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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Dan Song Carl Henrik Ek Kai Huebner Danica Kragic KTH - Royal Institute of Technology StockholmSwedenas members of the Computer Vision & Active Perception Lab.Centre for Autonomous Systems

A major challenge in modeling with BNs is learning the structure from both discrete and multivariate continuous data. A common approach in such situations is to discretize continuous data before structure learning. However efficient methods to discretize high-dimensional variables are largely lacking. This paper presents a novel method specifically aiming at discretization of high-dimensional, high-correlated data. The method consists of two integrated steps: non-linear dimensionality reduction using sparse Gaussian process latent variable models, and discretization by application of a mixture model. The model is fully probabilistic and capable to facilitate structure learning from discretized data, while at the same time retain the continuous representation. We evaluate the effectiveness of the method in the domain of robot grasping. Compared with traditional discretization schemes, our model excels both in task classification and prediction of hand grasp configurations. Further, being a fully probabilistic model it handles uncertainty in the data and can easily be integrated into other frameworks in a principled manner.

关键词： Data models Feature extraction Robot sensing systems Principal component analysis Grasping Humans

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Mechanical design of social robot Nancy

Mechanical design of social robot Nancy

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Ge, S.S. Safizadeh, M.R. Li, Y. Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9781457715235

This paper presents the mechanical design of a social robot, Nancy, developed by Social Robotics lab.ratory, Interactive and Digital media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module structure and 32 degrees of freedom (DOFs), including 24 and 8 DOFs in upper-body and lower-body, respectively. 8 DOFs are considered in each arm to make Nancy able to imitate human limbs' motion. Nancy's head involves eye and eyelid motions with 3 DOFs which is on top of a 2-DOFs neck. The wheeled-base is designed in such a way to facilitate the multi-directional movements for Nancy. One of our main objectives in Nancy's mechanical design is to obtain powerful and smooth motion, light-weight joints and simple kinematics. They are achieved by Bowden cable-pulley mechanism driven by actuators located in lower-body. Accordingly, all joints are designed to have intersected axes. Most joints are driven by brushless D.C. motors embedded with electrical brake system to stabilize the robot, especially in case of power loss. © 2011 IEEE.

关键词： Digital storage

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A kind of SND-based algorithm for self-adapting network congestion control

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Journal of Information and Computational Science 2011年第11期8卷 2033-2044页

作者： Zhang, Degan Hu, Yuxia Liang, Yanpin Liu, Zhaojing Tianjin Key Lab. of Intelligent Computing and Novel software Technology Tianjin University of Technology Tianjin 300191 China Key Laboratory of Computer Vision and System Ministry of Education Tianjin University of Technology Tianjin 300191 China

A kind of SND-based algorithm for self-adapting network congestion control has been presented in this paper, which is for the complicated and integrated network environment that the Internet of Things (IOT) to face in the future. As we know, the control of network congestion has become a hot spot in the study of Internet of Things transmission service. The network control algorithm of self-adapting congestion based on semi-normal distribution has improved the original packet loss rate function, and changed congestion situation in Internet of Things. By our many experiments, the validity and correctness of this algorithm has been tested. © 2011 Binary Information Press.

关键词： Internet of things

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Markerless visual fingertip detection for natural mobile device interaction 11

Markerless visual fingertip detection for natural mobile dev...

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13th International Conference on Human-computer Interaction with Mobile Devices and Services, Mobile HCI 2011

作者： Baldauf, Matthias Zambanini, Sebastian Fröhlich, Peter Reichl, Peter FTW - Telecommunications Research Center Vienna Donau-City-Strasse 1 Vienna 1220 Austria Computer Vision Lab. Vienna University of Technology Favoritenstrasse 9/183-2 Vienna 1040 Austria Université Européenne de Bretagne 5 Boulevard Laënnec Rennes 35000 France

ISBN: (纸本)9781450305419

The vision-based detection of hand gestures is one technological enabler for Natural User Interfaces which try to provide a natural and intuitive interaction with computers. In particular, mobile devices might benefit from such a less device-centric but more natural input possibility. In this paper, we introduce our ongoing work on the visual markerless detection of fingertips on mobile devices. Further, we shed light on the potential of mobile hand gesture detection and present several promising use cases and respective demo applications based on the presented engine. © 2011 Authors.

关键词： computer vision

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Mobile and personal projection (MP2)

Mobile and personal projection (MP2)

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作者： Dachselt, Raimund Löchtefeld, Markus Jones, Matt Rohs, Michael Häkkilä, Jonna Rukzio, Enrico User Interface and Software Engineering Group University of Magdeburg Germany Saarbrücken Germany FIT Lab. Computer Science Swansea University United Kingdom Media Informatics Group University of Munich Germany Nokia Research Center Tampere Finland Paluno: The Ruhr Institute for Software Technology University of Duisburg-Essen Germany

ISBN: (纸本)9781450302289

The emergence of mobile and personal projection devices promises new ways to display and interact with content while the user is mobile, and offer new opportunities and challenges for HCI. This workshop1 aims to formulate fundamental research questions around this emerging field and provides a venue for discussion for researchers and practitioners working in this area. We will focus on new interaction techniques, applications, personal projection devices, interaction design, multiuser aspects, multi-modal user interfaces and social implications. Our aim is to foster the evolution of a mobile and personal projection community.

关键词： Display devices

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Power-line Modem over the Low Voltage Grid Using Direct Sequence Spread Spectrum Techniques

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Journal of Energy and Power Engineering 2011年第6期5卷 562-568页

作者： A. Mahgoub H. Abdeel-Baky E. El-Badawy Computer Vision system Lab. Laval University Quebec QC G1V OA6 Canada Department of Electrical Engineering Faculty of Engineering Alexandria University Alexandria 21544 Egypt Alexandria Higher Institute of Engineering ＆ Technology Alexandria 21311 Egypt

Power-line networks are designed to deliver electricity. They reach most of the domiciles and other buildings nowadays, so most of the people have access to it. On the other hand the backbone for the communications networks is not availab.e in all countries especially the developing ones. A high cost and changing the design for the networks may be needed to construct this backbone. If data can be transmitted over the power-line networks, a recognized cost and time save can be achieved. In Egypt, the infrastructure is not always availab.e for constructing a communications network backbone due to the already designed buildings before the need for these backbones. In this paper, we overcome this problem by designing a reliable Power-line Modem that operates safely on the low voltage grid. The modem is based on the Direct Sequence Spread Spectrum technique. It uses the mains zero crossing as an efficient way for the synchronization between the transmitter and the receiver. The Modem takes into account the problems of the Power-line including noise, attenuation and impedance dismatching.

关键词： Power-line modem DS/SS micro-controller （firmware） low voltage grid.

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A wirelessly powered and controlled device for optical neural control of freely-behaving animals

A wirelessly powered and controlled device for optical neura...

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作者： Wentz, Christian T. Bernstein, Jacob G. Monahan, Patrick Guerra, Alexander Rodriguez, Alex Boyden, Edward S. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States McGovern Institute for Brain Research Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States Media Lab. Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States Department of Brain and Cognitive Sciences Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States Department of Biological Engineering Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States

Optogenetics, the ability to use light to activate and silence specific neuron types within neural networks in vivo and in vitro, is revolutionizing neuroscientists' capacity to understand how defined neural circuit elements contribute to normal and pathological brain functions. Typically, awake behaving experiments are conducted by inserting an optical fiber into the brain, tethered to a remote laser, or by utilizing an implanted light-emitting diode (LED), tethered to a remote power source. A fully wireless system would enable chronic or longitudinal experiments where long duration tethering is impractical, and would also support high-throughput experimentation. However, the high power requirements of light sources (LEDs, lasers), especially in the context of the extended illumination periods often desired in experiments, precludes battery-powered approaches from being widely applicable. We have developed a headborne device weighing 2 g capable of wirelessly receiving power using a resonant RF power link and storing the energy in an adaptive supercapacitor circuit, which can algorithmically control one or more headborne LEDs via a microcontroller. The device can deliver approximately 2 W of power to the LEDs in steady state, and 4.3 W in bursts. We also present an optional radio transceiver module (1 g) which, when added to the base headborne device, enables real-time updating of light delivery protocols;dozens of devices can be controlled simultaneously from one computer. We demonstrate use of the technology to wirelessly drive cortical control of movement in mice. These devices may serve as prototypes for clinical ultra-precise neural prosthetics that use light as the modality of biological control. © 2011 IOP Publishing Ltd.

关键词： Light emitting diodes

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Real time multiple people tracking and pose estimation

Real time multiple people tracking and pose estimation

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1st ACM International Workshop on Multimodal Pervasive Video Analysis, MPVA 2010, Co-located with ACM Multimedia 2010

作者： Huo, Feifei Hendriks, Emile A. Computer Vision Lab. Delft University of Technology Netherlands

ISBN: (纸本)9781450301671

In this paper we present a combined probability estimation approach to detect and track multiple people for pose estimation at the same time. It can deal with partial and total occlusion between persons by adding torso appearance to the tracker. Moreover, the upper body of each individual is further segmented into head, torso, upper arm and lower arm in a hierarchical way. The simplicity of the feature and the simplified model allow close real time performance of the tracker. The experimental results show that the proposed method can deal with most of the inner-occlusion between persons, as well as certain self-occlusion. It's also much faster than the existing methods with comparable accuracy.

关键词： Gesture recognition

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics): Preface

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2011年 6725 LNCS卷 V页

作者： Declerck, Thierry Granitzer, Michael Grzegorzek, Marcin Romanelli, Massimo Rüger, Stefan Sintek, Michael DFKI GmbH Language Technology Lab. Saarbrücken Germany Know-Center Graz 8010 Graz Austria University of Siegen Institute for Vision and Graphics Siegen Germany DFKI GmbH Intelligent User Interfaces Department Saarbrücken Germany Knowledge Media Institute Open University Milton Keynes United Kingdom DFKI GmbH Knowledge Management Department Kaiserslautern Germany

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Are characters objects?

Are characters objects?

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International Conference on Frontiers in Handwriting Recognition

作者： Diem, Markus Sablatnig, Robert Vienna University of Technology Institute of Computer Aided Automation Computer Vision Lab. Austria

ISBN: (纸本)9780769542218

This paper presents a character recognition system that handles degraded manuscript documents like the ones discovered at the St. Catherine's Monastery. In contrast to state-of-the-art OCR systems, no early decision (image binarization) needs to be performed. Thus, an object recognition methodology is adapted for the recognition of ancient manuscripts. The proposed system is based on local descriptors which are clustered in order to localize characters. Finally, a class probability histogram is assigned to each character present in an image which allows for the character classification. The system achieves an F0.5 score of 0.77 on real world data that contains 13.5% highly degraded characters. © 2010 IEEE.

关键词： Object recognition

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