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Most of the available robot programming by demonstration (PbD) approaches focus on learning a single task, in a given environmental situation. In this paper, we propose to learn multiple tasks together, within a common environment, using one of the available PbD approaches. Task-parameterized Gaussian mixture model (TP-GMM) is used at the core of the proposed approach. A database of TP-GMMs will be...
This paper aims to develop the motion loading system taking into account the variable control impedance and human reactions. In the motion saving phase, a four channel bilateral controller with a micro-vibration is utilized for the purpose of obtaining not only position and force responses to human motion but also the human impedance. In the motion loading phase, the hybrid angle and the human impedance...
500kV substation on duty gradually tends to be unmanned with the development of smart grids, the mobile robot that used in substation equipment inspection emerge as the times require. Substation inspection robot system, which is described in this paper, can replace a fixed video monitoring, complete video remote transmission of information, equipment control, accident treatment and coordinated transport...
Localization method based on position fingerprint can effectively solve the problems such as high dependence of model and low positioning accuracy in robot auditory system. However, this method requires a large number of reference points to achieve high precision positioning. To solve the problem of low precision under low fingerprint density, a position fingerprint localization method based on linear...
Recent statistics show that more than 10 million people in the world suffer amputation. Most of these people also have depression because of losing their hand, arm and leg movements. With current technology it is possible to give these people hands, arms and legs. Our aim is to give these people a chance to live. In this study we have designed a robotic hand in order to grasp objects. Grid based feature...
Map retrieval, the problem of similarity search over a large collection of 2D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a popular approach to map retrieval; however, these methods have extremely limited descriptive ability because they ignore the spatial layout information of the local...
Question-answering (QA) systems have recently shown impressive results in terms of accurately answering user questions in such situations as domain specific user questions. However, we have identified many real situations where QA systems must cope with not a single question-answering situation but rather a sequence of consecutive questions. In such cases, users often ask questions on the basis of...
The present paper shows the work done on part of the design of a robotic humanoid arm, whose objective is to perform the transliteration of sound language, commonly used, to sign language, used by people with hearing disabilities. Through a dynamic analysis it has been obtained the necessary torque for each joint in the arm to perform the correct movement of the servo motors. In addition to this,...
The GrowMeUp project builds an assisted living environment based on a service robotics platform. The platform is able to learn the needs and habits of elderly persons; its functionalities evolve to help them to stay active, independent and socially involved longer. Following the recent interest in cloud-enhanced robotics, we present a general framework used to learn models by sharing and distributing...
This study presents an age and gender estimation system that considers ethnic difference in face images using a Convolutional Neural Network(CNN) and Support Vector Machine(SVM). Most age and gender estimation systems using face images are trained on ethnicity-biased databases. Therefore, these systems show limited performance on face images of ethnic groups occupying a small proportion of the training...
Material recognition for real-world outdoor surfaces has become increasingly important for computer vision to support its operation in the wild. Computational surface modeling that underlies material recognition has transitioned from reflectance modeling using in-lab controlled radiometric measurements to image-based representations based on internet-mined images of materials captured in the scene...
The world is moving towards to the fourth industrial revolution, usually linked with the Industrie 4.0 initiative, enables the digitization of manufacturing factories by using Cyber-Physical Systems and emergent technologies like Internet of Things and Internet of Services. The seamless reconfiguration of these complex industrial cyber-physical systems is an important challenge for the complete implementation...
Object detection and pose estimation is a fundamental functionality among robotic perception for manipulation. Applying robots to diverse tasks requires a robust perception skill. In this manuscript, we introduce an overview of our object recognition and pose estimation process and its our initial results. Our approach follows the previous approaches using local feature extraction and match. As a...
Recently, polyhedral conic classifiers have become popular since they perform better compared to the Support Vector Machines (SVMs). Cone vertex of polyhedral conic classifiers is an important parameter and it is generally taken as the mean of positive data in literature. In this paper, we studied optimally estimating the cone vertex to improve the accuracy of the polyhedral conic classifiers. The...
Recently, there has been an explosion of cloud-based services that enable developers to include a spectrum of recognition services, such as emotion recognition, in their applications. The recognition of emotions is a challenging problem, and research has been done on building classifiers to recognize emotion in the open world. Often, learned emotion models are trained on data sets that may not sufficiently...
In this paper, we describe the application of cloud computing in the field of robotics where a robot is assigned the job of picking up sticks lying in the floor and to keep them in the given space. The robot is connected to the cloud through a network. It receives the answer to the queries of the database residing in the cloud about the location of the sticks to be picked up and receives the coordinates...
Map retrieval, the problem of similarity search over a large collection of 3D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a popular approach to map retrieval; however, these methods have extremely limited descriptive ability because they ignore the spatial layout information of the local...
The recent trend of Virtual Reality (VR) already found its way into entertainment and scientific applications. While current entertainment domains fully exploit the technical possibilities of modern graphics hardware and state of the art rendering approaches, many VR simulation system in scientific contexts put the focus on numerical results with rather functional representations. The objective of...
We will be discussing how using robotics in two university courses helped students relate the topics learned in class to applications in real life of those topics. The changes introduced in the course structure created a different atmosphere in class and the way the students faced the newly learned topics.
In this paper we provide an intelligent and convenient shopping cart, Intelligent Shopping Assistant System (ISAS). With ISAS, customers can concentrate on what he/she has to buy, and do not be bothered where he/she has to buy or it is want to buy. In contrast to conventional shopping cart, two modes of autonomous functions are added to ISAS in order to reduce the labor of customers for pushing goods...
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