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A study of the human-robot synchronous control system based on skeletal tracking technology

A study of the human-robot synchronous control system based ...

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IEEE International Conference on Robotics and Biomimetics

作者： Ningjia Yang Feng Duan Yudi Wei Chuang Liu Jeffrey Too Chuan Tan Binbin Xu Jin Zhang Department of Automation and Intelligence Science College of Computer and Control Engineering Nankai University Tianjin P.R.China Nankai University The Jiangnan Institute of Modern Industry Tokyo Daigaku Bunkyo-ku Tokyo JP

ISBN: (纸本)9781479927456

The purpose of this study is to develop a new system to synchronously control the simulated robot and humanoid robot based on the skeletal tracking technology. This system is a human-robot interaction system. Human can control the robot through the skeletal tracking technology without placing any marker on the subject's body. We use the Microsoft Kinect to get the skeleton framework information of the subject and input the data into the program. Therefore, the experiment has no demand on color to distinguish the subject's motions, and the subject can just perform in the front of the Kinect without wearing any control device. After processing the data, the computer controls the simulated robot to regenerate the subject's motions synchronously. In this study, we can control the simulated robot to do three different exercises. To verify the validity of the control system, we did a series of experiments to control a humanoid robot NAO. The experimental results show that the synchronous control system can distinguish the movements of human upper limb efficiently, and the cost is lower than that of the previous studies. This system controls both robot model and humanoid robot NAO based on human motion to achieve the human-machine interaction efficiently and the success rate is more than 90%.

关键词： Joints Robot sensing systems Elbow Tracking Filtering algorithms control systems

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On the achievable capacity of dual-polarized antenna systems in 3D indoor scenarios

On the achievable capacity of dual-polarized antenna systems...

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IEEE International Conference on Communications in China (ICCC)

作者： Fengxiang Wang Xiang Cheng Liuqing Yang Bo Yu Bingli Jiao School of Electronics Engineering & Computer Science Peking University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

Unlike triple-polarized antennas, dual-polarized antennas can be easily implemented into thickness limited devices and thus have received much attention recently. Dual-polarized antennas have the potential to double the channel capacity in comparison with an omnidirectional single-input single-output (SISO) system. However, in real three-dimensional (3D) scenarios, dual-polarized antennas cannot capture the arriving power from the third polarization direction, which is orthogonal to the two-dimensional (2D) polarization plane. This will lead to power loss, which may significantly affect the resultant channel capacity. By proposing a novel two-sphere single-bounced geometry-based stochastic model (GBSM) and rigorously analyzing the change of polarization after single-bounced scattering, this paper studies the impact of the power loss on the channel capacity and specifies the conditions under which the channel capacity of dual-polarized systems is even worse than that of omnidirectional SISO systems. Not only that this is the first endeavor on this subject, but also this work is of practical importance in guiding appropriate deployment of dual-polarized antennas in real 3D indoor scenarios.

关键词： Three-dimensional displays Antennas Channel capacity Vectors Signal to noise ratio Correlation Azimuth

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Application of PID retuning method for laboratory feedback control system incorporating FO dynamics

Application of PID retuning method for laboratory feedback c...

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International Carpathian control Conference (ICCC)

作者： L'ubomír Dorčák Emmanuel Gonzalez Ján Terpák Ivo Petráš Juraj Valsa Monika Žecová Institute of Control and Informatization of Production Processes Faculty BERG Technical University of Košice Kosice Slovakia Center for Automation Research College of Computer Studies De La Salle University Manila Philippines Faculty of Electrical Engineering and Computer Science Brno University of Technology Brno Czech Republic

Real objects in general are fractional-order (FO) systems, although in some types of systems the order is very close to integer order (IO). Since major advances have been made in the theory and practice of the identification of FO controlled objects and in the design of FO controllers, it is possible to consider also the real order of the dynamical systems and consider more quality criterion while designing the FO controllers with more degrees of freedom compared to their IO counterparts. In this paper, we present an application of the retuning method to design and apply new FO controller for the existing laboratory feedback control system with no modifications in the internal architecture of the original feedback control system. Along with the mathematical description, presented are also simulation results.

关键词： Closed loop systems Feedback control Mathematical model Laboratories Educational institutions PD control

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Personalized therapy selection by using multi-objective optimization

Personalized therapy selection by using multi-objective opti...

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IEEE 16th International Conference on Intelligent Engineering Systems, INES 2012

作者： Karpics, Ivars Institute of Computer Control Automation and Computer Engineering Faculty of Computer Science and Information Technology Riga Technical University Riga Latvia

ISBN: (纸本)9781467326957

In the article a therapy selection method by using topological modelling and multi- objective optimization is presented. In a medicine practice a doctor by taking into the count patients' health state and laboratory results, tries to suggest a treatment strategy, which mostly is a drug therapy. To solve this task a decision support system has been developed and proposed. The system includes a mathematical model of three self connected diseases. Therapies are evaluated by five efficiency objectives. To find the optimal therapy, seven multi- objective methods are selected and used. Optimization methods form decision support module which is implemented in the medical computer system. To evaluate a performance of the system, test examples are analysed. Conclusion includes the summary and proposals of further research. © 2012 IEEE.

关键词： Multiobjective optimization

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Meanshift algorithm based on kernel bandwidth adaptive adjust

Meanshift algorithm based on kernel bandwidth adaptive adjus...

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Chinese control Conference (CCC)

作者： Yunji Zhao Hailong Pei Baoluo Liu School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 China Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology) Ministry of Education Guangzhou 510640 China Department of Computer and Information Engineering Luoyang Institute of Science and Technology Henan 471023 China

Object tracking algorithm based on Meanshift algorithm with fixed kernel bandwidth does not realize object tracking correctly with the scale of object changed. According to this, a scheme of kernel bandwidth adaptive adjustment and predictions of object cancroids based on Kalman filter is proposed in this paper. In this algorithm, Object location predicted based on Kalman filter is used to initialize the Meanshift algorithm. The variation tendency of the kernel bandwidth is also determined based on Kalman filter. Experiment results demonstrate that this algorithm can realize the kernel bandwidth adaptive adjustment and object location prediction. The robustness of the tracking algorithm is also enhanced.

关键词： Prediction algorithms Kalman filters Electronic mail Kernel Bandwidth Robustness Conferences

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Comparison of Corner Detector and Region Detector for Vision-Based SLAM

Comparison of Corner Detector and Region Detector for Vision...

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International Conference on control, automation and Systems

作者： Byung-moon Jang Tae-jae Lee Dong-hoon Lee Kyung-min Han Dong-il "Dan" Cho Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Seoul National University Kwanak-ku Seoul 151-742 Korea LG electronics Tech. Control Team HA Control R&D Lab Gassan R&D Campus 327-23 Gasan-dong Geumcheon-gu Seoul 153-802 Korea

ISBN: (纸本)9781479905492

This paper presents the performances of a corner detector and a region detector in vision-based Simultaneous Localization and Mapping (SLAM). In vision-based SLAM, a feature detection process for data-association is the first step. Therefore, the repeatability of a feature detector is important. Feature detectors are generally categorized as the region detector and the corner detector. There are conflicting research results for the repeatability of corner detectors and region detectors. This paper shows SLAM results using a corner detector and a region detector. Extended Kalman Filters (EKF) are used for implementing the two SLAM methods. The localization errors are evaluated quantitatively. From the experimental results, it is demonstrated that the comer detector is more efficient than the region detector for the work performed in this paper.

关键词： SLAM comer detector region detector blob vision

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A novel pipeline for motif discovery, pruning and validation in promoter sequences of human tissue specific genes

A novel pipeline for motif discovery, pruning and validation...

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2012 IEEE 6th International Conference on Systems Biology, ISB 2012

作者： Gong, Xiu-Jun Yu, Hua Zhao, Fei-Fei School of Computer Science and Technology Tianjin University Tianjin China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Science Beijing China

ISBN: (纸本)9781467343985

Identification and analysis of tissue-specific (TS) genes and their regulatory activities play an important role in the understanding of mechanisms of organisms, disease diagnosis and drug design. In this paper, we designed a pipeline for the discovery of promoter motifs for tissue-specific genes. The pipeline consists of three phases: motif searching, motif merging and motif validation. The motif searching phase integrated three algorithms: MEME, AlignACE and Gibbs Sampling. In the second phase, we proposed a motif merging method, which is based on Bayesian probabilistic principles, to reduce redundancies of motifs from the first phase. Lastly, the motif validation phase verified the statistical significance of discovered motifs using a Bayesian Hypothesis Test approach. We performed the analysis on the sequences of promoter regions (-449bp-1000bp) of 4,552 human tissue-specific genes across 82 tissues and 924 housekeeping genes. The distributions of motifs in different promoter regions show that most motifs prefer to be in the proximal region (+500∼50bp, -50bp∼-500bp) of promoters. © 2012 IEEE.

关键词： Pipelines

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Human age estimation with surface-based features from MRI images

Human age estimation with surface-based features from MRI im...

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3rd International Workshop on Machine Learning in Medical Imaging, MLMI 2012, Held in conjunction with the 15th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2012

作者： Wang, Jieqiong Dai, Dai Li, Meng Hua, Jing He, Huiguang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Computer Science Wayne State University MI United States

ISBN: (纸本)9783642354274

Over the past years, many efforts have been made in the estimation of the physiological age based on the human MRI brain images. In this paper, we propose a novel regression model with surface-based features to estimate the human age automatically and accurately. First, individual regional surface-based features (thickness, mean curvature, Gaussian curvature and surface area) from the MRI image were extracted, which were subsequently used to construct combined regional features and the brain networks. Then, the individual regional surface-based features, brain network with surface-based features and combined regional surface-based features were used for age regression by relevance vector machine (RVM), respectively. In the experiment, a dataset of 360 healthy subjects aging from 20 to 82 years was used to evaluate the performance. Experimental results based on 10-fold cross validation show that, compared to the previous methods, age estimation model with combined surface-based features can yield a remarkably high accuracy (mean absolute error: 4.6 years and root mean squared error: 5.6 years) and a significantly high correlation coefficient (r = 0.94), which is the best age estimation result as far as we know and suggests that surface-based features are more powerful than other features used in previous methods for human age estimation. © 2012 Springer-Verlag.

关键词： Magnetic resonance imaging

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Personalized therapy selection by using multi-objective optimization

Personalized therapy selection by using multi-objective opti...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： Ivars Karpics Institute of computer control automation and computer engineering Faculty of computer science and information technology Riga Technical University Riga Latvia

关键词： Mathematical model Drugs Optimization methods computers

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Task-based grasp adaptation on a humanoid robot

Task-based grasp adaptation on a humanoid robot

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Bohg, Jeannette Welke, Kai León, Beatriz Do, Martin Song, Dan Wohlkinger, Walter Madry, Marianna Aldóma, Aitor Przybylski, Markus Asfour, Tamim Martí, Higinio Kragic, Danica Morales, Antonio Vincze, Markus Humanoids and Intelligence Systems Lab. Institute for Anthropomatics KIT Germany Autonomous Motion Lab. MPI for Intelligent Systems Germany Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI Spain Computer Vision and Active Perception Lab. KTH Sweden Automation and Control Institute TUW Austria

ISBN: (纸本)9783902823113

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa. © 2012 IFAC.

关键词： Anthropomorphic robots

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