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Image segmentation based on trickle-up and trickle-down visual pathway in primate

Journal of Computational Information systems 2012年第9期8卷 3757-3765页

作者： Hu, Dekun Yang, Simon X. Gregori, Stefano Li, Jianping Fu, Bo University of Electronic Science and Technology of China School of Computer Science and Engineering Jianshe Road Chengdu 610054 China University of Guelph School of Engineering Advanced Robotics and Intelligent Systems Lab. Guelph Ont. N1G 2W1 Canada

To locate the object accurately in a scene for further vision processing, a novel bio-inspired model for image segmentation is proposed, which closely follows the computation of trickle-up and trickle-down processing in primate visual pathways. The trickle-up stage is a parallel modular structure consisting of three segmenting operators implementing the function as the parvocellular, magnocellular and koniocelluar pathways. The computation model of trickle-down path, predicts incoming stimuli based on the prior knowledge of the scenes. The proposed approach is applied to several segmentation experiments of clustering conditions, the results demonstrate that the performance of the proposed approach surpasses those achieved by previous top-down or bottom-up schemes on figure-ground segmentation. © 2011 by Binary Information Press.

关键词： Image segmentation

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Low Cost Tactile, Force and Size Feedback System for Surgical robotics

Low Cost Tactile, Force and Size Feedback System for Surgica...

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International Conference on Innovative engineering systems

作者： Muhammad Yaqoob Sardar Rushan Qaisrani Muhammad Waqas Yasar Ayaz Sohail Iqbal Sajid Nisar Robotics & Intelligent Systems Engineering (RISE) Lab Department of Robotics and Artificial Intelligence School of Mechanical & Manufacturing Engg (SMME) National University of Sciences and Technology (NUST) H-12 Campus Islamabad Pakistan. Department of Electrical Engineering School of Electrical Engg & Computer Sciences (SEECS) National University of Sciences and Technology (NUST) H-12 Campus Islamabad Pakistan.

ISBN: (纸本)9781467344401

Robotic manipulator is designed and analyzed at patient end which includes force and current sensors that allows the operator to get force, size and tactile feedback at the surgeon end. Three methods of feedback are used i.e. force sensors for exact force estimation, current sensing for tactile feedback and position estimation to replicate motion. The three mentioned methods are analyzed and developed on the PC. Graphs are obtained for objects of different strength and size by experiments on the gripper at the end of robotic manipulator. Master-Slave topology is used to attain some benefits over conventional control systems in term of ergonomics, accuracy and timing etc. Interactive GUI at master end shows us forces, size and motions at each joint of the slave unit. Gripper, yaw and pitch motion of robotic manipulator at slave or patient end is also controlled by surgeon using master controller.

关键词： Haptic Feedback force sensitive resistor (FSR) master-slave system programmable system on chip (PSoC)

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction Sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain

作者： Bos, Danny Plass-Oude Duvinage, Matthieu Oktay, Oytun Saa, Jaime Delgado Guruler, Huseyin Istanbullu, Ayhan Van Vliet, Marijn Van De Laar, Bram Poel, Mannes Roijendijk, Linsey Tonin, Luca Bahramisharif, Ali Reuderink, Boris HMI Group Faculty of EEMCS University of Twente Netherlands TCTS Lab Electrical Engineering University Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal University Turkey Faculty of Engineering and Natural Sciences VPA Lab Sabanci University Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Radboud University Nijmegen Donders Institute for Brain Cognition and Behaviour Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Radboud University Nijmegen Institute for Computing and Information Sciences Nijmegen Netherlands

ISBN: (纸本)9781424498918

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment. © 2011 IEEE.

关键词： Virtual reality

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Seabed Tracking of an Autonomous Underwater Vehicle with Nonlinear Output Regulation

Seabed Tracking of an Autonomous Underwater Vehicle with Non...

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IEEE Conference on Decision and Control

作者： A. Adhami-Mirhosseini A. Pedro Aguiar M. J. Yazdanpanah Control and Intelligent Processing Center of Excellence University of Tehran P.O. Box 14395/515 Tehran Iran Lab. of Robotics and Systems in Engineering and Science (LARSyS) Inst. Superior Tecnico (IST) Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9781612848006

This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design amounts to cast the problem in the framework of nonlinear output regulation theory combined with pseudo-spectral methods to approximate the solutions of the regulator equations. To this end, the seabed tracking problem is re-formulated as a trajectory tracking problem and the reference signal is constructed using Fourier series to approximate the seabed profiles. An interesting feature of this approach is that the combination of the Fourier series with output regulation problem allows to bypass the need to compute explicitly the Fourier coefficients. Stability analysis and simulation results with real seabed data show the effectiveness of the proposed controller.

关键词： Equations Regulators Mathematical model Vehicles Chebyshev approximation Vehicle dynamics

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational systems, Commonsense Knowledge, Complex Adaptive systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Adaptive predictive control of a class of discrete-time MIMO nonlinear systems with uncertain couplings

Adaptive predictive control of a class of discrete-time MIMO...

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作者： Yang, Chenguang Li, Yanan Ge, Shuzhi Sam Lee, Tong Heng Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424474264

In this paper, a novel adaptive predictive control is presented for a class of multi-input-multi-output (MIMO) nonlinear systems in block-triangular form with uncertain couplings of states/delayed states as well as inputs among subsystems. For each subsystem of the MIMO system, future states prediction is developed and using the predicted future states, adaptive predictive control is designed under certainty equivalence principal to compensate the parametric uncertainties in the couplings. To eliminate the functional uncertainties in the couplings, a novel compensation mechanism is developed for each subsystem. Under the proposed adaptive controls, all the signals in the closed-loop MIMO systems are guaranteed to be globally bounded. In addition, all the output tracking errors are guaranteed to converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation. © 2010 AACC.

关键词： Couplings

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Learning compliance control of robot manipulators in contact with the unknown environment

Learning compliance control of robot manipulators in contact...

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2010 IEEE International Conference on Automation Science and engineering, CASE 2010

作者： Li, Yanan Yang, Chenguang Ge, Shuzhi Sam Social Robotics Lab. NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424454471

In this paper, a control mechanism is presented to improve the compliance performance of the robot manipulator when it is in contact with the unknown environment. This mechanism guarantees that the dynamics of the whole system follows a target impedance model so that the desired compliance performance is obtained. In particular, under the assumption that the dynamics is periodic, a learning law is developed to estimate the unknown dynamics parameters. Besides, the proposed systematic learning control does not require the accurate force measurement. Its performance and robustness are discussed in details by the rigorous analysis. At last, the validity of the proposed method is verified by simulation. © 2010 IEEE.

关键词： Modular robots

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High-fidelity device for online recording of foot-stretcher forces during rowing

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Procedia engineering 2010年第2期2卷 2721-2726页

作者： Dominik Krumm Martin Simnacher Georg Rauter Andreas Brunschweiler Stephan Odenwald Robert Riener Peter Wolf Sensory-Motor Systems Lab Institute of Robotics and Intelligent Systems Department of Mechanical and Process Engineering ETH Zurich Tannenstrasse 1 CH-8092 Zurich Switzerland Sports Equipment and Technology Institute of Mechanical and Polymer Engineering Chemnitz University of Technology Reichenhainer Strasse 70 D-09126 Chemnitz Germany Spinal Injury Center Balgrist University Hospital University of Zurich Forchstrasse 340 CH-8008 Zurich Switzerland

Foot-stretcher forces have been identified as key variables determining rowing performance. The aim of this study was to develop an instrumented foot-stretcher. Under each forefoot, a six degrees of freedom sensor was mounted on an adjustable frame. Under each rearfoot, a one degree of freedom sensor was placed. Validation resulted in an accuracy of vertical forces of about 1% full scale. Sensor’s crosstalk was up to 11% of vertical load. The instrumented foot-stretcher was integrated into a high-level rowing simulator. Propulsive foot-stretcher forces were displayed online and could be used as concurrent feedback about rowing performance.

关键词： Instrumented foot-stretcher engineering design 3D Kinetics Concurrent feedback Rowing simulator

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Assessment of lower extremity motor adaptation via an extension of the Force Field Adaptation Paradigm

Assessment of lower extremity motor adaptation via an extens...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Iahn Cajigas Mary T. Goldsmith Alexander Duschau-Wicke Robert Riener Maurice A. Smith Emery N. Brown Paolo Bonato Department of Physical Medicine and Rehabilitation Harvard Medical School and Spaulding RehabilitationHospital Boston MA USA Department of Biomedical Engineering Boston University USA Sensory-Motor Systems (SMS) Lab Institute of Robotics and Intelligent System (IRIS) University of Zurich Switzerland Harvard-MIT Department Health Sciences and Technology USA Spaulding Rehabilitation Hospital Charlestown MA US

Lower extremity rehabilitation has seen recent increased interest. New tools are available to improve gait retraining in both adults and children. However, it remains difficult to determine optimal ways to plan interventions due to difficulties in continuously monitoring outcomes in patients undergoing rehabilitation. In this paper, we introduce an extension of the Force Field Adaptation Paradigm, used to quantitatively assess upper extremity motor adaptation, to the lower extremity. The algorithm is implemented on the Lokomat lower extremity gait orthosis and utilized to assess short-term motor adaptation. Establishing an understanding of how healthy adults' motor systems adapt to external perturbations will be important to understanding how the adaptive mechanisms involved in gait are altered by disease.

关键词： Force Extremities Robots Trajectory Joints Training Force measurement

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