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Teaching robots manipulative skills through human demonstration is an important research problem and can be used to quickly program robots in future manufacturing industries. To understand human demonstration, manipulative actions need to be recognized. To improve the recognition performance, we use three kinds of sensors to capture the motion and force involved in the fine manipulative actions. In...
This paper deals with the droop control of load sharing among multiple sources in DC microgrid. The DC Electrical Power Distribution System (EPDS) with parallel sources are under study in this paper. The voltage-fed and the current-fed paradigms are investigated including the cases when the cable impedances cannot be neglected. Global voltage feedback and local voltage feedback are discussed in terms...
Acquiring robot assembly skills through human demonstration is a challenging problem. To achieve this goal, not only the actions and objects have to be shown to the robot, but also the effect of the action needs to be estimated. Recognizing the subtle assembly actions is a non-trivial task, and it is difficult to estimate the effect of the action on the assembly parts due to the small part sizes....
Recognition of human actions using a vision based approach is a challenging task. To improve the action recognition performance, we proposed a hierarchical probabilistic model based framework which not only models the dynamics of the actions but also considers contextual constraints in terms of object/action correlation and action sequential constraints. By considering the action/object correlation,...
This paper explains our low-cost approach to building an open platform telepresence robot, which uses an iRobot Create, ROS (Robot Operating System) and mobile devices. Besides using existing ROS packages we developed an Android application based on rosjava_core and android_core to control and view a live video stream from the remote robot. The robot could be used to have a video conference with people...
Gesture recognition can be applied to many research areas, such as vision-based interface, communication and human robot interaction (HRI). This paper implements a non-intrusive, real-time gesture recognition system using a depth sensor. Related features are obtained from the human skeleton model generated by the Kinect sensor. Hidden Markov Models (HMMs) are used to model the dynamics of the gestures...
Traditionally the leader or follower role of the robot in a human-robot collaborative task has to be predetermined. However, humans performing collaborative tasks can switch between or share the leader-follower roles effortlessly even in the absence of audio-visual cues. This is because humans are capable of developing a mutual understanding while performing the collaborative task. This paper proposes...
Traditionally the leader or follower role of the robot in a human-robot collaborative task has to be predetermined. However, humans performing collaborative tasks can switch between or share the leader-follower roles effortlessly even in the absence of audio-visual cues. This is because humans are capable of developing a mutual understanding while performing the collaborative task. This paper proposes...
This paper proposes a two-phase learning framework for human-robot collaborative manipulation tasks. A table-lifting task performed jointly by a human and a humanoid robot is considered. In order to perform the task, the robot should learn to hold the table at a suitable position and then perform the lifting task cooperatively with the human. Accordingly, learning is split into two phases. The first...
This research proposes a PVDF film pulse wave sensor for use in driver's drowsiness detection. The sensor non-intrusively measures heart pulse wave from driver's palm and an adaptive filter is employed to cancel the measurement noise aroused by the changing of gripping force. Experimental results show clear pulse wave signals can be obtained. Two-hour driving simulation is performed for drowsiness...
Unstructured peer-to-peer (P2P) network is a prevalent model in current P2P networks. In such systems, due to the existence of free-riders, some users cannot finally complete their download tasks for the scarcity of certain resources. Many unstructured P2P models divide download files into chunks. This paper introduces a working model called cluster to solve the heavy-tailed problem in file downloads...
Research on cooperative communication has revealed potential benefits from employing this technique in wireless networks. However, most of the work in this field pays little attention to the impact of correlation on the performance achieved. In this paper, the effect of fading correlation on the mutual information of a cooperative communication system with multiple relay nodes is investigated. A generalised...
Distributed denial-of-service (DDoS) attacks pose a serious threat to Internet security. While SYN flooding exploits the TCP three-way handshake process by sending many connection requests using spoofed source IP addresses to a victim server. DDoS attack keeps objective host from handling legitimate requests by causing it to populate its backlog queue with forged TCP connection. In this paper, we...
We investigate the performance of an experimental wireless relay sensor network comprising a source node, a destination node and dedicated relay nodes. Two relaying algorithms, dynamic relaying and fixed relaying, are tested to find out to what extent the relaying algorithms could bring any benefit to a wireless sensor network. A simple scheme is applied at transmit nodes to eliminate the need for...
We investigate the performance of the protocols for cooperative communications, such as amplify-forward and decode-forward, in correlated fading channels. Our analytical and simulation results show that correlation can have varied effects on the capacity, compared to the uncorrelated cases. If the quality of the source-destination channel is better, in terms of the variances of the fading coefficients,...
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