A Theoretical Approach of an Intelligent Robot Gripper to Grasp Polygon Shaped Objects

This paper presents an approach for grasp planning and grasp forces optimization of polygon shaped objects. The proposed approach is an intelligent rule-based method that figures out the minimal number of fingers and minimal values of contact forces. These fingers are required to securely grasp a rigid body in the presence of friction and under the action of some external force. This is accomplished by finding optimal contact points on the object boundary along with minimal number of fingers required for achieving the aforementioned goal. Our system handles every object case independently. It generates a rule base for each object based on adequate values of external forces. The system uses the genetic algorithm as its search mechanism, and a rule evaluation mechanism called bucket brigade for the reinforcement learning of the rules. The process mainly consists of two stages; learning then retrieval. Retrievals act on line utilizing previous knowledge and experience embedded in a rule base. If retrievals fail in some cases, learning is presumed until that case is resolved. The algorithm is very general and can be adapted for interface with any object shape. The resulting rule base varies in size according to the degree of difficulty and dimensionality of the grasping problem.     

线上线下结合的实时手势跟踪系统

手势识别跟踪一般采用线下训练分类器,不能有效检测跟踪形变的手势,针对手势形变及在窗口的暂时性消失等问题,提出了一种通过线下训练结合线上提取样本对分类器进行训练的检测方法,同时采用跟踪一检测一学习(TLD)的方法不断对跟踪器的结果进行纠正.试验结果表明,本算法对手势形变、短暂消失具有很好的适应性,与TLD算法相比较具有更好的稳定性.     

Combining classifiers under probabilistic models: experimental comparative analysis of methods

This work will present a review of the concept of classifier combination based on the combined discriminant function. We will present a Bayesian approach, in which the discriminant function assumes the role of the posterior probability. We will propose a probabilistic interpretation of expert rules and conditions of knowledge consistency for expert rules and learning sets. We will suggest how to measure the quality of learning materials and we will use the measure mentioned above for an algorithm that eliminates contradictions in the rule set. In this work several recognition algorithms will be described, based on either: (i) pure rules, or; (ii) rules together with learning sets. Furthermore, the original concept of information unification, which enables the formation of rules on the basis of learning set or learning set on the basis of rules will be proposed. The obtained conclusions will serve as a spring‐board for the formulation of new project guidelines for this type of decision‐making system. At the end, experimental results of the proposed algorithms will be presented, both from computer generated data and for a real problem from the medical diagnostics field.     

Systematic benchmarking of microarray data feature extraction and classification

A combination of microarrays with classification methods is a promising approach to supporting clinical management decisions in oncology. The aim of this paper is to systematically benchmark the role of classification models. Each classification model is a combination of one feature extraction method and one classification method. We consider four feature extraction methods and five classification methods, from which 20 classification models can be derived. The feature extraction methods are t-statistics, non-parametric Wilcoxon statistics, ad hoc signal-to-noise statistics, and principal component analysis (PCA), and the classification methods are Fisher linear discriminant analysis (FLDA), the support vector machine (SVM), the k nearest-neighbour classifier (kNN), diagonal linear discriminant analysis (DLDA), and diagonal quadratic discriminant analysis (DQDA). Twenty randomizations of each of three binary cancer classification problems derived from publicly available datasets are examined. PCA plus FLDA is found to be the optimal classification model.     

基于交易节点分类管理的网络安全模型

为确保对等网络节点交互的安全性,提出一种基于交易节点分类管理的网络安全模型。将失败的交易分为严重失败与一般不满意进行分类统计,以便更准确及时地检测恶意节点。在节点的直接交易过程中,根据交易历史记录,使用支持向量机分类器将网络中的节点划分为可信任节点、陌生节点和恶意节点,分别建立可信任节点列表与恶意节点列表,限制恶意节点的交易及反馈推荐行为。在反馈推荐意见统计表的基础上,利用Bayesian分类器对被评价节点进行分类,根据不同的可信度将可信任节点和陌生节点的反馈意见进行综合,再通过Bayesian估计调整节点的可信度。实验结果表明,与已有的安全模型相比,该模型对恶意行为具有更高的检测率,且交易成功率更高。     

竞争型径向基过程神经网络时序分类器

针对时序分类问题,提出一种竞争型径向基过程神经网络时序分类器.给出了复合竞争过程神经元单元的定义,引入复合竞争过程神经元隐层,利用竞争型径向基过程神经网络输入为时变函数的特点,由复合竞争过程神经元单元完成对过程式输入信息的模式匹配和时空聚合运算,给出了具体学习算法,省去了输出层线性连接权的计算,简化了网络结构和训练过程,提高了网络泛化能力.最后以UCI数据集多变量时序分类问题验证了分类器的有效性.     

Traffic sign recognition algorithm based on shape signature and dual-tree complex wavelet transform

A novel traffic sign recognition system is presented in this work. Firstly, the color segmentation and shape classifier based on signature feature of region are used to detect traffic signs in input video sequences. Secondly, traffic sign color-image is preprocessed with gray scaling, and normalized to 64×64 size. Then, image features could be obtained by four levels DT-CWT images. Thirdly, 2DICA and nearest neighbor classifier are united to recognize traffic signs. The whole recognition algorithm is implemented for classification of 50 categories of traffic signs and its recognition accuracy reaches 90%. Comparing image representation DT-CWT with the well-established image representation like template, Gabor, and 2DICA with feature selection techniques such as PCA, LPP, 2DPCA at the same time, the results show that combination method of DT-CWT and 2DICA is useful in traffic signs recognition. Experimental results indicate that the proposed algorithm is robust, effective and accurate.     

基于粗糙集支持向量机的红外步态识别

为进一步提高红外步态识别精度,构建了一种多分类器融合识别新模型,在根据各单分类器识别输出值构建度量向量的基础上,进行基于粗糙集支持向量机的多分类器融合识别.通过在Matlab7.5平台利用中科院红外步态库进行识别仿真实验,获得识别率和累积匹配分值的实验数据及对比结果.实验结果表明,基于粗糙集支持向量机的多分类器融合识别模型比单分类器在识别率方面有大幅度提高,识别性能理想,识别精度高.     

Thinned-ECOC ensemble based on sequential code shrinking

Error-correcting output coding (ECOC) is a strategy to create classifier ensembles which reduces a multi-class problem into some binary sub-problems. A key issue in designing any ECOC classifier refers to defining optimal codematrix having maximum discrimination power and minimum number of columns. This paper proposes a heuristic method for application-dependent design of optimal ECOC matrix based on a thinning algorithm. The main idea of the proposed Thinned-ECOC method is to successively remove some redundant and unnecessary columns of any initial codematrix based on a metric defined for each column. As a result, computational cost of the ensemble is reduced while preserving its accuracy. Proposed method has been validated using the UCI machine learning database and further applied to a couple of real-world pattern recognition problems (the face recognition and gene expression based cancer classification). Experimental results emphasize the robustness of Thinned-ECOC in comparison with existing state-of-the-art code generation methods.