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2011 17th Korea-Japan Joint Workshop on Frontiers of Computer Vision, FCV 2011

作者： Lee, Yongcheol Jung, Jiyoung Kweon, In-So Robotics Program KAIST Daejeon Korea Republic of Department of Electrical Engineering KAIST Daejeon Korea Republic of

ISBN: (纸本)9781612846774

This paper presents a real-time background subtraction method which handles illumination changes and dynamic backgrounds such as flapping flags and waving trees. Previous approaches based on Gaussian mixture models usually generates models pixelwise, which makes it difficult to operate in realtime due to computational complexity. Moreover, pixelwise models tend to fail in sudden illumination changes or in dynamic backgrounds. In order to solve this problem, we propose an on-line boosting based background subtraction algorithm. Our approach divides the background area into overlapping patches instead of pixels, and learn classifiers with those patches. The main contribution of this paper is to propose a novel training process for classifiers which use block based Opponent Color Local Binary Pattern (OCLBP). Experimental results show that in environments containing illumination changes and/or dynamic backgrounds, our on-line boosting method using block based OCLBP outperforms previous on-line boosting methods or Gaussian mixture model based methods for robust background subtraction. © 2011 IEEE.

关键词： Local binary pattern

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A sensor-zone hierarchical topology for multi-robot exploration

A sensor-zone hierarchical topology for multi-robot explorat...

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2012 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2012

作者： Alunni, Nicholas Goloski, Richard Haggerty, Andrew Jones, Eric Fischer, Gregory S. Nestinger, Stephen S. Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute Worcester MA United States

ISBN: (纸本)9781467323475

Distributed computing is becoming more prevalent in engineering today. Multi-robot systems are simply an extension of that, not only dividing the computing power, but also the physical capabilities among multiple robots. This paper serves as a proof of concept investigation into a sensor-zone hierarchical topology by assessing its ability to autonomously explore an unknown area. This goal was approached by designing a three-tier robotic hierarchy as well as developing the concept of abstract robot sensor zones. Experiments were conducted by modifying the total number of robots in the system using a custom built simulation and experimentally verified using custom fabricated mobile robots. Results showed that different combinations of robots can yield positive results for heterogeneous multi-robot systems, allowing computational and physical resources to be tailored to specific scenarios. © 2012 IEEE.

关键词： Multipurpose robots

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Histogram of Oriented Gradients (HOG) and Haar Cascade with Convolutional Neural Network (CNN) Performance Comparison in the Application of Edge Home Security System 1

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International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2022

作者： Asy’ari, Muhammad Zacky Filbert, Sebastian Sukra, Zener Lie Automotive and Robotics Program Computer Engineering Department BINUS ASO of Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9783031290787

ISBN: (纸本)9783031290770

In recent years, security has played a significant role in our daily lives. House security has become more popular with the enhancement of the Internet of Things (IoT) in intelligent home automation. This paper aims to build a system that can detect faces and the presence of unknown people using computer vision methods combined with the Internet of things. Two algorithms, Histogram of Oriented Gradients (HOG) and Haar Cascade classifiers with the enhancement of Convolutional Neural Network (CNN), were used to compare their performance. The system utilizes Nvidia Jetson Nano as an edge device, HD camera, Light Emitting Diode (LED), and sound buzzer as peripheral hardware. Telegram messenger application was used to notify the homeowner when uninvited guests passed through the pre-defined security area. In the result, the HOG method has 100% accuracy compared to 75% Haar Cascade with 720p video quality in the proposed developed system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Internet of things

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Image-based ICP algorithm for visual odometry using a RGB-D sensor in a dynamic environment

Image-based ICP algorithm for visual odometry using a RGB-D ...

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1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012

作者： Kim, Deok-Hwa Kim, Jong-Hwan Department of Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642373732

This paper proposes a novel approach to calculate visual odometry using Microsoft Kinect incorporating depth information into RGB color information to generate 3D feature points based on speed up robust features (SURF) descriptor. In particular, the generated 3D feature points are used for calculating the iterative closest point (ICP) algorithm between successive images from the sensor. The ICP algorithm works based on image information of features differently from previous approaches. This paper suggests one of the modified versions for a state-of-the-art implementation of the ICP algorithm. Such an approach makes accurate calculation of the rigid body transformation matrix for visual odometry in a dynamic environment. From this calculation step, dynamically moving features can be separated into outliers. Then, the outliers are filtered with random sample consensus (RANSAC) algorithm for accurate calculation of the rigid body transformation matrix. The experiments demonstrate that visual odometry is successfully obtained using the proposed algorithm in a dynamic environment. © 2013 Springer-Verlag.

关键词： Iterative methods

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Interval type-2 fuzzy logic controllers for flocking behavior

Interval type-2 fuzzy logic controllers for flocking behavio...

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5th IEEE International Conference on Digital Ecosystems and Technologies, DEST 2011

作者： Lee, Seung-Mok Myung, Hyun Department of Civil and Environmental Engineering Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

ISBN: (纸本)9781457708725

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produce better performances under noisy environments. In this paper, therefore, we present a control architecture for flocking behavior that is based on interval type-2 FLC to implement the flocking behaviors of separation, obstacle avoidance, and velocity matching. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC. © 2011 IEEE.

关键词： Fuzzy sets

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Investigation of Robot's Eye Gaze Affecting Human Pedestrian Behavior by Robot in Virtual Space 23

Investigation of Robot's Eye Gaze Affecting Human Pedestrian...

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23rd International Conference on Machine Learning and Cybernetics, ICMLC 2024

作者： Takata, R.Y.O. Fuse, Yotaro Takagi, Noboru Myagmardulam, Bilguunmaa Motoyoshi, Tatsuo Sawai, K.E.I. Masuta, Hiroyuki Graduate School of Intelligent Robotics Program Toyama Prefectural University Toyama Japan Toyama Prefectural University Department of Data Science Toyama Japan Toyama Prefectural University Department of Intelligent Robotics Toyama Japan

ISBN: (纸本)9798331528041

We investigate the effects of robot's gaze on human behavior when a human and a robot pass each other in a virtual reality space (VR). Nonverbal communication, particularly eye contact, influences physical proximity between individuals in human-to-human interaction. Results of a study indicate that the robot's gaze affects the physical distance between a human and a robot in human-robot communication. Studies on robot's gaze tend to focus on experimental scenarios in which robots and humans communicate. However, robot's gaze in environments with interactions, such as crossing paths, has not been extensively investigated. Therefore, we hypothesize that the robot's gaze exhibits an influence on the physical distance between humans and robots during encounters. In our experiment, we compare three conditions: a robot with a rotating neck and gaze directed at the subject, a faceless robot with a rotating neck, and a faceless robot with a rotating neck and gaze directed at the subject. We analyze the subject's paths of movement and physical distance between the subjects and the robot. Results suggest that the hypothesis that 'intimacy equilibrium model' works when humans and robot's cross paths in the VR environment is not supported. © 2024 IEEE.

关键词： Human robot interaction

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Consideration of Constructing a Weed Detection Method for an Agricultural Robot in Perilla Fields 23

Consideration of Constructing a Weed Detection Method for an...

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23rd International Conference on Machine Learning and Cybernetics, ICMLC 2024

作者： Sugie, Tatsuya Takagi, Noboru Motoyoshi, Tatsuo Sawai, Kei Masuta, Hiroyuki Graduate School of Intelligent Robotics Program Toyama Prefectural University Toyama Japan Toyama Prefectural University Department of Data Science Toyama Japan Toyama Prefectural University Department of Intelligent Robotics Toyama Japan

ISBN: (纸本)9798331528041

In recent years, the number of farmers in Japan has been decreasing, and the automation of agriculture using robots, AI, and IoT, known as 'smart agriculture,' is being promoted. In this context, Toyama city is promoting a project to build a robot for automatic weeding between plants in a perilla fields. In this research, we are in charge of the system part that detects weeding regions and informs the weeding mechanism. In the field, a wide variety of weeds form vegetation, and it is necessary to prevent food crops from being cut. Therefore, we detect crop regions and the rest of the area should be the weeding regions. In this study, we construct a system to detect crop regions by transfer learning the object detection model YOLO-v8, which is a convolutional neural network (CNN), and evaluate the system in terms of detection accuracy and processing speed. © 2024 IEEE.

关键词： Convolutional neural networks

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Vibration pattern for the implementation of haptic joystick

Vibration pattern for the implementation of haptic joystick

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Noh, Kyung-Wook Kang, Sun-Kyun Lee, Dong-Hyuk Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

In this paper, the obstacle recognition research is conducted by using vibration pattern. Remotely, the user can perceive the surroundings sensed by the obstacle recognition unit. The vibration motor was installed at the bottom of the joystick in order to let the user perceive the distance value of the obstacle which can be recognized by ultrasonic sensors. And in the various situations, the operation can be precisely implemented by using the Fuzzy controller. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Ultrasonic sensors

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Methodology for optimizing electrical grounding grids in stratified soils using advanced calculation techniques and evolutionary algorithms

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Swarm and Evolutionary Computation 2025年 95卷

作者： Silva, Carlos Leandro Borges da Pires, Thyago Gumeratto Silva Filho, Antonio Marcelino Bulhões, Junio Santos Belo, Orlando M. Oliveira Rodrigues, Clóves Gonçalves Coimbra, Antonio Paulo Calixto, Wesley Pacheco Electrical Mechanical & Computer Engineering School Federal University of Goias Goiania Goias PC 74.605-220 Brazil Institute of Systems and Robotics Coimbra University CoimbraPC 3030-290 Portugal Department of Informatics School of Engineering University of Minho BragaPC 4710-057 Portugal Electrical Power Systems Study Group Federal Institute of Tocantins Palmas TocantinsPC 77.021-090 Brazil Graduate Program in Production and Systems Engineering Pontifical Catholic University of Goias Goiania Goias PC 74605-010 Brazil Mato Grosso Brazil Technology Research and Development Center Federal Institute of Goias Goiania Goias PC 74.055-110 Brazil

This paper presents a practical methodology for optimizing the geometry of electrical grounding grids at industrial frequencies of 50Hz and 60Hz, integrating advanced calculation techniques and evolutionary algorithms to improve the safety and operational performance of electrical grounding systems. The proposed approach is particularly beneficial for industrial automation and control systems, where effective grounding is necessary to maintain system reliability and prevent downtime. This methodology employs mathematical modeling and computational tools to optimize grid parameters, ensuring compliance with safety standards while reducing operational costs, thus contributing to the overall efficiency of automated systems in industrial environments. The study reports a reduction of up to 66% in the number of vertical rods and 40% in horizontal conductors compared to traditional methods. These results indicate that the proposed methodology can significantly reduce material usage and costs while maintaining electrical safety in accordance with regulatory standards, making it applicable to a wide range of industrial settings, including substations and automated facilities. © 2025 The Authors

关键词： Electric grounding

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Car Engine and Chassis Assembly Training Simulation Using VR Technology

Car Engine and Chassis Assembly Training Simulation Using VR...

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2023 International Conference on Electrical Engineering and Informatics, ICEEI 2023

作者： Noya, Miguel Yehezkiel Asy'ari, Muhammad Zacky Kuswandi, Christian Bernard Sukra, Zener Lie Automotive and Robotics Program Binus Aso School of Engineering Bina Nusantara University Computer Engineering Department Jakarta Indonesia

ISBN: (纸本)9798350381290

The process of educating and learning about the automotive industry is still ongoing, and one of the most effective techniques is the provision of direct practice. Such a system is regarded as effective, albeit with certain downsides. One of them is the restricted area and time required to conduct the exercise, as well as the significant risk of accidents during vehicle engine assembly. Based on these justifications, Vehicle Engine Assembly Simulation with Virtual Reality (VR) Technology is now available as an alternate means of educating students about the automotive industry, particularly car engine assembly. This concept employs a virtual environment that allows users to perceive the automobile world in real time through an immersive experience. VR allows users to directly disassemble automobile engines. This virtual reality application was created utilizing the Oculus Quest 2 platform and the Unity Game Engine. © 2023 IEEE.

关键词： Virtual reality

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