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Neural-network-based human intention estimation for physical human-robot interaction

Neural-network-based human intention estimation for physical...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Shuzhi Sam Ge Yanan Li Hongsheng He Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology Chengdu China Department of Electrical and Computer Engineering National University of Singapore Singapore National University of Singapore Singapore SG

To realize physical human-robot interaction, it is essential for the robot to understand the motion intention of its human partner. In this paper, human motion intention is defined as the desired trajectory in human limb model, of which the estimation is obtained based on neural network. The proposed method employs measured interaction force, position and velocity at the interaction point. The estimated human motion intention is integrated to the control design of the robot arm. The validity of the proposed method is verified through simulation.

关键词： Humans Robots Trajectory Force Impedance Hidden Markov models Estimation

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A mechanism to recover voice from logged VoIP sessions based on RTP

A mechanism to recover voice from logged VoIP sessions based...

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International Conference on Internet Multimedia Services Architecture and Applications, IMSAA

作者： Paromita Choudhury K. R. Prasanna Kumar G. Athithan Sukumar Nandi Center for Artificial Intelligence and Robotics Bangalore Karnataka India Department of Computer Science and Engineering Indian Institute of Technology Guwahati India

The convergence of voice and data on Internet Protocol (IP) networks has led to tremendous growth of Voice over IP (VoIP). While SIP/ H.323 are dominant signaling protocols, RTP is widely used for media transfer. Certain situations may require logging of RTP sessions along with the signaling information for call and voice analysis. Recovering voice from RTP packets requires explicit handling of RTP stack and decoding. In this paper, we propose a scheme that uses softphones with appropriate codec support for voice recovery from logged RTP packets. It is done using inherent provisions of RTP, specifically SSRC-multiplexing. The scheme also suggests the possibility of an active stream injection attack in RTP based VoIP.

关键词： Media Codecs Protocols IP networks Payloads Multiplexing Decoding

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

引用

4th International Conference on Interaction sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics Laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Human pose estimation in surveillance videos using temporal continuity on static pose

Human pose estimation in surveillance videos using temporal ...

引用

International Conference on Image Information Processing

作者： Anima Mishra Sharma KS Venkatesh Amitabha Mukerjee Center for AI & Robotics Bangalore India Department of Electrical Engineering Indian Institute of Technology Kanpur India Department of Computer Science & Engineering Indian Institute of Technology Kanpur India

Human pose estimation from monocular image sequences is attracting increasing attention, and 2D (image-based) as well as 3D (joint-motion based) approaches have been proposed. The former is computationally fast, and works also for less frequent poses, but reliability is low. The latter is computationally expensive owing to the high-dimensionality of the problem, despite attempts at dimensionality-reduction. We propose to impose temporal continuity constraints on the 2D approaches in order to improve reliability and obtain spatio-temporal descriptions of the action in the image plane. In the first stage, at each frame-level spatial localisation will be done by applying background subtraction, after that static image pose estimation is performed using CRF-based probabilistic assembly of parts, based on the approach by Ramanan [1]. Next, pose continuity is imposed via first-order Markovian constraints on the CRF search. This results in improved spatial accuracy as well as significantly reduced search. We present results from the Weizmann video dataset to demonstrate how such an approach can serve as an image-plane based alternative to full 3D modeling or manifold search.

关键词： Estimation Videos Humans Three dimensional displays Accuracy Information processing Manifolds

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Basis Pursuit in sensor networks

Basis Pursuit in sensor networks

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： João F. C. Mota João M. F. Xavier Pedro M. Q. Aguiar Markus Püschel Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh USA Institute of Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Computer Science ETH Zurich Switzerland

Basis Pursuit (BP) finds a minimum ℓ 1 -norm vector z that satisfies the underdetermined linear system Mz = b, where the matrix M and vector b are given. Lately, BP has attracted attention because of its application in compressed sensing, where it is used to reconstruct signals by finding the sparsest solutions of linear systems. In this paper, we propose a distributed algorithm to solve BP. This means no central node is used for the processing and no node has access to all the data: the rows of M and the vector b are distributed over a set of interconnected compute nodes. A typical scenario is a sensor network. The novelty of our method is in using an optimal first-order method to solve an augmented Lagrangian-based reformulation of BP. We implemented our algorithm in a computer cluster, and show that it can solve problems that are too large to be stored in and processed by a single node.

关键词： Clustering algorithms Optimization computers Distributed algorithms Vectors Partitioning algorithms Eigenvalues and eigenfunctions

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A Cascade Traffic Accident Recognition System Using Multi-sensor Cooperation

A Cascade Traffic Accident Recognition System Using Multi-se...

引用

International Conference on computer Communication and Management（ICCCM 2011）

作者： Ilkyun Jung Seung-Hun Kim Minho Lee Sung-Bae Cho Intelligent Robotics Research Center Korea Electronics Technology Institute School of Electronics Engineering Kyungpook University Department of Computer Science Yonsei University

This paper presents a cascade system to reliably recognize traffic accidents using multi-sensor cooperation. The system is consisted of a MSN (Master Sensor Node) and number of SN (Sensor Node)s with both low cost DSP and CCD. Each SN computes probabilities of accident with a set of images over time taken at different locations. Once more than one accident being reported, MSN is stimulated and conducts a synthetic decision making process with various information taken from each SN related to the accident. Experimental results show that the proposed cascade system drastically enhance reliability of traffic accident recognition and enables to be set in real environments.

关键词： traffic accident recognition, cascade system, multi-senor cooperation, SN, MSN

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Online multiple instance learning applied to hand detection in a humanoid robot

Online multiple instance learning applied to hand detection ...

引用

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Carlo Ciliberto Fabrizio Smeraldi Lorenzo Natale Giorgio Metta Robotics Brain and Cognitive Science Department Istituto Italiano di Tecnologia Genova Italy School of Electronic Engineering and Computer Science Queen Mary University of London UK

We propose an algorithm for the visual detection and localisation of the hand of a humanoid robot. This algorithm imposes low requirements on the type of supervision required to achieve good performance. In particular the system performs feature selection and adaptation using images that are only labelled as containing the hand or not, without any explicit segmentation. Our algorithm is an online variant of Multiple Instance Learning based on boosting. Experiments in real-world conditions on the iCub humanoid robot confirm that the algorithm can learn the visual appearance of the hand, reaching an accuracy comparable with its off-line version. This remains true when supervision is generated by the robot itself in a completely autonomous fashion. Algorithms with weak supervision requirements like the one we describe are useful for autonomous robots that learn and adapt online to a changing environment. The algorithm is not hand-specific and could be easily applied to wide range of problems involving visual recognition of generic objects.

关键词： Training Boosting Visualization Labeling Accuracy Humanoid robots

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Robotic covert path planning: A survey

Robotic covert path planning: A survey

引用

IEEE Conference on robotics, Automation and Mechatronics

作者： Mohamed Al Marzouqi Ray A. Jarvis Computer Engineering Department Khalifa University of Science Technology and Research Sharjah UAE Intelligent Robotics Research Centre Monash University Melbourne Australia

Covert robotics refers to the use of mobile robots with navigation abilities to carry out missions with stealth. Such robots would be useful in various high risk situations where safety and security are required. Yet, this research field is still immature. As presented in this paper, the little research conducted to date has produced some potential outcomes, but the field is still open for more research as many problems still need to be solved. The survey covers various works that directly and indirectly related to covert robot navigation. The paper aims to encourage more research towards this field.

关键词： Robot sensing systems Navigation Path planning Humans Observers Insects

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Exploiting foveation in user-centred image fusion

Exploiting foveation in user-centred image fusion

引用

IEEE GCC Conference & Exhibition

作者： E. Basaeed M. Al-Mualla D. Vernon Department of Computer Engineering Khalifa University of Science Technology and Research Sharjah UAE Department of Robotics Brain and Cognitive Sciences Italian Institute of Technology Genoa Italy

The selection of image fusion techniques has always been a compromise between effectiveness and efficiency. In this paper, foveation (using log-polar transformation) is introduced to satisfy the real-time requirement of applications where the fused image is eventually presented to a human to interpret. Log-polar transformation achieves a data reduction without a subsequent loss in perceptual information. Thus, it can be used to reduce the execution time of any existing image fusion technique without modifying the technique itself. In this paper, the log-polar transformation is integrated with three widely-used image fusion techniques: image averaging, the Laplacian pyramid, and the Discrete Wavelet Transform. Then, the proposed fusion process is objectively evaluated using a set of established metrics; they are Mutual Information (MI), Xydas & Petrovic (Q AB/F ), and Piella & Heijmans (Q w ).

关键词： Image fusion Retina Laplace equations Pixel Spatial resolution Discrete wavelet transforms

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Mechanical design of social robot Nancy

Mechanical design of social robot Nancy

引用

IEEE/SICE International Symposium on System Integration

作者： S. S. Ge M. R. Safizadeh Y. Li Social Robotics Laboratory Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and the NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents the mechanical design of a social robot, Nancy, developed by Social robotics Laboratory, Interactive and Digital Media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module structure and 32 degrees of freedom (DOFs), including 24 and 8 DOFs in upper-body and lower-body, respectively. 8 DOFs are considered in each arm to make Nancy able to imitate human limbs' motion. Nancy's head involves eye and eyelid motions with 3 DOFs which is on top of a 2-DOFs neck. The wheeled-base is designed in such a way to facilitate the multi-directional movements for Nancy. One of our main objectives in Nancy's mechanical design is to obtain powerful and smooth motion, light-weight joints and simple kinematics. They are achieved by Bowden cable-pulley mechanism driven by actuators located in lower-body. Accordingly, all joints are designed to have intersected axes. Most joints are driven by brushless D.C. motors embedded with electrical brake system to stabilize the robot, especially in case of power loss.

关键词： Robots Joints Shoulder Pulleys Neck Wrist Mechanical cables

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