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A Facial Expression Model for Human-Like Agent

A Facial Expression Model for Human-Like Agent

引用

IEEE Conference on robotics, Automation and Mechatronics

作者： Bin Yang Peifa Jia State Key Laboratory of Intelligent Technology and System Department of Computer Science Tsinghua University Beijing Beijing China

A major unsolved problem in human-like agent is the construction and application of realistic human facial expression models. Human-like agents should interact with human by recognizing human facial expression and synthesizing facial expressions to show their emotional states. However there is no a uniform model for both recognition and synthesis of facial expression. In this paper, we present a model for solving this challenging task. First, we setup a muscle-based facial model and use muscles' contraction as controlling factors because all the facial actions are driven by the muscles. An orthogonal facial expression space is constructed by regarding each controlling factor as a dimension. Then muscles' contractions are calculated from facial images to construct the facial vector. Thus the facial vector can be used on the facial expression synthesis system of human-like agent. In this paper, we also present a facial function to describe the dynamic procedure of facial expressions. Last, this paper points out the direction of future work

关键词： Muscles Humans Facial animation Face recognition intelligent agent intelligent systems Computer science Control system synthesis MPEG 4 Standard Skin

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A Nested Neighborhood PSO Algorithm for Multi-modal Function Optimization

A Nested Neighborhood PSO Algorithm for Multi-modal Function...

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World Congress on intelligent Control and Automation (WCICA)

作者： Guangyu Lian Chundi Mu Zengqi Sun State Key Laboratory of Intelligent Technology and System Tsinghua University Beijing China Department Automation Tsinghua University Beijing China

In PSO algorithm, a nested neighborhood model was proposed for multi-modal function optimization. First, a local structure was constructed for each particle under a predefined Euclidian distance measure (called peak-granularity). Then a nesting mechanism was presented to connect the local-best particles resulting in a nested neighborhood chain. Some concepts, neighbor operator, peak neighbor and nesting counter were introduced to describe the mechanism. Based upon the mechanism, local-best information can be shared by all the particles on the neighborhood chain. This effectively improves the convergence performance of the particle swarm. And the peak-granularity can be kept small to locate more optimal basins of the function. Several benchmark functions are adopted to verify the performance

关键词： Particle swarm optimization Automation Sun intelligent systems Electronic mail Particle measurements Counting circuits Convergence intelligent control

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Influence of Shoe-heel Height of the Trans-tibial Prosthesis on Static Standing Biomechanics

Influence of Shoe-heel Height of the Trans-tibial Prosthesis...

引用

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

作者： Li Xiaobing Jia Xiaohong Dou Peng Fang Lidan Department of Precision Instruments Tsinghua University China Division of Intelligent and Biomechanical System State Key Laboratory of Tribology Tsinghua University Beijing China

Shoe-heel height has great influence on lower-limb amputees' biomechanics during static standing. This article mainly considers the load line of the prosthetic side in the sagittal plane and the electromyogram (EMG) data of the lower limb muscles. The results indicate that the load line and the EMG are greatly influenced by the shoe-heel height, however, the amputee subconsciously adjusts his standing manner to make himself more comfortable and natural. This will provide references for prosthesis design and alignment setting

关键词： Prosthetics Biomechanics Electromyography Force measurement Muscles Knee Instruments Leg Footwear Energy consumption

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Different plantar interface effects on dynamics of the lower limb

Different plantar interface effects on dynamics of the lower...

引用

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

作者： Z.H. Hao J.B. Zhou D.W. Jin D.W. Zhou X.D. Li Division of Intelligent and Biomechanical System State Key Laboratory of Tribology Tsinghua University Beijing China China Center of Orthopedic Technology (CHICOT) Beijing China

The moments acting on the lower limb joints influence the life of the arthrosis. These loads may depend on the footwear and action style. The footwear factor was studied with three-dimensional gait measure system. Five young women in their 20s, wear 7 cm high-heeled shoes and sneakers, and walked in 10 m gait laboratory walkway. Inversed dynamics was used to analysis the torques at the ankle, knee and hip. Results showed that peak adduction moments at the knee and ankle increased and flexion/extension moments at hip increased with high-heel shoes compared with the sneakers. The high-heeled shoes result in greater load in lower limb joints especial to the knee and hip

关键词： Footwear Knee Hip Torque Foot Laboratories Legged locomotion Humans intelligent systems Tribology

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The Investigation on sEMG of Lower Extremity When a Slip Occurs in Level Walking

The Investigation on sEMG of Lower Extremity When a Slip Occ...

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

作者： JianKun Yang DeWen Jin RenCheng Wang JiChuan Zhang LinHong Ji Xin Fang DaWei Zhou Division of Intelligent and Biomechanical System State Key Laboratory of Tribology Tsinghua University Beijing China China Center of Orthopedic Technology (CHICOT) Beijing China

The purpose of the present study was to determine the relationship between the surface electromyography (sEMG) variables and slip events using principal component analysis (PCA). Ten healthy young adults were required to walk on the oily surface on a self-selected comfortable pace. The sEMG signals of lower extremity muscles were recorded and analyzed, while kinematics data was recorded to assist slip definitions. When ten variables (seven in time domain and three in frequency domain) were considered in the PCA, the results indicated that 1) three most important principal components could explain more than 85% of the variation in the entire data set; 2) some variables should be especially noticed such as muscle power, the mean frequency, the median frequency and the amplitude amount exceeding the mean value

关键词： Extremities Legged locomotion Muscles Principal component analysis Injuries Frequency domain analysis Biomechanics Electromyography Humans Power generation economics

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Visual Object Recognition in Diverse Scenes with Multiple Instance Learning

Visual Object Recognition in Diverse Scenes with Multiple In...

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Dong Wang Bo Zhang Jianwei Zhang Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and System Tsinghua University Beijing China TAMS Department of Informatik University of Hamburg Hamburg Germany

Visual object recognition is important to the robot industry and is a prerequisite for other robot functionalities, such as grasping and manipulation. Object representation and a learning technique are two indispensable parts for this demanding task while arbitrary object appearance and diverse scenes with cluttered background are two great challenges. However, compared with object representation, the learning technique is less developed to deal with these challenges. This paper extends the multiple instance learning (MIL) technique to the multi-class classification scenario and introduces this multi-class MIL framework to the object recognition domain for the first time. This framework is independent of object representation and is useful for object/background discrimination in unseen scenes. Preliminary experiments show that it compares favorably with the supervised learning approach which takes whole images as the classifier training input

关键词： Object recognition Layout intelligent robots Supervised learning Unsupervised learning Iterative algorithms Service robots Robot sensing systems Computer science intelligent systems

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SINS/GPS integrated system state estimation based on covariance assignment

SINS/GPS integrated system state estimation based on covaria...

引用

systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on

作者： Hang Shi Jihong Zhu Haiyan Tian State Key Laboratory of Intelligent Technology and System Department of Computer Science and Technology Tsinghua University Beijing China College of Mathematics and Information Science Hebei Normal University Shijiazhuang China

ISBN: (纸本)0780393953

SINS and GPS are widely used. Combining SINS and GPS organically, we can get an reliable integrated navigating system which can overcome the respective defects of the two systems, including signal blockage for GPS and growth of position errors with time for SINS, and develop their advantages to form a complementary structure at the same time. On the basis of using the SINS/GPS integrated navigation system, we introduce the covariance assignment state estimation algorithm not only to enhance the navigational capability and accuracy, but also enhance the robustness of the navigation system.

关键词： Global Positioning system covariance analysis inertial navigation state estimation Global Positioning system covariance assignment integrated system state estimation strap-down inertial navigation system

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Research on a Throwing Multidimensional Force Sensing system for Advanced Training of Shot-Put Athletes

Research on a Throwing Multidimensional Force Sensing System...

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International Conference on Information and Automation (ICIA)

作者： Zhen Gao Quanjun Song Ming Liu Jianhe Lei Yong Yu Yunjian Ge State Key laboratory of Robot Sensing System Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we develop a novel digital-shot system for sensing the throwing force information of shot-put athletes in real time. The digital-shot has been designed and manufactured with the same external dimensions and weight as the normal shot for open females. The three axes integrated accelerometer, as a crucial device in the force sensing system, can acquire the kinetics data along three orthogonal directions with reasonably high accuracy. By using the method of wavelet transformation, the characteristics of acceleration signals during the shot-put period can be extracted. Artificial neural network is adopted to recognise the movement pattern in different phases of shot throwing. For supplying more effective training instruction, with the help of six axes ground reaction force measuring apparatus, high-speed photography and surface electromyographic signal remote measuring device etc, an integrated platform of shot-put athlete biomechanical information acquisition is constructed. Based on the fusion of multi-targets and multi-parameters information, the shot-put athletes coaching system is proposed, which not only can supply constructive guidance for athletes to improve their skills, but also provide a new research platform of motion human modeling.

关键词： Multidimensional systems Force measurement Real time systems Manufacturing Accelerometers Kinetic theory Acceleration Data mining Artificial neural networks Pattern recognition

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INS/GPS Integrated Navigation Uncertain system state Estimation Based on Minimal Variance Robust Filtering

INS/GPS Integrated Navigation Uncertain System State Estimat...

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Computational Engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Zhou Wu Hang Shi Baosheng Liu School of Mechatronical Engineering and Automation National University of Defense Technology Changsha China State Key Laboratory of Intelligent Technology and System Tsinghua University Beijing China Department of Automation Tsinghua University Beijing China

INS/GPS integrated navigation systems are used for positioning and attitude determination in a wide range of applications. Combining INS and GPS organically, we can get an integrated navigating system which can overcome the respective defects of the two systems and develop their advantages to form a complementary structure at the same time. GPS measurements can be used correct the INS and sensor errors to provide high accuracy real-time navigation (Farrell, 1998). The integration of GPS and INS measurements is usually achieved using a Kalman filter. But, usually uncertainties exist in INS/GPS integrated real systems, which may cause filtering to divergence for classical Kalman filter. In order to solve this problem, a robust filter with minimal variance is addressed by this paper

关键词： Global Positioning system Navigation Uncertain systems state estimation Robustness Filtering Position measurement systems engineering and theory Application software Automation

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The Influence of Dynamic Trans-tibial Prosthetic Alignment on Standing Plantar Foot Pressure

The Influence of Dynamic Trans-tibial Prosthetic Alignment o...

引用

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

作者： Jia Xiaohong Li Xiaobing Dou Peng Zhang Ming State Key Laboratory of Tribology Division of Intelligent and Biomechanical System Tsinghua University Beijing China Department of Precision Instruments Tsinghua University China Jockey Club Rehabilitation Engineering Center Hong Kong Polytechnic University Hong Kong China

In order to study quantitative effect of dynamic prosthetic alignment on standing biomechanical property for trans-tibial amputees, plantar foot pressure of one subject during natural standing were recorded by using the Pedar in-shoe pressure measurement system with different alignment angles in the sagittal and frontal planes. The results showed that angular alignment had significant effects on the foot pressure distribution and magnitude of prosthetic side. Peak pressure on prosthetic foot was 1.96 times larger than the one on sound foot, although only about 38% body weight was supported by prosthetic side on average. Adjustment of alignment angle in sagittal and frontal planes made the center of pressure on foot shift in A/P and M/L directions respectively. The findings provide potentially useful information for prosthesis design and biomechanical analysis of lower limb

关键词： Prosthetics Foot Sockets Pressure measurement Sensor arrays Instruments Information analysis Fabrication Feedback Inspection

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