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检索条件"机构=Robotics and Intelligent System Laboratory Department of Electrical and Computer Engineering"

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Recognizing interaction from a robot's perspective

Recognizing interaction from a robot's perspective

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T. Salter F. Michaud K. Dautenhahn D. Letourneau S. Caron LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada Adaptive Systems Research Group School of Computer Science University of Herfordshire Hatfield UK

For meaningful interaction between a robot and a human, an autonomous robot must recognize whether the experienced situation is created by people or by the environment. Using only proprioceptive data from a mobile robotic platform, we discover that it is possible to distinguish sensory data patterns involving interaction. These patterns are obtained whilst navigating varying environments, both human populated and unpopulated. The paper reports the initial set of trials using Roball, a spherical mobile robot. Also described is the experimental methodology currently followed to validate the hypothesis that child interaction can be perceived directly from navigation sensors onboard a robotic platform.

关键词： Robot sensing systems Mobile robots Human robot interaction Navigation intelligent robots Sensor phenomena and characterization Infrared sensors Educational institutions Plastics Mobile computing

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Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot

Transference of Evolved Unmanned Aerial Vehicle Controllers ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Barlow L.S. Mattos E. Grant C.K. Oh Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA U.S. Naval Research Laboratory Washington D.C. USA

Transference of controllers evolved in simulation to real vehicles is an important issue in evolutionary robotics (ER). We have previously evolved autonomous navigation controllers for fixed wing UAV applications using multi-objective genetic programming (GP). Controllers were evolved to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. We successfully tested an evolved UAV controller on a wheeled mobile robot. A passive sonar system on the robot was used in place of the radar sensor, and a speaker emitting a tone was used as the target in place of a radar. Using the evolved navigation controller, the mobile robot moved to the speaker and circled around it. The results from this experiment demonstrate that our evolved controllers are capable of transference to real vehicles. Future research will include testing the best evolved controllers by using them to fly real UAVs.

关键词： Unmanned aerial vehicles Mobile robots Sonar navigation Robot control Robot sensing systems Genetic programming Testing Passive radar Remotely operated vehicles Erbium

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation intelligent agent Algorithm design and analysis Grasping Redundancy

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A framework for understanding verbal route instructions

A framework for understanding verbal route instructions

引用

2004 AAAI Fall Symposium

作者： MacMahon, Matt Department of Electrical and Computer Engineering Intelligent Robotics Laboratory University of Texas Austin

My goal is to understand human verbal route instructions by modeling and implementing the language, knowledge representation, and cognitive processes needed to communicate about spatial routes. To understand human route instructions, I ran a study of how people give and follow route instructions. I modeled the language used in the route instruction texts using standard computational linguistics techniques. I model the information content of the route instruction texts using a spatial ontology. I introduce a set of axioms and heuristics that can autonomously transform a linguistic representation of what the route director said into a semantic representation of the intended route. This semantic representation has been implemented in mobile robots that can navigate and accomplish simultaneous localization and mapping in real-world environments. Finally, I model the processes of following and giving route instructions as Markov processes.

关键词： computer aided instruction

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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...

引用

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

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

引用

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...

引用

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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Enhanced robot audition based on microphone array source separation with post-filter

Enhanced robot audition based on microphone array source sep...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： J.-M. Valin J. Rouat F. Michaud Department of Electrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrook Sherbrooke QUE Canada

We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of geometric source separation and a post-filter that gives us a further reduction of interferences from other sources. We present results and comparisons for separation of multiple non-stationary speech sources combined with noise sources. The main advantage of our approach for mobile robots resides in the fact that both the frequency domain geometric source separation algorithm and the post-filter are able to adapt rapidly to new sources and non-stationarity. Separation results are presented for three simultaneous interfering speakers in the presence of noise. A reduction of log spectral distortion (LSD) and increase of signal-to-noise ratio (SNR) of approximately 10 dB and 14 dB are observed.

关键词： Microphone arrays Source separation Mobile robots Acoustic noise Auditory system Humans intelligent robots Interference Robot sensing systems Mobile computing

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Localization of simultaneous moving sound sources for mobile robot using a frequency- domain steered beamformer approach

Localization of simultaneous moving sound sources for mobile...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： J.-M. Valin F. Michaud B. Hadjou J. Rouat LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. We present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.

关键词： Mobile robots Auditory system Orbital robotics intelligent robots Head Acoustic noise Humans Robustness Microphone arrays Signal processing

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Clustering-based framework for comparing fMRI analysis methods

Clustering-based framework for comparing fMRI analysis metho...

引用

IEEE International Symposium on Biomedical Imaging

作者： G.-A. Hossein-Zadeh A.-M. Golestani H. Soltanian-Zadeh Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department Faculty of Engineering University of Tehran Tehran Iran Image Analysis Laboratory Radiology Department Henry Ford Health System Detroit MI USA

In this paper, a cluster-based framework is introduced for comparing analysis methods of functional magnetic resonance images (fMRI). In the proposed framework, fMRI data is replaced with a feature space and each method considered as a clustering method in the new space. As a result, different methods can be compared by means of a cluster validity measure. The feature space is computed using a non-parametric method (principal component analysis-PCA). Four subjects have been analyzed with three methods and the proposed cluster-based framework has evaluated performance of the methods. The results are identical to those of the modified receiver operating characteristics (ROC). This validates the proposed approach.

关键词： Clustering algorithms Algorithm design and analysis Image analysis Clustering methods Magnetic analysis Testing Accuracy Reproducibility of results Radiology Magnetic resonance

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