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A fundamental problem in cooperative HumanRobot Interaction is object handover. Existing works in this area assume the human can reliably grasp the object from the robot hand. However, in some situations the human can produce perturbing forces in the object that are not meant to end in a handover. These perturbations can result in the object being dropped or the robot hand being damaged. This paper...
Effective robotic grasping and manipulation requires knowledge about the surface properties of an object and the environment in which it is located. Physical contact with materials using tactile sensors can enable the retrieval of detailed information about the material, i.e. compressibility, surface texture and thermal properties. This paper describes a system used to classify a wide range of materials...
Most multi-robot task allocation algorithms are concerned with the allocation of individual tasks to single robots. However certain types of tasks require a team of robots for their execution, and for the allocation of such tasks non-conflicting robot teams have to be formed. Most of the existing allocation algorithms for such tasks mainly address the robot-team formation and the tasks are allocated...
Current approaches to networked robot systems (or ecology of robots and sensors) in ambient assisted living applications (AAL) rely on pre-programmed models of the environment and do not evolve to address novel states of the environment. Envisaged as part of a robotic ecology in an AAL environment to provide different services based on the events and user activities, a Markov based approach to establishing...
Electronic trading in global markets and exchanges requires sophisticated communication and data management systems. Novel computational infrastructures and trading strategies are required to support the massive amount of incoming streaming data, where the main problem is in latency management. Multi-agent Systems have been recognized as a promising solution to address complex problems in many areas...
Accurate forecasting of directional changes in stock prices is important for algorithmic trading and investment management. Technical analysis has been successfully used in financial forecasting and recently researchers have explored the optimization of parameters for technical indicators. This study investigates the relationship between the window size used for calculating technical indicators and...
Online financial textual information contains a large amount of investor sentiment, i.e. subjective assessment and discussion with respect to financial instruments. An effective solution to automate the sentiment analysis of such large amounts of online financial texts would be extremely beneficial. This paper presents a natural language processing (NLP) based pre-processing approach both for noise...
In recent years, machine learning algorithms have become increasingly popular in financial forecasting. Their flexible, data-driven nature makes them ideal candidates for dealing with complex financial data. This paper investigates the effectiveness of a number of machine learning algorithms, and combinations of these algorithms, at generating one-step ahead forecasts of a number of financial time...
Wash trade refers to the activities of traders who utilise deliberately designed collusive transactions to increase the trading volumes for creating active market impression. Wash trade can be damaging to the proper functioning and integrity of capital markets. Existing work focuses on collusive clique detections based on certain assumptions of trading behaviours. Effective approaches for analysing...
Market abuse has attracted much attention from financial regulators around the world but it is difficult to fully prevent. One of the reasons is the lack of thoroughly studies of the market abuse strategies and the corresponding effective market abuse approaches. In this paper, the strategies of reported price manipulation cases are analysed as well as the related empirical studies. A transformation...
Linear time series models, such as the autoregressive integrated moving average (ARIMA) model, are among the most popular statistical models used to forecast time series. In recent years non-linear computational models, such as artificial neural networks (ANN), have been shown to outperform traditional linear models when dealing with complex data, like financial time series. This paper proposes a...
The recent development of low cost cameras that capture 3-dimensional images has changed the focus of computer vision research from using solely intensity images to the use of range images, or combinations of RGB, intensity and range images. The low cost and widespread availability of the hardware to capture these images has realised many possible applications in areas such as robotics, object recognition,...
We propose an evolutionary algorithm to autonomously improve the performances of a robotics skill. The algorithm extends a previously proposed graphical evolutionary skills building approach to allow a robot to autonomously collect use cases where a skill fails and use them to improve the skill. Here we define a computational graph as a generic model to hierarchically represent skills and to modify...
The effective life-long operation of service robots and assistive companions depends on the robust ability of the system to learn cumulatively and in an unsupervised manner. For a cumulative learning robot there are particular characteristics that the system should have, such as being able to detect new perceptions, being able to learn online and without supervision, expand when required, etc. Bag-of-Words...
In a multi-robot system, the coordination and cooperation among the robots determine the effectiveness of task execution. Different centralised and distributed task allocation algorithms have been proposed by researchers. Recently consensus based task allocation has been extensively researched because of its robustness in handling large teams of robots. We propose a new auction and consensus based...
In a multi-robot system, the coordination and cooperation among the robots determine the effectiveness of task execution. Different centralised and distributed task allocation algorithms have been proposed by researchers. Recently consensus based task allocation has been extensively researched because of its robustness in handling large teams of robots. We propose a new auction and consensus based...
A dynamic Newton's approximation based estimation scheme is proposed for image-based visual servoing (IBVS) of a redundant manipulator. The estimation scheme approximates the kinematic Jacobian from joint space to vision space online. The estimated Jacobian is used for redundancy resolution with weighted least norm solution. This work discusses the kinematic limit avoidance with estimated Jacobian...
In this paper a self organising map is proposed for object recognition based on tactile form perception. A robot hand with three fingers, with the same number of degrees of freedom as the human hand, is used for obtaining the required tactile measurements. Finger joint angles were recorded when the hand was grasping different objects, in three different orientations. A self organising map was used...
The brain-computer interface (BCI) technology is a means of communication that allows individuals with severe movement disability to communicate with external assistive devices using the electroencephalogram (EEG) or other brain signals. The human mind and mental processes are inherently quantum in nature. It is therefore logical to investigate the possibility of designing new approaches to Brain-computer...
Microscope-based white blood cell classification plays an important role in diagnosing disease. The number of segments of nucleus and the shape of segments of nucleus are regarded as important features. Since it is difficult to automatically extract these features from a blood smeared image, they have not been used in the current automatic classifiers based on smeared images. In this paper, an approach...
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