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检索条件"机构=State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute"

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Real-time deformation simulation of hand-object interaction

Real-time deformation simulation of hand-object interaction

引用

2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Feng, Miao Li, Jiting State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China

ISBN: (纸本)9781612842509

This paper investigates the deformation simulation of hand-object interaction for the virtual rehabilitation system of hand. The deformation along the contact normal on hand and object is investigated. Following the anatomy of human hand, the virtual hand organizational structure is simplified as a 2-layered representation, of which the inner layer models the rigid skeleton, and the outer layer represents the deformable soft tissues. The object could be either rigid or elastic. This model is aimed not only to provide the visual realism, but also to enhance the force fidelity for the future work. To realize rapid computation, the deformation of the hand and the object is determined with geometry-based method. To handle the multi-point hand-object interaction, a weighted function is proposed to take the effect of the multiple contact regions on the object deformation into consider. The experimental results show that the deformation is achieved but the further improvement is still needed. The computation time is less than 1ms, which highly satisfies the real-time requirement in our virtual rehabilitation system with force rendering. © 2011 IEEE.

关键词： Deformation

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Camera response function estimation and application with a single image

Camera response function estimation and application with a s...

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Fu, Li Qi, Yue State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing 100191 China

ISBN: (纸本)9783642259913

Camera response function (CRF) relates scene irradiance to image intensities. Estimation of CRF is a fundamental and necessary step in many computer vision applications such as the generation of high dynamic image, bidirectional reflectance distribution function (BRDF) estimation etc. In the paper, we compute CRF from a color image and edit images based on CRF to enhance contrast and change exposure of images. This method selects suitable edge windows with two uniform color regions, and is based on the empirical prior on camera response functions. The method uses only one color image rather than a set of images. The experiments show our estimation result is accurate. © 2011 Springer-Verlag.

关键词： Color

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Process oriented maintainability and maintenance task integrated analysis method

Process oriented maintainability and maintenance task integr...

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International Conference on Reliability, Maintainability and Safety

作者： Zhou, Dong Kang, Le Ding, Yan Lv, Chuan State Key Laboratory of Virtual Reality Technology and System School of Reliability and Systems Engineering BEIHANG University Beijing China

ISBN: (纸本)9781612846644

A process oriented integrated analysis methodology (POIAM) is presented in the paper, aiming at the imbalance between maintainability analysis (MA) and maintenance task analysis (MTA) in practical project. The paper presents the correlativity between maintainability factors and maintenance task, support resource requirement and the maintenance task, products and support resources to achieve the process oriented integrated analysis. Based on the analysis flow of MTA, an integrated analysis process is invented, which can expose design defects effectively. Besides, the methodology put forwards the composed measures for design improvement through screening key problems from analysis results. © 2011 IEEE.

关键词： Maintainability

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Separate DOF Control and Mutual Guidance in Networked Haptic Collaboration Maze Game: Design and Evaluation

Separate DOF Control and Mutual Guidance in Networked Haptic...

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Lingzhi Liu Guanyang Liu Yuru Zhang Weidong Guo Keke Lu Moyuan Zhou State Key Laboratory of Virtual Reality Technology and Systems Robotics InstituteBeihang UniversityChina

ISBN: (纸本)9781612843865

In this paper we study on haptic collaboration in a maze game over computer network. Two players located at separated places operate each haptic device to collaboratively finish the game task. Herein, a new collaboration mode of manipulation – separate DOF control is proposed for the first time. Separate DOF control here means each player controls one DOF of an object or a task independently in collaborative virtual environment. Mutual guidance is also proposed which provides guidance force to each player. We setup an experiment to evaluate its efforts on cooperation performance and co-presence. Twelve participants did the experiment. The results revealed that this collaboration mode is effective. Ten of the twelve participants believed that they performed well in the experiment and thought the collaboration way was very interesting. The presented results motivated a new haptic collaboration mode in the fields of game design, education and cooperative assembly.

关键词： Control Networked Evaluation Hunting Game theory Game animals DEPTH OF FIELD Guidance Mazes haptic device Players Haptic Device Component

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Visual saliency based aerial video summarization by online scene classification

Visual saliency based aerial video summarization by online s...

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International Conference on Image and Graphics

作者： Wang, Jiewei Wang, Yunhong Zhang, Zhaoxiang Laboratory of Intelligent Recognition and Image Processing Beihang University Beijing China State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China

ISBN: (纸本)9780769545417

Compared with traditional video summarization approaches, aerial video summarization is a new and challenging issue for its particular characteristics. Aerial video data is a massive data stream, without pre-edit structures such as sports or news video data, lack of camera motion such as zoom and pan. On account of these characteristics, we proposed a novel approach for summarization. First, we extract GIST features for each frame as the holistic scene representation. Then, we divide aerial video into temporal segments representing a visual scene using on-line clustering method by examine GIST features of each frame only once. Finally, we select several key frames from each scene for summarization according to visual saliency index (VSI) of each frame computed from their visual saliency map. In the paper, we proposed new criterion for estimation of temporal segmentation of streaming video. Experimental observations show the success of our approach on aerial video summarization. © 2011 IEEE.

关键词： Antennas

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Multiple Rehabilitation Motion Control for Hand with an Exoskeleton

Multiple Rehabilitation Motion Control for Hand with an Exos...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Shuang WANG Jiting LI Ruoyin ZHENG Zhongyuan CHEN Yuru ZHANG State Key Laboratory of Virtual Reality Technology and Systems Robotics InstituteBeihang UniversityBeijingChina

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which can realize the active, passive, and assisted rehabilitation motion. The active mode is accomplished with the force control algorithm during which the resistance is compensated in free space and the virtual interactive force is rendered to the finger in constraint space. The passive mode is realized by the position controller given the desired motion trajectory. The assisted mode is implemented in the customized positions by switching between the active and passive modes according to the predefined action procedure. The experiments are conducted to verify the proposed method, and the results show that the different rehabilitation motion are successfully accomplished and the maximum joint position error is less than 1.2 degree, which satisfies the requirement in hand rehabilitation application. The results demonstrate the validity of the proposed method.

关键词： Fingers Exoskeletons Joints Force Immune system Humans Actuators

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Timeline generation through evolutionary trans-temporal summarization

Timeline generation through evolutionary trans-temporal summ...

引用

Conference on Empirical Methods in Natural Language Processing, EMNLP 2011

作者： Yan, Rui Kong, Liang Huang, Congrui Wan, Xiaojun Li, Xiaoming Zhang, Yan School of Electronics Engineering and Computer Science Peking University China Institute of Computer Science and Technology Peking University China State Key Laboratory of Virtual Reality Technology and Systems Beihang University China

ISBN: (纸本)1937284115

We investigate an important and challenging problem in summary generation, i.e., Evolutionary Trans-Temporal Summarization (ETTS), which generates news timelines from massive data on the Internet. ETTS greatly facilitates fast news browsing and knowledge comprehension, and hence is a necessity. Given the collection of time-stamped web documents related to the evolving news, ETTS aims to return news evolution along the timeline, consisting of individual but correlated summaries on each date. Existing summarization algorithms fail to utilize trans-temporal characteristics among these component summaries. We propose to model trans-temporal correlations among component summaries for timelines, using inter-date and intra-date sentence dependencies, and present a novel combination. We develop experimental systems to compare 5 rival algorithms on 6 instinctively different datasets which amount to 10251 documents. Evaluation results in ROUGE metrics indicate the effectiveness of the proposed approach based on trans-temporal information. © 2011 Association for Computational Linguistics.

关键词： Computational linguistics

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Camera Response Function Estimation and Application with a Single Image

Camera Response Function Estimation and Application with a S...

引用

2011 3rd International Asia Conference on Informatics in Control, Automation and robotics(CAR 2011)

作者： Li Fu Yue Qi State Key Laboratory of Virtual Reality Technology and Systems Beihang University

Camera response function(CRF)relates scene irradiance to image *** of CRF is a fundamental and necessary step in many computer vision applications such as the generation of high dynamic image,bidirectional reflectance distribution function(BRDF)estimation *** the paper,we compute CRF from a color image and edit images based on CRF to enhance contrast and change exposure of *** method selects suitable edge windows with two uniform color regions,and is based on the empirical prior on camera response *** method uses only one color image rather than a set of *** experiments show our estimation result is accurate.

关键词： Camera response function,contrast,exposure

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Networked Tank Gunnery Skill Training Based on Haptic Interaction

Networked Tank Gunnery Skill Training Based on Haptic Intera...

引用

2011 4th International Conference on Biomedical Engineering and Informatics(第四届生物医学工程与信息学国际会议 BMEI 2011)

作者： Guanyang Liu Keke Lu State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

This paper introduces networked tank gunnery skill training based on haptic interaction. "Hand in hand" training mode is implemented by constructing a networked haptic display system. A teacher and a trainee can respectively manipulate his own haptic device to realize skill transferring. In this process, the trainee can experience the teacher's motor skill and can be corrected by the teacher. A local network is built to connect two haptic devices and computers. Two modes for tank gunnery skill training are designed in this system: haptic guidance and real-time correction. A prototype system is established to testify the effectiveness of such a new type "Hand in hand" training system.

关键词： networked skill training hand in hand haptic display haptic guidance real-time correction

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Real-time deformation simulation of hand-object interaction

Real-time deformation simulation of hand-object interaction

引用

IEEE Conference on robotics, Automation and Mechatronics

作者： Miao Feng Jiting Li State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China

关键词： Solid modeling Deformable models Fingers Computational modeling Humans Joints Rendering (computer graphics)

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