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AIMS Electronics and Electrical engineering 2024年第2期8卷 217-236页

作者： Ali, Imad Ghaffar, Faisal Department of Computer Science University of Swat KP Swat Pakistan System Design Engineering Department University of Waterloo Waterloo Canada

computer vision is witnessing a surge of interest in machines accurately recognizing and interpreting human emotions through facial expression analysis. However, variations in image properties such as brightness, contrast, and resolution make it harder for models to predict the underlying emotion accurately. Utilizing a robust architecture of a convolutional neural network (CNN), we designed an efficacious framework for facial emotion recognition that predicts emotions and assigns corresponding probabilities to each fundamental human emotion. Each image is processed with various pre-processing steps before inputting it to the CNN to enhance the visibility and clarity of facial features, enabling the CNN to learn more effectively from the data. As CNNs entail a large amount of data for training, we used a data augmentation technique that helps to enhance the model's generalization capabilities, enabling it to effectively handle previously unseen data. To train the model, we joined the datasets, namely JAFFE and KDEF. We allocated 90% of the data for training, reserving the remaining 10% for testing purposes. The results of the CCN framework demonstrated a peak accuracy of 78.1%, which was achieved with the joint dataset. This accuracy indicated the model's capability to recognize facial emotions with a promising level of performance. Additionally, we developed an application with a graphical user interface for real-time facial emotion classification. This application allows users to classify emotions from still images and live video feeds, making it practical and user-friendly. The real-time application further demonstrates the system's practicality and potential for various real-world applications involving facial emotion analysis. © 2024 the Author(s).

关键词： Graphical user interfaces

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Visual Servo system for Ball Dribbling by Using Bipedal Robot "Nao"

Visual Servo System for Ball Dribbling by Using Bipedal Robo...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Kazuya Tamura Takahiro Nozaki Atsuo Kawamura Department of Electrical and Computer Engineering Yokohama National University Science and Technology Department of System Design Engineering Keio University

ISBN: (纸本)9781479917631

This paper discusses visual servo system for ball dribbling by using bipedal robot "Nao". Countless papers have been written by researchers since the establishment of RoboCup in 1993, which contributes to the progress in robotics and artificial intelligent. However, only few papers discuss dribbling even though ball dribbling is one of major techniques to master to win a game. To achieve ball dribbling, rigid visual servo is needed in order to kick the ball continuously. Because of the noise caused by the oscillation of walking, it is difficult to make a visual servo system that can achieve ball dribbling. In this paper, visual servo system which is able to control both stepping control and walking pattern is proposed. The proposed visual servo system can offer more rigid visual servo with stability than the one that commonly used by applying foot step planner, walking pattern generator and image processing.

关键词： visual servo system Servo systems Sialorrhea Ball Device Component multi-robot systems walking

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Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem

Impedance control for force - Reflecting teleoperation with ...

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SICE Annual Conference

作者： Nam Duc Do Toru Namerikawa Division of Electrical Engineering and Computer Science Kanazawa University Japan Department of System Design Engineering Keio University Japan

This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.

关键词： Force control Impedance Communication system control Delay Stability Proposals Control systems Reflection Time varying systems Communication channels

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Optimization of interval type-2 fuzzy logic controller using quantum genetic algorithms

Optimization of interval type-2 fuzzy logic controller using...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Pintu Chandra Shill Md. Faijul Amin M. A. H. Akhand Kazuyuki Murase Department of System Design Engineering University of Fukui Fukui Japan Department of Computer Science and Engineering KUET Khulna Bangladesh

A Type-2 Fuzzy logic controller adapted with quantum genetic algorithm, referred to as type-2 quantum fuzzy logic controller (T2QFLC), is presented in this article for robot manipulators with unstructured dynamical uncertainties. Quantum genetic algorithm is employed to tune type-2 fuzzy sets and rule sets simultaneously for effective design of interval type-2 FLCs. Traditional fuzzy logic controllers (FLCs), often termed as type-1 FLCs using type-1 fuzzy sets, have difficulty in modeling and minimizing the effect of uncertainties present in many real time applications. Therefore, manually designed type-2 FLCs have been utilized in many control process due to their ability to model uncertainty and it relies on heuristic knowledge of experienced operators. The type-2 FLC can be considered as a collection of different embedded type-1 FLCs. However, manually designing the rule set and interval type-2 fuzzy set for an interval type-2 FLC to give a good response is a difficult task. The purpose of our study is to make the design process automatic. The type-2 FLCs exhibit better performance for compensating the large amount of uncertainties with severe nonlinearities. Furthermore, the adaptive type-2 FLC is validated through a set of numerical experiments and compared with QGA evolved type-1 FLCs, traditional and neural type-1 FLCs.

关键词： Fuzzy sets Optimization Genetic algorithms Mobile robots Fuzzy logic Uncertainty

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Fuzzy logic controller for an inverted pendulum system using quantum genetic optimization

Fuzzy logic controller for an inverted pendulum system using...

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International Conference on computer and Information Technology (ICCIT)

作者： Pintu Chandra Shill M. A. H. Akhand Kazuyuki Murase Department of System Design Engineering University of Fukui Fukui Japan Department of Computer science and Engineering KUET Khulna Bangladesh

In this paper, we propose a new generalized design methodology of intelligent robust fuzzy control systems based on quantum genetic algorithm (QGA) called quantum fuzzy model that enhance robustness of fuzzy logic controllers. The QGA is adopted because of their capabilities of directed random search for global optimization to find the parameters of the shape and width of membership functions and rule set of the FLC to obtain the optimal fuzzy controller simultaneously. We test the optimal FLC obtained by the quantum computing applied on the control of dynamic balance and motion of cart-pole balancing system. We compare the proposed technique with existing mamdani fuzzy logic controller which is designed through conventional genetic algorithm. Simulation results reveal that QGA performs better than conventional GA in terms of running speed and optimizing capability.

关键词： Force Biological cells Fuzzy control Encoding

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Texture classification using improved 2D local discriminant basis

Texture classification using improved 2D local discriminant ...

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IEEE/SP Workshop on Statistical Signal Processing (SSP)

作者： M. Sabri J. Alirezaie Department of Electrical and Computer Engineering Ryerson University Department of System Design Engineering University of Waterloo Canada Department of Electrical and Computer Engineering Ryerson University Canada

Local discriminant basis (LDB) is a supervised feature extraction method. Since LDB uses a redundant dictionary of wavelet packet basis, it is an excellent feature extractor for underlying features on time-frequency plane. Extraction of relevant features is a very important issue in signal and image classification. This reduces the computation complexity , while increasing the classification accuracy in the absence of adequate training samples. LDB algorithm utilizes best basis algorithm to find most discrimination basis among orthonormal redundant basis provided by wavelet packet transform. The classification performance of LDB algorithm is further improved using optimally weighted features. The genetic algorithm is utilized to find the optimal weight coefficients. The optimization step decreases within-class variance of training textures and increases between-class distances of teacher textures. The proposed algorithm is then tested on problem of composite texture segmentation. The results are compared with the weight coefficients obtained from Euclidean distance, J-divergence and Hellinger distance. Misclassification error is reduced by 26%-31%.

关键词： Feature extraction Wavelet packets Dictionaries Time frequency analysis Image classification Basis algorithms Wavelet transforms Genetic algorithms Testing Euclidean distance

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Evaluating algorithms for the system state distribution of multi-state k-out-of-n:F system

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作者： Akiba, T. Yamamoto, H. Yamaguchi, T. Shingyochi, K. Tsujimura, Y. Yamagata College of Industry and Technology Information Management Engineering Yamagata Japan Faculty of System Design Tokyo Metropolitan University Tokyo Japan Faculty of Social Science and Computer Science Jumonji University Saitama Japan Department of Computer and Information Engineering Nippon Institute of Technology Saitama Japan

ISBN: (纸本)9780415485135

In traditional reliability theory, both the system and its components are allowed to take only two possible states: working or failed. On the other hand, in a multi-state system, both the system and the components are allowed to be in M + 1 states, i.e., 0 , 1 , 2 ,....M. A multi-state system reliability model provides more flexibility for the modeling of equipment conditions. In this study, we provide new recursive algorithm for evaluating the system state distribution of a generalized multi-state k-out-of-n:F system as applied to ideas of previous studies. This recursive algorithm is useful for any multi-state k-out-of-n:F system, including the decreasing, increasing and other non-monotonic multi-state k-out-of-n:F systems. We calculate and compare the order of computing time and memory capacity of our proposing algorithm with previous studies. © 2009 Taylor amp;Francis Group.

关键词： Reliability theory

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Addressing Response Time and Video Quality in Remote Server Based Internet Mobile Gaming

Addressing Response Time and Video Quality in Remote Server ...

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IEEE Conference on Wireless Communications and Networking

作者： Shaoxuan Wang Sujit Dey Mobile System Design Lab Department of Electrical and Computer Engineering University of California San Diego USA

A new remote server based gaming approach, where the responsibility of executing the gaming engines is put on remote servers instead of the mobile devices, has the potential for enabling mobile users to play the same rich Internet games available to PC users. However, the mobile gaming user experience may be limited by risks of unacceptably high response time, and low gaming video quality, as gaming control commands, and the resulting gaming video, have to travel through wireless networks characterized by high bandwidth fluctuations, latency and packet loss. In this paper, we propose a set of application layer optimization techniques to ensure acceptable gaming response time and video quality in the remote server based approach. The techniques include downlink gaming video rate adaptation, uplink delay optimization, and client play-out delay adaptation. Experiments conducted on a commercial HSDPA network demonstrate that the proposed optimization techniques can make the remote server based approach feasible, allowing rich Internet games to be played on mobile devices, while ensuring acceptable user experience.

关键词： Delay Web server Internet Games Network servers Search engines Wireless networks Bandwidth Fluctuations Downlink

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Rendering Adaptation to Address Communication and Computation Constraints in Cloud Mobile Gaming

Rendering Adaptation to Address Communication and Computatio...

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2010 IEEE Global Telecommunications Conference GLOBECOM 2010

作者： Shaoxuan Wang Sujit Dey Mobile System Design Laboratory Department of Electrical and Computer Engineering University of California San Diego USA

A new Cloud Mobile Gaming (CMG) approach, where the responsibility of executing the gaming engines, including the most compute intensive tasks of graphic rendering, is put on cloud servers instead of the mobile devices, has the potential for enabling mobile users to play the same rich Internet games available to PC users. However, the mobile gaming user experience may be limited by the communication constraint imposed by available wireless networks and computation constraint imposed by the cost and availability of cloud servers. In this paper, we propose a rendering adaptation technique which can adapt the game rendering parameters to satisfy CMG communication and computation constraints, such that the overall mobile gaming user experience is maximized. Experiments conducted on a commercial UMTS network demonstrate that the proposed rendering adaptation techniques can make the CMG approach feasible: ensuring protection against wireless network conditions, and ensuring server computation scalability, thereby ensuring acceptable mobile gaming user experience.

关键词： Rendering (computer graphics) Games Servers Mobile communication Engines Graphics processing unit

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Pilot Study on Aerial Wireless Superdirectional Sound Sources Utilizing Parametric Array Loudspeakers via Local 5G Networks

Pilot Study on Aerial Wireless Superdirectional Sound Source...

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International Symposium on Antennas and Propagation (ISAP)

作者： Yohei Iihoshi Kan Okubo Department of Electrical Engineering and Computer Science Faculty of System Design Tokyo Metropolitan University Hino Tokyo

This study presents a pilot study on the potential future use of aerial sound sources utilizing parametric array loudspeakers (PALs) in drones via fifth-generation (5G) networks. Integrating superdirectional loudspeakers with high-speed wireless communication is essential for projecting sound from the air to specific locations using drones. Herein, as an experimental approach, we have evaluated the performance of wireless communication, specifically local 5G, for realizing aerial sound sources. The results demonstrated the high performance of the local 5G connection intended for PALs in the air.

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