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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Narcis Palomeras Antonio Penalver Miquel Massot-Campos Guillem Vallicrosa Pep Lluis Negre J. Javier Fernandez Pere Ridao Pedro J. Sanz Gabriel Oliver-Codina Albert Palomer Universitat de Girona Computer Vision and Robotics Institute Centre d'Investigacio en Robotica Submarina (CIRS) 17071 Girona (Spain) Universitat Jaume I Interactive and Robotic Systems Laboratory (IRSLab) 12071 Castello (Spain) Universitat de les Illes Balears Systems Robotics and Vision Group 07122 Palma de Mallorca (Spain)

ISBN: (纸本)9781479969357

While commercially available autonomous underwater vehicles (AUVs) are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities: the maintenance of permanent underwater structures as well as the recovery of benthic stations or black-boxes are a few of them. These tasks are addressed nowadays using manned submersibles or work-class remotely operated vehicles (ROVs), equipped with teleoperated arms under human supervision. In the context of the TRITON Spanish funded project, a subsea panel docking and an intervention procedure are proposed. The light-weight intervention AUV (I-AUV) Girona 500 is used to autonomously dock into a subsea panel using a funnel-based docking method for passive accommodation. Once docked, an autonomous fixed-based manipulation system, which uses feedback from a digital camera, is used to turn a valve and plug/unplug a connector. The paper presents the techniques used for the autonomous docking and manipulation as well as how the adapted subsea panel has been designed to facilitate such operations.

关键词： Subsea Intervention Manned submersibles Underwater structures Device Panel Berthing Unmanned vehicles Digital cameras Autonomous underwater vehicles BLACK-BOX

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A Real Time and Robust Facial Expression Recognition and Imitation approach for Affective Human-Robot Interaction Using Gabor filtering

A Real Time and Robust Facial Expression Recognition and Imi...

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

作者： Cid, Felipe Prado, Jose Augusto Bustos, Pablo Nunez, Pedro Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Systems and Robotics Dept. Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467363587

Facial expressions are a rich source of communicative information about human behavior and emotion. This paper presents a real-time system for recognition and imitation of facial expressions in the context of affective Human Robot Interaction. The proposed method achieves a fast and robust facial feature extraction based on consecutively applying filters to the gradient image. An efficient Gabor filter is used, along with a set of morphological and convolutional filters to reduce the noise and the light dependence of the image acquired by the robot. Then, a set of invariant edge-based features are extracted and used as input to a Dynamic Bayesian Network classifier in order to estimate a human emotion. The output of this classifier updates a geometric robotic head model, which is used as a bridge between the human expressiveness and the robotic head. Experimental results demonstrate the accuracy and robustness of the proposed approach compared to similar systems.

关键词： Gabor filters belief networks edge detection emotion recognition face recognition feature extraction human-robot interaction image classification

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Automated classification of therapeutic face exercises using the kinect

Automated classification of therapeutic face exercises using...

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8th International Conference on computer vision Theory and Applications, VISAPP 2013

作者： Lanz, Cornelia Olgay, Birant Sibel Denzler, Joachim Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Ilmenau Germany Computer Vision Group Friedrich Schiller University Jena Jena Germany

ISBN: (纸本)9789898565471

In this work, we propose an approach for the unexplored topic of therapeutic facial exercise recognition using depth images. In cooperation with speech therapists, we determined nine exercises that are beneficial for therapy of patients suffering from dysfunction of facial movements. Our approach employs 2.5D images and 3D point clouds, which were recorded using Microsoft's Kinect. Extracted features comprise the curvature of the face surface and characteristic profiles that are derived using distinctive landmarks. We evaluate the discriminative power and the robustness of the features with respect to the above-mentioned application scenario. Using manually located face regions for feature extraction, we achieve an average recognition accuracy of about 91% for the nine facial exercises. However in a real-world scenario manual localization of regions for feature extraction is not feasible. Therefore, we additionally examine the robustness of the features and show, that they are beneficial for a real-world, fully automated scenario as well.

关键词： Feature extraction

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Towards valve turning with an AUV using Learning by Demonstration

Towards valve turning with an AUV using Learning by Demonstr...

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Oceans 2013 - Norway

作者： Arnau Carrera Marc Carreras Petar Kormushev Narcis Palomeras Sharad Nagappa Computer Vision and Robotics Group (VICOROB) University of Girona Department of Advanced Robotics Istituto Italiano di Tecnologia

ISBN: (纸本)9781479900022

AUVs have experimentally done the first steps to solve basic intervention tasks. First results have been promising in the task of retrieving an object from the seabed. In this paper we extend the complexity of the task with the help of a Learning by Demonstration (LbD) approach. An extension of a LbD algorithm to learn the pose and orientation of the trajectory is presented to achieve a valve turning task. A batch of demonstrations done in ROV mode is used by the LbD to learn the trajectory, taking advantage of the experience of the pilots. Moreover, the paper present a controller able to coordinate the movement of the manipulator using the position or the orientation of the end-effector and also moving the AUV when is required. Both systems have been tested together in a simulated environment to solve the task of interacting with a valve located on a ROV panel. The experiments has been done in an environment without perturbations and in an environment with different perturbations. The method has been able to overcome the perturbations and complete the task successfully. Furthermore, the proposed controller has simplified the use of the manipulator during the intervention task. The robot is equipped with a 4 DOFs manipulator having a griper as end effector to operate the T bar handles found in the panel. Panel and valve handle position and orientation are detected by a computer vision program based on template matching.

关键词： Autonomous underwater vehicles perturbation end effectors VALVE GATE Simulated Environment Unmanned vehicles valved Turning trajectory Learning TEMPLATE MATCHING Orientation Environments Device Panel ocean floors

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Visual Predictive Control of Robot Manipulators using a 3D ToF Camera

Visual Predictive Control of Robot Manipulators using a 3D T...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： S. Satorres Martinez J. Gómez Ortega J. Gámez Garcia A. Sanchez Garcia J. de la Casa Cardenas Robotics Automation and Computer Vision Group University of Jaén Jaén Spain

ISBN: (纸本)9781479906505

This paper presents a visual servo strategy for an anthropomorphic manipulator with eye-to-hand configuration. As novelty, a time-of-flight (ToF) camera, together with a model-based predictive control (MPC), have been used to execute the manipulator tasks in an unstructured environment. The ToF camera provides 3-D data of a target object and the MPC cost function achieves convergence of robot motion. With this configuration, there is no requirement to estimate a 3-D feature point position from a 2-D image and the camera model. A procedure for the target segmentation on the depth data, which is based on a previous training, is also presented. Experimental results, obtained in a robotic platform, show that the proposed approach is well suited for visual servoing purposes.

关键词： Visual Servoing Time-of-Flight (ToF) Model-based Predictive Control

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Evaluation of Registration Methods on Two-Dimensional Forward-Looking Sonar Imagery

Evaluation of Registration Methods on Two-Dimensional Forwar...

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Oceans 2013 - Norway

作者： Natalia Hurtos Sharad Nagappa Xavier Cufi Yvan Petillot Joaquim Salvi Computer Vision and Robotics Group University of Girona Ocean Systems Laboratory Heriot-Watt University

ISBN: (纸本)9781479900022

Two-dimensional forward-looking sonars such as Blueview or DIDSON are becoming a standard sensor in both remotely-operated and autonomous underwater vehicles. Registration of imagery obtained from this sensors is of great interest since it constitutes a key step in several applications like the generation of acoustic mosaics or the extraction of vehicle motion estimates from sonar imagery, specially on poor visibility conditions. However, the characteristics of these sonar images, such as low signal-to-noise ratio, low resolution and intensity alterations due to viewpoint changes pose a challenge to the traditional registration techniques applied on optical images. In this paper, the performance of popular registration methods commonly used in photomosaicing are evaluated on real sonar data, including feature-based methods and an area-based approach. Experiments are carried out on different environments, from man-made structured scenarios to more natural and featureless areas, and under challenging conditions such as viewpoint changes and the presence of different sonar-specific artifacts. After assessing the impact of all these factors on the different registration techniques, we show that Fourier-based registration method stands as the more robust option to register acoustic imagery.

关键词： Sonar imagery Registration Acoustic imagery sonar Restricted visibility Optical Imaging images Sensors Imagery (Psychotherapy)

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Integration of Online Laboratories-LMS via SCORM

Integration of Online Laboratories-LMS via SCORM

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Ildefonso Ruano-Ruano Juan Gómez-Ortega Javier Gámez-García Elisabet Estévez-Estévez Group of Robotics Automation and Computer Vision (GRAV) University of Jaén Jaén Spain

ISBN: (纸本)9781479906505

Web-based laboratories have been used as valuable resources to support teaching for many years. The methodology and operation of laboratories over the Internet have changed considerably since the early implementations. In fact, one of the last steps taken related to this issue has been the integration of laboratories and Learning Management Systems (LMS). In this paper we present methods that facilitate the development of virtual and/or remote labs software to interact with Learning Management Systems using Shareable Content Object Reference Model (SCORM), the most important standard for e-learning content. A virtual lab model is developed to show how the methods are used in order to integrate the virtual lab software with the LMS via SCORM.

关键词： component Learning Management System Online Laboratories SCORM EJS SCORM learning management system electronic jamming DNA Integration integration Levamisole valuable resource

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Towards Practical Visual Servoing in robotics

Towards Practical Visual Servoing in Robotics

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Canadian Conference on computer and Robot vision, CRV

作者： Romeo Tatsambon Fomena Camilo Perez Quintero Mona Gridseth Martin Jagersand Computer Vision and Robotics Research Group Department of Computing Science University of Alberta Edmonton AB Canada

ISBN: (纸本)9781467364096

Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as disaster response, assistance for elderly or handicapped people, etc. As the world is moving towards the use of robotics to improve quality of life, it is time to assess the challenges involved in applying visual servoing to solve real world problems. This paper presents an overview of these challenges, by asking the question what are the missing components for practical visual servoing? and by providing practical possible solutions for these components. Illustration of these challenges and our current practical solutions are given using our 7-DoFs Barrett WAM Arm.

关键词： Visual servoing Visualization Cameras Target tracking Robot kinematics

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An interactive game with a robot: Peoples' perceptions of robot faces and a gesture-based user interface 6

An interactive game with a robot: Peoples' perceptions of ro...

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6th International Conference on Advances in computer-Human Interactions, ACHI 2013

作者： Walters, Michael L. Marcos, Samuel Syrdal, Dag Sverre Dautenhahn, Kerstin Adaptive Systems Research Group University of Hertfordshire Hatfield HertsAL10 9AB United Kingdom CARTIF Foundation Division of Robotics and Computer Vision Parque Tecnologico de Boecillo 205 Boecillo Valladolid47151 Spain

ISBN: (纸本)9781612082509

This paper presents findings from a HRI user-study which investigated participants' perceptions and experiences playing a simple version of the classic game, stone-paper-scissors with a humanoid robot. Participants experienced the robot displaying one of four different robot faces and interacted with the robots using a gesture-based interface. Findings from the study indicated that the effects of the different robot faces were inter-related with participants gender and ratings for overall enjoyment of the game experience. The usability and effectiveness of the gesture-based interface were overall rated positively by participants, though the use of a separate display for the game interface seems to have distracted participants attention from the robot's face. © Copyright IARIA, 2013.

关键词： Human robot interaction

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