检索结果-内蒙古大学图书馆

Evaluating Multimodal Interaction of Robots Assisting Older Adults

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Shervedani, Afagh Mehri Oh, Ki-Hwan Abbasi, Bahareh Monaikul, Natawut Rysbek, Zhanibek Eugenio, Barbara Di Žefran, Miloš The Robotics Lab Electrical and Computer Engineering Department University of Illinois Chicago ChicagoIL60607 United States The Computer Science Department California State University Channel Islands CamarilloCA93012 United States The Natural Language Processing Lab Computer Science Department University of Illinois Chicago ChicagoIL60607 United States

We outline our work on evaluating robots that assist older adults by engaging with them through multiple modalities that include physical interaction. Our thesis is that to increase the effectiveness of assistive robots: 1) robots need to understand and effect multimodal actions, 2) robots should not only react to the human, they need to take the initiative and lead the task when it is necessary. We start by briefly introducing our proposed framework for multimodal interaction and then describe two different experiments with the actual robots. In the first experiment, a Baxter robot helps a human find and locate an object using the Multimodal Interaction Manager (MIM) framework. In the second experiment, a NAO robot is used in the same task, however, the roles of the robot and the human are reversed. We discuss the evaluation methods that were used in these experiments, including different metrics employed to characterize the performance of the robot in each case. We conclude by providing our perspective on the challenges and opportunities for the evaluation of assistive robots for older adults in realistic settings. Copyright © 2022, The Authors. All rights reserved.

关键词： Human robot interaction

Adaptive feature extraction in EEG-based motor imagery BCI: Tracking mental fatigue

学校读者我要写书评

暂无评论

Adaptive feature extraction in EEG-based motor imagery BCI: ...

作者： Talukdar, Upasana Hazarika, Shyamanta M. Gan, John Q. Biomimetic and Cognitive Robotics Lab Department of Computer Science and Engineering Tezpur University Tezpur India Mechatronics and Robotics Lab Department of Mechanical Engineering Indian Institute of Technology Guwahati India School of Computer Science and Electronic Engineering University of Essex United Kingdom

Objective. Electroencephalogram (EEG) signals are non-stationary. This could be due to internal fluctuation of brain states such as fatigue, frustration, etc. This necessitates the development of adaptive brain-computer interfaces (BCI) whose performance does not deteriorate significantly with the adversary change in the cognitive state. In this paper, we put forward an unsupervised adaptive scheme to adapt the feature extractor of motor imagery (MI) BCIs by tracking the fatigue level of the user. Approach. Eleven subjects participated in the study during which they accomplished MI tasks while self-reporting their perceived levels of mental fatigue. Out of the 11 subjects, only six completed the whole experiment, while the others quit in the middle because of experiencing high fatigue. The adaptive feature extractor is attained through the adaptation of the common spatial patterns (CSP), one of the most popular feature extraction algorithms in EEG-based BCIs. The proposed method was analyzed in two ways: offline and in near real-time. The separability of the MI EEG features extracted by the proposed adaptive CSP (ADCSP) has been compared with that by the conventional CSP (C-CSP) and another CSP based adaptive method (ACSP) in terms of: Davies Bouldin index (DBI), Fisher score (FS) and Dunn's index (DI). Main results. Experimental results show significant improvement in the separability of MI EEG features extracted by ADCSP as compared to that by C-CSP and ACSP. Significance. Collectively, the results of the experiments in this study suggest that adapting CSP based on mental fatigue can improve the class separability of MI EEG features. © 2020 IOP Publishing Ltd.

关键词： Electroencephalography

LoGS: Visual Localization via Gaussian Splatting with Fewer Training Images

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Cheng, Yuzhou Jiao, Jianhao Wang, Yue Kanoulas, Dimitrios Robot Perception and Learning Lab Intelligent Robotics Department of Computer Science University College London Gower Street LondonWC1E 6BT United Kingdom Zhejiang University Zhejiang Hangzhou China AI Centre Department of Computer Science University College London Gower Street LondonWC1E 6BT United Kingdom Archimedes/Athena RC Greece

Visual localization involves estimating a query image’s 6-DoF (degrees of freedom) camera pose, which is a fundamental component in various computer vision and robotic tasks. This paper presents LoGS, a vision-based localization pipeline utilizing the 3D Gaussian Splatting (GS) technique as scene representation. This novel representation allows high-quality novel view synthesis. During the mapping phase, structure-from-motion (SfM) is applied first, followed by the generation of a GS map. During localization, the initial position is obtained through image retrieval, local feature matching coupled with a PnP solver, and then a high-precision pose is achieved through the analysis-by-synthesis manner on the GS map. Experimental results on four large-scale datasets demonstrate the proposed approach’s SoTA accuracy in estimating camera poses and robustness under challenging few-shot conditions. © 2024, CC BY.

关键词： Gaussian distribution

Traffic Signal Control for Large-Scale Urban Traffic Networks: Real-World Experiments using Vision-based Sensors

学校读者我要写书评

暂无评论

Traffic Signal Control for Large-Scale Urban Traffic Network...

International Conference on Control and Automation (ICCA)

作者： Jiho Park Tong Liu Chieh Wang Hong Wang Qichao Wang Zhong-Ping Jiang Department of Electrical and Computer Engineering Control and Networks Lab Tandon School of Engineering New York University Brooklyn NY USA Oak Ridge National Laboratory Oak Ridge TN USA National Renewable Energy Laboratory Computational Science Center Golden CO USA

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

Effective control of traffic signals plays a critical role in ensuring smooth vehicle flow in urban areas. Expertly engineered traffic signal controllers can considerably minimize travel delays and enhance sustainability. In this paper, the team proposes the Model Predictive Control (MPC) traffic signal control strategy using real-time traffic flow data from a vision-based camera as feedback information. Also, a realistic signal timing plan that considers National Electrical Manufacturers Association (NEMA) constraints has been developed to be applied to real-world scenarios. The primary aim is to reduce the number of vehicles across all links in the controlled area, thereby optimizing traffic flow and reducing energy consumption. To validate the proposed method, several real-life experiments were conducted at 24 intersections in Chattanooga, Tennessee, by collaborating with traffic field engineers. These experiments demonstrated significant performance improvements in comparison to the existing method.

关键词： Energy consumption Urban areas Decentralized control Data processing Real-time systems Sensors Delays

Arc-to-line frame registration method for ultrasound and photoacoustic image-guided intraoperative robot-assisted laparoscopic prostatectomy

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Song, Hyunwoo Yang, Shuojue Wu, Zijian Moradi, Hamid Taylor, Russell H. Kang, Jin U. Salcudean, Septimiu E. Boctor, Emad M. Department of Computer Science Whiting School of Engineering The Johns Hopkins University BaltimoreMD21218 United States Department of Electrical and Computer Engineering Whiting School of Engineering The Johns Hopkins University BaltimoreMD21218 United States Laboratory for Computational Sensing and Robotics The Johns Hopkins University BaltimoreMD21218 United States Department of Electrical and Computer Engineering The University of British Columbia VancouverBCV6T 1Z4 Canada

Purpose: To achieve effective robot-assisted laparoscopic prostatectomy, the integration of transrectal ultrasound (TRUS) imaging system which is the most widely used imaging modality in prostate imaging is essential. However, manual manipulation of the ultrasound transducer during the procedure will significantly interfere with the surgery. Therefore, we propose an image co-registration algorithm based on a photoacoustic marker (PM) method, where the ultrasound/photoacoustic (US/PA) images can be registered to the endoscopic camera images to ultimately enable the TRUS transducer to automatically track the surgical instrument. Methods: An optimization-based algorithm is proposed to co-register the images from the two different imaging modalities. The principle of light propagation and an uncertainty in PM detection were assumed in this algorithm to improve the stability and accuracy of the algorithm. The algorithm is validated using the previously developed US/PA image-guided system with a da Vinci surgical robot. Results: The target-registration-error (TRE) is measured to evaluate the proposed algorithm. In both simulation and experimental demonstration, the proposed algorithm achieved a sub-centimeter accuracy which is acceptable in practical clinics (i.e., 1.15 ± 0.29 mm from the experimental evaluation). The result is also comparable with our previous approach (i.e., 1.05 ± 0.37 mm), and the proposed method can be implemented with a normal white light stereo camera and doesn’t require highly accurate localization of the PM. Conclusion: The proposed arc-to-line based frame registration algorithm that transform between the camera and the TRUS imaging frames can allow simple yet efficient integration of commercial US/PA imaging system into the laparoscopic surgical setting, and contribute to the image-guided surgical intervention applications. © 2023, CC BY.

关键词： Ultrasonic imaging

A Miniaturised Camera-based Multi-Modal Tactile Sensor

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Althoefer, Kaspar Ling, Yonggen Li, Wanlin Qian, Xinyuan Lee, Wang Wei Qi, Peng Queen Mary University of London London United Kingdom Tencent Robotics X Lab Shenzhen China Beijing China The Department of Computer and Communication Engineering University of Science and Technology Beijing Beijing China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China

In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive, capacitive or magnetic based), they offer super-high-resolution, while suffering from fewer wiring problems. The human tactile system is composed of various types of mechanoreceptors, each able to perceive and process distinct information such as force, pressure, texture, etc. Camera-based tactile sensors such as GelSight mainly focus on high-resolution geometric sensing on a flat surface, and their force measurement capabilities are limited by the hysteresis and non-linearity of the silicone material. In this paper, we present a miniaturised dome-shaped camera-based tactile sensor that allows accurate force and tactile sensing in a single coherent system. The key novelty of the sensor design is as follows. First, we demonstrate how to build a smooth silicone hemispheric sensing medium with uniform markers on its curved surface. Second, we enhance the illumination of the rounded silicone with diffused LEDs. Third, we construct a force-sensitive mechanical structure in a compact form factor with usage of springs to accurately perceive forces. Our multi-modal sensor is able to acquire tactile information from multi-axis forces, local force distribution, and contact geometry, all in real-time. We apply an end-to-end deep learning method to process all the information. © 2023, CC BY.

关键词： Silicones

Evaluating Cyber-Crime Using Machine Learning and AI Approach for Environmental Sustainability 2nd

学校读者我要写书评

暂无评论

Evaluating Cyber-Crime Using Machine Learning and AI Approac...

2nd International Conference on Sustainable Development Using Machine Learning, Artificial Intelligence, and IoT, ICSD 2024

作者： Chauhan, Ritu Mehtar, Khushi Kaur, Harleen Alankar, Bhavya Artificial Intelligence and IOT Lab Center for Computational Biology and Bioinformatics Amity University Uttar Pradesh Noida India Amity Institute of Biotechnology Amity University Uttar Pradesh Noida India Department of Computer Science and Engineering School of Engineering Sciences and Technology Jamia Hamdard New Delhi India

ISBN: (纸本)9783031717284

The online world has become an essential part of everyday life in India due to its fast expansion and technical improvements. But as technology has advanced, cyber-crimes have also increased dramatically, posing serious risks to the economy, security, and privacy. This research examines the intricate terrain of cybercrimes targeting minors in India, scrutinizing more than 16 lakh cases that have been documented during the three years preceding this one. The study takes an extensive approach, applying machine learning modelling such as Gradient Boosting, AdaBoost, Random Forest, Gaussian Naive Bayes, Bernoulli Naive Bayes, Linear SVM, Logistic Regression, and Gradient Boosting in conjunction with exploratory assessment of data. The findings show different accuracy rates;Random Forest, Gradient Boosting, Linear SVM, and Gaussian Naive Bayes all show an impressive 88% accuracy. AdaBoost and Logistic Regression reach 75%, but Bernoulli Naive Bayes comes in lower at 62%. The comprehension of computational interconnections is improved with correlation matrices. This thorough analysis provides important insights for academics, policymakers, and stakeholders in the field of child cybersecurity by exposing common cyber threats targeting minors and highlighting the role that algorithms for learning may play in detecting and averting these risks for environmental sustainability. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Adversarial machine learning

Markerless Sagittal Gait Analysis of Cerebral Palsy in Children Using Pose Estimation Techniques

学校读者我要写书评

暂无评论

Markerless Sagittal Gait Analysis of Cerebral Palsy in Child...

Innovation in Computing and Engineering (ICE), International Conference on

作者： Vinay Kumar Vats Chandra Prakash Amandeep Kaur Rajesh Kumar Computer Science and Engineering National Institute of Technology Delhi India Computational Intelligence and Smart Motion Research (CISMR) Lab SVNIT Surat India Malaviya National Institute of Technology Jaipur India Department of Human Anatomy and Physiology Faculty of Health Sciences University of Johannesburg Johannesburg South Africa

ISBN: (数字)9798350380460

ISBN: (纸本)9798350380477

Cerebral Palsy (CP) is a neurological disorder affecting children’s motor function and posture. Early detection and monitoring of Cerebral palsy is crucial for effective intervention and improved quality of life. Gait analysis is a critical tool for assessing motor function in children with cerebral palsy, often requiring controlled environments and markers for accuracy. Markerless gait analysis has emerged as a promising tool for objectively evaluating gait abnormalities in children with CP. In this study, we propose a markerless methodology utilising pose estimation to analyse gait patterns from sagittal video recordings captured in unconstrained environments. The dataset consists of 49 children, including 10 typically developing children and 39 with cerebral palsy, focusing on side-view videos for the analysis. Given the motor disabilities of these children, conducting gait analysis in a constrained environment can alter their natural walking patterns, making our approach particularly advantageous. Then we identify the key gait events, heel strike and toe-off, to distinguish gait between cycles by tracing knee joint movements. This technique demonstrates the potential for practical, non-invasive gait assessment in natural settings, offering insights into the distinct gait characteristics of children with cerebral palsy compared to their typically developing peers.

关键词： Legged locomotion Neurological diseases Cerebral palsy Technological innovation Pose estimation Motors Motion control Gait recognition Video recording Monitoring

Automatic Search for Photoacoustic Marker Using Automated Transrectal Ultrasound

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Wu, Zijian Moradi, Hamid Yang, Shuojue Song, Hyunwoo Boctor, Emad M. Salcudean, Septimiu E. Johns Hopkins University Laboratory for Computational Sensing and Robotics BaltimoreMD United States University of British Columbia Dept. of Electrical and Computer Engineering VancouverBC Canada University of Texas at Austin Walker Department of Mechanical Engineering AustinTX United States Johns Hopkins University Dept. of Computer Science BaltimoreMD United States

Real-time transrectal ultrasound (TRUS) image guidance during robot-assisted laparoscopic radical prostatectomy has the potential to enhance surgery outcomes. Whether conventional or photoacoustic TRUS is used, the robotic system and the TRUS must be registered to each other. Accurate registration can be performed using photoacoustic (PA markers). However, this requires a manual search by an assistant [19]. This paper introduces the first automatic search for PA markers using a transrectal ultrasound robot. This effectively reduces the challenges associated with the da Vinci-TRUS registration. This paper investigated the performance of three search algorithms in simulation and experiment: Weighted Average (WA), Golden Section Search (GSS), and Ternary Search (TS). For validation, a surgical prostate scenario was mimicked and various ex vivo tissues were tested. As a result, the WA algorithm can achieve 0.53o ± 0.30o average error after 9 data acquisitions, while the TS and GSS algorithm can achieve 0.29° ± 0.31° and 0.48o ± 0.32o average errors after 28 data acquisitions. © 2023, CC BY.

关键词： Urology