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International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)

作者： Nikolaos Mavridis Thirimachos Bourlai NCSR Demokritos Interactive Robots and Media Lab Athens Greece Department of Computer Science and Electrical Engineering West Virginia State University Morgantown USA

There exist a multitude of multimedia sources nowadays where audiovisual material is accompanied by labels. In many cases, the semantic content of these labels is not referring to the totality of the material they accompany; but only to a certain subset of it. Consider, for example, labels that refer to objects that are part of an image; or, alternatively, labels that refer to an event that is part of a video. Knowledge of the subset of the material to which the labels refer to can be very useful; for example, it can inform us regarding the detectability of the entity under the presence of selective occlusions or noise; or, it can be used to help segment out the referent from the material itself - and, among many other uses, to optimize the recognition of the entities that the words refer to. Towards these goals, in this paper we will present a method which allows such semantic spatiotemporal localization: given multiple instances of the material, and accompanying labels, we will produce subsets of the material which are most informative regarding the label; and which can be thought of as the spatiotemporally localized grounding of the concept represented by the words. The method is illustrated for the specific case of spatially localizing labels describing human faces or parts and artifacts of them; such as “beard”, “glasses”, “male”, “old”. No prior information about the spatial locus of the referents of these words is given; the algorithm blindly identifies the regions that are most informative for each label, and can be readily applied to robot vision.

关键词： Materials Semantics Spatiotemporal phenomena Training Grounding Robot sensing systems

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Connecting artists and scientists in multimedia research 08

Connecting artists and scientists in multimedia research

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16th ACM International Conference on Multimedia, MM '08

作者： Kerne, Andruid Wakkary, Ron Nack, Frank Steggell, Amanda Candan, Selcuk Bimbo, Alberto Del Jennings, Pamela Dulic, Aleksandra Jaimes, Alejandro Interface Ecology Lab Dept of Computer Science Texas A and M University United States School of Interactive Arts and Technology Simon Fraser University Canada Informatics Institute University of Amsterdam Netherlands Free Artist Norway Department of Computer Science and Engineering Arizona State University United States Dipartimento di Sistemi e Informatica Univ. degli Studi di Firenze Italy School of Art / HCI Institute Carnegie Mellon Univ. United States Media and Graphics Interdisciplinary Centre University of British Columbia United States Telefonica R and D Spain

ISBN: (纸本)9781605583037

Historically, the ACM Multimedia Conference is split into a "technical" program and an "arts" program. These programs sometimes seem completely separate from one another, victims of a "semantic gap" between disciplines. The goal of this panel is to create a space in which scientists learn from artists, and arts from science. We need to discover new connections between modalities of research. In order to create the most exciting and powerful future forms of interactive multimedia systems, the ones that will create the most beneficial broader impact on humanity, we need to foster new collaborations between artists and scientists. This panel seeks to bridge the great divide of language and communities that has fragmented us, creating a new space for developing connections between the arts and sciences of multimedia research, as embodied through the artists and scientists of ACM Multimedia. The goal is to make this conference a premier site for catalyzing emergent connections. Among the ancient Greeks, the techne, which included the sciences, were based in the arts. Our modes of knowledge production have since separated and grown alienated. "What weird stuff are those people doing?" To bridge the divide, we must understand and acknowledge differences, and use this as a basis for discovering common ground. In the sciences, knowledge is constructed empirically, through hypotheses and validations. Aesthetics and concepts play essential roles in how works of art are formulated to stimulate experiences. Where do these aims intersect and how might they inform each other? In this conference, one track develops pattern recognition methods for content analysis and retrieval. Another develops network and system techniques. Applications invoke these methods in usable systems. Human-centered multimedia serves as a bridge connecting human experiences with algorithmic methods. The interactive art program develops new concepts of how multimedia can function culturally, amidst society,

关键词： Multimedia systems

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Social Robotics 1

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丛书名： Lecture Notes in computer science

1000年

作者： Shuzhi Sam Ge Haizhou Li John-John Cabibihan Yeow Kee Tan

ISBN: (数字)9783642172489

ISBN: (纸本)9783642172472

The papers in this volume were the fruitful scientific results of the Second International Conference on Social Robotics (ICSR), held during November 23–24, 2010 in Singapore, which was jointly organized by the Social Robotics laboratory (SRL), interactive Digital media Institute (IDMI), the National University of Singapore and 2 Human Language Technology department, the Institute for Infocomm Research (I R), A*STAR, Singapore. These papers address a range of topics in social robotics and its applications. We received paper submissions from America, Asia, and Europe. All the papers were reviewed by at least three referees from the 32-member Program Committee who were assembled from the global community of social robotics researchers. This v- ume contains the 42 papers that were selected to report on the latest developments and studies of social robotics in the areas of human––robot interaction; affective and cognitive sciences for interactive robots; design philosophies and software archit- tures for robots; learning, adaptation and evolution of robotic intelligence; and mec- tronics and intelligent control.

关键词： Artificial Intelligence User Interfaces and Human computer Interaction computers and Society computer Appl. in Social and Behavioral sciences computer Imaging, Vision, Pattern Recognition and graphics Special Purpose and Application-Based Systems

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social Robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Graph-based parallel large scale structure from motion

arXiv

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arXiv 2019年

作者： Chen, Yu Shen, Shuhan Chen, Yisong Wang, Guoping Graphics and Interactive Lab Department of Computer Science and Technology School of Electronic Engineering and Computer Science Peking University National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China

While Structure from Motion (SfM) achieves great success in 3D reconstruction, it still meets challenges on large scale scenes. In this work, large scale SfM is deemed as a graph problem, and we tackle it in a divide-and-conquer manner. Firstly, the images clustering algorithm divides images into clusters with strong connectivity, leading to robust local reconstructions. Then followed with an image expansion step, the connection and completeness of scenes are enhanced by expanding along with a maximum spanning tree. After local reconstructions, we construct a minimum spanning tree (MST) to find accurate similarity transformations. Then the MST is transformed into a Minimum Height Tree (MHT) to find a proper anchor node and is further utilized to prevent error accumulation. When evaluated on different kinds of datasets, our approach shows superiority over the state-of-the-art in accuracy and efficiency. Our algorithm is open-sourced in https://***/AIBluefisher/GraphSfM. Copyright © 2019, The Authors. All rights reserved.

关键词： Clustering algorithms

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Advances in Robotics 1

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丛书名： Lecture Notes in computer science

1000年

作者： Jong-Hwan Kim Shuzhi Sam Ge Prahlad Vadakkepat Abdullah Al Manum Norbert Jesse Sadasivan Puthusserypady K Ulrich Rückert Joaquin Sitte Ulf Witkowski Ryohei Nakatsu Jacky Baltes John Anderson Igor Verner

ISBN: (数字)9783642039836

ISBN: (纸本)9783642039829

th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social Robotics (ICSR) • International Conference on Advanced Humanoid Robotics Research (ICAHRR) • International Conference on Entertainment Robotics (ICER) • International Robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.

关键词： Artificial Intelligence User Interfaces and Human computer Interaction computers and Society computers and Education Personal Computing computer Appl. in Social and Behavioral sciences

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Emotion Expression of Avatar through Eye Behaviors, Lip Synchronization and MPEG4 in Virtual Reality based on Xface Toolkit: Present and Future

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Procedia - Social and Behavioral sciences 2013年 97卷 700-706页

作者： Ahmad Hoirul Basori Itimad Raheem Ali UTM VicubeLab Faculty of Computer Science and Information SystemsUniversiti Teknologi MalaysiaJohor Bahru Malaysia Interactive Media and Human Interface Lab Department of Informatics Faculty of Information TechnologyInstitut Teknologi Sepuluh November Surabaya Indonesia

Eye movement combined with lip synchronization, eye movements, and emotional facial expression revealed an interesting research field that gives information about verbal and nonverbal behaviors occurring in the human body. Most of the previous researchers focused on eyes gazes, lip synching and emotion expression which are the most important features that can transfer nonverbal information to enhance, understand or express emotion. In this paper, the recent advances in 3D facial expression are introduced focusing on the presentation of Xface platform toolkit that developed a 3D talking avatars synthesis by implementing text-to-speech engine (TTS) to depict the basic lip shapes necessary for each phonemes to convey the dialogue. This work is believed to give the future direction that can lead into new research issue in facial animation.

关键词： Eye movements Lip Synchronization Emotional Facial Expression

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Impedance control of a rehabilitation robot for interactive training

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4th International Conference on Social Robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Li, Yanan Chew, Effie Ng, Yee Sien Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore Division of Neurology National University Hospital Singapore 119074 Singapore Department of Rehabilitation Medicine Singapore General Hospital Singapore 169608 Singapore

ISBN: (纸本)9783642341021

In this paper, neural networks based impedance control is developed for a wearable rehabilitation robot in interactions with humans and the environments. The dynamics of the robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and improve the robustness of the system, the adaptive neural networks are used to approximate the unknown model of the constrained robot. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved based on the Lyapunov method. The states of the system converge to a small neighborhood of zero by properly choosing control gains. Extensive simulations are conducted to verify the proposed control. © 2012 Springer-Verlag.

关键词： Lyapunov methods

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Adaptive predictive control of a class of discrete-time MIMO nonlinear systems with uncertain couplings

Adaptive predictive control of a class of discrete-time MIMO...

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作者： Yang, Chenguang Li, Yanan Ge, Shuzhi Sam Lee, Tong Heng Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424474264

In this paper, a novel adaptive predictive control is presented for a class of multi-input-multi-output (MIMO) nonlinear systems in block-triangular form with uncertain couplings of states/delayed states as well as inputs among subsystems. For each subsystem of the MIMO system, future states prediction is developed and using the predicted future states, adaptive predictive control is designed under certainty equivalence principal to compensate the parametric uncertainties in the couplings. To eliminate the functional uncertainties in the couplings, a novel compensation mechanism is developed for each subsystem. Under the proposed adaptive controls, all the signals in the closed-loop MIMO systems are guaranteed to be globally bounded. In addition, all the output tracking errors are guaranteed to converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation. © 2010 AACC.

关键词： Couplings

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Robot-assisted mechanical scanning and co-registration of Magnetic Resonance Imaging and light-induced fluorescence

Robot-assisted mechanical scanning and co-registration of Ma...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Ahmet E. Sonmez William M. Spees Alpay Özcan Zhigang Deng Andrew G. Webb Nikolaos V. Tsekos Medical Robotics Laboratory Department of Computer Science at University of Houston Houston TX USA Biomedical Magnetic Resonance Laboratory Washington University St. Louis MO USA Arlington Innovation Center Virginia Polytechnic Institute and State University Arlington VA USA Computer Graphics & Interactive Media Lab and Computer Science Department at University of Houston Houston TX USA Department of Radiology Leiden University Medical Center Leiden Netherlands

Robotic manipulators offer some unique opportunities to address research and clinical needs. Among those is the potential use of a robotic manipulator to mechanically scan the tissue of interest with biosensors that have limited tissue penetration. In such cases, the robot can serve a dual role. First, it can perform spatial scanning with the biosensor along a pre-selected path inside the tissue. Second, it can function as the mechanical link to spatially co-register the data collected with the biosensor and the images of a guidance modality. Herein, we describe a robotic system to mechanically scan with a light-induced fluorescence (LIF) sensor and co-register LIF data to the guiding modality of MRI. Specifically, a custom-built MR-compatible endoscope was integrated onto the end-effector of an MR-compatible manipulator to collect MRI-guided LIF 1D scans. A miniature radiofrequency (RF) coil attached onto the end-effector was used as a fiducial marker for co-registering LIF and MRI. This mechanically scanning system was investigated on two compartment phantoms, each with different optical agents. Those studies demonstrated “robot-assisted” multi-modality co-registration, i.e. the spatial distribution of the LIF signals matched with the MR guiding images. The system can incorporate additional sensors for collecting complementary biochemical information.

关键词： Optical fibers Manipulators Robot sensing systems Probes Coils

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