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The paper presents a distributed human tracking system based on pyroelectric sensors. The developing process of the system mainly includes two aspects: distributed tracking algorithm and self-calibration scheme. In the tracking algorithm, a distributed information filter is constructed with joint probabilistic data association (JPDA) and consensus method. The self-calibration utilizes Kullback-Leibler...
A novel biometrics approach that performs authentication via the internal non-visible anatomical structure of an individual human eye is proposed and evaluated. To provide authentication, the proposed method estimates the anatomical characteristics of the oculomotor plant (comprising the eye globe, its muscles and the brain's control signals). The estimation of the oculomotor plant characteristics...
Individual behavior pattern captures human-centric significant places, movement trace and regular routines in the daily life. This paper proposes the BP-Mine framework, which consists of three phases, that is, location extraction, trajectory modeling and behavior pattern mining. Raw WiFi RSS readings and accelerometer sensor data are fused to extract fine grained significant locations in user's daily...
Spoken Dialogue Systems (SDS) are natural language interfaces for human-computer interaction. User adaptive dialogue management strategies are essential to sustain the naturalness of interaction. In recent years data-driven methods for dialogue optimization have evolved to be a state of art approach. However these methods need vast amounts of corpora for dialogue optimization. In order to cope with...
Exercise dosage is proven to be an important factor in the physical treatment. Robot assistive approach can improve the rehabilitation quality and evaluate patient's recovery quantitatively. This paper presents kinematic structure, assistive control system, and integrated F/T sensor for an upper limb rehabilitation robot. By using the human arm dynamic, there are three rehabilitation modes presented...
Trajectory analysis is very important to human behavior-analysis for video processing based smart surveillance systems. It has a challenge that human trajectory has no prior model and needs to online learning and updating, while interaction between targets complicates the problem. This paper describes a novel integrated framework for multiple human trajectory detection, learning and analysis in complicated...
Estimation of human motion has been improved by recent advances in depth sensors such as the Microsoft Kinect. However, they often have limited range of depths and a large number of such sensors are necessary to estimate motion in large areas. In this paper, we explore the possibility of estimating motion from monocular data using initial and intermittent 3D models provided by the depth sensor. We...
In this paper, we address the problem of reconstructing 3D trajectories given only 2D point projection trajectories of an articulated structure. Hitherto, most applications of articulated trajectory reconstruction require: (i) relative lengths, and (ii) camera motion. We propose a novel extension that allows us to in many circumstances circumvent these limitations. Of particular note is our characterisation...
We have developed a powered assistive orthosis, for paraplegic persons. The orthosis has four actuators on the thighs and the knees. The actuators are controlled by the corresponding Central Pattern Generators. It could change the walking orbit on variation of wearer and environment, so that this orthosis could assist wearer smoothly. In order to design more effective orthosis, we consider here to...
To provide effective stroke rehabilitation, a control scheme is developed for upper arm tracking in 3D space using electrical stimulation. In accordance with clinical need, the case where stimulation is applied to two muscles in the arm and shoulder is considered, with the arm supported against gravity by an exoskeletal mechanism. An upper limb model with five degrees of freedom is first developed...
Kinesthetic teaching is an approach to providing demonstrations to a robot in Learning from Demonstration whereby a human physically guides a robot to perform a skill. In the common usage of kinesthetic teaching, the robot's trajectory during a demonstration is recorded from start to end. In this paper we consider an alternative, keyframe demonstrations, in which the human provides a sparse set of...
The results from an empirical study on the impact of a robot's approach trajectories on its social acceptance are presented. An online survey presenting short videos of a robot (IURO — Interactive Urban RObot) approaching a person in a public space and asking for help was shown to the users. IURO either approached a walking or standing person. The results show that walking participants preferred to...
Programming new skills on a robot should take minimal time and effort. One approach to achieve this goal is to allow the robot to ask questions. This idea, called Active Learning, has recently caught a lot of attention in the robotics community. However, it has not been explored from a human-robot interaction perspective. In this paper, we identify three types of questions (label, demonstration and...
Effective perimeter protection mechanisms for industrial sites and critical infrastructure must contend with a large variety of potential threats as well as with the fact that normal site activity can be both complex and diverse. This paper documents the development of a system level approach capable of functioning under such challenging conditions. A multi-view tracking system is used to provide...
The aim of the safety controller synthesis problem is to synthesize a feedback controller that results in closed-loop trajectories that meet certain criteria, namely, the state or output trajectories terminate in a Goal set without entering an Unsafe set. We propose a formal method for synthesizing such a controller using finitely many human generated trajectories. The main theoretical idea behind...
Flock Logic is an art and engineering project that explores how the feedback laws used to model flocking translate when applied by a group of dancers. The artistic goal is to create tools for choreography by leveraging dynamics of multiagent systems with designed feedback and interaction. The engineering goal is to develop insights and design principles for multi-agent systems, such as human crowds,...
Other than eye gaze and referential gestures (e.g. pointing), the relationship between robot motion and observer attention is not well understood. We explore this relationship to achieve social goals, such as influencing human partner behavior or directing attention. We present an algorithm that creates exaggerated variants of a motion in real-time. Through two experiments we confirm that exaggerated...
This paper presents a computational model for side-by-side walking for human-robot interaction (HRI). In this work we address the importance of future motion utility (motion anticipation) of the two walking partners. Previous studies only considered a robot moving alongside a person without collisions with simple velocity-based predictions. In contrast, our proposed model includes two major considerations...
We examine the use of visual navigation techniques for improving human navigation and localization in GPS-denied environments. While many advances have been made in navigation techniques using stereo and monocular motion estimation, significant hurdles exist for a practical system, including size, weight, power, and cost limitations. Humans often move and rotate faster and with more complex motions...
This paper analyzes the evolution of a network in an e-Government project in the state of Hawaii with technical design as the communication platform for different actors. The study employs a case study approach drawing on actor network theory (ANT) to chart the building, disintegration, and rebuilding of the network. This evolution can be understood based on the convergence between different actors...
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