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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： W. Wang H. X. Zhang K. Wang J. W. Zhang W. H. Chen Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Dept of Informatics University of Hamburg Beijing Germany Department of Computer Science University of Hamburg Hamburg Germany Robotics Institute Beijing University of Aeronautics and Astronautics Beijing China Center of Electrical and Electronics Engineering Beijing University of Aeronautics and Astronautics Beijing China

The concept of a modular climbing caterpillar robot is inspired by the kinematics of the real caterpillar. Due to the fixed constraints between the suckers and wall, the gait of the caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain, and then to an open chain orderly. This paper investigates the joint control methods of the gait in detail. During the open chain periods, an Unsymmetrical Phase Method (UPM) is applied to ensure the reliable attachment of the passive suckers to the wall. But in the closed chain state, a four links kinematics model is adopted to fulfill the fixed constraints produced by the attached suckers. By combining the two methods together, we acquire complete joint control trajectories for a modular caterpillar robot with seven joints. At the end of this paper, on-site tests confirm the above principles and the validity of the climbing gait.

关键词： Legged locomotion Kinematics Climbing robots robotics and automation Mobile robots Intelligent robots Mechanical engineering computer science Joining processes Tail

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Genetic algorithm based optimization for EMG pattern recognition system

Genetic algorithm based optimization for EMG pattern recogni...

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作者： Fischer, P. Amaral, T.G. Dias, O.P. Wolczowski, A.R. Lichtenstein, M. Institute of Computer Engineering Control and Robotics Faculty of Electronics Wroclaw University of Technology Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland Escola Superior de Tecnologia de Setúbal/IPS CESET ISR - Pólo Coimbra 2910-761 Setúbal Portugal Escola Superior de Tecnologia de Setúbal/IPS CESET INESC - Lisboa 2910-761 Setúbal Portugal

ISBN: (纸本)9783902661555

The paper presents the concept of genetic algorithm based optimization for the EMG pattern recognition system controlling the hand prosthesis. The recognition of EMG signals for determining the hand movements is made by a linear neural network discriminating between five predefined grasps. The input feature vector for the classification was established using AR model, and its coefficients became the features. The genetic algorithms are used to optimize the number of elements in the input feature vector and simultaneously maintain the recognition efficiency at the same level. Experimental results show a good efficiency in the optimization method maintaining the performance of the recognition system for the studied grasp movements' repertoire.

关键词： Genetic algorithms

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining computer industry Electrical products industry

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Genetic algorithm based optimization for EMG pattern recognition system

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IFAC Proceedings Volumes 2009年第13期42卷 53-58页

作者： P. Fischer T.G. Amaral O.P. Dias A.R. Wołczowski M. Lichtenstein Institute of Computer Engineering Control and Robotics Faculty of Electronics Wroclaw University of Technology Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland Escola Superior de Tecnologia de Setúbal/IPS CESET ISR – Pólo Coimbra 2910-761 Setúbal Portugal (Tel: +351-265-79000) Escola Superior de Tecnologia de Setúbal/IPS CESET INESC – Lisboa 2910-761 Setúbal Portugal (Tel: +351-265-79000)

Abstract The paper presents the concept of genetic algorithm based optimization for the EMG pattern recognition system controlling the hand prosthesis. The recognition of EMG signals for determining the hand movements is made by a linear neural network discriminating between five predefined grasps. The input feature vector for the classification was established using AR model, and its coefficients became the features. The genetic algorithms are used to optimize the number of elements in the input feature vector and simultaneously maintain the recognition efficiency at the same level. Experimental results show a good efficiency in the optimization method maintaining the performance of the recognition system for the studied grasp movements’ repertoire.

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The tangible tele-meeting system for effective remote human communication

The tangible tele-meeting system for effective remote human ...

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39th International Symposium on robotics, ISR 2008

作者： Lee, Hyun-Jin Jeong, Mun-Ho You, Bum-Jae Korea Institute of Science and Technology Center for Cognitive Robotics Research Hawolgok-Dong Seoul 136-791 Korea Republic of Hanyang University Dept. of Electronics and Computer Engineering Seoul Korea Republic of

The virtual reality technology publishes many results, for example video game, 3D virtual movie, interface of computer and virtual meeting. However, the virtual reality has some restrictions that user neither can touch objects nor feels like what we feel in the real world. Also user should wear some heavy equipment to make user feel reality. Furthermore, these equipments are too expensive to use people. Recently, many researchers make effort to overcome restrictions of virtual reality using the robot technology or huge display instruments. However, these approaching still can't touch others or it wears heavy equipments. We proposed a new system which is called the Tangible telemeeting system. It overcomes the restrictions of virtual reality. The user wears only see-through-HMD, and the user can touch 3D objects using the humanoid robot. The Tangible tele-meeting system links human with robots with cyber space by using the multi-view camera, a humanoid robot and network technology. When the user communicates with the other using the Tangible tele-meeting system, the user can use all senses which relate communication. It becomes more effective than other virtual meeting systems.

关键词： Anthropomorphic robots

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Development of a stereo vision system for remotely operated robots: A control and video streaming architecture

Development of a stereo vision system for remotely operated ...

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IEEE International Symposium on Virtual Environments, Human-computer Interfaces and Measurement Systems (VECIMS)

作者： A. Amanatiadis A. Gasteratos C. Georgoulas L. Kotoulas I. Andreadis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper describes the open and flexible architecture of a stereo vision system prototype, using open source software. The system is designed for teleoperated robots and includes a four degrees of freedom stereo head mechanism, a pair of high performance digital cameras, a head tracker and a head mounted display. All processes for the head control and video streaming are performed in Linux-based Real-time Operating Systems using open source libraries under GPL license. Experimental results showed that our system is capable of satisfying the hard-real time requirements for the head control, with great precision, and a low latency for the stereo video streaming. The video streaming management is particularly sophisticated resulting in a flexible, efficient and reliable service.

关键词： Streaming media Robots computers Kernel Cameras Real time systems Stereo vision

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Investigation of fuzzy models for the valuation of residential premises using the KEEL tool

Investigation of fuzzy models for the valuation of residenti...

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8th International Conference on Hybrid Intelligent Systems, HIS 2008

作者： Lasota, Tadeusz Mazurkiewicz, Jacek Trawinski, Bogdan Trawinski, Krzysztof Agricultural University of Wroclaw Faculty of Environmental Engineering and Geodesy C.K. Norwida 25/27 50-375 Wroclaw Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wybrzeze S. Wyspianskiego 27 50-370 Wroclaw Poland Wroclaw University of Technology Institute of Applied Informatics Wybrzeze S. Wyspianskiego 27 50-370 Wroclaw Poland Wroclaw University of Technology Faculty of Electronics Wybrzeze S. Wyspianskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9780769533261

A series of experiments aimed to generate and learn fuzzy models for the valuation of residential premises was conducted using the KEEL tool (Knowledge Extraction based on Evolutionary Learning). Four regression and four post-processing algorithms were applied to several data sets. They referred to sales/purchase transactions of residential premises, which were derived from the cadastral system and the registry of real estate transactions. The results proved the usefulness of the tool to carry out laborious and tedious investigation in a relatively short time. Further research is needed to determine to what extent data coming from such sources allow to build the real estate valuation models. © 2008 IEEE.

关键词： Housing

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Audio-Visual Speech Processing Framework for Lip Reading

Audio-Visual Speech Processing Framework for Lip Reading

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Abdulbaset M. Nasr Abd Rahman Ramli Mohammad Hamiruce Shamala K Subramaniam Robotics Lab Institute of advanced technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Computer and Communications Systems Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Electrical and Electronics Engineering Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Communication Technology & Networks Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia

It is well known that speech production and perception process is inherently bimodal consisting of audio and visual components. Recently there has been increased interest in using the visual modality in combination with the acoustic modality for improved speech processing. This field of study has gained the title of audio-visual speech processing. Lip movement recognition, also known as lip reading, is a communication skill which involves the interpretation of lip movements in order to estimate some important parameters of the lips that include, but not limited to, size, shape and orientation. In this paper, we represent a hybrid framework for lip reading which is based on both audio and visual speech parameters extracted from a video stream of isolated spoken words. The proposed algorithm is self-tuned in the sense that it starts with an estimations of speech parameters based on visual lip features and then the coefficients of the algorithm are fine-tuned based on the extracted audio parameters. In the audio speech processing part, extracted audio features are used to generate a vector containing information of the speech phonemes. These information are used later to enhance the recognition and matching process. For lip feature extraction, we use a modified version of the method used by F. Huang and T. Chen for tracking of multiple faces. This method is based on statistical color modeling and the deformable template. The experiments based on the proposed framework showed interesting results in recognition of isolated words.

关键词： Speech processing Image processing Parameter estimation Data mining Feature extraction Robots computer networks Systems engineering and theory Communications technology computer science

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Investigation of Fuzzy Models for the Valuation of Residential Premises Using the KEEL Tool

Investigation of Fuzzy Models for the Valuation of Residenti...

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International Conference on Hybrid Intelligent Systems (HIS)

作者： Tadeusz Lasota Jacek Mazurkiewicz Bogdan Trawinski Krzysztof Trawinski Institute of Applied Informatics Wroclaw University of Technology Wroclaw Poland Faculty of Environmental Engineering and Geodesy Agricultural University of Wrocław Wroclaw Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wrocław Poland Wrocław University of Technology Institute of Applied Informatics Wrocław Poland Faculty of Environmental Engineering and Geodesy Agricultural University Wroclaw Poland Faculty of Electronics Wrocław University of Technology Wrocław Poland

A series of experiments aimed to generate and learn fuzzy models for the valuation of residential premises was conducted using the KEEL tool (knowledge extraction based on evolutionary learning). Four regression and four post-processing algorithms were applied to several data sets. They referred to sales/purchase transactions of residential premises, which were derived from the cadastral system and the registry of real estate transactions. The results proved the usefulness of the tool to carry out laborious and tedious investigation in a relatively short time. Further research is needed to determine to what extent data coming from such sources allow to build the real estate valuation models.

关键词： Data models Tuning Buildings Algorithm design and analysis Data mining Floors Cost accounting

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A rotational and translational image stabilization system for remotely operated robots

A rotational and translational image stabilization system fo...

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2007 IEEE International Workshop on Imaging Systems and Techniques, IST'07

作者： Amanatiadis, A. Andreadis, I. Gasteratos, A. Kyriakoulis, N. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str. GR-67100 Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace GR-67100 Xanthi Greece

ISBN: (纸本)1424409659

Remotely operated robots equipped with on board cameras, apart from providing video input to operators, perform optical measurements to assist their navigation as well. Such image processing algorithms require image sequences, free of high frequency unwanted movements, in order to generate their optimal results. Image stabilization is the process which removes the undesirable position fluctuations of a video sequence improving, therefore, its visual quality. In this paper, we introduce the implementation of an image stabilization system that utilizes input from an on board camera and a gyrosensor. The frame sequence is processed by an optic flow algorithm and the inertial data is processed by a discrete Kalman filter. The compensation is performed using two servo motors for the pan and tilt movements and frame shifting for the vertical and horizontal movements, Experimental results of the robot head, have shown fine stabilized image sequences and a system capable of processing 320 × 240 Pixel image sequences at approximately 10 frames/ sec, with a maximum acceleration of 4 deg/sec2. © 2007 IEEE.

关键词： Image analysis

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