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2008 IEEE International Conference on robotics and biomimetics, ROBIO 2008

作者： Cheng, Erkang Kong, Bin Hu, Rongxiang Zheng, Fei Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Science Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424426799

Eye state detection in facial image is a significant issue in face recognition, human-computer interface and driver fatigue monitoring system. In this paper, we first located the eye region in the upper area of the face region with AbaBoost algorithm. The linear predictor error distribution of wavelet coefficients was proposed as the statistics model to distinguish the eye states. We collected statistics (mean, variance, skewness, and kurtosis) of the prediction error distribution as eye state features. Build on these eye state features and support machine vector (SVM) with radial basis function (RBF) kernel a non-linear classifier is obtained by training samples of eye images. Experiment results with the classifier demonstrated that our method is an effective eye state detection approach which can satisfy various situations. © 2008 IEEE.

关键词： Face recognition

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A genetic algorithm-based feature selection method for human identification based on ground reaction force 09

A genetic algorithm-based feature selection method for human...

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2009 World Summit on Genetic and Evolutionary Computation, 2009 GEC Summit - 1st ACM/SIGEVO Summit on Genetic and Evolutionary Computation, GEC'09

作者： Su, Xu Xu, Zhou Yi-ning, Sun Key laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligence Machines Chinese Academy of Science Hefei Anhui 230031 China Dept. of Automation University of Science and Technology of China Hefei Anhui 230027 China

ISBN: (纸本)9781605583266

Biometrics-based identification is a promising technology. Ground reaction force (GRF), with its characteristics of non-invasion, easily measurement and low environment-affection, shows a potential in this field. Feature selection is an important step in biometrics-based identification. In this paper, a genetic algorithm-based feature selection method was discussed. The proposed algorithm has the advantage of finding small subsets of features that perform well in identification. Two contrast experiments were conducted to show the effectiveness of the algorithm, which shows that with GA, higher identification accuracy and smaller feature size were reached. Copyright 2009 ACM.

关键词： Genetic algorithms

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The study and improvement of memory management based on SOS

The study and improvement of memory management based on SOS

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2008 IEEE International Conference on robotics and biomimetics, ROBIO 2008

作者： Wu, Fuqing Meng, Max Q.-H. Wu, Lingfei Zhang, Zhuancheng Chen, Xijun Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Department of Electronic Engineering Chinese University of Hong Kong Sha tian Hong Kong Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424426799

the memory management of the embedded operating system has its unique traits. And so SOS operating system should have its own suitable methods for the memory management because of its small memory and resource constraint. This paper analyses the memory management of SOS operating system, and proposes a new data structure with the combination of memory management methods about μ C / OSII, then deeply probes into the memory allocation and recovery mechanisms, which provides an effective solution for memory management of SOS operating system. © 2008 IEEE.

关键词： Data structures

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Design of WSN node based on CC2431 applicable to lunar surface environment

Design of WSN node based on CC2431 applicable to lunar surfa...

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2008 IEEE International Conference on robotics and biomimetics, ROBIO 2008

作者： Zhang, Zhuancheng Meng, Max Q.-H. Wu, Fuqing Chen, Xijun Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Department of Electronic Engineering Chinese University of Hong Kong Shatian Hong Kong Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424426799

Firstly, the paper introduces the Wireless Sensor Networks (WSN) simply. It analyses the influence of lunar surface environment on the nodes of WSN and gives corresponding solutions. According to the characteristics of WSN and design requirements of the sensor node, we design a kind of sensor nodes which based on CC2431. Then the processor module, wireless communications module, location engine, power management module and temperature control module are described in detail. Finally, we conduct the localization experiment of blind nodes and robot navigation experiment. © 2008 IEEE.

关键词： Sensor nodes

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SPORTS BIOMECHANICAL INFORMATION ACQUISITION AND EVALUATION FOR KAYAKING EVENTS

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International Journal of Information Acquisition 2009年第3期6卷 213-223页

作者： ZUCHANG MA JINGMIN ZHANG YINING SUN TAO MEI Key laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230031 China Department of Precision Machinery and Instrumentation University of Science and Technology of China Hefei 230026 China

Intensive understanding of sports biomechanical principles is an essential issue for sprint kayaking. In recent years, the authors have studied the acquisition of biomechanical information and the evaluation of competitive ability on sprint kayaking. In this study, first, an oar force sensor was developed to detect the stroke forces applied by paddler. The sensor was attached to a paddle with minimum mechanical involvement, hence the mechanical properties of the paddle was not changed. Second, an on-water instrument of biomechanical information acquisition was developed to detect stroke force, stroke frequency, stroke power, kayak speed, and acceleration synchronously. Third, 12 evaluation factors for kayaking ability were proposed based on the factor analysis. The 12 factors include (1) the stroke rate; (2) the speed fluctuation; (3 and 4) the hull pose (L/R); (5 and 6) the stroke force (L/R); (7 and 8) the endurance (L/R); (9 and 10) the stroke technique (L/R); (11 and 12) and the stroke rhythm (L/R). Finally, the stroke rate and the forward stoke technique was analyzed briefly.

关键词： Kayaking oar force stroke rate

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A beacon selected localization algorithm for Ad-Hoc networks of sensors

A beacon selected localization algorithm for Ad-Hoc networks...

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IEEE International Conference on Mechatronics and Automation

作者： Lingfei Wu Max Q.-H. Meng Huawei Liang Department of Automation University of Science and Technology Hefei Anhui China Center of Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Advanced Robot Technology The key Laboratory of Biomimetic Sensing Anhui Province Department of Automation University of Science and Technology of China Hefei Anhui Province China Center for Biomimetic Sensing and Control Research Chinese Academy of Sciences Hefei Anhui Province China Department of Electronic Engineering Chinese University of Hong Kong Sha tian Hong Kong

Aiming at the positioning problem of Ad-Hoc networks of sensors node location, a beacon selected localization algorithm (BSLA) is proposed in this paper. The proposed method considers sufficiently both the topology relationship among beacons and the topology relationship between beacon nodes and unknown nodes. We introduce the concept of collinearity and apply it into the localization of the multihop networks. Through selecting best anchor terms by using collinearity parameter, node position estimate can be attained with a weighted estimate mechanism. A well-established data analysis technique- Pauta Criterion is used to filter out the erroneous position estimate to achieve higher localization accuracy. Simulation results show that the performance of BSLA outweighs the traditional DV-Hop and DV-distance algorithms whether in regular networks or in irregular networks (C shape networks).

关键词： Ad hoc networks Wireless sensor networks Network topology Shape robotics and automation Spread spectrum communication Data analysis Filters Mechatronics Biosensors

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Robust and precise eye detection based on locally selective projection

Robust and precise eye detection based on locally selective ...

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作者： Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

This paper proposes a robust and precise eye detection method based on a new projection algorithm called locally selective projection (LSP). Along each projection axis, LSP selects a pixel and uses a function calculated in the neighborhood of the pixel as response. The local selectivity of LSP makes it robust against rotation, illumination and occlusion. Moreover, the positions of selected pixels can be recorded, providing a 2D cue for image analysis. We apply LSP to eye detection. The vertical and horizontal LSPs are first used to give reliable eye candidates, then a SVM classifier is employed to verify the real eye pairs. The experiment result compared with an AdaBoost detector shows the robustness and accuracy of proposed method. © 2008 IEEE.

关键词： Pixels

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Semantic feature extraction for accurate eye corner detection

Semantic feature extraction for accurate eye corner detectio...

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作者： Xu, Cui Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

In this paper a novel eye corner (canthus) detection method is proposed. The method is based on sematic features which are extracted from the structure and appearance characteristics of canthus. The eyelids are first fitted to construct an angle model. Based on this model, one feature is proposed to characterize the appearance difference between inner and outer canthus regions, and another feature is proposed to emphasize the role of the canthus angle bisector region. The two features are fused in a logistic regression classifier to detect accurate canthus. The effectiveness and accuracy of the proposed method are demonstrated in experiments. © 2008 IEEE.

关键词： Semantics

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Particle filtering for WSN aided SLAM

Particle filtering for WSN aided SLAM

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2008 IEEE/ASME International Conference on advanced Intelligent Mechatronics, AIM 2008

作者： Li, Yangming Meng, Max Q.-H. Liang, Huawei Li, Shuai Chen, Wanming Institute of Intelligent Machine Chinese Academy of Science Hefei City Anhui Province China Department of Automation University of Science and Technology of China Hefei City Anhui Province China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei City Anhui Province China

ISBN: (纸本)9781424424955

the paper proposed a particle filter based and Wireless Sensor Networks (WSN) aided Simultaneous Localization and Mapping (SLAM) strategy. The proposed method aims at solving two troublesome problems in the traditional particle filter based SLAM algorithms. The first problem is high dimension of question space;and the second one is multi-date association. Firstly, the paper analysed the model of the WSN aided SLAM problem. Then noises in the model were analysed. According to analyses, a particle filtering algorithm was developed as the kernel algorithm for data fusion. Detailed procedures of the particle filter were introduced. Besides, all key steps, including initialization, prediction, sequential importance sampling and also resampling, were especially specified. Software simulations were done to analyse and prove the validity and the efficiency of the proposed method. The simulation results supported that the proposed method can diminish dimensions of the SLAM problem and resolve the multi-data association problems. Moreover, through adopting PF algorithm and involving WSN, following advantages were also acquired: firstly, the method could locate blind nodes in WSN with high resolution while no anchor node was available;secondly, it could improve precision of localization and mapping for mobile robots and, especially, it could inhibit error accumulation of dead reckoning without requirement of close-loop. © 2008 IEEE.

关键词： Mobile robots

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The plant modeling research based on improved 3D L-system and quaternion

The plant modeling research based on improved 3D L-system an...

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International Conference on Information and Automation (ICIA)

作者： Ke Guan Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui Province Institute of Intelligent machines Chinese Academy and Sciences Hefei China

This paper describes the plant modeling research based on improved 3D L-system and quaternion. It first introduces the original 3D L-system and how to implement it, then brings forward the improved modeling method of 3D L-system by specifying the growth vector and azimuth vector and applies the quaternion based computer algorithm in it, in the end generates some 3D plant models of sympodia and uniaxiality based on the improved method and algorithm.

关键词： Three dimensional displays Solid modeling Azimuth Computational modeling Mathematical model Quaternions Axles

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