A playmate robot system for playing the rock-paper-scissors game with humans

We have developed a playmate robot system for playing the rock-paper-scissors game with humans. The playmate robot recognizes the hand motions of a human using image processing without attaching any additional units to the human. The playmate robot system consists of three parts: a game management part, a hand motion recognition part, and a robot hand control part. The system functions as follows. (1) Before the game is played, the game management part decides on the motion of the robot hand from amongst rock, paper, and scissors. After the game is played, the robot develops a reaction using speech and facial expressions depending on the result of the game. (2) The hand motion recognition part recognizes the hand motion of the human. It does not use any additional units on the human’s body, only a camera on the robot. (3) The robot hand control part shows the motion of the robot hand. A robot hand has four fingers that are controlled independently. We have played the rock-paper-scissors game with this playmate robot.     

Three‐dimensional localization for the MagneBike inspection robot

The MagneBike inspection robot is a climbing robot equipped with magnetic wheels. The robot is designed to drive on three‐dimensional (3D) complexly shaped pipe structures; therefore it is necessary to provide 3D visualization tools for the user, who remotely controls the robot out of sight. The localization system is required to provide a 3D map of the unknown environment and the 3D location of the robot in the environment's map. The localization strategy proposed in this paper consists of combining 3D odometry with 3D scan registration. The odometry model is based on wheel encoders and a three‐axis accelerometer. Odometry enables the tracking of the robot trajectory between consecutive 3D scans and is used as a prior for the scan matching algorithm. The 3D scan registration facilitates the construction of a 3D map of the environment and refines the robot position computed with odometry. This paper describes in detail the implementation of the localization concept. It presents the lightweight, small‐sized 3D range finder that has been developed for the MagneBike. It also proposes an innovative 3D odometry model that estimates the local surface curvature to compensate for the absence of angular velocity inputs. The different tools are characterized in detail based on laboratory and field experiments. They show that the localization concepts reliably track the robot moving in the specific application environment. We also describe various techniques to optimize the 3D scanning process, which is time consuming, and to compensate for the identified limitations. These techniques are useful inputs for the future automatization of the robot's control and optimization of its localization process. © 2010 Wiley Periodicals, Inc.     

Demons非刚性配准算法拓扑保持性的研究

在基于配准的图像分割应用中, 拓扑保持性是非刚性图像配准算法的一个重要约束. 本文从矢量场特性出发, 分析了Demons非刚性图像配准算法导致目标拓扑改变时变形场的特点. 根据变形场特点与其雅可比行列式之间的关系, 给出了校正该算法拓扑保持性的方法. 实验表明, 改进后的变形场具有了拓扑保持性.     

A tabu search with an oscillation strategy for the discriminant analysis problem

This article proposes a tabu search approach to solve a mathematical programming formulation of the linear classification problem, which consists of determining an hyperplane that separates two groups of points as well as possible in ?^m. The tabu search approach proposed is based on a non-standard formulation using linear system infeasibility. The search space is the set of bases defined on the matrix that describes the linear system. The moves are performed by pivoting on a specified row and column. On real machine learning databases, our approach compares favorably with implementations based on parametric programming and irreducible infeasible constraint sets. Additional computational results for randomly generated instances confirm that our method provides a suitable alternative to the mixed integer programming formulation that is solved by a commercial code when the number of attributes m increases.     

On the Length and Area Regularization for Multiphase Level Set Segmentation

In this paper we introduce novel regularization techniques for level set segmentation that target specifically the problem of multiphase segmentation. When the multiphase model is used to obtain a partitioning of the image in more than two regions, a new set of issues arise with respect to the single phase case in terms of regularization strategies. For example, if smoothing or shrinking each contour individually could be a good model in the single phase case, this is not necessarily true in the multiphase scenario.     

O3R: Ontology-based mechanism for a human-centered environment targeted at the analysis of navigation patterns

Web Usage Mining (WUM) is the application of data mining techniques over Web server logs in order to extract navigation usage patterns. The analysis of mining patterns for assessing the knowledge they reveal is a critical phase in WUM. The main challenges are: (a) mining algorithms yield a huge number of patterns and (b) there is a significant semantic gap between URLs and events performed by users. In this paper, we describe the pattern analysis mechanisms integrated in O3R (Ontology-based Rules Retrieval and Rummaging), a human-centered environment for the analysis of navigation rules. O3R explores the synergy of mechanisms for retrieving and analyzing patterns. Filtering and clustering allow users to retrieve subsets of patterns with specific characteristics, in order to deal with the large volume of patterns. Rummaging mechanisms are targeted at assessing the meaning and relevance of pattern with regard to the domain, and it is particularly suitable for exploratory analysis. The distinctive feature of O3R is that is dynamically associates meaning to patterns using the concepts and relationships of a domain ontology, as a means of reducing the gap between syntactic URLs and semantic events performed by users. The paper describes the mechanisms in detail, and explores their synergic integration in the O3R prototype. It also reports two case studies that evaluate the use of O3R for the analysis of navigation patterns of a learning site.     

Integrating customer's preferences in the QFD planning process using a combined benchmarking and imprecise goal programming model

Quality function deployment (QFD) is a customer-oriented design tool for developing new or improved products to achieve higher customer satisfaction by integrating various functions of an organization. The engineering characteristics (ECs) affecting the product performances are designed to match the customer attributes (CAs). However, from the viewpoint of the QFD team, product design processes are performed in imprecise environments, and more than one factor must be taken into account in determining the target levels of ECs, especially the limited resources and increased market competition. This paper presents an imprecise goal programming (GP) approach to determine the optimum target levels of ECs in QFD for maximizing customer satisfaction under resource limitation and considerations of market competition. Based on benchmarking data of CAs, the concept of satisfaction functions is utilized to formulate explicitly the customer's preferences and to integrate the competitive analysis of target market into the modelling and solution process. In addition, the relationships linking CAs and ECs and the ECs to each other are integrated by functional relationships. The proposed approach will be illustrated through a car door design example.     

A methodology for the generation of planar models for multibody chain drives

To overcome the difficulty on building manually complex models of chain drives, this work proposes a comprehensive methodology to build multibody models of any general chain drive automatically from a minimal set of data. The proposed procedure also evaluates the initial positions and velocities of all components of the drive that are consistent with the kinematic joints or with the contact pairs used in the model. In this methodology, all links and sprockets are represented by rigid bodies connected to each other either by ideal or by clearance revolute joints. The clearance revolute joint contact is further extended to handle the contact between the chain rollers and the sprocket teeth exact profiles. A suitable cylindrical continuous contact law is applied to describe the interaction on all contact pairs. One of the complexities of the computational study of roller chain drives is the large number of bodies in the system and the dynamics of the successive engagement and disengagement of the rollers with the sprockets. Each time a roller engages or disengages with a sprocket tooth, the number of rigid bodies in contact changes. The search for the contact pairs is recognized as one of the most time consuming task in contact analysis. This work proposes a procedure to specify the contact pairs and their update during the dynamic analysis optimizing the computational efficiency of the contact search. The methodologies adopted result in a general computer program that is applied and demonstrated in a generic chain drive that can be used in industrial machines, vehicle engines or any other type of mechanical system.     

Multiobjective evolutionary clustering of Web user sessions: a case study in Web page recommendation

In this study, we experiment with several multiobjective evolutionary algorithms to determine a suitable approach for clustering Web user sessions, which consist of sequences of Web pages visited by the users. Our experimental results show that the multiobjective evolutionary algorithm-based approaches are successful for sequence clustering. We look at a commonly used cluster validity index to verify our findings. The results for this index indicate that the clustering solutions are of high quality. As a case study, the obtained clusters are then used in a Web recommender system for representing usage patterns. As a result of the experiments, we see that these approaches can successfully be applied for generating clustering solutions that lead to a high recommendation accuracy in the recommender model we used in this paper.     

Toward a wider use of formal methods for aerospace systems design and verification

Nowadays, it is well accepted that the development of critical systems involves the use of formal methods. One of the major fields where these methods made a lot of progress are the avionics, aerospace and more generally transport areas. Several methods, tools and techniques have been applied for the development of such systems in different parts of the world, and they have been actually put into practice during the development of specific aircraft programs. The aim of this introductory article and of this STTT special issue is to propose a brief overview of the state-of-the-art of current researches in formal methods applied to the development of avionics and aerospace systems and more broadly to take stock of the integration of formal methods in the aerospace industry.