Facial expression recognition and tracking for intelligent human-robot interaction

For effective interaction between humans and socially adept, intelligent service robots, a key capability required by this class of sociable robots is the successful interpretation of visual data. In addition to crucial techniques like human face detection and recognition, an important next step for enabling intelligence and empathy within social robots is that of emotion recognition. In this paper, an automated and interactive computer vision system is investigated for human facial expression recognition and tracking based on the facial structure features and movement information. Twenty facial features are adopted since they are more informative and prominent for reducing the ambiguity during classification. An unsupervised learning algorithm, distributed locally linear embedding (DLLE), is introduced to recover the inherent properties of scattered data lying on a manifold embedded in high-dimensional input facial images. The selected person-dependent facial expression images in a video are classified using the DLLE. In addition, facial expression motion energy is introduced to describe the facial muscle’s tension during the expressions for person-independent tracking for person-independent recognition. This method takes advantage of the optical flow which tracks the feature points’ movement information. Finally, experimental results show that our approach is able to separate different expressions successfully.     

自适应区域生长算法在医学图像分割中的应用

提出一种通过计算种子点附近邻域统计信息,自适应改变生长标准参数用于医学图像分割的算法．在切片图像预处理过程中,考虑到体数据相邻切片之间高度的相关性,在相邻层之间采取高斯核滤波去除噪声,并通过各向异性滤波算法对该层切片进行滤波．实验结果表明,该算法可有效地提取出图像区域,具有较好的鲁棒性．     

预应力锚索二次张拉拐点自动识别研究

目前判断预应力锚索二次张拉中产生的拐点的主要方法是通过人工来估算拐点处的荷载和位移值。针对这个问题,通过分析二次张拉的物理特点,结合施工过程中外部因素对张拉数据的干扰特征,提出了拐点识别的数学模型和拐点识别的通用过程;提出了采用中位值平均滤波算法来过滤测量中的异常点,采用拉格朗日抛物插值算法来优化采样数据,最后通过计算得到拐点的精确数据。实验表明,通过提出的拐点识别方法可以快速定位拐点的位置,极大地提高了拐点识别的效率和准确度。     

使用二次连接神经网络的基于ART的分层聚类算法

本文描述了二次连接神经网络的结构和特性,给出了该网络的非监督学习规则。使用二次连接的神经网络,描述了基于ART的层次聚类算法,并对算法的时间和空间复杂性进行了分析。为了检验算法的有效性,采用了一个人工的二维数据集合,并比较了本文提出的算法和具有代表性的K—means算法的执行效果。     

An innovative method of algorithmic composition using musical tension

According to narratology or narrative theory, a piece of artwork should tell a story based on its various tensions. In this study, an automated music composition algorithm using musical tension energy was proposed; this algorithm can generate a musical piece by changing the musical tension. The proposed innovative Algorithmic Composition Musical Tension Energy (ACMTE) method uses the level of musical tension; this level is determined primarily by the chord progression and also the musical parameters of pitch interval and rhythm. The effects of musical tension energy on those parameters were analyzed. This paper presents a formula that unifies all generated parts. The experimental results demonstrate that thousands of beautiful pieces can easily be made without the use of a music database. This algorithmic composition method can be easily applied in both streaming media and to portable music devices, such as smart phones, notebooks, and MP3 players.

     

一类连续的K-means 等价聚类模型及其优化算法

聚类作为一种非监督学习方法是数据科学中重要的研究内容.K-means是一种基于划分的聚类算法,一般是利用启发式算法求解一个离散的NP问题.为增强K-means在大数据问题中的应用性,从聚类矩阵的属性出发,设计了一类非凸连续的K-means等价聚类优化模型,并利用ADM M框架给出了该等价模型的快速优化算法.数值实验结果表明了该模型及其优化算法在大数据聚类中的准确性和高效性.此外,还讨论了该模型的性质及等价性问题.     

Robust regulation and tracking system design for multivariable control of the tape transport mechanism

Tape mechanisms must be able to transport the tape with a constant velocity for achieving high rate of data transfer. In this paper, a multivariable model of tape transport mechanism including the take-up and supply reel servos for tape tension control and capstan servo for speed control is considered. To achieve desired performance, pole-placement approach based on general canonical control form (GCCF) is used. Instead of using expensive tension sensors, an observer is designed. A regulator system is developed for disturbance rejection; and a modified integral control is designed for perfect tracking of desired set-points in tape speed and tensions. Since the real dynamic model associates with parametric uncertainties, an algorithm is developed for robust pole-placement. Eigenvalues of the uncertain control system are chosen such that appropriate responses are achieved while control efforts remain small bounded. Results show that robust performance is obtained for uncertain models with various parametric uncertainties.     

基于频繁闭项集挖掘的增量式维护算法

为了能够随着数据库的增加、删除和修改而快速有效地挖掘出频繁闭项集,根据CHARM算法提出了一种基于频繁闭项集挖掘的增量式维护算法。该算法采取分类处理的策略对变化数据进行挖掘,运用IT对的特性从已挖掘出的结果中快速过滤出仍然有效的信息,实现频繁闭项集的更新。实验结果表明该算法是快速有效的。     

一种三维实体模型的离散表示方法

在计算机中,传统的三维几何模型只能描述表面数据,要描述模型内部属性时,这种模型显得无能为力。体图形学(VolumeGraphics,简称VG)是计算机图形学中新发展起来的一个重要分支。三维模型的体素表示是体图形学中的基本方法,体素化是体图形学中一个不可缺少的前处理过程,其任务是把物体的表面几何形式表示离散成最接近该物体的体素表示形式,产生体数据集。该文将基于Z-buffer扩展的深度缓存原理扩展到x,y,z三个方向上,实现了复杂三维网格模型的体素化表示。实验表明该算法具有很高的执行效率,并且算法的复杂度不依赖于模型的复杂度。     

自适应滑模摩擦补偿在隔膜张力控制中的应用

为稳定放卷张力,提出了自适应滑模摩擦补偿控制算法,对放卷机构中的负载惯量与摩擦进行在线辨识。以放卷电机的转速和角位移误差为变量设计了线性滑模面;以惯量及摩擦估计误差变量及滑模面的偏移变量为基础设计了Lyapunov函数;以该函数的梯度下降为原则设计了在线辨识的自适应律。当系统在自适应滑模控制器的作用下稳定在滑模面上时,负载惯量及摩擦便趋近于其实际值。通过该摩擦补偿方法实现了张力控制目标。对所提方法进行单轴仿真及试验验证,表明该算法能有效提高张力的控制精度。     

基于边界几何特征的重叠颗粒图像分割算法

图像分割是图像处理中的重要问题,也是计算机视觉领域低层次视觉中的主要问题,是成功进行图像分析、理解和描述的关键技术。该文构造了一种针对二值图像边界几何特征的提取的算法,通过对图形边界的凹特性分析,实现了对不规则颗粒图像的分割。该算法仅对提取的图像数据作处理,不对图像本身作任何运算,避免了传统的基于图像形态学的分割算法所导致的图像信息丢失。     

移动自组网中基于分簇的数据复制算法

在移动自组网络中,网络分割现象可能频繁发生,从而降低了数据的可用性.提出了一种新的分布式分簇算法来组织移动节点,算法保证簇内任意两点间路径的可用概率都大于某个确定的界.在此基础上提出了基于稳定路径分簇的数据复制策略,以提高在出现链路断接甚至网络分割时的数据可用性.对算法进行了理论证明和实验分析,实验结果表明,由分簇算法构造的簇能够满足我们所要求的特性,并且基于分簇的数据复制算法在移动自组网环境中有效地提高了数据的可用性.     

Use of optimal control theory for computing optimal injection policies for enhanced oil recovery

The theory of optimal control of distributed parameter systems has been applied to the problem of determining an optimum injection policy for a chemical flooding enhanced oil recovery process. The optimization criterion is to maximize the difference between gross revenue and cost of chemicals injected. Necessary conditions for optimality are obtained through application of the calculus of variations and the distributed weak minimum principle. A gradient method is used for the computation of optimal injection policies. The performance of the algorithm was examined for the surfactant injection in a one-dimensional flooding problem. Two types of interfacial tension behaviour were considered: a type ‘A’ system in which the interfacial tension is a monotically decreasing function with solute concentration and a type ‘B’ system in which a minimum in the interfacial tension occurs at a nominal surfactant concentration. Different initial values were used in order to establish the convergence of the computational algorithm. For a type ‘A’ system, the shape of the optimum injection strategy was not unique; however, there is a unique optimum for the amount of surfactant needed. For a type ‘B’ system, the shape of the optimum injection was unique as well as the amount injected. The results of this work show that given the properties of an oil reservoir and the properties of a surfactant solution, an optimum injection policy which minimizes a specific economic objective functional can be obtained using distributed parameter control theory.     

卷绕张力控制系统的建模及张力观测器的设计

在物料传送系统中,如何对物料张力和线速度进行独立的控制,一直是关注的焦点问题;以典型的卷绕张力系统为研究对象,建立了其动态数学模型;详细地分析了基于传感器张力反馈的常规控制方案,并在此基础上提出了一种基于张力观测器的新型控制方案;它根据辊的动态转矩平衡方程式,利用系统原有的电机控制和速度检测信号,将观测的张力值作为反馈,构成张力闭环,从而实现无传感器反馈控制;最后,对两种方案进行了仿真比较,结果表明,提出的方案完全可以达到常规方案的动态性能,而且具有更高的稳态精度,这充分说明了该算法是可行的.     

基于斥力-张力模型的网络拓扑图布局算法

针对网络管理系统中网络拓扑图的自动布局问题，提出了一种新的算法。赋予拓扑图的顶点和边不同的物理性质(质量、张力、斥力等)，各个顶点在力的相互作用下不断运动，直至最终达到力的平衡，同时完成了拓扑图的自动布局。     

基于测地线距离的广义高斯型Laplacian 特征映射

传统的Laplacian 特征映射是基于欧氏距离的近邻数据点的保持,近邻的高维数据点映射到内在低维空间后仍为近邻点,高维数据点的近邻选取最终将影响全局低维坐标.将测地线距离和广义高斯函数融合到传统的Laplacian 特征映射算法中,首先提出了一种基于测地线距离的广义高斯型Laplacian 特征映射算法(geodesicdistance-based generalized Gaussian LE,简称GGLE),该算法在用不同的广义高斯函数度量高维数据点间的相似度时,获得的全局低维坐标呈现出不同的聚类特性;然后,利用这种特性进一步提出了它的集成判别算法,该集成判别算法的主要优点是:近邻参数K 固定,邻接图和测地线距离矩阵都只构造一次.在木纹数据集上的识别实验结果表明,这是一种有效的基于流形的集成判别算法.     

微机图象处理系统及其FFT算法

该文主要介绍由ＰＣＶＩＳＩＯＮｐｌｕｓ帧捕获器组成的微机图象处理系统的结构和编程原理。计算机在处理数据时,与硬盘交换数据非常费时,为了解决这个问题,该文研究了一个基于ＤＦＴ性质的算法,采用这个算法,不需要与硬盘交换数据就可在的微机的常规内存中实现ＦＦＴ和对图象进行频域处理。从而大大加速了图象处理的速度。采用这种算法在该系统上对Ｘ光片进行了处理,结果表明,该算法是有效和快速的。     

变形履带轮椅机器人的张紧力最优估计和越障能力分析

针对一种新型变形履带机构的轮椅机器人,提出了一种动态确定履带张紧力大小的最优估计算法． 相对于传统的恒定张紧力履带式移动机构,动态确定张紧力显著地降低了功率损耗． 考虑到张紧力的建模复杂性,文中采用模糊决策算法,将影响张紧力的主要因素输入模糊决策模块． 然后结合最小二乘法得到履带张紧力的最优估计算法． 鉴于轮椅机器人越障过程中移动速度较慢的特点, 结合张紧力最优估计算法结果对轮椅机器人上楼梯起始阶段进行了静力学建模． 仿真结果证明了利用张紧力估计算法的越障轮椅机构能够平稳爬楼梯, 同时也表明了动态张紧力算法大大降低了驱动功率损耗．     

On the Representation of Results of Binary Code Reverse Engineering

A representation of algorithms extracted from binary code by reverse engineering is discussed. Both intermediate representations designed for automatic analysis and final representations passed to the end user are considered. The two main tasks of reverse engineering—automatic detection of exploitable vulnerabilities and discovery of undocumented features— are analyzed. The basic scheme of the system implementing the automatic detection of exploitable vulnerabilities is presented and the key properties of the intermediate representation designed for solving this problem using an efficient generation of a system of equations for an SMT solver are described. The workflow for discovering undocumented features is described. These steps are the localization of the algorithm, its representation in the form that is convenient for analysis, and investigation of its properties. To automate the first phase, a combined static and dynamic representation is constructed, which includes OS-level events and calls to library functions; they serve as anchor points used by the analyst for the algorithm localization. The further support of localization uses code slicing and navigation algorithms. Once the algorithm is localized, the further work goes in two directions: interactive construction of a compact annotated representation of the algorithm by a flowchart and automated investigation of the algorithm properties aimed at determining declared and undeclared data flows. The representation of the algorithm is based on the construction of simplified models of functions taking into account input and output buffers and on the automatic detection of data dependences between buffers of various function calls. The overall scenario of the analyst' work with such a flowchart in the context of discovering undocumented features is described; this scenario is based on annotating the declared data flows and on the automatic detection of undeclared data flows. In conclusion, an example of the resulting representation is discussed and the directions of further research are discussed.