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Efficient color feature extraction and matching for motion estimation and mapping

Efficient color feature extraction and matching for motion e...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

作者： Hwang, Hyoseok Kweon, In-So Robotics Program Korea Advanced Institute of Science and Technology Daejon Korea Republic of Faculty of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejon Korea Republic of

ISBN: (纸本)9781424420582

Feature extraction and matching is one of the most significant research areas in robot vision. In this paper, we present a new method for motion estimation and mapping using color feature extraction and matching. The proposed method reduces computational cost and has good performance. The experimental result shows that the proposed method not only runs faster but provides accurate result.

关键词： Motion estimation

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Understanding of hands and task characteristics for development of biomimetic robot hands

Understanding of hands and task characteristics for developm...

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IEEE-RAS International Conference on Humanoid Robots

作者： Changmok Choi Mihye Shin Suncheol Kwon Wonil Park Jung Kim Department Mechanical Engineering KAIST South Korea The Robotics Program KAIST South Korea

ISBN: (纸本)9781424428212

This paper describes a study to understand human hand dexterity, which is the ultimate goal of biomimetic robot hands. The hand is one of the most complicated organs in the human body and this complicated anatomical structure is a source of a dexterity and force capability that man-made hands have rarely achieved. The anatomical and neuromuscular aspects of the human hand are surveyed to provide technical specifications. In addition, the roles of visual and tactile sensory capabilities during object manipulation are discussed. Finally, the paper presents an instrumentation system for measuring surface electromyogram (sEMG) and exerted finger forces concurrently. This system is able to characterize hand tasks and provide technical specifications for development of biomimetic hands with dexterity and force capabilities that are comparable to those of human hands.

关键词： Biomimetics Humans Humanoid robots Robot sensing systems Anatomical structure Muscles Fingers Legged locomotion Bones Central nervous system

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Design of fuzzy controller for automatic steering

Design of fuzzy controller for automatic steering

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作者： Ko, Sang-Jin Lee, Jun-Woo Choi, Byoung-Suk Lee, Ju-Jang Graduate School of Automobile Technology KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of Department of Electrical Engineering and Computer Science KAIST Daejeon Korea Republic of

ISBN: (纸本)9784990288020

Unmanned vehicle is future vehicle technology. Lateral control technology and longitudinal control technology are needed for unmanned vehicle. Automatic steering system is lateral control technology. A automatic steering system automatically controls the steering to keep the vehicle in its land and also to follow the lane as it curves around. This paper proposes automatic steering system based on fuzzy logic. If the fuzzy rules are set properly, the fuzzy controller can control the objective system nicely. To design an automatic steering system, lateral error dynamics of a vehicle is derived. The proposed automatic steering system is evaluated by SIMULINK in MATLAB. The simulation results show that the proposed automatic steering system works satisfactorily for keeping the vehicle in its land and following the lane. ©ISAROB 2008.

关键词： Fuzzy control

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Real-time isometric pinch force prediction from sEMG

Real-time isometric pinch force prediction from sEMG

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Changmok Choi Suncheol Kwon Wonil Park Mihye Shin Jung Kim Department of Mechanical Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea

This paper describes a real-time isometric pinch force prediction algorithm using surface electromyogram (sEMG). The activities of seven muscles related to the movements of the thumb and index finger joints, which are observable using surface electrodes, were recorded during pinch force experiments. For the successful implementation of the real-time prediction algorithm, an off-line analysis was performed using the recorded activities. From the seven muscles, four muscles were selected for monitoring using the Fisher linear discriminant paradigm in an off-line analysis, and the recordings from these four muscles provided the most effective information for mapping sEMG to the pinch force. An ANN structure was designed to perform efficient training and to avoid both under-fitting and over-fitting problems. Finally, the pinch force prediction algorithm was tested with five volunteers and the results were evaluated using two criteria: normalized root mean squared error (NRMSE) and correlation (CORR). The training time for the subjects was only 2 min 29 sec, but the prediction results were successful with NRMSE = 0.093 plusmn0.047 and CORR = 0.957 plusmn0.031. These results imply that the proposed algorithm is useful to measure the generated pinch force without force sensors. The possible applications of the proposed method include controlling bionic finger robot systems to overcome finger paralysis or amputation.

关键词： Muscles Prediction algorithms Fingers Force measurement Force sensors Thumb Electrodes Performance analysis Algorithm design and analysis Monitoring

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Abandoned object position prediction based on mobile robot

Abandoned object position prediction based on mobile robot

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Soung Min Im Ju Jang Lee Robotics program KAIST Daejeon South Korea Department of Electrical Engineering and Computer Science KAIST Daejeon South Korea

Visual surveillance with dynamic background is one of the most active research topics in computer vision. Especially, researches for abandoned detection in the public place have been caused by preventing terror and accident. Previous researches for abandoned detection have been based on a static image and used an image difference. In this paper we present an algorithm for a mobile robot and we use optical flow for detecting a static object and distances from abandoned objects. For this purpose, we find abandoned objects and predict a position of objects using a mobile robot visual system with a single camera.

关键词： Mobile robots Surveillance Computer vision Accidents Image motion analysis Object detection Optical detectors Visual system Robot vision systems Cameras

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Towards a medical virtual reality environment for minimally invasive cardiac surgery

Towards a medical virtual reality environment for minimally ...

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4th International Workshop on Medical Imaging and Augmented Reality, MIAR 2008

作者： Peters, Terry M. Linte, Cristian A. Moore, John Bainbridge, Daniel Jones, Douglas L. Guiraudon, Gérard M. Imaging Research Laboratories Robarts Research Institute London ON Canada Biomedical Engineering Graduate Program University of Western Ontario London ON Canada Division of Anaesthesia University of Western Ontario London ON Canada Department of Physiology and Pharmacology University of Western Ontario London ON Canada Canadian Surgical Technologies and Advanced Robotics London ON Canada

ISBN: (纸本)3540799818

We have developed a visualization environment to assist surgeons with therapy delivery inside the beating heart, in absence of direct vision. This system employs virtual reality techniques to integrate pre-operative anatomical models, real-time intra-operative imaging, and models of magnetically-tracked surgical tools. Visualization is enhanced via 3D dynamic cardiac models constructed from high-resolution pre-operative MR or CT data and registered within the intra-operative imaging environment. In this paper, we report our experience with a feature-based registration technique to fuse the pre- and intra-operative data during an in vivo intracardiac procedure on a porcine subject. Good alignment of the pre- and intra-operative anatomy within the virtual reality environment is ensured through the registration of easily identifiable landmarks. We present our initial experience in translating this work into the operating room and employing this system to guide typical intracardiac interventions. Given its extensive capabilities in providing surgical guidance in the absence of direct vision, our virtual environment is an ideal candidate for performing off-pump intracardiac interventions. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Augmented reality

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Mean-shift tracker with face-adjusted model

Mean-shift tracker with face-adjusted model

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jeehyun Goya Choe Joon-Hong Seok Ju-Jang Lee Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

Mean-shift algorithm shows robust performances in various object-tracking technologies including face tracking. Due to its robustness and accuracy, mean-shift algorithm is regarded as one of the best ways to apply in object-tracking technology in computer vision fields. However, it has a drawback of getting into a bottleneck state when faced with a speedy object moving beyond its window size within one image frame interval time. The time required to calculate mean-shift vector could be much lessened with lesser memory when color model is adjusted to the previously known target information. This paper shows the building process of target-adjusted model with a non-uniform quantization. The target color model dealt in this paper is the one used for deriving mean-shift vector. It is a kernel model containing both the color and distance information. This paper gives scheme to efficiently deal with color information in the model. Through a proper selection of color bins, unimportant color values were reduced to a small amount. As a result, the computing time of the mean-shift vector in face-tracking was shortened while maintaining robustness and accuracy.

关键词： Target tracking Face detection robotics and automation Electronic mail Robustness Quantization Kernel Pixel Focusing Face recognition

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Evolving artificial neural network using simple augmenting weight matrix method

Evolving artificial neural network using simple augmenting w...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Dong-Hyun Lee Ju-Jang Lee Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

In this paper, a simple method is proposed to evolve artificial neural networks(ANNs) using augmenting weight matrix method(AWMM). ANNs' architecture and connection weights can be evolved simultaneously by AWMM, and their structures incrementally are growing up from minimal structure. It is a non-mating method. It employs 5 mutation operators: add connection, add node, delete connection, delete node, and new initial weight. And the connection weight is trained by the simplified alopex method, which is a correlation based method for solving optimization problem. In AWMM, structural information is encoded to weighting matrix, and the matrix is augmenting as the hidden nodes are added.

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Design and Locomotion Analysis of an Unit for Reconfigurable Robots

Design and Locomotion Analysis of an Unit for Reconfigurable...

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7th World Congress on Intelligent Control and Automation (WCICA 2008), vol.10

作者： Changlong Ye Shugen Ma Bin Li Hongjun Liu Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Shenyang Institute of Aeronautical Engineering China Center for Promotion of COE Program Ritsumeikan University Japan

Mechanism Design of a modular universal unit (MUU) is presented in this paper. This unit is a basic cell of reconfigurable robot. We can develop the 3D snake-like robot, car-like vehicle and manipulator with MUUs. The MUU behaves Pitching, Yawing and Rolling D.O.F, among of which Pitching and Yawing are actuated by means of differential driving system for getting large propulsion. A series of passive rollers around the cylindrical aluminum shell of MUU form an actuating wheel for the omnidirectional mobile robot. The communication and replacement is feasible due to high integration of MUU. Two or more MUUs can be connected to move or to be a manipulator, which exhibits high mobility and agility of MUU. Some typical configurations of robot composed of these MUUs are analyzed for locomotion control. The kinematics and controllability of proposed robots are analyzed for self-reconfigurable commission. Some locomotion experiments are given to show characteristic of MUU.

关键词： Reconfigurable robot Modular unit Omnidirectional motion Kinematics

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