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GW27-e1174 A remote monitoring system of electrocardiogram based on GPRS network

Journal of the American College of Cardiology 2016年第16期68卷 C187-C188页

作者： Shuli Guo Chunxi Wang Quanjin Si Xinzhe Gui Defeng Kong Lina Han Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China Mathematical Institute University of Oxford Andrew Wiles Building Radcliffe Observatory Quarter Woodstock Road Oxford OX2 6GG UK Department of General Surgery Chinese PLA General Hospital Beijing 100853 China Department of Cardiology Internal Medicine Nanlou Branch of Chinese PLA General Hospital Beijing 100853 China Department of Clinical Medicine NanKai University

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A simple algorithm for position and velocity estimation of mobile robots using omnidirectional vision and inertial sensors

A simple algorithm for position and velocity estimation of m...

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2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

作者： Li, Luyang Liu, Yun-Hui Wang, Kai Fang, Mu Department of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781479973965

Despite of many efforts by researches, real-time localization of mobile robot only using onboard sensor is still an open problem in mobile robotics. To contribute this research area, in this paper, a simple and effective method is proposed based on an adaptive estimator for estimating the position and linear velocity of a mobile robot in an unknown and unstructured environment using measurements of onboard inertial sensors and visual feedback of a catadioptric vision system. This novel method is developed on the basis of a new projection model of catadioptric vision, where the highly nonlinear projection model of catadioptric vision can be represented as a similar form to that of perspective vision. It is proved that this method leads to global exponential convergence of the estimation errors of the robot's position and linear velocity to zero. Experimental results validate the performance of the proposed method. © 2014 IEEE.

关键词： Mobile robots

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Erratum to: Robust adaptive synchronization of general dynamical networks with multiple delays and uncertainties

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Pramana 2016年第6期86卷 1413-1413页

作者： LU, YIMING HE, PING MA, SHU-HUA LI, GUO-ZHI MOBAYBEN, SALEH Laboratory of Train Network Department of Train Control Tech. Research Center of Product & Tech. CRRC TANGSHAN CO. LTD Tangshan People’s Republic of China School of Information Science and Engineering Northeastern University Shenyang People’s Republic of China School of Automation and Electronic Information Sichuan University of Science and Engineering Zigong People’s Republic of China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin People’s Republic of China

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Positional translation language model for ad-hoc information retrieval

Positional translation language model for ad-hoc information...

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18th Pacific-Asia Conference on Advances in Knowledge Discovery and Data Mining, PAKDD 2014

作者： Tu, Xinhui Luo, Jing Li, Bo He, Tingting Gu, Jinguang College of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China Department of Computer Science Central China Normal University Wuhan China State Key Lab. of Software Engineering Wuhan University Wuhan China

ISBN: (纸本)9783319066042

Most existing language modeling approaches are based on the term independence hypothesis. To go beyond this assumption, two main directions were investigated. The first one considers the use of the proximity features that capture the degree to which search terms appear close to each other in a document. Another one considers the use of semantic relationships between words. Previous studies have proven that these two types of information, including term proximity features and semantic relationships between words, are both useful to improve retrieval performance. Intuitionally, we can use them in combination to further improve retrieval performance. Based on this idea, this paper propose a positional translation language model to explicitly incorporate both of these two types of information under language modeling framework in a unified way. In the first step, we present a proximity-based method to estimate word-word translation probabilities. Then, we define a translation document model for each position of a document and use these document models to score the document. Experimental results on standard TREC collections show that the proposed model achieves significant improvements over the state-of-the-art models, including positional language model, and translation language models. © 2014 Springer International Publishing.

关键词： Information retrieval

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Approach movement of redundant manipulator using stereo vision

Approach movement of redundant manipulator using stereo visi...

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IEEE International Conference on Robotics and Biomimetics

作者： Jiadi Qu Fuhai Zhang Yili Fu Shuxiang Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Intelligent Robotics Kagawa University Takamatsu City

ISBN: (纸本)9781479973989

This paper proposed a visual control method with a relative position measurement model of stereo vision fixed in the work space for the approach movements of 7-DOF redundant manipulator. The relative position between the end-effectors' endpoint and object will be solved in real-time by the measurement model of stereo vision, then using position-based visual servo method, the endpoint position will be controlled to approach the object until achieve the approach task goal. Meanwhile redundancy resolution formalism of 7-DOF manipulator will be employed to avoid joint limits. Simulation results verified the effectiveness of the proposed methods.

关键词： Joints Cameras Manipulators Trajectory Stereo vision Redundancy Visualization

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Flocking of partially-informed multi-agent systems avoiding obstacles with arbitrary shape

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Autonomous Agents and Multi-Agent systems 2014年第5期29卷 943-972页

作者： Li, Jiaojie Zhang, Wei Su, Housheng Yang, Yupu Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Measurement and Control Technology Shanghai Dian Ji University Shanghai China School of Automation Key Laboratory of Image Information Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education National Key Laboratory of Science and Technology on Multispectral Information Processing Huazhong University of Science and Technology Wuhan China

In this paper, we study the flocking problem of multi-agent systems with obstacle avoidance, in the situation when only a fraction of the agents have information on the obstacles. Obstacles of arbitrary shape are allowed, no matter if their boundary is smooth or non-smooth, and no matter it they are convex or non-convex. A novel geometry representation rule is proposed to transfer obstacles to a dense obstacle-agents lattice structure. Non-convex regions of the obstacles are detected and supplemented using a geometric rule. The uninformed agents can detect a section of the obstacles boundary using only a range position sensor. We prove that with the proposed protocol, uninformed agents which maintain a joint path with any informed agent can avoid obstacles that move uniformly and assemble around a point along with the informed agents. Eventually all the assembled agents reach consensus on their velocity. In the entire flocking process, no distinct pair of agents collide with each other, nor collide with obstacles. The assembled agents are guaranteed not to be lost in any non-convex region of the obstacles within a distance constraint. Numerical simulations demonstrate the flocking algorithm with obstacle avoidance both in 2D and 3D space. The situation when every agent is informed is considered as a special case.

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Hand segmentation with metric learning superpixels

Hand segmentation with metric learning superpixels

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IEEE China Summit & International Conference on Signal and Information Processing (ChinaSIP)

作者： Guangdong Hou Daqing Chang Changshui Zhang State Key Laboratory of Intelligent Technologies and Systems Tsinghua National Laboratory for Information Science and Technology (TNList) Department of Automation Tsinghua University Beijing 100084 China

In this paper, we propose a novel method for hand segmentation. To improve the robustness to the wide range of hand appearances and illuminations, we segment the hand area with a superpixels based method instead of a general color model. With the exploitation of the distribution of hand pixels in color space, a distance metric learning stage is designed to promote the segmentation performance. This stage makes the points in hand areas more concentrate and pulls away from the points of background in color space. The comparisons with several widely used algorithms are made on both public available and our own datasets. The experimental results show the superior performance of our method.

关键词： Image color analysis Skin Measurement Image segmentation Adaptation models Covariance matrices Gesture recognition

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Smooth Representation Clustering

Smooth Representation Clustering

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IEEE Conference on Computer Vision and Pattern Recognition

作者： Han Hu Zhouchen Lin Jianjiang Feng Jie Zhou State Key Laboratory on Intelligent Technology and Systems TNList Department of Automation Tsinghua University Key Lab. of Machine Perception School of EECS Peking University

ISBN: (纸本)9781479951192

Subspace clustering is a powerful technology for clustering data according to the underlying subspaces. Representation based methods are the most popular subspace clustering approach in recent years. In this paper, we analyze the grouping effect of representation based methods in depth. In particular, we introduce the enforced grouping effect conditions, which greatly facilitate the analysis of grouping effect. We further find that grouping effect is important for subspace clustering, which should be explicitly enforced in the data self-representation model, rather than implicitly implied by the model as in some prior work. Based on our analysis, we propose the SMooth Representation (SMR) model. We also propose a new affinity measure based on the grouping effect, which proves to be much more effective than the commonly used one. As a result, our SMR significantly outperforms the state-of-the-art ones on benchmark datasets.

关键词： Mathematical model Equations Face Vectors Clustering algorithms Green products Computer vision

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Anomaly Detection in Crowds Assisted by Scene Perspective Projection Correction

Anomaly Detection in Crowds Assisted by Scene Perspective Pr...

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2014 4th IEEE International Conference on Information Science and technology

作者： Huan Wang Ruiqing Fu Nannan Li Guoyuan Liang Xinyu Wu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we propose a novel approach based on compensating for the perspective projection effect for anomaly detection in crowds. Video frames obtained by a camera have a common rule of perspective projection effect. The law of perspective projection makes anomaly detection a challenge task because of no consistency in each video frame. For the sake of overcoming the drawback caused by perspective projection, we innovatively design an approach based on compensating for images under perspective projection to eliminate the influence of perspective projection. Then a space Markov Random Field(MRF) is modeled to build normal behavior patterns considering both single node behavior and the correlation of adjacent nodes. An energy function is formulated as the evaluation criterion to detect anomaly. Experiments prove that our approach can detect abnormal events effectively and robustly.

关键词： frame MRF image red Anomaly Detection in Crowds Assisted by Scene Perspective Projection Correction

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