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Central nervous system dysfunction in infants may be manifested through inconsistent, rigid and abnormal limb movements. Detection of limb movement anomalies associated with such neurological dysfunctions in infants is the first step towards early treatment for improving infant development. This paper addresses the issue of detecting and quantifying limb movement anomalies in infants through non-invasive...
This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying...
In this paper, we will explore human movement using a tutoring spotter system which controls an iCub robot. We will present an evaluation based on the captured human movement from an experimental study, where our participants demonstrated a salt-shaker and a cup-stacking task to the iCub robot. We will use a method of action recognition, which will help the robot to differentiate between these actions,...
Monitoring, analyzing, or comparing the motions of a robot can be a critical activity but a tedious and inefficient one in research settings and practical applications. In this paper, we present an approach we call motion synopsis for providing users with a global view of a robot's motion trajectory as a set of key poses in a static 2D image, allowing for more efficient robot motion review, preview,...
Currently, robot learning of human activities is mainly studied in two largely disconnected domains: high level semantics understanding in human activity recognition, and low level motion trajectory reproduction in robot imitation learning. The critical problem of human activity unified learning (HAUL) was not well studied in previous work. One important challenge is the lack of a representation that...
The paper proposes a learning from demonstration (LfD) framework which will enable children with motor disabilities to perform neuromotor rehabilitation exercises at home- and community- settings. LfD, a popular robot learning paradigm, has traditionally been used to teach embodied robots different skills through demonstrations by lay users. In this paper, we propose a novel application of LfD in...
The number of video surveillance cameras has increased by a large amount in recent years. There is therefore a need to process the captured videos such that human operators can quickly review the activities recorded by a camera over a long period of time. We propose in this paper an approach for producing video summaries, an abbreviated video preserving the important elements of interest. We introduce...
This paper introduces a new approach for designing a simplified control law, which controls an autonomous underwater vehicle (AUV) to track a given 3D trajectory. To get a Linear Time Variant (LTV) state space model, the 6 degrees of freedom (6DOF) dynamics and kinematics model of the AUV is linearized about the given desired 3D trajectory it needs to track. A linear quadratic regulator (LQR) is designed...
Recently high-level pose features (HLPF) have been shown to be efficient for action recognition in joint-annotated tasks. However, the relative positions between pairs of joints in actual situations and the spatio-temporal information are not considered in constructing HLPF. To tackle their problems, we propose a set of novel high-level pose features (NHLPF). Specifically, considering that the distances...
The agricultural production video record is an important primitive data in the establishment of agricultural product quality traceability system and digital monitoring system. This paper presents the feature extraction and automatic recognition system of the typical production activities in the agricultural production video record based on the machine learning theory. The system consists of the feature...
Due to the diversity of body movements and uncertainty of recording occasion, human action recognition is still a challenging task, especially in real world. This paper provides a new method of representing the video with mid-level vision representation which is extracted from the discriminative supervoxels. In the proposed method, the discriminative supervoxels we extracted through a learning phase...
The steadiness of the orbit is crucial for the performance of the space target 3D reconstruction. The relationship between the orbit characteristics and the steadiness of the target moving trajectory is investigated in this paper, and the target 3D reconstruction performance for both steady and unsteady moving trajectories are quantitatively analyzed through the simulation experiments.
The paper presents an analysis of a rowing technique and the participant's fatigue based on the handle's trajectory. The rowing was recorded with the use of Vicon motion capture. Seven non-rowers were participants in the research. 42 strokes were analysed in three phases of rowing. Two theses: (i) “handle trajectory indicates the fatigue while rowing” and (ii) “the rowing technique may be assessed...
3D path planning close to helicopters' flight dynamics limits is a critical challenge to enhance missions' assistance or autonomy. Pure dynamics model with successive integrations, Pythagorian Hodograph methods or fictive potential fields bring different drawbacks that cannot solve the problem of connecting 3D positions with associated complex set of constraints (speed orientation, curvature, torsion…)...
Many studies show the effectiveness of gait in surveillance and access control scenarios. However, appearance changes due to walking direction changes impose a challenge for gait recognition techniques that assume people only walk in a straight line. In this paper, the effect of walking along straight and curved path is studied by proposing a practical technique which is based on the three key frames...
In this paper, we explore building classifiers to detect Salsa dance step primitives in choreographies available in the Huawei 3DLife data set. These can collectively be an important component of dance tuition systems that support e-learning. A dance step is reasoned as the shortest possible extract of bodily motion that can uniquely identify a particularly repeatable movement through time. The representation...
This paper studies tandem flocking of a team of unmanned aerial vehicles (UAVs) equipped with limited range sensors exploring an obstacle-rich GPS-denied environment such as a forest or urban canyon. There is no communication between UAVs and the follower can only estimate its leader's relative position by its on-board camera. A vision-based leader-follower flocking strategy is proposed to achieve...
The stochastic channel models typically abstract away the details of the paths that carry energy in the radio channel. While these have been universally acceptable for decades due to their ease of use and reasonable accuracy in most practical cases, the appearance of steerable, narrow-beam antennas in mmWave bands makes the exact path information very valuable, primarily for beam tracking algorithms...
This paper describes bistatic and multistatic measurement using active Multistatic Primary Surveillance Radar (active MSPSR) operating in L-band. The measurement system consisted of two transmitters and one receiver. Boeing 737 departing from Pardubice airport represented the target of interest. Its detections are compared with outputs from ERA multilateration (MLAT) system deployed around Pardubice...
This paper discusses the preliminary design and implementation of a simultaneous navigation, and mapping method for operation of multi-copter unmanned aircraft systems (UAS) in forest environments under the canopy. A data collection platform has been developed using a 3DR hexacopter platform equipped with laser scanners, cameras, GNSS and inertial sensors to observe the environment and used as an...
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