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IEEE International Conference on robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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ONLINE ADAPTIVE DICTIONARY LEARNING AND WEIGHTED SPARSE CODING FOR ABNORMALITY DETECTION

ONLINE ADAPTIVE DICTIONARY LEARNING AND WEIGHTED SPARSE CODI...

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IEEE International Conference on Image Processing

作者： Sheng Han Ruiqing Fu Suzhen Wang Xinyu Wu Shenzhen Key Lab for Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences The Chinese University of Hong Kong

ISBN: (纸本)9781479923427

This paper focuses mainly on adaptive dictionary updating and abnormality detection via weighted space coding in video surveillance. Generally, abnormality analysis conducted on a large amount of video data is very complicated, time-consuming and time-variant. However, our dictionary is very efficient at following up on shifted contents in video and abandoning old inactive information in time. The adaptability characteristic also helps reduce the dictionary's size to a small scale, since it only needs to keep recent or active information. We also introduce a simple, but effective, judgement criterion for abnormal detection based on sparse coding over weighted bases. Because of the condensed dictionary and the simplified judgment criterion, our algorithm performs online learning and online detection with a high speed and a high accuracy in various scenes.

关键词： Dictionary Learning Adaptive Learning Sparse Coding Abnormality Detection Sparse coding anomaly detection video data Dictionaries as Topic video monitoring

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Robot Laughter: Does an appropriate laugh facilitate the robot’s humor performance?

Robot Laughter: Does an appropriate laugh facilitate the rob...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Heng Zhang Xiaoxuan Hei Junpei Zhong Adriana Tapus Computer Science and System Engineering Department (U2IS) Autonomous Systems and Robotics Lab ENSTA Paris Institut Polytechnique de Paris Paris France Department of Rehabilitation Sciences The Hong Kong Polytechnic University Hong Kong

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Laughter serves as a subtle social signal in human interaction, playing an essential role in expressing emotions and facilitating social connections. However, laughter comes in various forms and is usually accompanied by different non-verbal expressions, such as facial expressions and gestures. These accompanying factors can significantly influence the effect of laughter in diverse contexts, thus complicating the research on laughter, especially in understanding its role in social dynamics. Consequently, endowing robots with the ability to appropriately use laughter in interactions with humans is still a big challenge. Our current study focuses on the effect of robot laughter on robot humor expression. Our objective is to investigate whether and how two factors, the type of laughter and the robot laughter gesture, impact the overall humor performance. In this study, we selected four types of laughter (sarcastic, joyful, embarrassed, and relieved laughter) from a laughter corpus based on four specific types of jokes (Affiliative, Aggressive, Self-enhancing, and Self-defeating). For each type of laughter, we designed distinct robot gestures. During the humor performance, the robot NAO delivered jokes accompanied by matching or mismatching laughter, with or without corresponding gestures. To enhance the quantity and diversity of experimental data, we conducted an online survey utilizing recordings of the robot’s humor performance. The experimental findings indicate that when the robot’s laughter matches the type of humor in the joke, participants rate the humor performance significantly higher compared to situations where there is a mismatch. Additionally, the results confirm the positive impact of robot laughter gestures on humor performance.

关键词： Surveys Recording Robots

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Finger Movement Regression with Myoelectric Signal and Deep Neural Network

Finger Movement Regression with Myoelectric Signal and Deep ...

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International Conference on computer Science, Information Technology, and Electrical Engineering (ICOMITEE)

作者： Khairul Anam Dwiretno Istiyadi Swasono Aris Zainul Muttaqin Faruq Sandi Hanggara Department of Electrical Engineering University of Jember Jember Indonesia Department of Computer Engineering University of Jember Jember Indonesia Department of Mechanical Engineering University of Jember Jember Indonesia Intelligent System and Robotics Lab University of Jember Jember Indonesia

Research on electromyographic (EMG) signals is intensively carried out to help disabled people to control prosthetic hands. Neural Networks have been widely used in research on the classification of finger movements using EMG. The study of a classification system generally still works on a limited number of movements, even though the human body, especially fingers, has a nearly unlimited combination of movements to help do daily activities. To overcome this, a proportional control system is needed. In its recent development, research on myoelectric control using EMG devices is still in a laboratory environment. Hence, the results obtained in a clinical setting are often different. However, along with technological developments, the emergence of affordable and wearable commercial EMG devices such as Myo Armband, has encouraged this study to develop control systems of prosthetic fingers using regression. One of many options available is neural networks that have been widely used in various fields. By estimating each joint with a different neural network, the result shows the predicted is fitted to the actual angle with R 2 as high as 99%.

关键词： Thumb Electromyography Biological neural networks Feature extraction Muscles

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Estimating Complexity for Perception-based ADAS in Unstructured Road Environments

Estimating Complexity for Perception-based ADAS in Unstructu...

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IEEE Symposium on Intelligent Vehicle

作者： Imane Taourarti Ayesha Choudhary Vivek Kumar Paswan Aditya Kumar Arunkumar Ramaswamy Javier Ibanez-Guzman Bruno Monsuez Adriana Tapus Autonomous Systems and Robotics Lab/U2IS Computer Science and System Engineering (U2IS) ENSTA Paris Institut Polytechnique de Paris France Research Department Renault Group France School of Computer and Systems Sciences Jawaharlal Nehru University New Delhi India

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Advanced Driver Assistance systems (ADAS) are rapidly becoming a standard feature in modern road vehicles, enhancing safety and driver comfort. As ADAS adoption expands across diverse geographical and cultural regions, the performance of camera-based perception systems may vary significantly due to environmental and expected social behaviour of the different actors. This paper explores the referred factors and evaluates the traffic environment complexity for vehicles with different levels of automation. In particular, we propose a novel modeling and quantitative assessment approach for environment complexity. Specifically, we compare a perception model trained on United States dataset with a dataset from India, a nation characterized by unique traffic patterns, signage conventions, and cultural norms to assess its performance variation, and to lay the basis for proposing influencing factors of traffic environment complexity. We establish a scheme of referential and additional static factors and based on an expert evaluation, environment complexity is established. The effectiveness of the proposed approach is testified by naturalistic driving data. These findings pave the way for future research in intelligent driving and emphasize the importance of addressing cultural nuances as vehicle automation levels increase.

关键词： Measurement Automation Roads Road vehicles Globalization Complexity theory Safety

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A novel feature extracting method for dynamic gesture recognition based on support vector machine

A novel feature extracting method for dynamic gesture recogn...

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International Conference on Information and Automation (ICIA)

作者： Yuanrong Xu Qianqian Wang Xiao Bai Yen-Lun Chen Xinyu Wu Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences University of Science and Technology of China Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

In this paper, we propose a method based on the SVM algorithm to recognize dynamic hand gestures. The information of motion trajectory is captured by a leap motion in three-dimension space. A new methodology of feature extracting is proposed to guarantee the length of samples being the same. The elements of feature vectors are ranged according to two different criteria: one is the amplitude of the variation of orientation angles, and the other criterion is the order of the appearance of features. Experimental results show that this method can classify the dynamic hand gestures effectively.

关键词： Vectors Trajectory Feature extraction Equations Mathematical model Hidden Markov models Automation

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A New Dynamic Routing Network for Monocular Depth Estimation 12

A New Dynamic Routing Network for Monocular Depth Estimation

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Luo, Zhehao Luo, Sijin Liang, Guoyuan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China University of Chinese Academy of Sciences Beijing China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Depth estimation is an essential task for understanding the geometry of 3D scenes. Compared with multi-view-based methods, monocular depth estimation is more challenging for the requirement of integrating not only global information but also local cues from various parts. Recently, numerous Convolutional Neural Networks (CNNs) based approaches relying on pre-defined static architectures have been reported. Although many of them have achieved remarkable improvements in accuracy, there remains problem with the generality of the static model when it comes to diverse scenes. In this paper, a novel deep network with dynamic routing architecture is proposed with a dynamically adjustable structure with respect to different inputs, therefore leading to not only improvements on both accuracy and generality but also decrease of the model parameters. Extensive experiments of monocular depth estimation have been conducted on two well-known challenging datasets (i.e., NYUD-v2 and Make3D) as well as the mixed dataset, and have verified the effectiveness of the proposed dynamic framework. © 2022 IEEE.

关键词： Deep neural networks

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Dynamic hand gesture early recognition based on Hidden Semi-Markov Models

Dynamic hand gesture early recognition based on Hidden Semi-...

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IEEE International Conference on robotics and Biomimetics

作者： Qianqian Wang Yuanrong Xu Yen-Lun Chen Yong Wang Xinyu Wu University of Science and Technology of China Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong. Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

ISBN: (纸本)9781479973989

Real-time performance can be greatly improved, if the early recognition is implemented. In this paper, a dynamic hand gesture early recognition system is proposed. The system can recognize the gesture before it is completed. Our method is based on the Hidden Semi-Markov Models. Three-dimensional information of the gesture trajectory collected by leapmotion is the main data we used. Experiments on the dataset which we established demonstrate the effectiveness of our method.

关键词： Hidden Markov models Gesture recognition Training Conferences Trajectory Arrays

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Digital Cognitive Aids to Support Adaptation of Surgical Processes to COVID-19 Protective Policies

Digital Cognitive Aids to Support Adaptation of Surgical Pro...

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IEEE International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision Support (CogSIMA)

作者： Heather M. Conboy Lauren R. Kennedy-Metz George S. Avrunin Lori A. Clarke Leon J. Osterweil Roger D. Dias Marco A. Zenati University of Massachusetts Amherst Amherst MA US Division of Cardiac Surgery Medical Robotics and Computer-Assisted Surgery Lab VA Boston Healthcare System Harvard Medical School Boston MA US Human Factors and Cognitive Engineering Lab STRATUS Center for Medical Simulation Brigham and Women's Hospital Boston MA US

ISBN: (数字)9781728160016

ISBN: (纸本)9781728160023

Surgical processes are rapidly being adapted to address the COVID-19 pandemic, with changes in procedures and responsibilities being made to protect both patients and medical teams. These process changes put new cognitive demands on the medical team and increase the likelihood of miscommunication, lapses in judgment, and medical errors. We describe two process model driven cognitive aids, referred to as the Narrative View and the Smart Checklist View, generated automatically from models of the processes. The immediate perceived utility of these cognitive aids is to support medical simulations, particularly when frequent adaptations are needed to quickly respond to changing operating room guidelines.

关键词： Surgery Adaptation models Task analysis Computational modeling Anesthesia Model checking

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Predictor-Based Constrained Fixed-Time Sliding Mode Control of Multi-Uav Formation Flight

SSRN

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SSRN 2024年

作者： Khodaverdian, Maria Hajshirmohamadi, Shahram Hakobyan, Aleksandr Ijaz, Salman Center for Scientific Innovation and Education Aerial Robotics Laboratory of National Polytechnic University of Armenia Yerevan Armenia Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan84156-83111 Iran Key Laboratory of More Electric Aircraft and Control System Lab University of Nottingham Ningbo China

In this work, a predictor-based fixed-time sliding mode control is designed to tackle the problem of achieving precise trajectory tracking control of multiple unmanned aerial vehicles formation flight. The proposed approach simultaneously addresses various practical requirements, such as optimality, constraints, fixed-time convergence, external interferences, and computational ***, a constrained performance index is constructed based on the prediction of the fixed-time sliding surface, the reaching law, and the control input. Secondly, optimal control input is calculated by solving the constrained quadratic optimization problem. An outstanding feature of this study is the theoretical guarantee of closed-loop system stability in the presence of external disturbances and ***, the comparative evaluation with sliding mode predictive control law and fixed-time sliding mode control methods demonstrates that the proposed approach achieves a straightforward control method with improved performance and acceptable accuracy. Finally, a test is conducted to demonstrate the algorithm's potential for hardware implementation by employing Hardware-in-the-Loop (HIL) test. © 2024, The Authors. All rights reserved.

关键词： Sliding mode control

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