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检索条件"机构=Department of Robotics Engineering and Computer Science"

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Feature extraction based on common spatial analysis for time domain parameters

Feature extraction based on common spatial analysis for time...

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Li, Xinyang Sam Ge, Shuzhi Pan, Yaozhang Hong, Keum-Shik Zhang, Zhengchen Hu, Xiaosu Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Singapore 138632 Singapore Cognitive Science Laboratory Department of Cogno-Mechatronics Engineering Pusan National University Busan 609735 Korea Republic of

ISBN: (纸本)9781457707223

In this paper, an approach of feature extraction by designing common spatial filters specifically for time domain parameters (TDP) is proposed. This approach is aiming at motor imagery detection in electroencephalogram (EEG). Particularly, this method calculates the derivatives of the original signals and then applies common spatial analysis (CSP) to each order of derivatives. Variances of the spatially filtered signal after taking logarithm are used as features. Quadratic discriminant analysis (QDA) is applied to the feature vectors and classifies the vectors into different categories. We evaluate our approach using data consisting of two classes: left-hand and right-hand movement imageries from three subjects, and comparison between the proposed method and applying CSP analysis to the whole set of EEG signal directly is presented. Our results show that the proposed method generates more discriminant features in this motor imagery classification issue. © 2011 IEEE.

关键词： Feature extraction

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Trajectory planning and control for multiple-vehicles systems

Trajectory planning and control for multiple-vehicles system...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Anugrah K. Pamosoaji Keum-Shik Hong Shuzhi Sam Ge School of Mechanical Engineering Pusan National University Busan South Korea Department of Cogno-Mechatronics Engineering Pusan National University Busan South Korea Robotics Institute 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

Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented.

关键词： Vehicles Trajectory Planning Acceleration Educational institutions Simulation Control design

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Retinal vessel tortuosity evaluation via Circular Hough Transform

Retinal vessel tortuosity evaluation via Circular Hough Tran...

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Iranian Conference of Biomedical engineering (ICBME)

作者： Farnoosh Ghadiri HamidReza Pourreza Touka Banaee Morteza Delgir Computer Engineering Department Machine Vision Laboratory Ferdowsi University of Mashhad Iran Computer Engineering Department Machine Vision Laboratory University of Ferdowsi Mashhad Iran Ophthalmic Research Center Khatam-Al-Anbia Hospital Medical science University of Mashhad Iran Computer Science Department Robotics Laboratory Northeastern University USA

Retinal vessel tortuosity has shown to be significantly associated with cardiovascular diseases such as hypertension and diabetes. Despite importance of this field a few techniques have been proposed yet. All previous methods rely on a vessel extraction phase, which its accuracy affects final output and also time consuming. Nobility of presented algorithm is to introduce a method for evaluating retinal vessel tortuosity without any explicit vessel detection. We use the Circular Hough Transform (CHT) based on gradient field of the retinal image. Each vessel curve is detected as a semi-circle by Hough transform and tortuosity of the curve is determined with the help of accumulated value of circle center and its radius. As there are no any specific database for tortuosity evaluation, the algorithm was tasted on database consisting of 40 images, mixture of DRIVE database and images from Khatam-Al-Anbia Hospital consisting of 40 retinal images, of which 20 were tortuous and 20 were non-tortuous. The proposed algorithm can achieve classification rate of 92% along with less computation time in compare of previous methods.

关键词： Transforms Retinal vessels Classification algorithms Biomedical measurements Biomedical imaging Image segmentation

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Design and development of Nancy, a social robot

Design and development of Nancy, a social robot

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： S.S. Ge J.J. Cabibihan Z. Zhang Y. Li C. Meng H. He M.R. Safizadeh Y.B. Li J. Yang Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering National University of Singapore Singapore National University of Singapore Singapore SG Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore

In this paper, we present the design of a social robot, Nancy, which is developed as a platform for engaging social interaction. Targeting for a social, safe, interactive and user-friendly robot mate, the design philosophy of Nancy is presented with mechanical, electrical, artificial skin and software specifications. In particular, there are 32 degrees of freedom (DOFs) through the whole body of Nancy, and the social intelligence is implemented based on vision, audio and control subsystems.

关键词： Robots Joints Humans DC motors Cameras Visualization Skin

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Computational image analysis for determination of the oil palm fruit maturity

Computational image analysis for determination of the oil pa...

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IASTED International Conference on Computational Photography, CPhoto 2011

作者： Razali, Mohammad Hudzari Ismail, Wan Ishak Wan Harun, Mohammad Haniff B. Ramli, Abdul Rahman Sulaiman, Muhammad Nasir Intelligent System and Robotics Laboratory Institute of Advanced Technology 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Department of Biological and Agriculture Engineering Faculty of Engineering 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Department of Computer Science and Information Technology Faculty of Science Computer and Information Technology 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Biological Research Division Malaysian Palm Oil Board No. 6 Persiaran Institusi Bandar Baru Bangi 43000 Kajang Selangor Malaysia Department of Agriculture Universiti Sultan Zainal Abidin Kampus Kota Kuala Terengganu 20400 Terengganu Malaysia

ISBN: (纸本)9780889868748

The experiment was conducted to determine the Hue optical properties of the three categories of Fresh Fruit Bunches (FFB) namely unripe, underripe and ripe. The Nikon Coolpix 4500 digital camera with tele-converter zooming and the Keyence machine vision were used to capture the FFB images with two different settings of natural environment and direct sunlight. The species of oil palm tree used for the experiments were Elaeis Oleifera and Elaeis Guineensis Jacq. The images from the Nikon digital camera were analysed for optical properties of Red, Green, Blue (RGB) and then convert to Hue value using developed graphical user interface (GUI). The Hue values will then be compared to the value obtained from Keyence machine vision. The images of oil palm FFB in plantation were captured with setting cameras parameter namely shutterspeed which set to 0.125 seconds, image sensor's sensitivity (ISO) was set to Normal and white balance were calibrated using the standard white calibration CR-A74. The lighting intensity under oil palm canopy was simultaneously recorded and monitored using Extech Light Meter Datalogger. Using Analysis of Variance (ANOVA), the ratio of test statistic of F with F critical for experiments under natural environment of oil palm plantation indicated the best differences of the hue optical properties among different maturity level of unripe, ripe and overripe FFB. Using the SAS programming for statistical analysis, the Hue and Red color values were found had significant effect to distinguish the maturity level (fm) of FFB with Pr > F are showed less than 0.01. The Green and Blue color values were not significant effect to differentiate the FFB maturity level which indicated the value of Pr > F showed 0.0243 and 0.9938 respectively. The Hue and Blue color values were not interaction with different lighting condition and the maturity level which indicated Pr > F for ml*fm showed 0.0668 and 0.1667 respectively. From the ANOVA analysis, the Hue is the best c

关键词： computer vision

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Responses to robot social roles and social role framing

Responses to robot social roles and social role framing

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International Symposium on Collaborative Technologies and Systems

作者： Victoria Groom Vasant Srinivasan Cindy L. Bethel Robin Murphy Lorin Dole Clifford Nass CHIMe Laboratory Department of Communication University of Stanford Stanford CA USA CRASAR Department of Computer Science & Engineering Texas A and M University College Station TX USA Social Robotics Laboratory Department of Computer Science Yale University New Heaven CT USA Department of Computer Science & Eng Texas A&M CRASAR TX

ISBN: (纸本)9781612846385

Promoting dependents' perceptions of point-of-injury care robots as social actors may elicit feelings of companionship and diminish stress. However, numerous rescuers may control these robots and communicate with dependents through the robot, creating communication and interaction challenges that may be best addressed by creating a pure medium robot expressing no social identity. In addition, setting dependents' expectations regarding the robot's social role may improve perceptions of the robot and trust in the robot's suggestions. In a 3 (role: pure medium vs. social medium vs. social actor) × 2 (framing: framed vs. unframed) between-participants design, participants interacted with a simulation of a robot in a search and rescue context (N=84). Robot social behavior decreased participants' fear, yet made participants feel more isolated. Framing generated increased trust in the robot. Implications for the theory and design of robots and human-robot interaction are discussed.

关键词： Media Humans Educational robots Context Games Load modeling

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Fourier shape-frequency words for actions

Fourier shape-frequency words for actions

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International Conference on Image Information Processing

作者： Bishwajit Sharma KS Venkatesh Amitabha Mukerjee Centre for AI & Robotics DRDO Complex Bangalore India Department of Electrical Engineering Indian Institute of Technology Kanpur India Department of Computer Science Indian Institute of Technology Kanpur India

Actions consist of short shape-motion fragments which recur in a seemingly unique sequence. We propose that these short fragments may constitute a concise vocabulary for actions. Models based on such “words” sometimes use the bag of words paradigm, which ignores sequence information. Also, despite the well-known utility of Fourier and similar features for temporal modelling, Fourier models have not received due attention to model action words until recently. Hence, we employ shape-frequency features as a temporally windowed Fourier transform to capture local motion and shape information. Unsupervised clustering discovers the naturally occurring modes (words) of these features. Each labelled video can thus be represented as a sequence of cluster transitions. Though different actions share common words, we observe that the word sequences are different for different actions, enabling easy discrimination. We evaluate the model on the Weizmann action dataset [1] and achieve 96.7% classification accuracy, and show how it compares to other similar algorithms.

关键词： Shape Hidden Markov models Training Feature extraction Information processing Discrete Fourier transforms Testing

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A Potential Field Method-based Extension of the Dynamic Movement Primitive Algorithm for Imitation Learning with Obstacle Avoidance

A Potential Field Method-based Extension of the Dynamic Move...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Huan Tan Erdem Erdemir Kazuhiko Kawamura QianDu Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN37212 Institute of Robotics and Automatic Information System Nankai University Tianjin 300071 China

This paper proposes an extension of the original Dynamic Movement Primitive (DM?) algorithm proposed by S. Schaal to imitation learning for object avoidance in a dynamic environment. A potential field was incorporated into the original DMP algorithm by using a virtual goal position which is calculated using a potential field. A humanoid robot ISAC was trained in simulation to learn how to generate movements similar to the demonstrated movements when an obstacle is placed in the environment. This proposed extension provides robots more robust and flexible movement generation when an obstacle exists. Simulations were performed to verify the effectiveness of the method.

关键词： Imitation Learning Dynamic Movement Primitive Potential Field Obstacle Avoidance.

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM

Incremental Construction of the Saturated-GVG for Multi-Hypo...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Tong Tao Stephen Tully George Kantor Howie Choset College of Information Technical Science Nankai UniversityTianjin 300071China Electrical and Computer Engineering Department Robotics Institute at Carnegie Mellon University PittsburghPA 15213USA

The generalized Voronoi graph (GVG) is a topological representation of an environment that can be incrementally constructed with a mobile robot using sensor-based control. However, because of sensor range limitations, the GVG control law will fail when the robot moves into a large open area. This paper discusses an extended GVG approach to topological navigation and mapping: the saturated generalized Voronoi graph (S-GVG), for which the robot employs an additional wall-following behavior to navigate along obstacles at the range limit of the sensor. In this paper, we build upon previous work related to the S-GVG and provide two important contributions: 1) a rigorous discussion of the control laws and algorithm modifications that are necessary for incremental construction of the S-GVG with a mobile robot, and 2) a method for incorporating the S-GVG into a novel multi-hypothesis SLAM algorithm for loop-closing and localization. Experiments with a wheeled mobile robot in an office-like environment validate the effectiveness of the proposed approach.

关键词： Simultaneous localization and mapping Mobile robots Navigation Image edge detection Delay

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