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Dolby Laboratories provides a detailed flow of operation of the Composite multichannel audio compression algorithm, from receiving a frame in the input data buffer all the way to outputting PCM audio signals, in the form of a C-like floating-point pseudocode. This pseudocode helps the licensees in understanding the details in implementing a real-time AC-3 decoder. A set of bitstreams or test vectors...
Autonomous Underwater Vehicles (AUV) are slow-moving small unmanned robots capable of swimming independently below the water surface on pre-defined mission paths and are commonly used for oceanographic exploration, bathymetric surveys and military applications. With the use of appropriate sensors and equipment, AUVs can perform underwater object recognition and obstacle avoidance. Amogh is a miniature...
In an automobile industry, more sophisticated functions are integrated to vehicles. These functions are controlled and monitored by different Electronic Control Units (ECU). FlexRay protocol is a flexible, high-speed, deterministic, error-tolerant and reliable communication technology. It is designed to meet growing safety related challenges associated with the automobile industry. FlexRay Communication...
The nature of scientific and technological data collection is evolving rapidly: data volumes and rates grow exponentially, with increasing complexity and information content, and there has been a transition from static data sets to data streams that must be analyzed in real time. Interesting or anomalous phenomena must be quickly characterized and followed up with additional measurements via optimal...
A mobile visual sensor network has a potential to create impacts in many applications in the society; however, it remains a challenge to keep the network lifetime as long as possible with limited onboard energy. Based on our previous work, mobility can be exploited to improve network lifetime significantly for data-intensive mobile sensor networks. In a visual sensor network, besides heavy data transmission,...
This paper presents an autonomous planning and control framework for humanoid robots to climb general ladder- and stair-like structures. The approach consists of two major components: 1) a multi-limbed locomotion planner that takes as input a ladder model and automatically generates a whole-body climbing trajectory that satisfies contact, collision, and torque limit constraints; 2) a compliance controller...
This video presents our preliminary work towards addressing the ladder climbing event in DARPA Robotics Challenge (DRC) using DRC-Hubo robot. A ladder-climbing motion planner is developed which generates a collision-free, stable quasi-static trajectory for execution. Compliance control is enabled on arm joints to compensate for the calibration error, modeling error and control error. We have demonstrated...
Estimating human poses is an important step towards developing robots that can understand human motion. Since a human is highly articulated, changing viewpoints of sensors on robots can improve the accuracy of human-pose estimation. We propose a two-phase approach that determines the best viewpoint of a depth sensor for human-pose estimation. The proposed approach measures the quality of potential...
This paper presents a new approach to tracking objects using motion similarity measure for pairs of objects, with an emphasis on collaborative tracking. Assuming the distribution of motion in a scene can be decomposed into multiple Gaussian distributions, the motion of each object can be computed and matched. An object sharing similar motion characteristics with the tracked object can be used as a...
This paper presents a 3D-point-cloud system that extracts a 3D-point-cloud feature (VISH) from the observation of a depth sensor to reduce feature/depth ambiguity and estimates human poses using the result of action classification and a kinematic model. Based on the concept of distributed representation, a non-parametric action-mixture model is proposed in the system to represent high-dimensional...
We present observations of single event burnout in 200V Schottky diodes used in hybrid DC-DC converters. Two diode types were tested and showed varying sensitivity to heavy ions and protons.
This paper studies the use of Cooperative Dual-Task Space (CDTS) as an efficient approach for the whole-body motion balancing problem for humanoid robots. The CDTS variables have been used efficiently to describe and control coordinated motions of dual-arms. Similarly, the concept of CDTS variables can be extended to describe the constraints and the control of humanoid legs. When the leg motion is...
Estimating human poses is an important step towards developing robots that can understand human motions and improving their cognitive capabilities. This paper presents a geometric feature for estimating human poses from a 3D point cloud input. The proposed feature can be considered as an extension of the idea of visual features, such as color/edge, of color/grayscale images, and it contains the geometric...
A method is reported for improving the performance of a Fabry-Pérot optical accelerometer, based on the use of a V-beam mechanism to amplify the proof mass displacement. Amplification allows the sensitivity to be increased without compromising bandwidth or requiring an increase in cavity finesse. An analytical expression relating the amplification factor to the V-beam length, width and angle was derived...
We report for the first time the combination of a quartz-based photonic crystal (PC) with a detection instrument designed to perform label-free (LF) and enhanced fluorescence (EF) imaging for antibody microarray applications. Label-free detection is used to quantify binding density of immobilized capture antibodies. Angle-scanning approach is implemented to achieve more uniform fluorescence enhancement...
This paper presents a Nonlinear AutoRegressive with eXogenous input (NARX)-based approach for human-emotion recognition from an input video. The dynamics of facial expressions are first captured by performing a temporal-spatial analysis by extracting local and spatial features using a pyramid of histograms of oriented gradients (PHOG) descriptor. Then the temporal phases of facial expressions are...
We have demonstrated a novel single-mode continuous-wave narrow bandwidth emission and widely tunable external cavity laser biosensor that simultaneously achieves high resolution, high sensitivity and large dynamic range.
This article presents the development of a monitoring and supervision system using power line communication technology and the data acquisition system. This was done by research and case study at laboratories of Faculdade SATC, using a web microserver with the power line to transmit and receive data through PLC (Power Line Communication) technology as a solution for remote monitoring. The variable...
This paper presents a real-time emotion recognition system (RTERS) as a first step towards developing a socially intelligent robot. The RTERS first localizes faces in a sequence of images, then features are extracted and passed to a recognition engine that codes facial expressions into one of seven different emotional states: happiness, sadness, fear, disgust, anger, surprise, and neutrality.We propose...
This paper presents a hierarchal, two-layer, connectionist-based human-action recognition system (CHARS) as a first step towards developing socially intelligent robots. The first layer is a K-nearest neighbor (K-NN) classifier that categorizes human actions into two classes based on the existence of locomotion, and the second layer consists of two multi-layer recurrent neural networks that distinguish...
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