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A distributed virtual reality framework for Korea-Japan high-speed network test bed

International Journal of High Performance Computing and Networking 2009年第1期6卷 35-46页

作者： Nishino, Hiroaki Yamabiraki, Shinji Kagawa, Tsuneo Utsumiya, Kouichi Kwon, Yong-Moo Okada, Yoshihiro Department of Computer Science and Intelligent Systems Oita University 700 Dannoharu Oita 870-1192 Japan Fujitsu Corporation 140 Miyamoto Numazu Shizuoka 410-0396 Japan Imaging Media Research Center Korea Institute of Science and Technology 39-1 Hawalgog-dong Sungbuk-ku Seoul 136-791 Korea Republic of Graduate School of Information Science and Electrical Engineering Kyushu University 744 Motooka Nishi-ku Fukuoka 819-0395 Japan

A framework to practically constitute a Distributed Virtual Reality (DVR) system on a heterogeneous high-speed network environment is shown. The proposed approach essentially integrates a 'haptic' channel into traditional vision and acoustic modalities. The haptic technology empowers the reality of the DVR system by allowing users to touch virtual objects. The human touch sensation, however, is very sensitive to delays and jitters;therefore, we propose a hybrid DVR architecture to realise both data consistency by client-server and scalability by peer-to-peer models on a long-haul network. Some experiments using a Korea-Japan high-speed research network are described to validate the proposed method. Copyright © 2009, Inderscience Publishers.

关键词： HIgh speed networks

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An open framework for highly concurrent real-time hardware-in-the-loop simulation

An open framework for highly concurrent real-time hardware-i...

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32nd Annual IEEE International computer Software and Applications Conference, COMPSAC 2008

作者： Underwood, Ryan C. McMillin, Bruce M. Crow, M.L. Department of Computer Science Electrical and Computer Engineering Intelligent Systems Center Missouri University of Science and Technology Rolla MO 65409 United States

ISBN: (纸本)9780769532622

Hardware-in-the-loop (HIL) real-time simulation is becoming a significant tool in prototyping complex, highly available systems. The HIL approach permits testing of hardware prototypes of components that would be extremely costly or difficult to test in the deployed environment. In power system simulation, key issues are the ability to wrap the systems of equations (such as Partial Differential Equations) describing the deployed environment into real-time software models, provide low synchronization overhead between the hardware and software, and reduce reliance on proprietary platforms. This paper introduces an open source HIL simulation framework that can be ported to any standard Unix-like system on any shared-memory multiprocessor computer, requires minimal operating system scheduler controls, enables an asynchronous user interface, and allows for an arbitrary number of secondary control components. The framework is implemented in a soft real-time IIIL simulation of a power transmission network with physical Flexible AC Transmission System (FACTS) devices. Performance results are given that demonstrate a low synchronization overhead of the framework. © 2008 IEEE.

关键词： Hardware-in-the-loop simulation

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Camera handoff with adaptive resource management for multi-camera multi-target surveillance

Camera handoff with adaptive resource management for multi-c...

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IEEE 5th International Conference on Advanced Video and Signal Based Surveillance, AVSS 2008

作者： Chen, Chung-Hao Yi, Yao Page, David Abidi, Besma Koschan, Andreas Abidi, Mongi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN 37996 United States GE Global Research Center Niskayuna NY 12309 United States

ISBN: (纸本)9780769533414

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras' resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah. © 2008 IEEE.

关键词： Cameras

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Learning structurally discriminant features in 3D faces

Learning structurally discriminant features in 3D faces

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IEEE International Conference on Image Processing

作者： Sreenivas R. Sukumar Hamparsum Bozdogan David L. Page Andreas F. Koschan Mongi A. Abidi Imaging Robotics and Intelligent Systems Lab Department of Electrical and Computer Engineering University of Tennessee Knoxville USA Department of Statistics University of Tennessee Knoxville USA

In this paper, we derive a data mining framework to analyze 3D features on human faces. The framework leverages kernel density estimators, genetic algorithm and an information complexity criterion to identify discriminant feature-clusters of lower dimensionality. We apply this framework on human face anthropometry data of 32 features collected from each of the 300 3D face mesh models. The feature-subsets that we infer as the output establishes domain knowledge for the challenging problem of 3D face recognition with dense 3D gallery models and sparse or low resolution probes.

关键词： Probes Face recognition Data mining Humans Facial features Feature extraction Principal component analysis Linear discriminant analysis Input variables intelligent robots

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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An Open Framework for Highly Concurrent Real-Time Hardware-in-the-Loop Simulation

An Open Framework for Highly Concurrent Real-Time Hardware-i...

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IEEE Annual International computer Software and Applications Conference (COMPSAC)

作者： Ryan C. Underwood Bruce M. McMillin M. L. Crow Department of Computer Science Intelligent Systems Center Missouri University of Science and Technology Rolla MO USA Electrical and Computer Engineering Intelligent Systems Center Missouri University of Science and Technology Rolla MO USA

Hardware-in-the-loop (HIL) real-time simulation is becoming a significant tool in prototyping complex, highly available systems. The HIL approach permits testing of hardware prototypes of components that would be extremely costly or difficult to test in the deployed environment. In power system simulation, key issues are the ability to wrap the systems of equations (such as Partial Differential Equations) describing the deployed environment into real-time software models, provide low synchronization overhead between the hardware and software, and reduce reliance on proprietary platforms. This paper introduces an open source HIL simulation framework that can be ported to any standard Unix-like system on any shared-memory multiprocessor computer, requires minimal operating system scheduler controls, enables an asynchronous user interface, and allows for an arbitrary number of secondary control components. The framework is implemented in a soft real-time HIL simulation of a power transmission network with physical Flexible AC Transmission System (FACTS) devices. Performance results are given that demonstrate a low synchronization overhead of the framework.

关键词： Computational modeling Hardware Real time systems Load modeling Power systems Mathematical model computers

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Low-Cost Multispectral Aerial Imaging using Autonomous Runway-Free Small Flying Wing Vehicles

Low-Cost Multispectral Aerial Imaging using Autonomous Runwa...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Austin M. Jensen Marc Baumann YangQuan Chen Center for Self-Organizing and Intelligent Systems (CSOIS) Electrical and Computer Engineering Department Utah State University UT USA

Aerial imaging has become very important to areas like remote sensing and surveying. However, it has remained expensive and difficult to obtain with high temporal and spatial resolutions. This paper presents a method to retrieve georeferenced aerial images by using a small UAV (unmanned aerial vehicle). Obtaining aerial images this way is inexpensive, easy-to-use and allows for high temporal and spatial resolutions. New and difficult problems are introduced by the small image footprint and the inherent errors from an inexpensive compact inertial measurement unit (IMU). The small image footprint prevents us from using the features from the images to help negate the errors from the IMU, which is done in conventional methods. Our method includes: using the data from the IMU to georeference the images, projecting the images on the earth and using a man-in-the-loop approach to minimize the error from the IMU. Sample results from our working system are presented for illustration.

关键词： Remotely operated vehicles Mobile robots Unmanned aerial vehicles Remote sensing Aircraft Spatial resolution Irrigation NASA Costs Crops

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Experimental study of fractional order proportional integral (FOPI) controller for water level control

Experimental study of fractional order proportional integral...

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IEEE Conference on Decision and Control

作者： Varsha Bhambhani YangQuan Chen Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical & Computer Engineering Utah State University Logan UT USA

ISBN: (纸本)9781424431236

Based on our previously developed tuning procedure for fractional order proportional integral controller (FO-PI), we present in this paper an extensive comparative experimental study on coupled-tank liquid level controls. Our experimental study consists of four steps, they are mathematical modeling of the plant, identification of plant parameters, water-level controller design and comparisons in Simulink [software (s/w) mode] and final experimental verification and comparisons in real-time [hardware (h/w) mode]. The FO-PI controller is compared with Ziegler Nichol¿s (ZN) and Modified Ziegler Nichol¿s (MZN) conventional integer order PI controllers in terms of load disturbance rejection, changes in plant dynamics and setpoint tracking. Experimental results confirmed that FO-PI controller is a promising controller in terms of percentage overshoot and system response in liquid-level control in face of nonlinearities introduced by pumps, valves and sensors.

关键词： Pi control Proportional control Level control Nonlinear control systems Control nonlinearities Control systems Mathematical model Hardware Zinc Nonlinear dynamical systems

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