and Robotics Bangalore560 001 India

Speaker recognition systems perform better when clean speech signals are used for the task. In the presence of high levels of background noise, speech recorded from a close speaking microphone will be degraded and hence the performance of the speaker recognition system. Use of a transducer held at the throat results in a signal that is clean even in a noisy environment. This paper discusses the prospect of using such signals for speaker recognition. A study of a text-independent speaker recognition system based on features extracted from speech simultaneously recorded using a throat microphone and a close-speaking microphone in clean and simulated noisy conditions is conducted. Autoassociative neural networks are used to model the speaker characteristics based on the vocal tract system and excitation source features represented by weighted linear prediction cepstral coefficients and linear prediction residual, respectively. The results of experimental studies show that the speech collected from the throat microphone can be used for tasks like speaker recognition, especially in noisy conditions.

关键词： Microphones

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Biometric cryptosystems: Issues and challenges

Biometric cryptosystems: Issues and challenges

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作者： Uludag, Umut Pankanti, Sharath Prabhakar, Salil Jain, Anil K. Department of Computer Science and Engineering Michigan State University East Lansing MI 48824 United States Exploratory Computer Vision Group IBM Thomas J. Watson Research Center Yorktown Heights NY 10598 United States DigitalPersona Inc. Redwood City CA 94062 United States

In traditional cryptosystems, user authentication is based on possession of secret keys, which falls apart if the keys are not kept secret (i.e., shared with nonlegitimate users). Further, keys can be forgotten, lost, or stolen and, thus, cannot provide nonrepudiation. Current authentication systems based on physiological and behavioral characteristics of persons (known as biometrics), such as fingerprints, inherently provide solutions to many of these problems and may replace the authentication component of the traditional cryptosystems. In this paper, we present various methods that monolithically bind a cryptographic key with the biometric template of a user stored in the database in such a way that the key cannot be revealed without a successful biometric authentication. We assess the performance of one of these biometric key binding/generation algorithms using the fingerprint biometric. We illustrate the challenges involved in biometric key generation primarily due to drastic acquisition variations in the representation of a biometric identifier and the imperfect nature of biometric feature extraction and matching algorithms. We elaborate on the suitability of these algorithms for the digital rights management systems. © 2004 IEEE.

关键词： Public key cryptography

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How can we reconstruct facial image from partially occluded or low-resolution one?

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3338卷 386-399页

作者： Lee, Seong-Whan Park, Jeong-Seon Hwang, Bon-Woo Center for Artificial Vision Research Department of Computer Science and Engineering Korea University Anam-dong Seongbuk-ku Seoul 136-701 Korea Republic of

This paper presents our method for reconstructing facial image from a partially occluded facial image or a low-resolution one using example-based learning. Faces are modeled by linear combinations of prototypes of shape and texture. With the shape and texture information from an input facial image, we can estimate optimal coefficients for linear combinations of prototypes of shape and texture by simple projection for least square minimization. The encouraging results of the proposed method show that our method can be used to improve the performance of the face recognition by reconstructing facial image from a partially occluded facial image or a low-resolution one. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Face recognition

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A novel shape descriptor based on interrelation quadruplet 1

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International Conference on Image Analysis and Recognition, ICIAR 2004

作者： Han, Dongil You, Bum-Jae Oh, Sang-Rok Department of Computer Engineering Sejong University 98 Gunja-Dong Gwangjin-GuSeoul143-747 Korea Republic of Intelligent Robotics Research Center Korea Institute of Science and Technology 39-1 Haweolkok-Dong Seongbuk-GuSeoul136-791 Korea Republic of

ISBN: (数字)9783540301257

ISBN: (纸本)3540232230

In this paper, we propose a new shape descriptor, which represents the 2-D shape information by using the concept of interrelation quadruplet. For this purpose, the polygonal approximation of 2-D shape is applied first. The line segments can be extracted from the polygonal shapes and the definition of interrelation quadruplet between ling segments is introduced. The properties of interrelation quadruplet that is invariant to translation, rotation and scaling of a pair of line segments is described. Several useful properties of the interrelation quadruplet are also derived in relation to efficient partial shape recognition. The shape recognition using the interrelation quadruplet requires only small space of storage and is shown to be computationally simple and efficient. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Artificial intelligence

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Authenticating corrupted face image based on noise model

Authenticating corrupted face image based on noise model

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International Conference on Automatic Face and Gesture Recognition

作者： Ho-Choul Jung Bon-Woo Hwang Seong-Whan Lee Center for Artificial Vision Research Department of Computer Science and Engineering Korea University Seoul South Korea Virtual Media Inc. Seoul South Korea

ISBN: (纸本)0769521223

In this paper, we propose a method for authenticating corrupted face images based on noise model. The proposed method first generates corrupteed images by controlling nois parameters in the training phase. The corrupted images and noise parameters are represented by a linear combination of prototypes of the corrupted images and the noise parameters. With the corrupted image and an original image, we can estimate noise parameters of the corrupted face image in the testing phase. Then, we can make a synthesized face image from the original face image with the estimated noise parameters and verify it with the corrupted face image. Our experimental results show that the proposed method can estimate noise parameters accurately and improve the performance of face authentication.

关键词： Authentication Face recognition Parameter estimation Face detection Phase noise Smart cards Noise robustness Feature extraction Principal component analysis computer science

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Corrupted face image authentication based on noise model 1

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1st International Conference on Biometric Authentication, ICBA 2004

作者： Jung, Ho-Choul Hwang, Bon-Woo Lee, Sang-Woong Lee, Seong-Whan Center for Artificial Vision Research Department of Computer Science and Engineering Korea University Anam-dong Seongbuk-gu Seoul136-701 Korea Republic of VirtualMedia Inc #316 Korea Techno Complex 126-16 Anam-dong Seongbuk-gu Seoul136-701 Korea Republic of

ISBN: (数字)9783540259480

ISBN: (纸本)3540221468

In this paper, we propose a method for authenticating corrupted face images based on noise model. The proposed method first generates corrupted images by controlling noise parameters in the training phase. The corrupted image and noise parameters are represented by a linear combination of prototypes of the corrupted images and the noise parameters. With the corrupted image, we can estimate noise parameters of the corrupted image in the testing phase. Then, we can make a synthesized face image from the original face image with the estimated noise parameters and verify it with the corrupted face image. Our experimental results show that the proposed method can estimate noise parameters accurately and improve the performance of face authentication. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Authentication

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Evaluation of protein crystallization states based on texture information

Evaluation of protein crystallization states based on textur...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Saitoh K. Kawabata S. Kunimitsu H. Asama T. Mishima Department of Information & Computer Science Saitama University Sakura Saitama Japan Distributed Adaptive Robotics Research Unit RIKEN Saitama Japan Distributed Adaptive Robotics Research Unit RIKEN Wako Saitama Japan Research into Artifacts Center for Engineering University of Tokyo Meguro Tokyo Japan

In recent years, several projects have advanced the research and development related to the automation of the protein crystallization process. However, the evaluation of crystallization states has not been completely automated yet. In the usual crystallization process, the researchers evaluate the crystallization growth states of the protein solution samples based on one's visual impressions and assign them a score over and over again. Then it is required to make the work more efficient. The method presented here automates such evaluations. This method attempts to categorize the individual crystallization droplet images into five classes from A to E, based on their crystallization states. The algorithm is comprised of pre-processing, feature extraction from images using texture analysis and a categorization process utilizing linear discriminant analysis. The performance of this method has been tested on our experiments using actual protein solution images.

关键词： Crystallization research and development Automation Protein engineering Feature extraction Image analysis Image texture analysis Algorithm design and analysis Linear discriminant analysis Testing

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