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IEEE-RAS International Conference on Humanoid Robots

作者： K. Itoh H. Miwa M. Matsumoto M. Zecca H. Takanobu S. Roccella M.C. Carrozza P. Dario A. Takanishi Department of Mechanical Engineering Waseda University Tokyo Japan Institute for Biomedical Engineering ASMew Waseda University Tokyo Japan Digital Human Research Center National Institute for Advanced Industrial Science and Technology Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Scuola Superiore Sant'Anna ARTS Laboratory Pontedera Italy Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Personal robots, which are expected to become popular in the near future, are required to be active in work and community life alongside humans. Therefore, we have been developing new mechanisms and functions in order to realize natural bilateral interaction by expressing emotions, behaviors and personality in a human-like manner. We have proposed a mental model with emotion, mood, personality and needs. However, the robot behavior was very simple since the robot shows just a single kind of behavior in response to a robot mental state. In this paper, we present a new behavior model for humanoid robots based on operant conditioning, which is a well-known psychological behavior model. We implemented this new behavior model into the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II), developed in 2004. Through the experimental evaluations, we confirmed that the robot with the new behavior model could autonomously select suitable behavior for the situation within a predefined behavior list

关键词： Humanoid robots Robot kinematics Humans Service robots Biomedical engineering Cognitive science Psychology Orbital robotics Mood Robotic assembly

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Path planning of a snake-like robot based on Serpenoid curve and Genetic algorithms

Path planning of a snake-like robot based on Serpenoid curve...

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WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings

作者： Liu, Jinguo Wang, Yuechao Li, Bin Ma, Shugen Robotics Laboratory Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Ibaraki University Japan

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on Serpenoid curve and Genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of Automation (SIA, China). Firstly, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of Genetic algorithms. Then using real time dual Genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Mobile robots

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Fusion of visual and thermal signatures with eyeglass removal for robust face recognition

Fusion of visual and thermal signatures with eyeglass remova...

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2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2004

作者： Heo, Jingu Kong, Seong G. Abidi, Besma R. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee KnoxvilleTN37996-2100 United States

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions. © 2004 IEEE.

关键词： Face recognition

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Shape control of hyper-redundant modularized manipulator using variable structure regular polygon

Shape control of hyper-redundant modularized manipulator usi...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Liu, Jinguo Wang, Yuechao Ma, Shugen Li, Bin Robotics Laboratory Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan Graduate School Chinese Academy of Sciences Bejing China

ISBN: (纸本)0780384636

Hyper-redundant manipulator has more degrees of freedom than the least necessary to perform a given task, thus it has the features of overcoming conventional industrial robot's limitation such as improving its kinematics and dynamic performances. Crucial as it is, effective control of hyper-redundant manipulator is difficult for its redundancy. A novel shape control technique based on the concept of variable structure regular polygon and subsystem has been proposed. This technique, using variable structure regular polygon and neural networks models, is completely capable of solving the control problem of a planar hyper-redundant manipulator with any number of links following any desired path. With regular polygon side number's variety and its shape's transformation, the manipulator's configuration changes accordingly and moves actively to perform the task form point to point or following a path. Compared with other methods to our knowledge, this technique has such superiorities as fewer control parameters, higher precision and less computation. Simulation of a six-link modularized manipulator's inspection work in a bottle-like concave has demonstrated that this control technique is available and effective.

关键词： Redundant manipulators

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Evaluation of a robotic targeting device for interventional radiology

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International Congress Series 2004年第C期1268卷 486-491页

作者： Kronreif, Gernot Kettenbach, Joachim Figl, Michael Kleiser, Ludwig Ptacek, Wolfgang Fürst, Martin ARC Seibersdorf Research GmbH Mechatronic Automation Systems Robotics Laboratory A-2444 Seibersdorf Austria Department of Diagnostic Radiology Vienna Medical University Vienna Austria Department of Biomedical Engineering Physics Vienna Medical University Vienna Austria

Image-guided percutaneous interventions seem to be an application field where concepts and tools from robotics technology could contribute to higher accuracy of the intervention, to an improved workflow and thus to a possible re-definition of the gold standard. This paper describes several evaluation steps for a robotic targeting device developed by the authors. Beside of evaluation of the functionality of the system, accuracy and compatibility to clinical workflow is being analysed in a series of in vitro tests using a needle penetrable phantom. Results achieved and outlined in the paper are showing sufficient accuracy of the system and thus confirming the approach of robot assisted interventions. © 2004, Elsevier Science B.V. All rights reserved.

关键词： Computer-aided surgery Image-guided intervention Interventional radiology Localisation Medical robotics

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An intelligent system for Aerial image Retrieval and Classification

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Application of uncertain variables in an adaptive decision system for a complex of operations

Application of uncertain variables in an adaptive decision s...

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15th International Conference on systems Science

作者： Orski, Donat Sugisaka, Masanori Institute of Control and Systems Engineering Wroclaw University of Technology Wyb. Wyspianskiego 27 50-370 Wroclaw Poland Artificial Life and Robotics Laboratory Department of Electrical and Electronic Engineering Oita University 700 Dannoharu Oita 870-1192 Japan

The paper concerns a decision plant consisting of parallel operations, which are described by relational models with unknown parameters. Unknown parameters are assumed to be values of uncertain variables characterized by certainty distributions given by an expert. The solution of a decision problem and, consequently, performance of the knowledge-based decision system is very sensitive to the forms and parameters of certainty distributions. In the paper it is showed how application of an adaptation process, consisting in step by step changing of parameters in certainty distributions based on current performance evaluation, may improve performance of a decision system under consideration. An illustrative example and results of simulations are included.

关键词： Decision support systems

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A knowledge based genetic algorithm for path planning of a mobile robot

A knowledge based genetic algorithm for path planning of a m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yanrong Hu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a knowledge based genetic algorithm (GA) for path planning of a mobile robot is proposed, which uses problem-specific genetic algorithms for robot path planning instead of the standard GAs. The proposed knowledge based genetic algorithm incorporates the domain knowledge into its specialized operators, where some also combine a local search technique. The proposed genetic algorithm also features a unique and simple path representation and a simple but effective evaluation method. The knowledge based genetic algorithm is capable of finding an optimal or near-optimal robot path in both complex static and dynamic environments. The effectiveness and efficiency of the proposed genetic algorithm is demonstrated by simulation studies. The irreplaceable role of the specialized genetic operators in the proposed GA for solving robot path planning problem is demonstrated by a comparison study.

关键词： Genetic algorithms Path planning Mobile robots Biological cells Intelligent robots Encoding Intelligent systems Genetic engineering Knowledge engineering Neural networks

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Fusion of Visual and Thermal Signatures with Eyeglass Removal for Robust Face Recognition

Fusion of Visual and Thermal Signatures with Eyeglass Remova...

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Jingu Heo S.G. Kong B.R. Abidi M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

关键词： Robustness Face recognition Face detection Lighting Optical imaging Intelligent robots Infrared imaging Pattern recognition Computer vision Temperature

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Fusion of visual, thermal, and range as a solution to illumination and pose restrictions in face recognition

Fusion of visual, thermal, and range as a solution to illumi...

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International Carnahan Conference on Security Technology

作者： B. Abidi S. Huq M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper summarizes the various components of face recognition research conducted at the IRIS Lab. First, fusion of visual and thermal infrared (IR) images for robust face recognition is discussed. Two techniques are implemented: data fusion and decision fusion. With the knowledge that eyeglasses block the emission of thermal energy, an algorithm is designed to detect and replace eyeglasses with an eye template in thermal images. A commercial face recognition software (FaceIt/spl reg/) is used in the evaluation of the various fusion algorithms. Comparison results show that fusion-based face recognition outperforms individual visual or thermal face recognizers under illumination variations and facial expressions. Efforts in the 3D arena are also described. Results of high resolution stereo-based 3D reconstruction of faces are shown and analyzed, in a first approach, then in a second approach, a warping technique is applied to overlay color and thermal textures on 3D mannequin head models, obtained using a laser range scanner.

关键词： Lighting Face recognition Face detection Iris Infrared imaging Robustness Algorithm design and analysis Software algorithms Image reconstruction Image color analysis

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