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Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on

Date 21-23 Nov. 2011

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Displaying Results 1 - 25 of 95
  • [Front cover]

    Publication Year: 2011 , Page(s): C1
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  • [Title page i]

    Publication Year: 2011 , Page(s): i
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  • [Title page iii]

    Publication Year: 2011 , Page(s): iii
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  • [Copyright notice]

    Publication Year: 2011 , Page(s): iv
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  • Table of contents

    Publication Year: 2011 , Page(s): v - xi
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  • Preface

    Publication Year: 2011 , Page(s): xii
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  • Organization Committee

    Publication Year: 2011 , Page(s): xiii - xiv
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  • Program Committee

    Publication Year: 2011 , Page(s): xv - xvi
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  • Reviewers

    Publication Year: 2011 , Page(s): xvii
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  • Design and Fabrication of an Auto-Reconfiguring Modular Micro Mobile Robot

    Publication Year: 2011 , Page(s): 1 - 5
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (968 KB) |  | HTML iconHTML  

    This paper presents a new solution for a field-reconfigurable modular micro mobile robot. The robot design encompasses some new attributes. It is small enough that it can be used for searching in tight spaces, where humans cannot easily reach and the robots can be adapted to many situations by attaching extra modules to enhance the robot's capabilities. The robot is auto-reconfiguring, that is when the module is plugged in and the robot is restarted, it automatically recognises the new module and incorporates the module into its code. By using only the modules needed for a given situation and sharing some modules between robots using IR communication, the robots are greener because they do not have unnecessary parts to add weight and increase power consumption, resulting in reduced cost and maximised battery life. View full abstract»

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  • Analysis of a Novel Design of a Three-Degree of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure

    Publication Year: 2011 , Page(s): 6 - 9
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (506 KB) |  | HTML iconHTML  

    This research develops and analyzes a new three degree of freedom parallel robotic structured hip exoskeleton. Compared with a typical exoskeleton designed as a serial mechanism for the entire leg or entire body, the parallel mechanism is a structure only for the hip. The parallel manipulator is more stable, stronger and provides more accurate movement than existing manipulators. A kinematic analysis is performed and an exhaustive mobility analysis and inverse kinematic solution are derived in closed form. View full abstract»

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  • Simulation Driven Design of a Novel Compliant Parallel Mechanism for Medical Micromanipulation

    Publication Year: 2011 , Page(s): 10 - 13
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (196 KB) |  | HTML iconHTML  

    The development of new compliant parallel mechanism (CPM) based on simulation driven design is a rapid approach to discover the unique features or advantages of conceptual model. In this research, a novel CPM which can generate three degrees-of-freedom translations are proposed. The kinematic model is derived. The finite element analysis is conducted to prove the feasibility of the proposed design. View full abstract»

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  • Design of a Three DOFs MEMS-based Precision Manipulator

    Publication Year: 2011 , Page(s): 14 - 17
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (166 KB) |  | HTML iconHTML  

    This paper presents a novel design of a three degrees of freedom (DOFs) MEMS-based precision manipulator. The purpose of the manipulator is to position a microscope tool on the work plate doing small movement tasks. A parallel kinematic mechanism with three legs is used to convert the motion of longitudinal comb-drives into three direction translations at the end-effector. Each leg has three joints (a prismatic joint and two universal joints) which consists the basic structure of the design. The manipulator design has a high actuation flexibility combined with a relatively high stiffness due to its structure and materials. A theoretical calculation is revealed to show inverse kinematics and stiffness analysis of the design. View full abstract»

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  • A New Search Strategy of Radio Fingerprint Matching Method in Wireless Sensor Network

    Publication Year: 2011 , Page(s): 18 - 22
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (536 KB) |  | HTML iconHTML  

    Radio fingerprint matching localization method promises high localization accuracy but requires extensive infrastructural effort and search operations. This paper proposes a new search strategy for radio fingerprint matching method, which sharply reduces search operations and shows little effect on localization accuracy. Indoor experiment is conducted to evaluate our method. View full abstract»

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  • Real-Time Multiple-Vehicle Detection and Tracking System in Complex Environment with Automatic Lane Detection and Reducing Shadow Effects

    Publication Year: 2011 , Page(s): 23 - 26
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (256 KB) |  | HTML iconHTML  

    In this study, an real-time multiple-vehicle detection and tracking system in complex environments with automatic lane detection and reducing shadow effects is proposed. First, lane marks can be automatically detected, and this automation makes the proposed system more possible to deploy in the practical traffic conditions. Second, Histogram Extension (HE) addresses how to remove the effects of weather and light impact. Next, vehicle detection with Merge Boundary Rectangle Rule (MBRR) is utilized to merge fractions of moving objects which may be candidates of detected vehicles. Finally, traffic parameters are built based on a proper tracking procedure with reducing shadow effects. Experimental results show that the proposed methods are robust, accurate, and powerful to overcome complex weather conditions and traffic jams. View full abstract»

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  • Cycloid Reducers Study Applied on Orientation Mechanism

    Publication Year: 2011 , Page(s): 27 - 31
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (551 KB) |  | HTML iconHTML  

    Cycloid reducers compared with classical reducers have low axial and radial gauge, high transmission ratio, and a better reliability. Cycloid gearing roller, through its qualities, has an important role in modern mechanical transmissions. The difference between numbers of teeth of the cycloid gear roller can be equal to 1 (|z1 - z2| >;= 1), without risk of interference, as a result, can be obtained big gear ratios in accordance with in lower overall dimensions, while the classic gear have the difference between teeth number min | z1 - z2 | >;= 4. In this paper, the physical prototype of a new version of roller cycloid reducer is presented. Also one tries to test this variant of cycloid gear on a modern stand trial. View full abstract»

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  • Application of Learning from Demonstration to a Mining Tunnel Inspection Robot

    Publication Year: 2011 , Page(s): 32 - 35
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1143 KB) |  | HTML iconHTML  

    Current research for Learning From Demonstration (LfD) seems to concentrate on the learning kernel. This paper outlines the need for a more useful variable selection technique using the training dataset. The paper presents a new training dataset selection method, called Information Extraction (IE). The application area is a complex task involving robot mining tunnel inspection, and IE is applied to the robot for this task. The Gaussian Mixture Model (GMM) is adopted to generate a learning curve utilized by a robot. The Gaussian Mixture Regression (GMR) is used to infer actions based on given states. After human demonstration, the robot can finish a pre-defined task independently. View full abstract»

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  • Block Polarity and AC Correlation-Based Robust Video Watermarking for H.264/AVC

    Publication Year: 2011 , Page(s): 36 - 39
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (464 KB) |  | HTML iconHTML  

    This paper proposes a robust video watermarking for H.264/AVC using block polarity and AC correlation schemes. In the proposed method, the intra frames are used for watermarking embedding and protection. Block polarity is obtained using the nonzero quantized DC coefficient in each integer DCT block. Then, the selective block polarity of DCT block is used to perform the Intra prediction modes for luminance block. AC correlation is obtained by adjusting the relative between the AC coefficients of these DCT blocks. Finally, one watermark bit is embedded into each processed DCT block. Experimental results show that the proposed method is robust to the attacks of cropping, noise addition, brightness, wind effect, and cloud effect. View full abstract»

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  • A Feature-Based Gender Recognition Method Based on Color Information

    Publication Year: 2011 , Page(s): 40 - 43
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (405 KB) |  | HTML iconHTML  

    In the paper, we proposed a gender recognition scheme based on color information. The proposed gender recognition scheme is comprised of four parts: face detection, eye detection, feature extraction, and gender classifier. To evaluate the proposed scheme, a large number of images containing different-size faces are captured by using low-cost web cam. Experimental results show that our proposed scheme can detect facial regions as well as eyes well. In addition, the classification rate of our gender recognition scheme is more than 80%. These results demonstrate that our proposed scheme can achieve not only face and eye detection but also gender recognition. View full abstract»

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  • Automatic Colon Segmentation Using Isolated-Connected Threshold

    Publication Year: 2011 , Page(s): 44 - 47
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (360 KB) |  | HTML iconHTML  

    Virtual colonoscopy (VC) is a safe and fast medical imaging procedure to screen the colon for polyps. And it has become very popular recently. Colon segmentation is a necessary and important step of such an examination procedure. In this paper, an automatic colon segmentation method is proposed. The fluid inside the colon is first identified and removed based on its characteristic of horizontal surface. A simple 3D region growing algorithm is applied to obtain initial segmentation of air, which is served as the basis of the ensuing automatic locating object and background seeds. Then the isolated-connected threshold algorithm, together with the above seeds, is applied to obtain the final results. The colon can be obtained by applying morphological operations to the segmentation results of air. Our proposed algorithm can automatically segment different substances based on the isolated-connected threshold. It allows the user to modify the segmentation results interactively by providing more object or background seeds. View full abstract»

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  • Adapted Mean Variable Distance to Fuzzy-Cmeans for Effective Image Clustering

    Publication Year: 2011 , Page(s): 48 - 51
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (347 KB) |  | HTML iconHTML  

    C-means had been used for data clustering problems for recently years. However, if it uses the non-robust objective function of FCM (Fuzzy C-Means), we will get poor result if data corrupted because some noises. To improve these problems, this paper make effective objective functions of Fuzzy C-means which named MVDFCM (Mean Variable Distance Fuzzy C-means). The method is with center learning method which is on the basis of quadratic mean distance, entropy methods, and regularization terms. Moreover, the center learning method can cut down the computation complexity and running time. The results show the proposed method get more quality to the previous method. View full abstract»

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  • Bloodstain Segmentation in Color Images

    Publication Year: 2011 , Page(s): 52 - 55
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (196 KB) |  | HTML iconHTML  

    The identification of bloodstains in color images is critical in some accident investigation cases. A suspected bloodstain segmentation method was proposed in this study. The algorithm transforms the RGB to the YCgCr color space after the image undergoes color histogram equalization. Determination of the decision thresholds (Cg, Cr) is based on the color distribution of the sample images in Cg-Cr plane. To accelerate bloodstain pixel detection, the transformed thresholds are used (Cg,, Cr¡,). After the bloodstain pixels are detected the fast 8-connected component labeling method is to formulate the clusters. The algorithm was tested by using the 75 images from accident scenes. The results show that suspected bloodstains can be detected successfully, and thus that this approach can be used as the basis for bloodstain identification in color images. View full abstract»

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  • Fuzzy Recognition Based on the Total Matching Degree of Multi-features

    Publication Year: 2011 , Page(s): 56 - 60
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (469 KB) |  | HTML iconHTML  

    This paper presented a novel modular recognition method, which was the Fuzzy Neural Network Inference Recognition (FNNIR) method based on the total matching degree computing of multi-features. The Modular Recognition Functional Component (MRFC) was composed of three software modules, which were feature extraction module, off-line learning module and on-line fuzzy inference module. A zero-order Takagi-Sugeno Fuzzy Neural Network was constructed to obtain non-linear mapping between multi-features and actual classification. The bell-shaped membership function was proposed to describe the distribution of feature values. The parameters of the membership function for each feature can be determined by off-line learning of FNN. The matching degree of each feature and the total matching degree can be calculated by the membership functions, and the recognition result can be determined by the total matching degree. The experiment results show that the average test error of FNN is only 0.005443, with high modeling accuracy, thus making it suitable for on-line applications with high recognition accuracy. View full abstract»

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  • Intelligent Radio Based Positioning and Fuzzy Based Navigation for Robotic Wheelchair with Wireless Local Area Networks

    Publication Year: 2011 , Page(s): 61 - 64
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (827 KB) |  | HTML iconHTML  

    Based on wireless local area networks (WLAN), this paper presents the navigation of a robotic wheelchair. We propose a radio based robot localization with a particle filter by using received signal strength from WLAN. An intelligent strategy is proposed to select the informative WLAN signals and reduce the algorithm complexity. Furthermore, we introduce a graphic feature node extraction to explore the topology and linkages of a given graphic map. Based on the radio positioning and graphic map features, path planning can be provided for the task environment to accomplish the robot navigation with a fuzzy based behavior decision. Thus, the robotic wheelchair could response to the real dynamical environment. The experimental results conducted on real WLAN measurements indicate that the proposed approach provides the accurate localization and auto navigation services. View full abstract»

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  • 4-Axis Robot Design and Simulation Based on SimulationX

    Publication Year: 2011 , Page(s): 65 - 68
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (268 KB) |  | HTML iconHTML  

    This paper presents a 4-axis robot system model which is analyzed from kinematic aspect and simulated by SimulationX. Firstly, the robot kinematics model is established and robot workspace is obtained based on the robot kinematics analysis by means of Denavit-Hartenberg method. Furthermore, robot system model is founded in software SimulationX as well as mechanical and control systems are analyzed through simulation. Based on simulation result of SimulationX which includes every property of components in the model of SimulationX, the performance and feasibility of the 4-axis robot model can be clearly evaluated and verified. View full abstract»

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