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This paper addresses the problem of adaptive chemical detection, using the Receptor Density Algorithm (RDA), an immune inspired anomaly detection algorithm. Our approach is to first detect when and if something has changed in the environment and then adapt the RDA to this change. Statistical hypothesis testing is used to determine whether there has been concept drift in consecutive time windows of...
Basic and compound pose invariant geometric features are explored to conduct pre-alignment, down sampling, and outlier removal to improve the speed and accuracy of Iterative Closest Point (ICP) registration on dense 3D laser scanning data for metallic part modeling. Rectification of planar surfaces, which are segmented from point normals and matched on similarity of clustered viewpoint feature histogram...
Knowing the terrain is vital for small autonomous robots traversing unstructured outdoor environments. We present a technique using 3D laser point clouds combined with RGB camera images to classify terrain into four pre-defined classes: grass, sand, concrete, and metal. Our technique first segments the point cloud into distinct regions and then applies a simple classifier to determine the classification...
Obstacle avoidance is one of the important considerations in developing a vision-based robot navigation system. For flying robots, the ability to learn the above-and-below relationship for obstacle avoidance is necessary. This paper presents a conceptual work in developing a learning mechanism to identify the above-and-below relationship for obstacle avoidance in vision-based robot navigation system...
Brain-computer interface (BCI) is currently developed as an alternative technology with a potential to restore lost motor function in patients with neurological injuries. In this paper, we describe an integrated system of a non-invasive electroencephalogram (EEG)-based BCI with a non-invasive functional electrical stimulation (FES). This system enables the direct brain control of upper limbs to achieve...
Gratings tiling refers to assembling serial small-sized sub-gratings, to make them into a single integral large aperture grating by means of mechanical process, which is mainly used for pulse compression in the high-energy laser system. In order to ensure that the parallelism and coplanarity between the sub-gratings meet high requirements of submicron level, the grating tiling device itself needs...
The state-of-the-art person identification and verification technologies require apparent human biological features as inputs explicitly. In many special scenarios, however, it is impossible to obtain the apparent human biological features since such features usually require intrusive human interaction directly. In this paper, we have proposed a hierarchical skeleton feature model (HSFM) for person...
Collision-free navigation is an important problem in autonomous robots. In most of the applications, camera vision techniques using stereo-vision and laser scanners have been used. These techniques are not commercially viable for miniature robots due to size and computational limitations. Optical flow based models using monocular vision have shown promise in biomimetic systems to estimate depth information...
The technology of fingertip tracking is widely used in robot control field, the fingertip of robot can be accurately controlled. But the fingertip tracking is very complicated, there is much uncertainty for the speed and direction during the movement of fingertip, so the fingertip tracking technology becomes one key point in the robot control field. In the early, the feedback tracking algorithm was...
This paper presents the detection and localization methods of entrance and staircase markers for the team E-Mobile in TechX Challenge 2013. Autonomous vehicles are required to detect and locate traffic cones beside the indoor entrance and staircase. One big challenge is from the unpredictable lighting conditions and environment. Different practical techniques such as color space selection, segmentation,...
Face recognition is crucial for human-robot interaction. Robot partners are required to work in real-time under unconstrained condition, yet, do not restrict the personal freedom of human occupants. On the other hand, due to its limited computational capability, a tradeoff between accuracy and computational load needs to be made. This tradeoff can be alleviated via the introduction of informationally...
Humanoids are to date still limited in reliable interpretation of social cues that humans convey which restricts fluency and naturalness in social human-robot interaction (HRI). We propose a method to read out two important aspects of social engagement directly from the brain of a human interaction partner: (1) the intention to initiate eye contact and (2) the distinction between the observer being...
An electric wheelchair is basically acknowledged for mobility improvement in disability patients. In some cases, their hand could not well function. They may tire easy before reaching to the desired destination. Furthermore, the safety is the most concerned issue for wheelchair control in disability patients. Therefore, this work tries to develop the prototype of the automated navigation system that...
The proliferation of RF-based indoor localization solutions raises the need for testing systems that enable objective evaluation of their functional and non functional properties. We introduce a testbed and cloud infrastructure for supporting automatized benchmarking of RF-based indoor localization solutions under controlled interference. For evaluating the impact of RF interference on the performance...
This paper describes utilization of surface electromyography (sEMG) identification for driving robotic hand. Therefore, this implementation will give other alternatives to the stroke survivors or paralysis patients in order to help their activities. This system detecs the movement of two fingers (thumb and index finger) by using threshold as pattern recognition algorithm. This pattern recognition...
In a previous paper, we reported on the initial development of KneeRobo, which replicates knee joint troubles experienced by patients in order to enable students studying to become physical or occupational therapists to gain practical training/testing virtually. We also developed a control algorithm that enabled KneeRobo to realize involuntary internal/external rotation during knee flexion and extension...
One of the fundamental problems in developmental robotics relates to the progressive spontaneous acquisition of motor abilities by an organism. Throughout this process, the speed of acquiring abilities, which we term ‘learnability’, is strongly limited by the dimensionality of the sensori-motor space; this in turn could affect the survival of an organism. In this paper, we tackle the problem of dimensional...
This paper presents a segmentation method of multiple object regions based on visual saliency. Our method comprises three steps. First, attentional points are detected using saliency maps (SMs). Subsequently, regions of interest (RoIs) are extracted using scale-invariant feature transform (SIFT). Finally, foreground regions are extracted as object regions using GrabCut. Using RoIs as teaching signals,...
This paper presents a new methodology for aligning three-dimensional (3D) models of objects, based on point correspondences. In this case, objects are modelled as 3D point clouds. The proposed methodology considers pairs of such point clouds and firstly down-samples them in order to further improve processing time. Then, corresponding points are allocated between the processed point clouds, by using...
In this paper we detail the implementation of a Differential GPS system using only low-cost GPS receivers. The nature of the errors generated by low-cost modules is investigated and contrasted against typical error models of traditional, commercial DGPS systems. It is found that the error profile unique to low-cost GPS modules leads to a system that offers particular advantage in the horizontal plane...
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