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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhou, Linqi Chen, Zhihua Liu, Jun Liu, Zhi Chen, Yumeng Zhang, Liting Nanchang Hangkong University Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Moe Key Lab of Nondestructive Testing Technology Nanchang330063 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing100081 China

ISBN: (纸本)9798350307320

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot's foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper. © 2023 IEEE.

关键词： Robot programming

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Imaging inverse problem using sparse representation with adaptive dictionary learning

Imaging inverse problem using sparse representation with ada...

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IEEE International Advance Computing Conference, IACC

作者： Mittu George P Vivek M Joonki Paik The Oxford College of Engineering Bangalore Image Processing and Intelligent Systems Laboratory Chung-Ang University Seoul South Korea

ISBN: (纸本)9781479980482

Sparse representation is one of the powerful emerging statistical techniques for modeling images. This representation approximates the image as a combination of the codewords within a dictionary which is over complete. Recent years have seen a tremendous growth in the field of sparse representation. Here a method is proposed for image inversing by using iterative deblurring based on sparse representation of an image which is uniformly blurred. The key idea behind this methodology is the sparseness of natural images in some domain. The quality of recovered image majorly depends on the domain or the dictionaries that are used to represent it. In this paper, the K-SVD algorithm is used to train the group of codewords from a set of quality natural image patches. For each of the local patch within the blurred image, the best suited sub-dictionary from the trained dictionary data base is selected. In addition, a smoothness regularization constraint is added that prevents the reblurring of the image edges. For numerical stability the sparsity weight is adaptively computed which also improves the reconstructed image quality. Comparative study on some of the existing restoration algorithm proves the proposed method outperforms them all.

关键词： Dictionaries Adaptation models image reconstruction Minimization image restoration High definition video Inverse problems

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Co-scheduling model and algorithm of the three gorges-gezhou dam based on GA

Co-scheduling model and algorithm of the three gorges-gezhou...

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7th World Congress on intelligent Control and Automation (WCICA 2008), vol.10

作者： Xiaoping Wang Huan Qi Henghui Xiao Xiaopan Zhang Key Laboratory of Image Processing and Intelligent Control Institute of Systems Engineering Huazhong University of Science and Technology Wuhan China

This paper provided a mathematic model for Three Gorges-Gezhou dam co-scheduling problems, based on full analysis of Three Gorges-Gezhou dam's actual needs, to maximize the total throughput of Three Gorges-Gezhou dam, to maximize the utilization ratio of shiplock area and minimize the total navigation shiplock waiting time under eight constraint conditions. Then a scheduling algorithm based on GA was pointed out. The three gorges south lock, Gezhou dam lock, the three gorges north lock were optimization searched separately in the GA algorithm. The scheduling results of the three gorges south lock were taken as the origin of the whole plan period, and also were taken as the basis of the Gezhou dam scheduling together with the ship applied information. The scheduling results of Gezhou dam were regarded as the basis of the three gorges north lock scheduling together with the ship applied information, so repeated, until the optimal scheduling results were given, or the most iterative step was reached. The applied result shows that making a period plan of two dam five lock only needs 2 minutes, and the plan is quite effective according to practical application.

关键词： Genetic algorithm The three gorges-gezhou dam Co-scheduling Mathematical model

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A Time-Independent Control Method for Variable-Speed Load-Bearing Walking with Suspended Backpack

A Time-Independent Control Method for Variable-Speed Load-Be...

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第43届中国控制会议

作者： Zhiyuan He Yu Cao Yifei Guo Jian Huang Hubei Key Laboratory of Brain-inspired Intelligent Systems Key Laboratory for Image Processing and Intelligent ControlSchool of Artificial Intelligence and AutomationHuazhong University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Walking with a load brings a significant burden to human shoulders,resulting in increasing metabolic energy consumption and the risk of skeleton and muscle *** backpack has been widely conducted for load-bearing walking,but exiting time-dependent control methods and event-based control methods are unable to exploit the characteristics of human gait *** this case,a time-independent control(TIC) method capable of eliminating the time dependence and adapting to variable speed is *** on the dynamical model of human-backpack system,an assistance profile along with the parameter optimization method are introduced which allows the backpack to reduce the burden on human shoulders during load-bearing *** the simulation evaluation,the proposed TIC method is compared with an impedance controller based time-dependent method and a locked backpack,under both constant speed and variable speed *** results demonstrates that the TIC case achieves an 89.1% reduction in dynamic load on shoulder under the condition of constant speed and a 78.2% reduction under the condition of variable speed,compared with the LOCKED case.

关键词： suspended backpack load carriage time-independent control

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Hand detection using facial information

Hand detection using facial information

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IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)

作者： Sangpil Han Seokmok Park Min-jae Kim Joonki Paik Image Processing and Intelligent Systems Laboratory Graduate School of Advanced Imaging Science and Film Chung-Ang University Seoul Korea

This paper presents a robust hand detection algorithm using the facial information. The proposed algorithm consists of four steps: (i) detection of a face, (ii) generation of regions of interest (ROI) to detect hands, (iii) skin color extraction from the face region, and (iv) detection of hands using the face skin color in the ROI. The proposed algorithm can reduce false detection caused by a similar skin color, and provides a successful detection rate up to 92 percent.

关键词： Face Skin Color Detection algorithms image color analysis Robustness Face detection

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Plane identification and segmentation from uncalibrated stereo based on evolutionary approach

Plane identification and segmentation from uncalibrated ster...

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IEEE International Symposium on intelligent Signal processing and Communication systems (ISPACS)

作者： Junghoon Jung Taekyung Kim Ohyun Kwon Joonki Paik Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea

ISBN: (纸本)0780386396

Planes are widely used in various vision tasks due to their abundance especially in man-made environments. Assuming an uncalibrated stereo image acquisition system, we propose a new plane identification and segmentation algorithm using an evolutionary approach. The proposed algorithm enables faster and more robust estimation of the plane since it progressively searches the best solution in a guided direction. Experimental results show that the proposed algorithm has higher performance than the existing method.

关键词： image segmentation Iterative algorithms Evolutionary computation Robustness Transmission line matrix methods image processing intelligent systems Laboratories Multimedia systems Electronic mail

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Wavelet transform-based hierarchical active shape model for object tracking

Wavelet transform-based hierarchical active shape model for ...

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IEEE International Symposium on intelligent Signal processing and Communication systems (ISPACS)

作者： Hyunjong Ki Jeonho Shin Joonki Paik Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea

ISBN: (纸本)0780386396

This paper proposes a hierarchical approach to the active shape model (ASM) using a wavelet transform. Local structure model fitting in the ASM plays an important role in model-based pose and shape analysis. The proposed algorithm can robustly find good solutions in complex images by using wavelet decomposition. We also describe how to apply Kalman filtering for ASM-based, real-time video tracking. The proposed algorithm has been tested for various sequences containing human motion to demonstrate the improved performance of the proposed object tracking.

关键词： Active shape model Humans Robustness Kalman filters Filtering image analysis image processing intelligent systems Laboratories Multimedia systems

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EmotionIC: emotional inertia and contagion-driven dependency modeling for emotion recognition in conversation

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Science China(Information Sciences) 2024年第8期67卷 130-146页

作者： Yingjian LIU Jiang LI Xiaoping WANG Zhigang ZENG School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Key Laboratory of Brain-inspired Intelligent Systems Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education Institute of Artificial Intelligence Huazhong University of Science and Technology

Emotion recognition in conversation(ERC) has attracted growing attention in recent years as a result of the advancement and implementation of human-computer interface technologies. In this paper,we propose an emotional inertia and contagion-driven dependency modeling approach(EmotionIC) for ERC tasks. Our EmotionIC consists of three main components, i.e., identity masked multi-head attention(IMMHA), dialogue-based gated recurrent unit(DiaGRU), and skip-chain conditional random field(SkipCRF).Compared to previous ERC models, EmotionIC can model a conversation more thoroughly at both the feature-extraction and classification levels. The proposed model attempts to integrate the advantages of attention-and recurrence-based methods at the feature-extraction level. Specifically, IMMHA is applied to capture identity-based global contextual dependencies, while Dia GRU is utilized to extract speaker-and temporal-aware local contextual information. At the classification level, SkipCRF can explicitly mine complex emotional flows from higher-order neighboring utterances in the conversation. Experimental results show that our method can significantly outperform the state-of-the-art models on four benchmark *** ablation studies confirm that our modules can effectively model emotional inertia and contagion.

关键词： emotion recognition in conversation emotional inertia and contagion multi-head attention gated recurrent unit conditional random field

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An efficient MRF embedded level set method for image segmentation

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IEEE Transactions on image processing 2015年第1期24卷 9-21页

作者： Yang, Xi Gao, Xinbo Tao, Dacheng Li, Xuelong Li, Jie State Key Laboratory of Integrated Services Networks School of Electronic Engineering Xidian University Xi'an710071 China Centre for Quantum Computation and Intelligent Systems Faculty of Engineering and Information Technology University of Technology Sydney 235 Jones Street UltimoNSW2007 Australia State Key Laboratory of Transient Optics and Photonics Xi'An Institute of Optics and Precision Mechanics Chinese Academy of Sciences Xi'an710119 China Video and Image Processing System Laboratory School of Electronic Engineering Xidian University Xi'an710071 China

This paper presents a fast and robust level set method for image segmentation. To enhance the robustness against noise, we embed a Markov random field (MRF) energy function to the conventional level set energy function. This MRF energy function builds the correlation of a pixel with its neighbors and encourages them to fall into the same region. To obtain a fast implementation of the MRF embedded level set model, we explore algebraic multigrid (AMG) and sparse field method (SFM) to increase the time step and decrease the computation domain, respectively. Both AMG and SFM can be conducted in a parallel fashion, which facilitates the processing of our method for big image databases. By comparing the proposed fast and robust level set method with the standard level set method and its popular variants on noisy synthetic images, synthetic aperture radar (SAR) images, medical images, and natural images, we comprehensively demonstrate the new method is robust against various kinds of noises. In particular, the new level set method can segment an image of size 500 x 500 within 3 s on MATLAB R2010b installed in a computer with 3.30-GHz CPU and 4-GB memory. © 2014 IEEE.

关键词： image segmentation

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Enhanced active shape model using evolutionary computation and its extension to RGB color space

Enhanced active shape model using evolutionary computation a...

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IEEE International Symposium on intelligent Signal processing and Communication systems (ISPACS)

作者： V. Maik Hyunjong Ki Sangjin Kim Jeongho Shin Seongwon Lee L. Paik Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea

This paper deals with an application of evolutionary computation to active shape model (ASM) for locating and analyzing objects an image. The ASM algorithm has proved to be a successful method for segmentation of objects in gray-scale images. However, a number of modifications and extensions to the basic ASM algorithm have been proposed to cope up with various limitations. The proposed method in this paper relies on two such extensions: (i) evolutionary algorithm for better local structure model; and (ii) incorporation of color information for solving the outlier problem in model fitting.

关键词： Active shape model Evolutionary computation Humans Biological system modeling Application software Deformable models Robustness Colored noise Noise shaping image processing

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