Based on psychological attribution theory, this paper presents a domain-independent computational model to automate social causality and responsibility judgment according to an agent's causal knowledge and observa...
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A docking approach for child robot suitable for marsupial robot was designed in this paper. The mother robot obtained the posture of child robot relative to the docking entrance by visual perception to instruct the ch...
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A docking approach for child robot suitable for marsupial robot was designed in this paper. The mother robot obtained the posture of child robot relative to the docking entrance by visual perception to instruct the child robot. In each of left, right and back sides of child robot, there was a color symbol with two colors arranged vertically. The mother robot extracted the color borderline of each symbol it observed in a way of connection growing, and then the position information of corresponding color symbol in image as well as the length ratio could be acquired to guide the motion of child robot. Finally, the child robot entered the docking station in an appropriate posture. This approach was verified by experimental results.
This paper proposes a novel sparse variant of auto-encoders as a building block to pre-train deep neural networks. Compared with sparse auto-encoders through KL-divergence, our method requires fewer hyper-parameters a...
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This paper proposes a novel sparse variant of auto-encoders as a building block to pre-train deep neural networks. Compared with sparse auto-encoders through KL-divergence, our method requires fewer hyper-parameters and the sparsity level of the hidden units can be learnt automatically. We have compared our method with several other unsupervised leaning algorithms on the benchmark databases. The satisfactory classification accuracy (97.92% on MNIST and 87.29% on NORB) can be achieved by a 2-hidden-layer neural network pre-trained using our algorithm, and the whole training procedure (including pre-training and fine-tuning) takes far less time than the state-of-art results.
The past few years have witnessed the rapid growth of online social networks, which have become important hubs of social activity and conduits of information. Identifying social influence in these newly emerging platf...
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An object grasping method based on fuzzy approaching for a mobile manipulator with an Eye-in-Hand CMOS (complementary metal-oxide-semiconductor transistor) camera was proposed. The approaching guidance identifier with...
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An object grasping method based on fuzzy approaching for a mobile manipulator with an Eye-in-Hand CMOS (complementary metal-oxide-semiconductor transistor) camera was proposed. The approaching guidance identifier with double cross was recognized by the mobile manipulator, and the angle between the line from mobile platform to the center of the identifier and its heading direction were served as the inputs of fuzzy controller. A double input and single output fuzzy controller was designed to regulate the direction of the mobile platform for smooth approaching. When the object (a red cylinder with double black lines) was in the workspace of manipulator, the mobile platform stops and the object was grasped by the manipulator with its joint angles solved based on inverse kinematics. Experiments results show the validity of the proposed approach.
A motion control method for mobile robot based on sub-regions evaluation in local sensing environment was proposed. Firstly, the local environment was divided into multiple sub-regions based on the sensing information...
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A motion control method for mobile robot based on sub-regions evaluation in local sensing environment was proposed. Firstly, the local environment was divided into multiple sub-regions based on the sensing information provided by laser range finder. Then, each sub-region was evaluated by considering the distance influence factor, as well as visual guide and memory-based judgment. Finally, the optimal sub-region adapted to current environment will be used for motion decision of mobile robot. Experimental results show that the proposed method is capable of dividing sensing environment into multiple sub-regions and producing the optimal sub-region adapted to current environment. Motion control for robot was realized and the effectiveness of the proposed method was verified.
A robotic fish propelling itself by two long fins was designed and implemented from the inspiration of stingrays. The yaw control of this robotic fish was studied. The dynamic model was studied based on the stress ana...
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A robotic fish propelling itself by two long fins was designed and implemented from the inspiration of stingrays. The yaw control of this robotic fish was studied. The dynamic model was studied based on the stress analysis of the robotic fish. A yaw controller was designed based on the active disturbance rejection control (ADRC) technique. The model error and external disturbance were unified into a total system disturbance, which was estimated by an extended state observer. By compensating the total system disturbance in the control signal, the yaw controlsystem was simplified to a typical second order cascade integral system which could be easily controlled by use of a more effective nonlinear feedback control. The ADRC based yaw controller was verified through simulations showing that the designed controller can effectively control the yaw angle of the robotic fish and has good dynamic and static characteristics.
This paper proposes a method of hierarchical WSN deployment and routing for fast localization. Position-known anchor nodes form a static upper-layer network organization and several mobile nodes constitute the lower-l...
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This paper proposes a method of hierarchical WSN deployment and routing for fast localization. Position-known anchor nodes form a static upper-layer network organization and several mobile nodes constitute the lower-layer network which need dynamic message exchange with the upper network. In the upper static network, near-optimal routing table is allocated to each anchor node based on their known-position and the strength of signal for communication during network initialization. Mobile nodes in the lower-layer can access to the upper network dynamically and at the same time report the RSSI value of nearby anchors to the control-center. At the center, the computer will calculate the real-time location of the target based on the reported RSSI and node-IDs. Algorithm presented in this paper is low cast, easy to implement and can be used for fast location estimation and motion tracking indoors and outdoors.
One of the most difficult challenges in automatic face recognition is computing facial similarity between two images captured in different modalities, called heterogeneous face recognition. In this paper, we propose a...
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Human Flesh Search is an explosive Web phenomenon these years in China, especially when new media, such as Weibo, appeared. In this research, we present the empirical studies about growing patterns of participated Hum...
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