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Dynamic Gesture Recognition using 3D Trajectory

Dynamic Gesture Recognition using 3D Trajectory

引用

2014 4th IEEE International Conference on Information Science and Technology

作者： Qianqian Wang Yuan-Rong Xu Xiao Bai Dan Xu Yen-Lun Chen Xinyu Wu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences University of Science and Technology of China Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we proposed an effective method which can recognize dynamic hand gesture by analyzing the information of motion trajectory captured by leap motion in three-dimension space. A simple gesture spotting is tried. And the orientation characteristics are quantified and coded as the feature after pre-processing the data. Then an improved discrete HMM algorithm is utilized to model and classify *** results on a self-built database of dynamic hand gestures(numbers 0-9) demonstrate the effectiveness of the proposed method.

关键词： Dynamic Gesture Recognition using 3D Trajectory

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Mechanical design and implementation of a soft inflatable robot arm for safe human-robot interaction

Mechanical design and implementation of a soft inflatable ro...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Ronghuai Qi Tin Lun Lam Yangsheng Xu Intelligent Robotics Research Centre Smart China Holdings Limited Shatin N.T. Hong Kong Dept. of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong

In this paper, a novel soft inflatable arm is proposed for telepresence robots. It is capable of imitating human arms to realize remote interaction. The new proposed arm using a very common and low cost inflatable material, and it is very light, which weight is only about 50 grams, but can well realize agile movement by driving three tiny cables installed in shoulder joint and elbow joint, respectively. Meanwhile, the proposed cable driven mechanism also allows connecting numbers of joints easily. The soft inflatable can work just by pumping air with very low pressure (7.32 ± 3.45 kPa), and allows human directly and safely contact without any external sensors. Moreover, to solve the challenge problems of soft joint deformation, the kinematic modeling of the joint with deformation compensation is also developed. Experimental results show that the soft inflatable arm can agilely move for remote interaction. The workspace and velocity are also close to an adult's arm movement space and normal motion speed.

关键词： Joints Robots Electron tubes Shoulder Actuators Elbow Plastics

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Shadow removal for light field images

Shadow removal for light field images

引用

International Conference on Information and automation (ICIA)

作者： Yan Zhou Huiwen Guo Guoyuan Liang Xinyu Wu Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we present an automatic method to remove shadows in light field images. Taking into account the internal structure of the light field data, dept. map of the captured scene is extracted to calculate the surface normal. Using nonlocal matching by combining chromaticity, normal and spatial location information in an anisotropic window, the shadow confidence of each pixel is established. For effectively utilizing the prior knowledge, MRF (Markov random fields) is introduced to obtain the shadow label of each pixel iteratively. Once obtained the shadow labels of pixels, inpainting with an energy minimize framework is used to remove shadows. The experimental results on real data demonstrate good performance of this algorithm.

关键词： Image color analysis Cameras Computational modeling Computer vision Minimization Mathematical model Lighting

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A novel feature extracting method for dynamic gesture recognition based on support vector machine

A novel feature extracting method for dynamic gesture recogn...

引用

International Conference on Information and automation (ICIA)

作者： Yuanrong Xu Qianqian Wang Xiao Bai Yen-Lun Chen Xinyu Wu Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences University of Science and Technology of China Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

In this paper, we propose a method based on the SVM algorithm to recognize dynamic hand gestures. The information of motion trajectory is captured by a leap motion in three-dimension space. A new methodology of feature extracting is proposed to guarantee the length of samples being the same. The elements of feature vectors are ranged according to two different criteria: one is the amplitude of the variation of orientation angles, and the other criterion is the order of the appearance of features. Experimental results show that this method can classify the dynamic hand gestures effectively.

关键词： Vectors Trajectory Feature extraction Equations Mathematical model Hidden Markov models automation

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Dynamic hand gesture early recognition based on Hidden Semi-Markov Models

Dynamic hand gesture early recognition based on Hidden Semi-...

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IEEE International Conference on robotics and Biomimetics

作者： Qianqian Wang Yuanrong Xu Yen-Lun Chen Yong Wang Xinyu Wu University of Science and Technology of China Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong. Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

ISBN: (纸本)9781479973989

Real-time performance can be greatly improved, if the early recognition is implemented. In this paper, a dynamic hand gesture early recognition system is proposed. The system can recognize the gesture before it is completed. Our method is based on the Hidden Semi-Markov Models. Three-dimensional information of the gesture trajectory collected by leapmotion is the main data we used. Experiments on the dataset which we established demonstrate the effectiveness of our method.

关键词： Hidden Markov models Gesture recognition Training Conferences Trajectory Arrays

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Regulating the mechanical properties of cells using a non-UV light-addressable hydrogel patterning process

Regulating the mechanical properties of cells using a non-UV...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Na Liu Changlin Zhang Lianqing Liu Yuechao Wang Gwo-Bin Lee Wen J. Li Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning CN State Key Laboratory of Robotics Chinese Academy of Sciences (CAS) China University of the Chinese Academy of Sciences Beijing China Department of Power Mechanical Engineering National Tsinghua University Hsinchu Taiwan Dept. of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong

The determination of the mechanical properties of cells plays an important role in biological studies and has gained acceptance recently as a possible label-free biomarker for cell status determination or diseases detection. Investigations on how external cellular properties affect cell mechanics are helpful in understanding cell disease processes and cell morphogenesis, which are of large significance in medical science. Although most researchers have focused on individual cell mechanics, or the effect of substrate stiffness on cells, cell mechanical response due to interactions among cells is yet to be examined. A reason for this is that the study of cell mechanical response to cell shape requires one to use a cell patterning process. However, existing cell patterning methods are very complex and time-consuming. In this paper, we describe a practical and rapid technique that can easily pattern cells into desired shapes, which allows investigations of the effect of external environment on cell stiffness. In the new technique, Poly-(ethylene) glycol diacrylate (PEGDA) hydrogel film with thickness 70-100 nm is controllably patterned on a hydrogenated amorphous silicon (a-Si:H) substrate by polymerizing PEGDA molecules in-situ using programmable visual light patterns. The idea is to enable the confinement of cells cultured on the hydrogels into special areas. The elastic modulus of the patterned cells is measured using an atomic force microscope. Experimental results have demonstrated the versatility of the technique as a tool for cell pattering and exploration of cell mechanics under external mechanical stimuli.

关键词： Substrates Shape Polymers Force Films Cells (biology)

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Using agents in virtual environments to assist controllers to manage multiple assets

引用

1st International Workshop on Cognitive Agents for Virtual Environments, CAVE 2012, Held at AAMAS 2012

作者： Beer, Martin D. Alboul, Lyuba Norling, Emma Wallis, Peter Communication and Computing Research Centre Faculty of Arts Computing Engineering and Sciences Sheffield Hallam University Sheffield United Kingdom Centre for Automation and Robotics Research Faculty of Arts Computing Engineering and Sciences Sheffield Hallam University Sheffield United Kingdom Centre for Policy Modelling Manchester Metropolitan University Manchester United Kingdom NLP Group Dept. of Computer Science University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642364433

Search and rescue operations often require complex coordination of a range of resources, including human and robotic resources. This paper discusses a proposed new framework that allows agent technology to be used in conjunction with a virtual environment to provide a human controller with an effective visualisation of the distribution of a collection of autonomous objects, in our case, Unmanned Aerial Vehicles (UAVs) so that they can be managed in a way that allows them to successfully complete the task in the minimum possible time. It is our contention that to do this effectively there needs to be two-way initiation of verbal conversations, but that it is not necessary for the system to completely understand the conversations required. An example scenario is presented that illustrates how such a system would be used in practice, illustrating how a single human can communicate with a swarm of semi-autonomous actors verbally and envisage their activities in a swarm based on the visual cues provided within the virtual environment. An agent-based solution is proposed that meets the requirements and provides a command station that can manage a search using a collection of UAVs effectively. © 2013 Springer-Verlag.

关键词： Virtual reality

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A novel precise pick and place device for robotic manipulators

A novel precise pick and place device for robotic manipulato...

引用

IEEE International Conference on robotics and Biomimetics

作者： Ronghuai Qi Tin Lun Lam Huihuan Qian Yangsheng Xu The Intelligent Robotics Research Centere Smart China Research Smart China (Holdings) Limited Hong Kong Dept. of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781479927456

In this paper, a novel precise pick and place device (PPD) is proposed for robotic manipulators. It is capable of accurately picking the work pieces and placing them when they are deviated from their initial taught picking positions. In addition, a new muti-line identification algorithm is also developed, which is very effective, especially when the obtained data is limited but needs precise identification. Moreover, the design and implementation of PPD are developed, including hardware design, control algorithm, muti-line fitting approach, offsets calculation and compensation of inverse kinematics, etc. The advantages of PPD are low cost, effective algorithm with high accuracy, when compare with vision or other traditional approaches. Numerous pick and place experiments have been conducted and the results are satisfied.

关键词： Manipulators Lasers Robot sensing systems Correlation Robot kinematics Algorithm design and analysis

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A stochastic state prediction in AFM based nanomanipulation

A stochastic state prediction in AFM based nanomanipulation

引用

2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai Hou, Jing State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781467312776

The reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two problem to be solved: one is how to describe state uncertainties at every different sample times;the other is how to deduce the next state uncertainty according to the current one. This paper provides a method to construct a stochastic predictive model to covering those problems. In the concrete, the predictive model uses Gaussian and Beta distribution as well as Mont Carlo Method to describe and deduce the state uncertainties respectively. The method is also applied to the process of pushing a nano-particle using AFM. © 2012 IEEE.

关键词： Stochastic systems

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A double-fed induction machine with a multistage-multilevel frequency converter for pumped storage power plant applications

A double-fed induction machine with a multistage-multilevel ...

引用

2011 IEEE Power engineering and automation Conference, PEAM 2011

作者： Pronin, M. Vorontsov, A. Nahdi, T. Shonin, O. Gogolev, G. Dept. of Electrical Drive Power Machines Company Saint-Petersburg Russia Dept. of Robotics and Industrial Automation Saint Petersburg Electrotechnical University Saint Russia Dept. of Electrical Engineering Mining Institute Saint-Petersburg Russia

ISBN: (纸本)9781424496884

The paper presents the modeling and simulation study of a variable speed drive for the pump-storage station composed of a reversible turbine and a doubly fed induction machine (DFIM) exited with a multistage-multilevel frequency converter. The DFIM is started up as a synchronous machine by means of a CSI on the stator side and a VSI on the rotor side. An emphasis is placed on the control system structure aimed at the active and reactive power regulation via a mechanical governor and a slip controller. The paper concludes by analyzing start-up responses and performance characteristics of the system in sub-and over-synchronous modes of operation. © 2011 IEEE.

关键词： Control systems

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