Adaptive Robot Biped Locomotion with Dynamic Motion Primitives and Coupled Phase Oscillators

In order to properly function in real-world environments, the gait of a humanoid robot must be able to adapt to new situations as well as to deal with unexpected perturbations. A promising research direction is the modular generation of movements that results from the combination of a set of basic primitives. In this paper, we present a robot control framework that provides adaptive biped locomotion by combining the modulation of dynamic movement primitives (DMPs) with rhythm and phase coordination. The first objective is to explore the use of rhythmic movement primitives for generating biped locomotion from human demonstrations. The second objective is to evaluate how the proposed framework can be used to generalize and adapt the human demonstrations by adjusting a few open control parameters of the learned model. This paper contributes with a particular view into the problem of adaptive locomotion by addressing three aspects that, in the specific context of biped robots, have not received much attention. First, the demonstrations examples are extracted from human gaits in which the human stance foot will be constrained to remain in flat contact with the ground, forcing the “bent-knee” at all times in contrast with the typical straight-legged style. Second, this paper addresses the important concept of generalization from a single demonstration. Third, a clear departure is assumed from the classical control that forces the robot’s motion to follow a predefined fixed timing into a more event-based controller. The applicability of the proposed control architecture is demonstrated by numerical simulations, focusing on the adaptation of the robot’s gait pattern to irregularities on the ground surface, stepping over obstacles and, at the same time, on the tolerance to external disturbances.     

Applications of ontologies in requirements engineering: a systematic review of the literature

There is an increase use of ontology-driven approaches to support requirements engineering (RE) activities, such as elicitation, analysis, specification, validation and management of requirements. However, the RE community still lacks a comprehensive understanding of how ontologies are used in RE process. Thus, the main objective of this work is to investigate and better understand how ontologies support RE as well as identify to what extent they have been applied to this field. In order to meet our goal, we conducted a systematic literature review (SLR) to identify the primary studies on the use of ontologies in RE, following a predefined review protocol. We then identified the main RE phases addressed, the requirements modelling styles that have been used in conjunction with ontologies, the types of requirements that have been supported by the use of ontologies and the ontology languages that have been adopted. We also examined the types of contributions reported and looked for evidences of the benefits of ontology-driven RE. In summary, the main findings of this work are: (1) there are empirical evidences of the benefits of using ontologies in RE activities both in industry and academy, specially for reducing ambiguity, inconsistency and incompleteness of requirements; (2) the majority of studies only partially address the RE process; (3) there is a great diversity of RE modelling styles supported by ontologies; (4) most studies addressed only functional requirements; (5) several studies describe the use/development of tools to support different types of ontology-driven RE approaches; (6) about half of the studies followed W3C recommendations on ontology-related languages; and (7) a great variety of RE ontologies were identified; nevertheless, none of them has been broadly adopted by the community. Finally, we conclude this work by showing several promising research opportunities that are quite important and interesting but underexplored in current research and practice.     

Active learning paradigms for CBIR systems based on optimum-path forest classification

This paper discusses methods for content-based image retrieval (CBIR) systems based on relevance feedback according to two active learning paradigms, named greedy and planned. In greedy methods, the system aims to return the most relevant images for a query at each iteration. In planned methods, the most informative images are returned during a few iterations and the most relevant ones are only presented afterward. In the past, we proposed a greedy approach based on optimum-path forest classification (OPF) and demonstrated its gain in effectiveness with respect to a planned method based on support-vector machines and another greedy approach based on multi-point query. In this work, we introduce a planned approach based on the OPF classifier and demonstrate its gain in effectiveness over all methods above using more image databases. In our tests, the most informative images are better obtained from images that are classified as relevant, which differs from the original definition. The results also indicate that both OPF-based methods require less user involvement (efficiency) to satisfy the user's expectation (effectiveness), and provide interactive response times.     

Satellite-based estimates of groundwater storage variations in large drainage basins with extensive floodplains

This study presents monthly estimates of groundwater anomalies in a large river basin dominated by extensive floodplains, the Negro River Basin, based on the synergistic analysis using multisatellite observations and hydrological models. For the period 2003-2004, changes in water stored in the aquifer is isolated from the total water storage measured by GRACE by removing contributions of both the surface reservoir, derived from satellite imagery and radar altimetry, and the root zone reservoir simulated by WGHM and LaD hydrological models. The groundwater anomalies show a realistic spatial pattern compared with the hydrogeological map of the basin, and similar temporal variations to local in situ groundwater observations and altimetry-derived level height measurements. Results highlight the potential of combining multiple satellite techniques with hydrological modeling to estimate the evolution of groundwater storage.     

Automatic camera control in virtual environments augmented using multiple sparse videos

Automated virtual camera control has been widely used in animation and interactive virtual environments. We have developed a multiple sparse camera based free view video system prototype that allows users to control the position and orientation of a virtual camera, enabling the observation of a real scene in three dimensions (3D) from any desired viewpoint. Automatic camera control can be activated to follow selected objects by the user. Our method combines a simple geometric model of the scene composed of planes (virtual environment), augmented with visual information from the cameras and pre-computed tracking information of moving targets to generate novel perspective corrected 3D views of the virtual camera and moving objects. To achieve real-time rendering performance, view-dependent textured mapped billboards are used to render the moving objects at their correct locations and foreground masks are used to remove the moving objects from the projected video streams. The current prototype runs on a PC with a common graphics card and can generate virtual 2D views from three cameras of resolution 768×576 with several moving objects at about 11 fps.     

Segmentation of ultrasound images of the carotid using RANSAC and cubic splines

A new algorithm is proposed for the semi-automatic segmentation of the near-end and the far-end adventitia boundary of the common carotid artery in ultrasound images. It uses the random sample consensus method to estimate the most significant cubic splines fitting the edge map of a longitudinal section. The consensus of the geometric model (a spline) is evaluated through a new gain function, which integrates the responses to different discriminating features of the carotid boundary: the proximity of the geometric model to any edge or to valley shaped edges; the consistency between the orientation of the normal to the geometric model and the intensity gradient; and the distance to a rough estimate of the lumen boundary.A set of 50 longitudinal B-mode images of the common carotid and their manual segmentations performed by two medical experts were used to assess the performance of the method. The image set was taken from 25 different subjects, most of them having plaques of different classes (class II to class IV), sizes and shapes.The quantitative evaluation showed promising results, having detection errors similar to the ones observed in manual segmentations for 95% of the far-end boundaries and 73% of the near-end boundaries.     

Illustrating volume data sets and layered models with importance-aware composition

Non-photorealistic (illustrative) rendering augments typical rendering models to selectively emphasize or de-emphasize specific structures of rendered objects. Illustrative techniques may affect not only the rendering style of specific portions of an object but also their visibility, ensuring that less important regions do not occlude more important ones. Cutaway views completely remove occluding, unimportant structures—possibly also removing valuable context information—while existing solutions for smooth reduction of occlusion based on importance lack precise visibility control, simplicity and generality. We introduce a new front-to-back fragment composition equation that directly takes into account a measure of sample importance and allows smooth and precise importance-based visibility control. We demonstrate the generality of our composition equation with several illustrative effects, which were obtained by using a set of importance measures calculated on the fly or defined by the user. The presented composition method is suitable for direct volume rendering as well as rendering of layered 3D models. We discuss both cases and show examples, though focusing mainly on illustration of volumetric data.     

Template-based quadrilateral mesh generation from imaging data

This paper describes a novel template-based meshing approach for generating good quality quadrilateral meshes from 2D digital images. This approach builds upon an existing image-based mesh generation technique called Imeshp, which enables us to create a segmented triangle mesh from an image without the need for an image segmentation step. Our approach generates a quadrilateral mesh using an indirect scheme, which converts the segmented triangle mesh created by the initial steps of the Imesh technique into a quadrilateral one. The triangle-to-quadrilateral conversion makes use of template meshes of triangles. To ensure good element quality, the conversion step is followed by a smoothing step, which is based on a new optimization-based procedure. We show several examples of meshes generated by our approach, and present a thorough experimental evaluation of the quality of the meshes given as examples.     

Surface Reconstruction based on Lower Dimensional Localized Delaunay Triangulation

We present a fast, memory efficient algorithm that generates a manifold triangular mesh S passing through a set of unorganized points P R ³. Nothing is assumed about the geometry, topology or presence of boundaries in the data set except that P is sampled from a real manifold surface. The speed of our algorithm is derived from a projection-based approach we use to determine the incident faces on a point. We define our sampling criteria to sample the surface and guarantee a topologically correct mesh after surface reconstruction for such a sampled surface. We also present a new algorithm to find the normal at a vertex, when the surface is sampled according our given criteria. We also present results of our surface reconstruction using our algorithm on unorganized point clouds of various models.     

Efficient conservative visibility culling using theprioritized-layered projection algorithm

We propose a novel conservative visibility culling technique based on the Prioritized-Layered Projection (PLP) algorithm. PLP is a time-critical rendering technique that computes, for a given viewpoint, a partially correct image by rendering only a subset of the geometric primitives, those that PLP determines to be most likely visible. Our new algorithm builds on PLP and provides an efficient way of finding the remaining visible primitives. We do this by adding a second phase to PLP which uses image-space techniques for determining the visibility status of the remaining geometry. Another contribution of our work is to show how to efficiently implement such image-space visibility queries using currently available OpenGL hardware and extensions. We report on the implementation of our techniques on several graphics architectures, analyze their complexity, and discuss a possible hardware extension that has the potential to further increase performance