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Real-time Auditory and Visual Multiple-speaker Tracking For Human-robot Interaction

Journal of Robotics and Mechatronics 2002年第5期14卷 479-489页

作者： Nakadai, Kazuhiro Hidai, Ken-ichi Okuno, Hiroshi G. Mizoguchi, Hiroshi Kitano, Hiroaki Kitano Symbiotic Systems Project ERATO Japan Science and Technology Corp. Mansion 31 Suite 6A 6-31-15 Jingumae Shibuya-ku Tokyo150-0001 Japan Digital Creatures Laboratory Sony Corp. Japan Graduate School of Informatics Kyoto University Japan Department of Mechanical Engineering Tokyo University of Science Japan Sony Computer Science Laboratories Inc. Japan

This paper addresses real-time multiple speaker tracking because it is essential in robot perception and human-robot social interaction. The difficulty lies in treating a mixture of sounds, occlusion (some speakers are hidden) and real-time processing. Our approach consists of three components: (1) the extraction of the direction of each speaker by using interaural phase difference and interaural intensity difference, (2) the resolution of each speakers direction by multimodal integration of audition, vision and motion with canceling inevitable motor noises in motion in case of an unseen or silent speaker and (3) the distributed implementation to three PCs connected by TCP/IP network to attain real-time processing. As a result, we attain robust real-time speaker tracking with 200 ms delay in a non-anechoic room, even when multiple speakers exist and the tracking person is visually occluded. In addition, the feasibility of social interaction is shown through application of our technique to a receptionist robot and a companion robot at a party. © Fuji technology Press Ltd.

关键词： Human robot interaction

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Improved Relevance Ranking in WebGather

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Journal of computer science & technology 2001年第5期16卷 410-417页

作者：雷鸣王建勇陈葆珏李晓明 Networking & Distributed Computer Systems Laboratory Department of Computer Science & Technology Peking University Beijing P. R. China

The amount of information on the web is growing rapidly and search engines that rely on keyword matching usually return too many fow quality matches. To improve search results, a challenging task for search engines is how to effectively calculate a relevane ranking for each web page. This paper discusses in what order a search engine should return the URLs it has produced in response to a user's query so as to show more relevant pages first. Emphasis is given on the ranking functions a-dopted by WebGather that take link structure and user popularity factors into account. Bxperimental results are also presented to evaluate the proposed strategy.

关键词： World Wide Web search engine relevance ranking WebGather

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Global file store: a massive storage system on the internet - concept and design

Global file store: a massive storage system on the internet ...

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International Conference on computer Networks and Mobile Computing (ICCNMC)

作者： Han Hua Guo Chaoyang Dai Yafei Li Xiaoming Computer Networh and Distributed Systems Laboratory Department of Computer Science and Technology Peking University Beijing China

Global File Store (GFS) is a pervasive computing oriented file storage system. It puts forward an idea - put all files on the Internet. There are 3 features associated with GFS: massive storage, high performance and mobile computing support. The approach to construct GFS is to implement a layer on top of existing heterogeneous file systems. The above features are realized by means of multiple namespace, extensive use of caching and replication, and highly scalable architecture. The system is in the stage of prototype development.

关键词： Internet File systems Pervasive computing Wearable computers Mobile computing Embedded computing computer architecture Chaos distributed computing Laboratories

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Markovian models for performance and dependability evaluation 1st

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1st EEF/Euro Summer School on Formal Methods and Performance Analysis, FMPA2000

作者： Haverkort, Boudewijn R. Laboratory for Performance Evaluation and Distributed Systems Department of Computer Science RWTH Aachen Aachen52056 Germany

ISBN: (纸本)3540424792

Markovian models have been used for about a century now for the evaluation of the performance and dependability of computer and communication systems. In this paper, we give a concise overview of the most widely used classes of Markovian models, their solution and application. After a brief introduction to performance and dependability evaluation in general, we introduce discrete-time Markov chains, continuous-time Markov chains and semi-Markov chains. Stepwisely, we develop the main equations that govern the steady-state and the transient behaviour of such Markov chains. We thereby emphasise on intuitively appealing explanations rather than on mathematical rigor. The relation between the various Markov chain types is explained in detail. Then, we discuss means to numerically solve the systems of linear equations (both direct and iterative ones) and the systems of differential equations that arise when solving for the steady-state and transient behaviour of Markovian models. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Differential equations

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A dynamic reconfiguration model for a distributed web crawling system

A dynamic reconfiguration model for a distributed web crawli...

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International Conference on computer Networks and Mobile Computing (ICCNMC)

作者： Yan Hongfei Wang Jianyong Li Xiaoming Computer Networks and Distributed Systems Laboratory Department of Computer Science and Technology Peking University China

A web crawling system employing a parallel and distributed architecture needs to have a mechanism to bring the whole system in a coordinated state when the nodes are added to or removed from the system. This paper presents an efficient dynamic reconfiguration model that can be used in such a system. The study shows that this model leads to some nice properties, such as load balance and low traffic in the system, which contribute to high performance. Currently this model is being implemented in WebGather, a well-known Chinese and English web search engine.

关键词： Service oriented architecture Search engines Crawlers computer networks Laboratories computer science computer architecture Web search Telecommunication traffic Traffic control

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Web search engine:characteristics of user behaviors and their implication

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science in China(Series F) 2001年第5期44卷 351-365页

作者：王建勇单松巍雷鸣谢正茂李晓明 1. Networking and Distributed Computing Systems Laboratory Department of Computer Science and Technology Peking University 100871 Beijing China

In this paper, first studied are the distribution characteristics of user behaviors based on log data from a massive web search engine. Analysis shows that stochastic distribution of user queries accords with the characteristics of power-law function and exhibits strong similarity, and the user' s queries and clicked URLs present dramatic locality, which implies that query cache and 'hot click' cache can be employed to improve system performance. Then three typical cache replacement policies are compared, including LRU, FIFO, and LFU with attenuation. In addition, the distribution character-istics of web information are also analyzed, which demonstrates that the link popularity and replica pop-ularity of a URL have positive influence on its importance. Finally, variance between the link popularity and user popularity, and variance between replica popularity and user popularity are analyzed, which give us some important insight that helps us improve the ranking algorithms in a search engine.

关键词： world wide web search engine distribution characteristic web information user behavior.

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A distributed synchronization scheme for multimedia streams in mobile systems: proof and correctness

A distributed synchronization scheme for multimedia streams ...

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Conference on Local computer Networks (LCN)

作者： A. Boukerche Sungbum Hong T. Jacob Parallel Simulation and Distributed Systems (PARADISE) Research Laboratory Department of Computer Science University of North Texas USA

ISBN: (纸本)0769513212

The rapid development in portable computing platforms, distributed multimedia systems and wireless communication technologies has led to a significant interest in mobile multimedia and wireless networking. Video entertainment and multimedia Internet access over wireless networks are examples of future wireless personal communication systems. These, however, incur challenging technological issues. The synchronization of the multimedia objects among mobile clients is one of the most important of these issues. The task of synchronization in wireless multimedia systems is to eliminate variations and delays incurred during the transmission of multiple-media streams and to maintain the temporal order among the various media streams. We propose an efficient distributed multimedia synchronization algorithm for wireless and mobile multimedia systems to ensure and facilitate mobile clients' access to multimedia objects. We discuss the algorithm and provide its formal proof and correctness.

关键词： Streaming media Multimedia systems Wireless communication computer networks distributed computing Portable computers Communications technology Mobile computing Multimedia computing IP networks

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On objects and events 01

On objects and events

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ACM SIGPLAN Conference on Object-oriented Programming, systems, Languages, and Applications

作者： Patrick Th. Eugster Rachid Guerraoui Christian Heide Damm Distributed Programming Laboratory Swiss Federal Institute of Technology in Lausanne CH-1015 Switzerland Department of Computer Science University of Aarhus 8200 Aarhus N Denmark

ISBN: (纸本)1581133359

This paper presents linguistic primitives for publish/subscribe programming using events and objects. We integrate our primitives into a strongly typed object-oriented language through four mechnisms: (1) serialization, (2) multiple subtyping, (3)closures, and (4) deferred code evaluation. We illustrate our primitives through Java, showing how we have overcome its respective lacks. A precompiler transforms statements based on our publish/subscribe primitives into calls to specifically generated typed adapters, which resemble the typed stubs and skeletons by the rmic precompiler for remote method invocations in Java

关键词： Java Java programming language Primitive Skeletons remote procedure calls calls strong typing Object oriented programming languages serialize Application Adapter bone structure

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Adaptive and reflective middleware for QoS-enabled CCM applications

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IEEE distributed systems Online 2001年第5期2卷 null-null页

作者： Wang, Nanbor Schmidt, Douglas C. Kircher, Michael Parameswaran, Kirthika Washington University University of California Irvine Siemens ZT Dept. of Computer Science Washington University One Brookings Drive St. Louis MO 63130-4899 Department of Electrical Engineering Distributed Object Comp. Laboratory University of California Irvine Siemens AG Corporate Technology Munich Germany Internet Infrastruct. Res. Division Telcordia Technologies NJ

The implementation of a CORBA component model (CCM) that specifies and adjusts component quality-of-service (QoS) properties by the application of an adaptive and reflective middleware system (ARMS) is discussed. Middleware specifications such as real-time CORBA and CORBA Messaging, address many QoS properties by defining policies that control connection multiplexing, request priority, routing and dependability. The ARMS techniques let the CCM implementation select optimal communication mechanisms based on the QoS requirements of requests and activities. They also allow CCM implementation to manage and adapt CORBA components' QoS properties through their containers.

关键词： Middleware

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Reusable integrated components of inter-related patterns for software development

Reusable integrated components of inter-related patterns for...

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Asia-Pacific Conference on Software Engineering

作者： J. Ram M. Sreekanth Distributed Object Systems Laboratory Department of Computer Science & Engineering Indian Institute of Technology Madras Chennai India

Patterns are a means for capturing experience in solving general problems. They give general solutions to common and recurring problems. They exist at various phases of the software development life-cycle (SDLC), namely the analysis phase, the design phase, the coding phase and the testing phase. Patterns in each phase are identified independently. It is possible for the patterns of one phase to be related to patterns in other phases. This paper proposes pattern mapping to inter-relate the patterns of various phases in SDLC to address this issue. It is advantageous to capture the related patterns of different phases as a single unit for software development. Reusable integrated components (ICs) of patterns are proposed to capture the related patterns. A software IC is a group of inter-related patterns, that gives solutions for a recurring problem at various phases of SDLC. A representation mechanism for ICs is presented using the URA (Unified Representation of an Artifact) model, which captures the software development process. Also, this paper proposes a software development process that is based on reusable ICs of patterns. The representation of a software project developed using ICs is also discussed.

关键词： Programming Pattern analysis Integrated circuit modeling Object oriented modeling Software design computer science Life testing Software testing Software engineering Software reusability

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