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We study the problem of scene classification for RGB-D images in this paper. Firstly we analyze the difference between the RGB and depth images. And then based on the difference, an efficient method is implemented to make use of the RGB and depth images and make a well fusion for the RGB and depth features. Focusing on the difference of modality between the RGB and depth images, we propose a method...
In this study, a c-VEP based BCI system was developed to run on three distinctive pseudorandom sequences, namely the m-code, the Gold-code, and the Barker-code. The Visual Evoked Potentials (VEPs) were provoked using these codes. In the online session, subjects controlled a Mindstorms® robot around a fixed track. Choosing the optimal code proved a significant increase in accuracy (p<0.00001) over...
This study introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to autonomous inspection of underwater structures, such as ship hulls, dams, and marine structures. Considering that visual features on the surface of typical underwater structures are not uniformly distributed, the proposed visual SLAM algorithm includes an intra-image analysis scheme...
Reaching and grasping are two of the most affected functions after stroke. Hybrid rehabilitation systems combining Functional Electrical Stimulation with Robotic devices have been proposed in the literature to improve rehabilitation outcomes. In this work, we present the combined use of a hybrid robotic system with an EEG-based Brain-Machine Interface to detect the user's movement intentions to trigger...
As humans and robots collaborate together on spatial tasks, they must communicate clearly about the objects they are referencing. Communication is clearer when language is unambiguous which implies the use of spatial references and explicit perspectives. In this work, we contribute two studies to understand how people instruct a partner to identify and pick up objects on a table. We investigate spatial...
Audition is a rich source of spatial, identity, linguistic and paralinguistic information. Processing all this information requires acquisition, processing and interpretation of sound sources, which are instantaneous, invisible and noisy signals. This can lead to different responses by the system in relation to the information perceived. This paper presents our first implementation of an integration...
Quality inspection is a task in every production concerned with a product's functionality, as well as its appearance. While dimensional or functional defects can easily be detected automatically, cosmetic defects are still found by skilled personnel only. For high-output productions companies cannot afford to inspect every part for its flawlessness, yet the ever growing demand for impeccable products...
Combing audiovisual signals across modalities can facilitate human perception when communicate with each other in a noisy environment, but robot can't realize communication with human in a complex environment. Recent studies showed that audiovisual integration effects occurred for low intensity visual inputs, and whether visual spatial frequency can influence audiovisual integration is unclear. In...
The current studies indicated that sound can improve the visual perception. However, whether the gain is influenced by temporal disparity between visual and auditory stimuli, and whether the gain is the same for older and younger adults remains unclear. To clarify this mechanism, ten older adults and 10 younger adults were invited to confirm and visual/auditory discrimination task. The visual target...
We address the problem of modeling complex target behavior using a stochastic model that integrates object dynamics, statistics gathered from the environment and semantic knowledge about the scene. The method exploits prior knowledge to build point-wise polar histograms that provide the ability to forecast target motion to the most likely paths. Physical constraints are included in the model through...
Currently the micro-robotic cell injection procedure is performed manually by professional bio-operators. It is a challenging task requiring advanced skills including the ability to precisely control the movement of a micropipette. Developing these skills requires both lengthy and intensive training, and significant practical experience. This paper extends upon our previous work in desktop Virtual...
Fuzzy theory was motivated by the need to create human-like solutions that allow representing vagueness and uncertainty that exist in the real-world. These capabilities have been recently further enhanced by deep learning since it allows converting complex relation between data into knowledge. In this paper, we present a novel Deep-Neuro-Fuzzy strategy for unsupervised estimation of the interaction...
In robotic navigation, biologically inspired localization models have often exhibited interesting features and proven to be competitive with other solutions in terms of adaptability and performance. In general, place recognition systems rely on global or local visual descriptors; or both. In this paper, we propose a model of context-based place cells combining these two information. Global visual...
Spatial cognition is an important branch of cognition science and also very common in our daily life when people work together. In terms of human-robot spatial cognition interaction, it would be dramatic if the robot could interact with people like a human. So we designed an intelligent robot which could communicate with people in natural language and think on the human's perspective in spatial cognition...
There has been significant research aimed at leveraging programmable robotic devices to provide haptic assistance or augmentation to a human user so that new motor skills can be trained efficiently and retained long after training has concluded. The success of these approaches has been varied, and retention of skill is typically not significantly better for groups exposed to these controllers during...
Over the past few decades, robot actuators with variable stiffness or impedance control have been developed. This control adjusts the stiffness of the task space of joint space, enabling the robot to perform explosive tasks and to interact with environments and humans. However, planning the robot stiffness is a difficult task, except in a few optimal control problems, such as maximizing the output...
Robotically-actuated catheters are being employed in endovascular interventions for their improved maneuverability and steering precision over conventional catheters. Fluoroscopy is commonly used to guide such medical devices during interventions. Motivated by the limitations and hazards associated with fluoroscopy, this study investigates the use of ultrasound images as a viable alternative for the...
The neuromorphic retina is a very large scale integrated (VLSI) circuit whose structure and function are designed to mimic those of retinal neuronal network. We have developed a neuromorphic retina model to study the function of retinal circuits in natural visual environment. The model consists of analog VLSI circuit and Field Programmable Gate Array (FPGA), enabling to reproduce responses of major...
During the last decade significant advances have been made in vibrotactile actuator design that are leading to the development of novel haptic technologies. Similarly, important innovations have been made in the area of virtual reality for scene rendering and user tracking. However, the integration of these technologies has not been well explored. In this paper, we outline a broad design philosophy...
This paper presents the project of a robotics teaching tool which was designed to be a playful tool for learning check. The relevance of this study is due to the fact the design of this tool have originated from an extracurricular vision of a group of students who contributed to the development of it and had robotics as a form of entertainment that belongs to their world outside of the classroom....
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