检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shan Luo Wenxuan Mou Kaspar Althoefer Hongbin Liu Centre for Robotics Research Department of Informatics King's College London WC2R 2LS UK School of Electronic Engineering and Computer Science Queen Mary University of London E1 4NS UK

ISBN: (纸本)9781509037636

Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize objects using both tactile and kinesthetic information. The iCLAP first assigns different local tactile features with distinct label numbers. The label numbers of the tactile features together with their associated 3D positions form a 4D point cloud of the object. In this manner, the two sensing modalities are merged to form a synthesized perception of the touched object. To recognize an object, the partial 4D point cloud obtained from a number of touches iteratively matches with all the reference cloud models to identify the best fit. An extensive evaluation study with 20 real objects shows that our proposed iCLAP approach outperforms those using either of the separate sensing modalities, with a substantial recognition rate improvement of up to 18%.

关键词： Three-dimensional displays Feature extraction Shape Measurement Robot sensing systems Object recognition

来源：评论

学校读者我要写书评

暂无评论

Preface

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

引用

Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2017年 10170 LNCS卷 V页

作者： Peters, Terry Yang, Guang-Zhong Navab, Nassir Mori, Kensaku Luo, Xiongbiao Reichl, Tobias McLeod, Jonathan Robarts Research Institute LondonON Canada Imperial College London United Kingdom Johns Hopkins University BaltimoreMD United States Graduate School of Information Science Nagoya University Nagoya Japan Department of Computer Science Xiamen University Xiamen China KUKA Robotics AugsburgBayern Germany Robarts Research Institute Western University London Canada

来源：评论

学校读者我要写书评

暂无评论

Context transfer and Q-Transferable tasks 29

Context transfer and Q-Transferable tasks

引用

29th AAAI Conference on Artificial Intelligence, AAAI 2015

作者： Mousavi, Amin Araabi, Babak Nadjar Ahmadabadi, Majid Nili Robotics and AI Lab Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Iran School of Cognitive Science Tehran Iran

ISBN: (纸本)9781577357209

This article discusses the notion of context transfer in reinforcement learning tasks. Context transfer, as defined in this article, implies knowledge transfer between tasks that share the same environment's dynamics and reward function, but have different state and action spaces. For example, we have a working mobile robot in an environment. At some point, we decide to upgrade its sensors and/or actuators. Any change in these modules will result in a different description of the agent- environment model, and the trained knowledge is no longer applicable. We consider the tasks of the old and new robots, as the source and target tasks, respectively. The Markov decision process (MDP) of these tasks, under certain conditions, are called Q-transferable tasks, and the problem of knowledge transfer between them is called context transfer. We investigate the relation of the MDPs of these tasks. Copyright © 2015, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Markov processes

来源：评论

学校读者我要写书评

暂无评论

Emission processor for air quality models utilizing newly available data 17

Emission processor for air quality models utilizing newly av...

引用

17th International Conference on Harmonisation within Atmospheric Dispersion Modelling for Regulatory Purposes, HARMO 2016

作者： Jurus, Pavel Karel, Jan Jares, Radek Martinovsky, Josef Píša, Václav Polák, Robert Smolova, Eva Pelikán, Emil Brabec, Marek Konár, Ondřej Fuglík, Viktor Eben, Kryštof Resler, Jaroslav Vlček, Ondřej Machálek, Pavel Modlík, Miloslav Hnilicova, Helena Benešova, Nina Srbova, Daša Zapletal, Miloš Kadlubiec, Radek Skarkova, Pavla Barnet, Jiří Faculty of Transportation Sciences Czech Technical University in Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic Institute of Computer Science Czech Academy of Sciences Prague Czech Republic ATEM – Studio of Ecological Models Ltd. Czech Republic Czech Hydrometeorological Institute Czech Republic EKOTOXA Ltd. Czech Republic SHERLOG TRACE Ltd. Czech Republic Czech University of Life Sciences Prague Czech Republic

ISBN: (纸本)9789639931107

High-quality emission data are of utmost importance for the reliable outputs of air quality models. AQ models require speciated hourly emissions, whereas emission inventories are constructed on annual basis and include only main pollutants. For the time disaggregation simple and constant monthly, daily, and hourly factors are usually used. Likewise, chemical speciations are usually based on outputs of very few and sometimes quite old reports and do not necessarily correspond to the situation in the country of interest. For the emission processing itself many scientific groups use SMOKE pre-processor, due its availability and since it is fitted for the WRF and CMAQ models. Nevertheless, its application for non-US countries can be quite complicated due to different data and metadata structure. Our project focusses on two aims: 1) The derivation of the time and speciation profiles specific for the Czech Republic. For this purpose, we analyse continuous emission measurements from the large stationary sources, temperature and behaviour dependency of the household heating emission, and the data available in the extensive Czech emission database REZZO. For the transport we managed to access data from the Electronic Control Units (ECU) of the vehicular fleet maintained by the SHERLOG company. These unique data give us information on engine state, fuel consumption, and driving styles from the real traffic flow. 2) The construction of a flexible emission processor for AQ models based on the freely available software. © 2018 Hungarian Meteorological Service. All Rights Reserved.

关键词： Chemical speciation

来源：评论

学校读者我要写书评

暂无评论

Nonlinear soft tissue mechanics based on polytopic Tensor Product modeling 14

Nonlinear soft tissue mechanics based on polytopic Tensor Pr...

引用

IEEE 14th International Symposium on Applied Machine Intelligence and Informatics, SAMI 2016

作者： Takács, Árpád Haidegger, Tamás Galambos, Péter Kuti, József Rudas, Imre J. Antal Bejczy Center for Intelligent Robotics Óbuda University Bécsi út 96/b Budapest1034 Hungary Dept. of Telecommunication and Media Informatics Budapest University of Technology and Economics Magyar Tudósok Krt. 2. Budapest1117 Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 Budapest1111 Hungary Austrian Center for Medical Innovation and Technology Viktor-Kaplan-Strasse 2 Wiener Neustadt2700 Austria

ISBN: (纸本)9781467387408

Achieving reliable force control is one of the main design goals of robotic teleoperation. It is essential to grant safe and stable performance of these systems, regarding HMI control, even under major disturbing conditions such as time delay or model parameter uncertainties. This paper discusses the systematic derivation of polytopic qLPV model from the nonlinear dynamics of typical soft tissues of the human body based on recent experimental results. The derivation is based on the Tensor Product (TP) Model Transformation. The presented method is a crucial step in laying the foundations of adequate force control in telesurgery. The proposed approach could form the basis of LMI-based controller design. © 2016 IEEE.

关键词： Force control

来源：评论

学校读者我要写书评

暂无评论

User-adaptive fall detection for patients using wristband

User-adaptive fall detection for patients using wristband

引用

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Young-Hoon Nho Jong Gwan Lim Dae-Eon Kim Dong-Soo Kwon Robotics Program and Human-Robot Interaction research center Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Department of Information Engineering Computer Science and University of Trento Italy KAIST Human-Robot Interaction Research Center Daejeon Republic of Korea Department of Mechanical Engineering Human-Robot Interaction research center Daejeon Republic of Korea

Fall detection systems have been proposed to prevent additional injuries following fall accidents. This paper introduces an easily learnable fall detection system based on the data of an individual patient in a hospital room. The improvement of low performance using a single accelerometer at wrists and the inconvenience of sensor attached to a waist in the conventional approach was concentrated on by integrating heart rate signals to the conventional acceleration approach and changing the sensor location from a waist to wrists. As for the optimal heart rate feature selection, we proposed a four-feature vector combination (root mean square of successive differences, standard deviation of successive differences, normal to normal 50, normal to normal 20) with correlation and mutual information analysis in addition to mean absolute deviation selected as an accelerometer feature. To easily acquire and train the patients' fall data, our system was based on unsupervised learning approaches using Gaussian mixture models for optimal classifiers with the optimal cluster number decided by cluster validation index of square error sum. A 10-fold cross validation was applied for a final performance evaluation where each threshold for separating fall state from non-fall state was automatically decided in several comparison groups, which were created on the basis of fusion timing and used sensors. As a result, despite sensors attached to the wrist, the wearable inconvenience of the conventional is overcome using the feature-level fused approach between heart rates and accelerations with the accuracy up to 98.39 %, which is closest to 99.34 % of the case using a single accelerometer located at the waist.

关键词： Accelerometers Heart rate Wrist Training data Hospitals Robot sensing systems Unsupervised learning

来源：评论

学校读者我要写书评

暂无评论

Learning legged swimming gaits from experience

Learning legged swimming gaits from experience

引用

2015 IEEE International Conference on robotics and Automation, ICRA 2015

作者： Meger, David Higuera, Juan Camilo Gamboa Xu, Anqi Giguère, Philippe Dudek, Gregory Mobile Robotics Lab School of Computer Science McGill University Canada Département d'Informatique et Génie Logiciel Faculté de Science et Génie Université Laval Canada

ISBN: (纸本)9781479969234

We present an end-to-end framework for realizing fully automated gait learning for a complex underwater legged robot. Using this framework, we demonstrate that a hexapod flipper-propelled robot can learn task-specific control policies purely from experience data. Our method couples a state-of-the-art policy search technique with a family of periodic low-level controls that are well suited for underwater propulsion. We demonstrate the practical efficacy of tabula rasa learning, that is, learning without the use of any prior knowledge, of policies for a six-legged swimmer to carry out a variety of acrobatic maneuvers in three dimensional space. We also demonstrate informed learning that relies on simulated experience from a realistic simulator. In numerous cases, novel emergent gait behaviors have arisen from learning, such as the use of one stationary flipper to create drag while another oscillates to create thrust. Similar effective results have been demonstrated in under-actuated configurations, where as few as two flippers are used to maneuver the robot to a desired pose, or through an acrobatic motion such as a corkscrew. The success of our learning framework is assessed both in simulation and in the field using an underwater swimming robot. © 2015 IEEE.

关键词： Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Planning views to model planetary pits under transient illumination

Planning views to model planetary pits under transient illum...

引用

2015 IEEE Aerospace Conference, AERO 2015

作者： Jones, Heather Tabib, Wennie Whittaker, William L. Robotics Institute Carnegie Mellon University PittsburghPA15213 United States Department of Computer Science Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9781479953790

This paper addresses the problem of planning views for modeling large, local, substantially 3D terrain features at long range from surface rovers. These include building-size and stadium size pits with vertical walls. Pits have been identified in recent high-resolution images of the Moon and Mars. Planetary pits are interesting scientific targets created by collapse, often exposing layers of bare rock in their walls, hinting at past volcanism and other subsurface processes with their morphology. Some offer glimpses into caves. This paper presents a pipeline for view trajectory planning that enables detailed modeling of planetary pits from surface rovers. Techniques for converting prior terrain knowledge into a planning problem are developed, methods for planning rover images are discussed, and a comparison of different image-based reconstruction methods for pit modeling is presented. Results from preliminary field experiments for the end-to-end view trajectory planning pipeline are presented. © 2015 IEEE.

关键词： Rovers

来源：评论

学校读者我要写书评

暂无评论

Object detection based on two level fast matching

International Journal of Multimedia and Ubiquitous Engineeri...

引用

International Journal of Multimedia and Ubiquitous Engineering 2015年第12期10卷 381-394页

作者： Dou, Yumin Ye, Mao Xu, Pei Pei, Lishen Liu, Zhenghua School of Computer Science and Engineering Center for Robotics University of Electronic Science and Technology of China Chengdu China

Shape template matching is an important approach in object detection and recognition. In this paper, we propose a fast and novel object detection method, which represents edge map contours with salient points and retrieves the target object by using a backtracking method with two stages from coarse matching to fine matching. Our method has two main contributions. One is we propose the way to represent contour structure with salient points. The other is that the object detection method proposed can directly operate on the real images, which improves its practicability. According to the experimental results, the proposed approach improves the speed than previous works. © 2015 SERSC.

关键词： Template matching

来源：评论

学校读者我要写书评

暂无评论

Multiple Kernel Learning and Optical Flow for Action Recognition in RGB-D Video

Multiple Kernel Learning and Optical Flow for Action Recogni...

引用

International Conference on Knowledge and Systems Engineering

作者： Vo Hoai Viet Ly Quoc Ngoc Tran Thai Son Pham Minh Hoang Computer Vision and Robotics Department University of Science HCMC-VNU

ISBN: (纸本)9781467380140

Recognizing human action is valuable for many real world applications such as video surveillance, human computer interaction, smart home and gaming. In this paper, we present a method of action recognition based on hypothesizing that the classification of action can be boosted by motion information using optical flow. Emergence of automatic RGBD video analysis, we propose fusing optical flow is extracted from both RGB and depth channels for action representation. Firstly, we extract optical flow from RGB and depth data. Secondly, motion descriptor with spatial pyramid is computed from histogram of optical flow of RGB and depth. Then, feature pooling technique is used in order to accumulate RGB and depth feature into set of feature vectors for each action. Finally, we use the Multiple Kernel Learning (MKL) technique at the kernel level for action classification from RGB and depth feature pooling. To demonstrate generalizability, our proposed method has been systematically evaluated on two benchmark datasets shown to be more effective and accurate for action recognition compared to the previous work. We obtain overall accuracies of: 97.5% and 92.8% with our proposed method on the 3D ActionPairs and MSR-Daily Activity 3D dataset, respectively.

关键词： RGB-D Video Action Recognition Optical Flow Multiple Kernel Learning SimpleMKL Optic Flow red-green-blue colour model Action

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：