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In this work, we describe a novel method for creating 3D models of persons freely moving in front of a consumer depth sensor and we show how they can be used for long-term person re-identification. For overcoming the problem of the different poses a person can assume, we exploit the information provided by skeletal tracking algorithms for warping every point cloud frame to a standard pose in real...
Flexible endoscope has been used for the diagnosis of the large intestine. This paper aims at the development of navigation software that provides the surgeon with the 2D/3D shape of flexible endoscope inside the colon real time. It helps surgeon insert the endoscope in a safe manner and locate the position of the lesion. With the information of the insertion length and the position/orientation information...
In this paper, we present a method to improve a robot's imitation performance in a drawing scenario by inserting pauses in motion. Human's drawing skills are said to develop through five stages: 1) Scribbling, 2) Fortuitous Realism, 3) Failed Realism, 4) Intellectual Realism, and 5) Visual Realism. We focus on stages 1) and 3) for creating our system, each corresponding to body babbling and imitation...
Many analytical metrics have been proposed to evaluate the quality of a grasp based on different criteria and principles. To use most of them in practical real applications, some operational parameters need to be determined: maximum and minimum values, normalization ratios, quality thresholds, robustness in front of position errors and, more importantly, relations between alternative metrics. This...
Multi-Material Rapid Prototyping (MM-RP) is a promising fabrication process for compliant mechanisms, for instance when compactness is a concern. The Pseudo-Rigid Body Model (PRBM) approach is well-known for the synthesis of compliant mechanisms. It is usually based on the use of compliant joints to provide the mechanism mobilities. In this paper, we propose the HSC joint as a new type of revolute...
Three dimensional integration circuits technology has received much attention recently since the demands of functionality and performance in microelectronic packaging for electronic products are rapidly increasing. For high-performance 3D chip stacking, high density interconnections are essential. In the current types of interconnects, solder micro bumps have been widely used and thermocompression...
As the use of ACFs increased in various areas of electronic packaging such as semiconductors and flexible devices, demands for highly reliable ACFs have been also increased. For this demand, solder ACFs which use solder particles as conductive particles were introduced. In the solder ACF bonding, the solder ACF joint morphology should be controlled because the failures of solder ACF joints by crack...
We introduce a six-actuator robotic joint mechanism with biarticular coupling inspired by the human limb which neither requires pneumatic artificial muscles nor tendon coupling. The actuator can independently change monoarticular and biarticular stiffness as well as both joint positions. We model and analyse the actuator with respect to stiffness variability in comparison with an actuator without...
This paper proposes a pneumatic gripper that allows gripping of the human body aimed for the transfer support, whether the body is lying down or leaning against the back support on the chair. To grip the body safely and comfortably under any conditions, two functions are newly introduced. One of them is “shape adaptive joints” which enable every gripping force to be equally distributed at each contact...
3D LSI chip stacking technology have been developed using cone shape Au micro bumps fabricated by nanoparticle deposition method. The cone shape bumps with less than 10 um diameter are suitable for a thermocompression bump joint process with low temperature and low load force. High yield micro bump joints can be obtained. In this study, the property evaluation of the cone shape bumps, and the cone...
In this work we propose a machine learning approach to improve shape detection accuracy in medical images with deformable contour models (DCMs). Our DCMs can efficiently recover globally optimal solutions that take into account constraints on shape and appearance in the model fitting criterion; our model can also deal with global scale variations by operating in a multi-scale pyramid. Our main contribution...
Segmenting the left ventricle (LV) and the right ventricle (RV) in magnetic resonance (MR) images is required for cardiac function assessment. In particular, the segmentation of the RV is a difficult task due to low contrast with surrounding tissues and high shape variability. To overcome these problems, we introduce a fully automatic segmentation method based on multi-label graph cuts, that makes...
Cortical folding pattern analysis has attracted significant interest recently due to its significance in understanding the structure and function of the brain. While most previous studies focused on the human brain, the regularity and variability of cortical folding patterns across primate brains such as macaques and chimpanzees are largely unknown. To fill this knowledge gap, this paper develops...
We present a new point distribution model capable of modeling joint subluxation (shifting) in rheumatoid arthritis (RA) patients and an approach to fitting this model to posteroanterior view hand radiographs. We formulate this shape fitting problem as inference in a conditional random field. This model combines potential functions that focus on specific anatomical structures and a learned shape prior...
We address the problem of joint detection and segmentation of multiple object instances in an image, a key step towards scene understanding. Inspired by data-driven methods, we propose an exemplar-based approach to the task of multi-instance segmentation using a small set of annotated reference images. We design a novel CRF model that jointly models object appearance, shape deformation, and object...
Skeletonization, or automatic skeleton extraction, is a technology in 3DCG which automatically extract skeletons (i.e. bones, joints and their hierarchical structures) from 3D models. Such skeletons are important shape and pose descriptors for object representation, object recognition etc. Some existing skeletonization methods have difficulties in correctly extracting the position of joints. Some...
Since the Microsoft Kinect has been released, the usage of marker-less body pose estimation has been enormously eased. Based on 3D skeletal pose information, complex human gestures and actions can be recognised in real time. However, due to errors in tracking or occlusions, the obtained information can be noisy. Since the RGB-D data is available, the 3D or 2D shape of the person can be used instead...
Dynamic manipulation of flexible objects is needed for factory automation and in the food industry. In this paper, as one example of dynamic manipulation, we focus on a thin, circular, flexible object, and we propose an entirely new strategy for rotating and holding such an object. We confirmed the feasibility of this manipulation with the proposed method through simulations. We implemented the proposed...
This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for...
In this paper we present a method for the generation of hand postural synergies for different precision grasp types to be used in dextrous robot hands. Our method records the robot hand motions while teleoperated by human subjects via a dataglove, doing different grasp types on a series of objects. This exploits the fact that humans automatically compensate for calibration errors on the glove to robot...
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