This paper describes a system that applies vision techniques to extract acoustic patterns in the speech spectrogram. By processing a spectrographic image through a set of edge detectors and combining their outputs, th...
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This paper describes a system that applies vision techniques to extract acoustic patterns in the speech spectrogram. By processing a spectrographic image through a set of edge detectors and combining their outputs, the system obtains two-dimensional objects that characterize the formant patterns and general spectral properties for vowels and consonants. As a validation of the approach, a limited vowel recognition experiment was performed on the "object" spectrograms. Preliminary results show that this processing technique retains relevant acoustic information necessary to identify the underlying phonetic representation.
Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointill...
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Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointillist data and surfaces out of surface markings. We take a differential geometric view in defining orientation selection, and develop algorithms for actually doing it. The goal of these algorithms is formulated in mathematical terms as the inference of a vector field of tangents (to the contours), and the algorithms are studied in both abstract and computational forms. They are formulated as matching problems, and algorithms for solving them are reduced to biologically plausible terms. We show that two different matching problems are necessary, the first for 1-dimensional contours (which we refer to as Type I processes) and second for 2-dimensional flows (or Type II processes). We conjecture that this difference is reflected in the response properties of “simple” and “complex” cells, respectively, and predict several other psychophysical phenomena.
The problem of simplifying the Lagrange dynamic equation of PUMA 600 robot manipulators is considered. By applying the numeric significance evaluation procedure to the symbolically expressed dynamic projection functio...
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The Ada research Group of the roboticsresearchlaboratory at The University of Michigan is currently developing a real-time distributed computing capability based upon the premises that real-time distributed language...
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Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site contro...
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Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.
A new type of tactile sensor is introduced for either robotics [1] or prosthetic applications. The sensor, made by IC microfabrication techniques, detects displacement of a shielding plate which alters the mutual capa...
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A new type of tactile sensor is introduced for either robotics [1] or prosthetic applications. The sensor, made by IC microfabrication techniques, detects displacement of a shielding plate which alters the mutual capacitance between two electrodes. Both normal and shear sensitivity are obtained, and a 16% change of capacitance is produced by a normal stress of 5 gw/cm 2 . Torque sensitivity can also be expected.
Shading correction of image sensors is a very important operation in visual inspection applications. The generation and application of shading correction with and without imaging system response linearization is discu...
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Shading correction of image sensors is a very important operation in visual inspection applications. The generation and application of shading correction with and without imaging system response linearization is discussed and demonstrated. The linearization is achieved by subtracting the dark current image and by applying a lookup table operation. The content of the lookup table is obtained by fitting an analytical function to the measured system response. The linearization enables the shading correction to be a linear operation. The quality of the linearization and the shading correction was evaluated using statistical parameters of the processed images. The results showed a substantial decrease in the standard deviation of the gray level distribution of uniform reference images.
An automated system for detecting Osteogenesis Imperfecta (OI), an inheritable disorder of human connective tissue, is described. The approach is one of texture analysis, founded on standard statistical recognition of...
An automated system for detecting Osteogenesis Imperfecta (OI), an inheritable disorder of human connective tissue, is described. The approach is one of texture analysis, founded on standard statistical recognition of co-occurrence-based texture descriptors. Our contribution is to show that texture descriptors derived from gray-level co-occurrence matrices can be used in conjunction with descriptors derived from generalized co-occurrence matrices of local image features to increase performance. In fact, for the OI problem, our system demonstrates a level of performance which is significantly better than that of medical specialists.
The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating...
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The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating the dynamic models of mechanical manipulators and most notably of these are the Lagrange-Euler and the Newton-Euler formulations. This paper describes an efficient position plus derivative control in joint space for a PUMA robot arm whose dynamic equations of motion are formulated by the Newton-Euler method. The controller compensates the inertia loading, the nonlinear coupling reaction forces between joints and the gravity loading effects. Using a PDP 11-/45 computer the controller equation can be computed in 3 ms which is sufficient for real-time control. computer simulation of the performance of the control law is included for discussion.
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