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User-recognition system for an autonomous robot in human living environments

User-recognition system for an autonomous robot in human liv...

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作者： Hane, Yoshitaka Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

In this report, we describe a user-recognition system for an autonomous robot. The proposed method enables the robot to recognize the person who instructs it without placing any markers in human living environments. The system is based on differences information between some camera's images, matches the template, and recognizes color based on HSV information. The threshold can be lowered by combining features of these in formations. This system enables recognition under various environments. A moving object is initially extracted by using the difference between frames. Next, to reduce the load, the image is narrowed to the area on which the difference is concentrated. The system matches the template and forecasts the user's position. In addition, it determines a flesh-colored area by using HSV information. When two or more people are present in the field of view, the system determines that the person with the largest-width silhouette is closest to the robot. After confirming that the person is standing still in its presence, the robot waits for the potential user to identify his or her intention to use the robot;this is signaled by the user raising his or her right hand. This process is repeated every 100 milliseconds. ©ISAROB 2007.

关键词： Robots

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Navigation system for a mobile robot using an omni-directional camera

Navigation system for a mobile robot using an omni-direction...

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作者： Mochizuki, Tatsuya Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

This study developed a self-localization system that uses landmarks and movement to pursue a moving object. Specifically, an omni-directional camera was adopted as a visual sensor and was installed on a robot. The image from the omni-directional camera was processed to detect a landmark (an object), and the robot's distance from that landmark was then measured. These functions allowed the mobile robot to pursue a moving object. The measurement of distance based on the omni-directional image depends on the precise inclination of the camera. Consideration of this factor enabled the measurement of distance of relatively close objects with a high degree of precision. In this study, the effectiveness of this system was investigated by various experiments evaluating the measurement of distance, the movement to pursuit a moving object, and self-localization. The robot demonstrated its ability to recognize a moving object and to measure its distance and its angle in relation to the object. Based on these abilities, the robot could successfully follow a moving object. The robot's ability to recognize its location was seen to be based on its ability to recognize certain landmarks, the functions of which are mentioned above.

关键词： Mobile robots

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Intelligent design of automobile fixtures with genetic algorithms

Intelligent design of automobile fixtures with genetic algor...

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2nd International Conference on Innovative Computing, information and Control, ICICIC 2007

作者： Liu, Tung-Kuan Lin, Hou-Yuan Chen, Chiu-Hung Chou, Jyh-Horng Tsai, Jinn-Tsong Ho, Wen-Hsien Institute of System Information and Control Natl Kaohsiung First Univ. of Science and Technology Kaohsiung Taiwan Dept. of Computer Secience Natl Pingtung Univ. of Education Pingtung Taiwan Dept. of Medical Information Management Kaohsiung Medical University Kaohsiung Taiwan

ISBN: (纸本)0769528821

The design of an automobile fixture system should meet several interference-free requirements while locating fixture positions, e.g. (1) interference-free among various fixture modules, (2) interference-free among work pieces and fixture modules during clipping and moving and (3) interference-free among machining tools and fixture modules. Furthermore, a good design also needs to minimize the cost by selecting proper fixtures from the existed modular fixtures under clip-force limitations in the specification. To achieve multiple complex constraints and cost-minimum requirement, real-coded Genetic Algorithm (RGA) is proposed to resolve the optimum problem. Comparing to the traditional try-and-error method, the design based on this work is obviously cost-effective and time-saving by cutting down the total deign time and fixture assembling time due to the capability of finding more precise and complete solution. © 2007 IEEE.

关键词： Intelligent systems

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Circuit tolerance design using an improved immune algorithm

Circuit tolerance design using an improved immune algorithm

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2nd International Conference on Innovative Computing, information and Control, ICICIC 2007

作者： Tsai, Jinn-Tsong Ho, Wen-Hsien Chou, Jyh-Horng Liu, Tung-Kuan Dept. of Computer Science Natl Pingtung Univ. of Education Pingtung Taiwan Dept. of Medical Information Management Kaohsiung Medical University Kaohsiung Taiwan Institute of System Information and Control Natl Kaohsiung First Univ. of Science and Technology Kaohsiung Taiwan

ISBN: (纸本)0769528821

In this paper, we apply an improved immune algorithm to solve a circuit tolerance design problem, which has many design parameters and constraints. The evolutionary design approach, called a Taguchi immune algorithm (TIA), with a penalty function is proposed for solving the constrained optimization problem. The proposed TIA approach with a penalty function is effectively applied to solve the circuit tolerance design problem. © 2007 IEEE.

关键词： Networks (circuits)

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A Terminology Tagging system Using Knowledge in an Encyclopedia

A Terminology Tagging System Using Knowledge in an Encyclope...

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International Conference on Advanced Language Processing and Web information technology (ALPIT)

作者： Young-Jun Bae Ji-Hui Im Cheol-Young Ock Kang-Seop Shim Dong-Myoung Kim Ho-Seop Choe Department of Computer Engineering and Information Technology University of Ulsan South Korea Information System Development Team Korean Institute of Science and Technology Information South Korea

ISBN: (纸本)9780769529301;0769529305

In this paper, we developed a terminology tagging system using knowledge in an encyclopedia on *** the encyclopedia we first of all, constructed a terminology tagged corpus. The terminology tag sets consist of category information of terminology and identification in the encyclopedia. The corpus was used to extract context rules and heuristic rules for terminology tagging system and to be as an answer set for evaluating the *** context rules and heuristic rules are automatically extracted from the terminology tagged corpus and heuristic rules according to the syntactic patterns and morphological characteristics. The terminology tagging system uses the context rules, heuristic rules and dictionary of postposition and ending of a word instead of morphological analyzer for faster *** terminology tagging system is evaluated using the tagged corpus and its precision is resulted in 98.0%.

关键词： Terminology Tagging Encyclopedias Data mining Internet information technology Dictionaries Statistical analysis Databases Natural languages

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Development of a self-care robot - Study of automatic holding of object using robotic arm

Development of a self-care robot - Study of automatic holdin...

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作者： Henta, Hisatoshi Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Kawazu Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

This paper describes the development of a self-care support robot, developed to support elderly people with mobility problems. The Kitasap2 consists of a host computer and the physical body of a robot equipped with a robotic arm. The two are connected by a wireless LAN. The robotic arm has six degrees of freedom and is equipped with a robotic hand having three fingers. This paper describes the development of the ability of the robotic arm to hold and transport an object so as to reduce the user's operational load. It is necessary that such an operation be based on easily given instructions from the user. Therefore, we have developed systems in which selection and the recognition of the object are carried out using images provided by an omni-directional camera and a CCD camera. ©ISAROB 2007.

关键词： Robotic arms

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A Novel Formal Analysis Method of Network Survivability Based on Stochastic Process Algebra

A Novel Formal Analysis Method of Network Survivability Base...

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第十二届全国容错计算学术会议

作者： ZHAO Guosheng WANG Huiqiang WANG Jian Center of Computer Network and Information Harbin Normal UniversityHarbin 150001China Institute of Institute of Computer Science and Technology Harbin Engineer UniversityHarbin 150001China

Stochastic process algebras have been proposed as compositional specification formalisms for performance models. A formal analysis method of survivable network was proposed based on stochastic process algebra, which incorporates formal modeling into performance analysis perfectly, and then various performance parameters of survivable network can be simultaneously obtained after formal modeling. The formal description with process expression to the survivable network system was carried out based on the simply introduced syntax and operational semantics of stochastic process algebra. Then PEPA workbench tool was used to obtain the probability of system's steady state availability and transient state availability. Simulation experiments show the effectiveness and feasibility of the developed method.

关键词： formal analysis stochastic process algebra network survivability performance analysis

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Protein structure superposition by curve moment invariants and iterative closest point

Protein structure superposition by curve moment invariants a...

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2007 1st International Conference on Bioinformatics and Biomedical engineering, ICBBE

作者： Xu, Dong Li, Hua Gu, Tongjun Key Laboratory of Intelligent Information Processing Key Laboratory of Computer System and Architecture National Research Center for Intelligent Computing Systems Institute of Computing Technology Chinese Academy of Sciences Center for Systems Biology Institute of Biophysics Chinese Academy of Sciences Graduate University Chinese Academy of Sciences

ISBN: (纸本)1424411203

Superimpose one protein tertiary structure to another can help to find similarity between them and further identify functional and evolutionary relationships. We first extract invariant features under rigid body transformation for each protein backbone which is represented by alpha-carbons of all the residues. Then, the invariant features are embedded with Iterative Closest Point algorithm for superposition. With several initialized orientations, pairwise alignment can be achieved accurately only by few iterations. Experiments indicate that our proposed algorithm is competitive with several well-known algorithms and with smallest root mean squared distance. © 2007 IEEE.

关键词： Proteins

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Robot localization system based on 2D-color vision sensor

Robot localization system based on 2D-color vision sensor

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4th International Symposium on Autonomous Minirobots for Research and Edutainment, AMiRE 2007

作者： Ebied, H.M. Witkowski, U. Monier, E. Rückert, U. Abdel-Wahab, M.S. System and Circuit Technology Heinz Nixdorf Institute Paderborn University Fürstenallee 11 33102 Paderborn Germany Faculty of Computer and Information Sciences Ain Shames University Cairo Egypt International Graduate School of Dynamic Intelligent Systems University of Paderborn Germany

In this paper, a vision based localization is described. Mobile robots must be able to determine their own position to operate successfully in any environments. The Simultaneous Localization and Mapping (SLAM) problem is the key problem for any autonomous mobile robot. We will consider the positioning system of the autonomous minirobot Khepera II. The system uses different colored cylinder landmarks which are positioned at the corners of the environment. This paper describes development of an analytical model to calculate the robot's position based on a parameter set and the knowledge of the positions of landmarks. By using 2D vision, the robot is able to identify colored landmarks and to extract the centre of each landmark.

关键词： Object detection

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A long-distance control platform on environment urgency incident based on GSM\GPRS and 3S technology

A long-distance control platform on environment urgency inci...

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2007 IEEE International Geoscience and Remote Sensing Symposium, IGARSS 2007

作者： Wenzheng, Li Su, Li Jianjun, Zhou Dafang, Zhuang Computer College Beijing Technology and Business University Beijing 100037 China College of Information and Electrical Engineering China Agricultural University Beijing 100083 China State Key Lab. of Resource and Environmental Information System Institute of Geographic Sciences and Natural Resources Research Chinese Academy of Sciences Beijing 100101 China

ISBN: (纸本)1424412129

Applying modern information management technology to traditional environment field is the sign of making environment protection work modern and the necessitous task that environment protection departments are confronting. Building long-distance control platform on environment urgency incident has become one of the important tasks of safeguarding sustainable environment development in our country in order to enhance reaction ability to environment urgency incident and increase management strength to environment pollution incident. This paper built long-distance control platform on environment urgency incident depending on modern and high science technology with state environmental protection administration of China's guidance. This platform regarded GIS as base support surroundings and synthetically applied GIS, GPS and RS technology, wireless communication and transmission technology, Internet technology and so on. There is a detailed introduction to platform framework, relative technology, work principle and process, data organization, software realization and application etc. in this paper. © 2007 IEEE.

关键词： Global system for mobile communications

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