Direct 3D Manipulation Techniques for Interactive Constraint-based Solid Modelling

This paper presents a novel constraint-based 3D manipulation approach to interactive constraint-based solid modelling. This approach employs a constraint recognition process to automatically recognise assembly relationships and geometric constraints between entities from 3D manipulation. A technique referred to as allowable motion is used to achieve accurate 3D positioning of a solid model by automatically constraining its 3D manipulation without menu interaction. A set of virtual design tools, which can be used to construct constraint-based solid models within a virtual environment, are also supported. These tools have been implemented as functional 3D objects associated with several pre-defined modelling functions to simulate physical tools such as a drilling tool and T-square. They can be directly manipulated by the user, and precisely positioned relative to other solid models through the constraint-based 3D manipulation approach. Their modelling functions can be automatically triggered, depending upon their associated constraints and the user's manipulation manner. A prototype system has been implemented to demonstrate the feasibility of these techniques for model construction and assembly operations.     

结构交互驱动的机器人深度强化学习控制方法

针对深度强化学习在高维机器人行为控制中训练效率低下和策略不可解释等问题,提出一种基于结构交互驱动的机器人深度强化学习方法(structure-motivated interactive deep reinforcement learning, SMILE).首先,利用结构分解方法将高维的单机器人控制问题转化为低维的多关节控制器协同学习问题,从而缓解连续运动控制的维度灾难难题;其次,通过两种协同图模型(ATTENTION和PODT)动态推理控制器之间的关联关系,实现机器人内部关节的信息交互和协同学习;最后,为了平衡ATTENTION和PODT协同图模型的计算复杂度和信息冗余度,进一步提出两种协同图模型更新方法 APDODT和PATTENTION,实现控制器之间长期关联关系和短期关联关系的动态自适应调整.实验结果表明,基于结构驱动的机器人强化学习方法能显著提升机器人控制策略学习效率.此外,基于协同图模型的关系推理及协同机制,可为最终学习策略提供更为直观和有效的解释.     

Stereo-based bokeh effects for photography

Bokeh, a sought-after photo rendering style of out-of-focus blur, typically aims at an esthetic quality which is not available to low-end consumer-grade cameras due to the lens design. We present a bokeh simulation method using stereo-vision techniques. We refine a depth map obtained by stereo matching, also using some minor user interaction. Overexposed regions are recovered according to depth information. A depth-aware bokeh effect is then applied with user-adjustable apertures sizes or shapes. We also simulate swirly bokeh, also known as cat-eye effect. Our method mainly aims at the visual quality of the bokeh effect rather than (so far) at time efficiency. Experiments show that our results are natural looking and that they can be comparable to bokeh effects achieved with expensive real-world bokeh-capable camera systems.     

模糊匹配在树到串翻译模型中的应用

在传统的基于树的翻译模型中,一般都是将一条规则视为字符串,然后使用字符串匹配技术从规则表中搜索可用的规则.然而,由于基于树的翻译模型依赖于句法分析的结果,而有些语言的句法分析准确率并不是很高,所以由句法分析错误造成的规则无法匹配的现象很常见,特别是在树到树的翻译模型中,能够精确匹配的规则数量非常稀少,进而对机器翻译的性...     

An Interactive Approach to Solving Correspondence Problems

Finding correspondences among objects in different images is a critical problem in computer vision. Even good correspondence procedures can fail, however, when faced with deformations, occlusions, and differences in lighting and zoom levels across images. We present a methodology for augmenting correspondence matching algorithms with a means for triaging the focus of attention and effort in assisting the automated matching. For guiding the mix of human and automated initiatives, we introduce a measure of the expected value of resolving correspondence uncertainties. We explore the value of the approach with experiments on benchmark data.     

具有智能交互学习能力的机械臂写字系统

基于Uarm机械臂构建了一个学习人类写字顺序的机械臂智能写字系统,该系统首先具有对陌生汉字的自动笔画拆分和书写能力,然后基于语音对话和图像分析技术,能够根据用户教授的笔画和笔顺来学习汉字的正确书写方式.首先,系统根据输入的语音信息以及摄像头观察到的文字的图像信息,获得用户想要写的关键字及对话意图;然后通过对摄像头看到的图像信息进行分析,对检测到的汉字进行自动笔画拆分和笔顺提取,对于正在教授中的字,跟踪笔迹顺序,学习汉字笔顺的正确写法.通过对话管理,机械臂会以对话的形式进行书写反馈并与用户交互,学习人类书写顺序并实现正确书写.通过实验分析及测试者主观评测,该系统取得了不错的评价.     

服装用图形限制关系描述语言-GCGL

文章设计了一种服装用图元限制关系描述语言GCGL。该语言是个体裁剪方式下,自动化修正模板衣片纸样时所需的重要工具。文章对GCGL的语法和操作语义进行了定义和描述。语言的基本图元定义简单,图元和限制规则的复合能力很强,语义定义容易理解和掌握。GCGL在实践应用过程中表现出很强的可扩展性和可移植性。     

Teaching Robots Style: Designing and Evaluating Style-by-Demonstration for Interactive Robotic Locomotion

In this article we present a multipart formal design and evaluation of the style-by-demonstration (SBD) approach to creating interactive robot behaviors: enabling people to design the style of interactive robot behaviors by providing an exemplar. We first introduce our Puppet Master SBD algorithm that enables the creation of interactive robot behaviors with a focus on style: Users provide an example demonstration of human–robot interaction and Puppet Master uses this to generate real-time interactive robot output that matches the demonstrated style. We further designed and implemented original interfaces for demonstrating interactive robot style and for interacting with the resulting robot behaviors. Following, we detail a set of studies we performed to appraise users' reactions to and acceptance of the SBD interaction design approach, the effectiveness of the underlying Puppet Master algorithm, and the usability of the demonstration interfaces. Fundamentally, this article investigates the broad questions of how people respond to SBD interaction, how they engage SBD interfaces, how SBD can be practically realized, and how the SBD approach to social human–robot interaction can be employed in future interaction design.     

基于子树匹配的交互式Web数据抽取方法

查询相关的Web页面中的数据记录之间具有极高的代码结构相似性。Web数据记录对应的DOM子树之间自然也就具有很高的结构相似性。针对查询相关的Web页面的特点,提出了一种基于DOM子树匹配的交互式Web数据抽取方法,实验证明,该方法能保证很高的数据抽取查全率和准确率。     

Constraint-based software for concurrent engineering

The Galileo3 programming language for developing product life-cycle design advice software is described. Galileo3's various application-oriented features, the algorithm on which the runtime system is based, and its underlying computational theory are discussed     

Target-Text Mediated Interactive Machine Translation

The use of Machine Translation as a tool for professional or other highly skilled translators is for the most part currently limited to postediting arrangements in which the translator invokes MT when desired and then manually cleans up the results. A theoretically promising but hitherto largely unsuccessful alternative to postediting for this application is interactive machine translation (IMT), in which the translator and MT system work in tandem. We argue that past failures to make IMT viable as a tool for skilled translators have been the result of an infelicitous mode of interaction rather than any inherent flaw in the idea. As a solution, we propose a new style of IMT in which the target text under construction serves as the medium of communication between an MT system and its user. We describe the design, implementation, and performance of an automatic word completion system for translators which is intended to demonstrate the feasibility of the proposed approach, albeit in a very rudimentary form.     

Constraint-based document layout for the Web

Constraints can be used to specify declaratively the desired layout of a Web document. We present a system architecture in which both the author and the viewer can impose page layout constraints, some required and some preferential. The final appearance of the Web page is thus the result of negotiation between author and viewer, where this negotiation is carried out by solving the set of required and preferential constraints imposed by both parties. We identify two plausible system architectures, based on different ways of dividing the work of constraint solving between Web server and Web client. We describe a prototype constraint-based Web authoring system and viewing tool that provides linear arithmetic constraints for specifying the layout of the document as well as finite-domain constraints for specifying font size relationships. Finally, we provide an empirical evaluation of the prototype.     

Constraint-based probabilistic modeling for statistical abduction

We introduce a new framework for logic-based probabilistic modeling called constraint-based probabilistic modeling which defines CBPMs (constraint-based probabilistic models) , i.e. conditional joint distributions P(⋅∣KB) over independent propositional variables constrained by a knowledge base KB consisting of clauses. We first prove that generative models such as PCFGs and discriminative models such as CRFs have equivalent CBPMs as long as they are discrete. We then prove that CBPMs in infinite domains exist which give existentially closed logical consequences of KB probability one. Finally we derive an EM algorithm for the parameter learning of CBPMs and apply it to statistical abduction.     

Constraint-based sensor planning for scene modeling

We describe an automated scene modeling system that consists of two components operating in an interleaved fashion: an incremental modeler that builds solid models from range imagery; and a sensor planner that analyzes the resulting model and computes the next sensor position. This planning component is target-driven and computes sensor positions using model information about the imaged surfaces and the unexplored space in a scene. The method is shape-independent and uses a continuous-space representation that preserves the accuracy of sensed data. It is able to completely acquire a scene by repeatedly planning sensor positions, utilizing a partial model to determine volumes of visibility for contiguous areas of unexplored scene. These visibility volumes are combined with sensor placement constraints to compute sets of occlusion-free sensor positions that are guaranteed to improve the quality of the model. We show results for the acquisition of a scene that includes multiple, distinct objects with high occlusion     

The Matching Fund Project for Practical Use of Robotic Travel Aid for the Visually Impaired

Destined for the visually impaired, Robotic Travel Aid (RoTA) acts as an intelligent cart, guiding people across the streets. The 60 kg, 1-m tall mobile robot is equipped with a computer vision system, stereo camera sensor and voice interface. When moving, it is aware of its environment: it recognizes landmarks such as zebra-crossing marks or traffic signals, stopping when the light is red, and 'sees' cars or other pedestrians. In case of trouble, the robots communicates wirelessly with a service center, allowing it to give extra information on the trajectory and adapt the navigational information system. Now, a wheelchair robot is developed as the successor of RoTA, not only for the visually impaired, but also the disabled.     

机器翻译评测中的模糊匹配

目前,大多数机器翻译自动评测方法都没有考虑在未匹配的词语中可能包含被忽略的信息。本文提出一种在参考译文和待评测译文之间自动搜索模糊匹配词对的方法,并给出相似度的计算方法。模糊匹配和计算相似度的整个过程将通过一个例子进行说明。实验表明,我们的方法能够较好地找到被忽略的、有意义的词对。更重要的是,通过引入模糊匹配,BLEU 的性能得到显著的提高。模糊匹配可以用来提高其他机器翻译自动评测方法的性能。     

Constraint-based learning for non-parametric continuous bayesian networks

Annals of Mathematics and Artificial Intelligence - Modeling high-dimensional multivariate distributions is a computationally challenging task. In the discrete case, Bayesian networks have been...