Shahram Payandeh

• Simon Fraser University

Establishing various frameworks for managing uncertainties in decision-making systems have been posing many fundamental challenges to the system design engineers. Quantum paradigm has been introduced to the area of decision and control communities as a possible supporting platform in such uncertainty management. This paper presents an overview of h...

Unlike deep learning which requires large training datasets, correlation filter-based trackers like Kernelized Correlation Filter (KCF) use implicit properties of tracked images (circulant structure) for training in real time. Despite their popularity in tracking applications, there exists significant drawbacks of the tracker in cases like occlusio...

Inspired by the notion of swarm robotics, sensing, and minimalism, in this paper, we study and analyze how a collection of only 1D depth scans can be used as a part of the minimum feature for human body detection and its segmentation in a point cloud. In relation to the traditional approaches which require a complete point cloud model representatio...

This paper presents a framework of a marker-less human pose recognition system by identifying key body extremity parts through a network of calibrated low-cost depth sensors. The usage of depth sensors overcomes challenges related to low illuminations which usually compromises the information from the RGB cameras. Furthermore, the addition of multi...

Background: In recent years and due to the availability of non-wearable sensing technologies, there has been a widespread interest in developing methods for monitoring the movements of older adults and further estimating any anomalies. Objective: Low-cost motion detection has been gaining particular attention due to its widespread availability, eas...

With the development of new methodologies for faster training on datasets, there is a need to provide an in-depth explanation of the workings of such methods. This paper attempts to provide an understanding for one such correlation filter-based tracking technology, Kernelized Correlation Filter (KCF), which uses implicit properties of tracked image...

Tracking movements of the body in a natural living environment of a person is a challenging undertaking. Such tracking information can be used as a part of detecting any onsets of anomalies in movement patterns or as a part of a remote monitoring environment. The tracking information can be mapped and visualized using a virtual avatar model of the...

This paper presents a preliminary overview of a model which can be used as a part of a decision support system when fusing data from multiple sensing environment. Combining information from various sensing modalities has been a subject of research for the past many years. A number of methodologies have been designed and developed for handling and i...

Aging in place is a notion which supports the independent living of older adults at their own place of residence for as long as possible. To support this alternative living which can be in contrast to various other types of assisted living options, modes of monitoring technology need to be explored and studied in order to determine a balance betwee...

The usage of depth data from time-of-flight or any equivalent devices overcomes visual challenges presented under low illumination. For integrating such data from multiple sources, the paper proposes a novel tool for the calibration of sensors. The proposed tool consists of retro-reflective stripped spheres. To correctly estimate these spheres, the...

A person following robot is an application of service robotics that primarily focuses on human-robot interaction, for example, in security and health care. This paper explores some of the design and development challenges of a patient follower robot. Our motivation stemmed from common mobility challenges associated with patients holding on and pull...

In many monitoring applications such as smart home and surveillance, deployment of multiple depth sensors increases monitoring area and offers better occlusion handling which is not sensitive to illumination condition in comparison with RGB sensors. However, multiple sensors also increase the volume of data associated with signal processing alongsi...

It is a well-known statistics that the percentage of population of older adults will globally surpass the other age categories. It is also observed that a majority of older adults would prefer to stay at their own place of residence for as long as they can. In support of such an independent living life style, various ambient sensor technologies hav...

Recognition of sleep posture and its changes are related to information monitoring in a number of health-related applications such as apnea prevention and elderly care. This paper uses a less privacy-invading approach to classify sleep postures of a person in various configurations including side and supine postures. In order to accomplish this, a...

It is a well-known statistic that the percentage of our older adult population will globally surpass the other age groups. A majority of the elderly would still prefer to keep an active life style. In support of this life style, various monitoring systems are being designed and deployed to have a seamless integration with the daily living activitie...

This paper proposes a proof-of-concept, low-cost, and easily deployable Bluetooth low energy- (BLE-) based localization system which actively scans and localizes BLE beacons attached to mobile subjects in a room. Using the received signal strength (RSS) of a BLE signal and the uniqueness of BLE hardware addresses, mobile subjects can be identified...

Visual tracking performance has long been limited by the lack of better appearance models. These models fail either where they tend to change rapidly, like in motion-based tracking, or where accurate information of the object may not be available, like in color camouflage (where background and foreground colors are similar). This paper proposes a r...

This paper studies the notion of hierarchical (chained) structure of stochastic tracking of marked feature points while a person is moving in the field of view of a RGB and depth sensor. The objective is to explore how the information between the two sensing modalities (namely, RGB sensing and depth sensing) can be cascaded in order to distribute a...

This paper presents a vision-based approach for hand gesture recognition which combines both trajectory and hand posture recognition. The hand area is segmented by fixed-range CbCr from cluttered and moving backgrounds and tracked by Kalman Filter. With the tracking results of two calibrated cameras, the 3D hand motion trajectory can be reconstruct...

This paper investigates the integration of a multimodal sensing system for exploring limits of vibrato tactile haptic feedback when interacting with 3D representation of real objects. In this study, the spatial locations of the objects are mapped to the work volume of the user using a Kinect sensor. The position of the user’s hand is obtained using...

This Chapter contributes to the understanding of intentional cooperation in multi-robot systems. It is shown that in a complex multi-robot system comprising several individual agents, each of which capable of interacting with their surroundings, cooperation is achieved implicitly through mediation of independent decisions that are made autonomously...

This paper propose a study of real-time human gait tracking system based on a cascaded particle filter implementation using Microsoft Kinect sensor. Our tracking system is combination of two different levels which processing both color and depth information. In the first level, we utilize color histogram to implement a coarse 2D region tracking. Fo...

Being able to monitor movements and activities of the elderly in a smart living environment can offer an approach for detecting any on-set of anomalies. These smart living dwellings can be equipped with various networked ambient sensors, wearable sensing technologies and cloud-robotics. Detection of any such on-set of anomalies in elderly movements...

This paper presents an overview of various paradigms which were used in order to define and measure path tortuosity. The paper further explores various aspects from each measure in order to form a basis for a general set of rules and methodologies. These can then be utilized and compared in various tracking and monitoring applications. Through lite...

Several efforts are being made in studying sleeping posture of a person under natural conditions without causing discomfort. In this study, various methods are proposed and explored in which features defining sleep postures of a person are investigated for intelligent pattern recognition. Using the measured depth data, three dimensional depth scans...

Caring for elderly is a task which is facing various communities. Enabling seniors to live with dignity and security is one of the main goals in providing the care they deserve. Living in independent dwellings or in care giving facilities with minimum supervision and intervention can enable our elderly to maintain such dignity. Being able to monito...

This Chapter contributes to the understanding of intentional cooperation in multi-robot systems. It is shown that in a complex multi-robot system comprising several individual agents, each of which capable of interacting with their surroundings, cooperation is achieved implicitly through mediation of independent decisions that are made autonomously...

This paper presents a vision-based approach for hand gesture recognition which combines both trajectory recognition and hand posture recognition. With two calibrated cameras, the 3D hand motion trajectory can be reconstructed. The reconstructed trajectory is then modeled by dynamic movement primitives (DMP) and a support vector machine (SVM) is tra...

This paper investigates the integration of multiple time-of-flight (ToF) depth sensors for the purposes of general 3D tracking and specifically of the hands. The advantage of using a network with multiple sensors is in the increased viewing coverage as well as being able to capture a more complete 3D point cloud representation of the object. Given...

This Chapter contributes to the understanding of intentional cooperation in multi-robot systems. It is shown that in a complex multi-robot system comprising several individual agents, each of which capable of interacting with their surrounding, cooperation is achieved implicitly through mediation of independent decisions that are made autonomously....

Stability is a fundamental requirement for control systems. If a system is not stable, there may be random variations in the system even though a small signal is applied. Hence, an unstable teleoperation system is not operable in practice. In this chapter, the notion of passivity, which represents a sufficient condition for stability of a system, i...

In this chapter, we present signal-processing techniques that are suitable for haptic data compression in teleoperation systems. The presented haptic data compression methods mostly focus on downsampling methods, including the adaptive downsampling method introduced in [1, 2] as well as the fixed rate downsampling method.

Unreliable network behaviors, such as time-varying delay, packet loss, and other path characteristics, are in general described by random processes. In the real network environment, delay jitter is observed since packets are transmitted through multiple intermediate nodes with random queuing delays. The delay increases randomly when packets are con...

In this book, we explored haptic data processing, including prediction/estimation, compression, and error correction, for teleoperation systems or haptic interfaces over the network.

When haptic data are bilaterally transmitted through the network, erroneous haptic data can be detected at the receiving manipulators due to unreliable network conditions. Packet loss is considered as one of the main network problems causing erroneous haptic data. Packet corruption and out-of-ordered packets, which are caused by delay jitter and no...

In this chapter, we present a layered protocol architecture for haptic teleoperation systems over unreliable network conditions, such as time-varying delay, packet loss, and out-of-ordered packets.

This paper investigates the integration of multiple time-of-flight (ToF) depth sensors for object reconstruction. The advantage of such a sensor network is in the increased viewing coverage and addressing the problem of object self-occlusion. However, in utilizing a network of depth sensors, calibration and interference between the sensors can be o...

This paper presents a study of feature-based approaches such as SIFT, SURF and ORB as a basis for markerless methodologies for creating augmented reality. In feature-based tracking methods, the target region is represented and tracked in the feature space. A discriminative and repeatable feature description is required to depict local structures ac...

In this paper, we present a novel stochastic framework for network-based bilateral teleoperation systems. A Bayesian approach, which provides robust tracking performance in real-world applications, is proposed to estimate and predict the stochastic variables and compensate for the unreliable network conditions. Combining with a practical approach i...

Tracking surgical tools in mono-endoscopic surgery can offer a conventional (non-robotics) application of this type of procedure a versatile surgeon-computer interface. For example, tracking the surgical tools can enable the surgeon to interact with the overlaid menu which allows them to have access to medical information of the patient. Another ex...

Increased life expectancy and motivational support for the pursuit of independent living for active seniors have been introducing a number of challenges for the families and care monitoring personnel. In general, this class of aging seniors are healthy enough that they can afford to continue to have the independent living life styles but also are o...

This chapter presents an overview of the design of an interactive medical/biological training environment using a multi-modal user interface. We describe the software architecture required to develop such environment. Then we introduce the physics-based models of the objects interacting in the virtual scenes. We discuss the implementation of the de...

In recent years, design and development of a practical force signal processing schemes which can be used for remote control of robotic devices over the Internet has gain a considerable attention. Traditionally, various local closed-loop control methodologies were proposed based on the two-port network architecture. Main concerns for this type of bi...

This paper investigates the limits of vibrato tactile haptic feedback when interacting with 3D virtual scenes. In this study, the spatial locations of the objects are mapped to the work-volume of the user using a Kinect sensor. In addition, the location of the hand of the user is determined using markerbased visual processing. The depth information...

Several medical conditions can limit the ability of visually impaired people to obtain information about their environment. Such information is critical for an effective navigation. Remote sensing of objects could allow users to detect and avoid obstacles and enrich their perception. One of the potential applications of a Multi- Modal Interface (MM...

We present the initial studies of a user computer interface based on hand gestures. A set of reflective markers on a glove are used as a simplified basis for hand pose detection. Using coaxial infrared illumination we can maximize the contrast of the markers with respect to the background. The objective is to recognize the shape of various markers...

In this paper, we present a forward error correction method to improve reliability of bilateral teleoperation systems or haptic interfaces over the unreliable network. Based on the digitization of haptic data, the proposed error correction method can be processed within a sampling period, which ensures a real-time process for bilateral teleoperatio...

This paper proposes a multi-camera surveillance framework based on multiple view geometry. We address the problem of object association and consistent labeling through exploring geometrical correspondences of objects, not only in sequential frames from a single camera view but also across multiple camera views. The cameras are geometrically related...

Research in multi-robot pursuit-evasion demonstrates that three pursuers are sufficient to capture an intruder in a polygonal environment. However, this result requires the confined of the initial location of the intruder within the convex hull of the locations of the pursuers. In this study, we extend this result to alleviate this convexity throug...

This paper proposes a multi-camera surveillance framework based on multiple view geometry. We address the problem of object association and consistent labeling through exploring geometrical correspondences of objects, not only in sequential frames from a single camera view but also across multiple camera views. The cameras are geometrically related...

This article presents a subgrouping approach to the multi-robot, dynamic multi-task allocation problem. It utilizes the percentile values of the distributional information of the tasks to reduce the task space into a number of subgroups that are equal to the number of robotic agents. The subgrouping procedure takes place at run-time and at every de...

Haptic rendering is referred to as an approach for complementing graphical model of the virtual object with mechanics- based properties. As a result, when the user interacts with the virtual object through a haptic device, the object can graphically deflect or deform following laws of mechanics. In addition, the user is able to feel the resulting i...

One of the crucial issue in the field of autonomous mobile robotics is the vitality of energy efficiency of robots and the entire system they form. By efficiency here we refer to ability of robots (or the system in which they are deployed) to maintain their survival throughout the course of the operation so as to provide themselves with the opportu...

It has been shown that Virtual Fixtures (VF) can embed multi-modal properties that can be configured in assisting users in enhancing their skills in tasks such as path assembly and path following problems. However, proper description and assembly of VF and the feasibility of their multi-modal cues for guiding tasks remain challenging objectives. In...

We propose a multi-robot task-allocation strategy in which individuals' task assignments are carried out through the application of iterative permutations of agents' cost values that are associated with completing given tasks. Different possible permutations of agent-to-task assignments are calculated based on profile matrix that comprises all robo...

This paper presents a control strategy to the pursuit problem of an intruder with evasive as well as nonevasive behavior. In present approach, the decision-making process is sub-divided into individual agents' ranking over the available task space and group level inference. A novel ranking mechanism embedded within individual members of pursuit tea...

This paper presents a study for defining the levels-of-detail (LOD) in point-based computational mechanics in haptic rendering of objects. The approach uses the description of object as a set of sampled points. In comparison with the finite element method (FEM), point-based approach does not rely on any predefined mesh representation and depends on...

In this paper, we present the prediction-based particle filter approach for processing motion and force data in teleoperation over the Internet. We first introduce the prediction-based particle filter algorithm, one of the Sequential Monte Carlo methods based on the recursive Bayesian prediction. The prediction algorithm is applied to dynamic model...

This paper presents a novel low-cost micro mobile robotic platform which can be used as a part of the research and development in sensor and networked-based dynamical system for indoor applications. The proposed set-up can be integrated as a part of the sensor fusion for localization of mobile agents in complement with information from the camera n...

In this paper, we present various signal processing techniques for haptic data compression in networked teleoperation systems or haptic interfaces. A novel rate-distortion optimized quantizer is introduced to compress haptic data whose dynamic range is limited. Prediction methods, which are primarily based on fixed rate down-sampling, are also pres...

This paper presents a novel intelligent surveillance system using a network of cooperative cameras which can be utilized to detect multiple people in the scene and identify them with unique labels. Camera calibration, homography constraints and field-of-view lines are integrated and used to estimate object locations on a reference plane which is th...

Minimally invasive surgery (or key-hole surgery) is an alternative to open surgery has been gaining popularity among patients and health delivery systems. In general, to view the surgical site, an endoscope is inserted into the abdominal cavity though natural or artificial incision. Long stem surgical tools are also inserted through supporting inci...

Hybrid manipulators are defined as a kinematic configuration which combines two classes of kinematic chains, namely parallel and serial which can offer a design with six degrees of freedom. These configurations offer mechanical advantages where it is possible to locate most of the actuation and transmission systems away from the floating and distal...

Popular usage of single endoscope and 2D viewing monitor in minimally invasive surgery (MIS) offer a natural requirement in developing a 3D interactive environment which can be integrated to assist the surgeons in an intuitive way. As such, development of the monocular-based image tracking of the surgical instruments becomes an essential step towar...

Since 1990, the field of Minimally Invasive Surgery (MIS) has experienced a period of rapid developments as an alternative to the conventional open surgery [5]. In this method (MIS), the monitoring endoscope and surgical instruments are fed through small incision points into the body. Historically, the application of endoscopes for visual examinati...

Due to the physical barrier of the abdominal wall in laparoscopy, the operation is based on remote manipulation. Hence, in contrast to the open surgery, direct sensation of the surgical site and palpation is not possible. There have been attempts [16][35][70] to compensate for this lack of tactile sensing by using an array of tactile sensors that m...

This paper proposes an opportunistic framework to modeling and control of multi-robots moving-target pursuit in dynamic environment with partial observability. The partial observability is achieved via the introduction of third party agent (referred to as mediator) that transforms the target’s as well as group members’ positioning information into...

This paper presents a multi-camera surveillance system for motion detection and object tracking based on Motion History Image (MHI), Color-based Particle Filtering (CPF), and a novel relay strategy. The system is composed of two Pan-Tilt-Zoom (PTZ) cameras completely calibrated and placed on desks. Initially, both cameras work as stationary Scene V...

Minimally invasive surgery (MIS) is one of the most common alternative approaches in modern surgical field. In general, the limited setup for MIS only offers two-dimensional view with no perception of the depth which greatly hindered the surgeon’s natural perception. Here we propose a simple system for allowing the surgeon to access the medical inf...

This paper presents a novel low-cost micro air-hockey robotic platform which can be used in the research and development in sensor and networked dynamical system. Comparing with traditional micro soccer robot system, this new generation of air-hockey robot has an embedded inertial measurement unit. This can be integrated as a part of the sensor fus...

In this paper, we present a Bayesian prediction approach to improve stability of teleoperation systems over the Internet. Motion and force data flows in a teleoperation system are formulated in discrete time state-space models predicted by Bayesian filters, including the Kalman filter and particle filter. The particle filter, which is known as a ro...

In this paper, we present the performance evaluation of haptic compression methods for networked teleoperation systems or haptic interfaces in virtual environments. Haptic data, which include position, velocity, and force data exchanged through the communication channel, are considered by various compression methods based on down-sampling. We intro...

This paper proposes an opportunistic control architecture to action selection in multi-robot, target pursuit problem. Proposed architecture views the problem of action selection in multi-robot environment as an instance of distributed probabilistic inference over the set of robotic agents' available actions, there by constructing a joint probabilit...

This paper presents a geometric approach to multi-robots group formation with connectivity preservation (from a graph-theoretic perspective) among group members. The controller demonstrates consistency among different formations, as well as stability while performing dynamic switching between formations. Inter-robots collision avoidance is delivere...

An Internet-based teleoperation system is an interactive application where a human user transmits movement data of a robotic device while simultaneously receiving reflected force data from a remote teleoperator. Performance of such real-time applications is highly sensitive to the Internet delay and data loss. In this paper, we describe the efficie...

We present a mechanics-based interactive multi-modal environment designed as part of a serious gaming platform. The specific objectives are to teach basic suturing and knotting techniques for simple skin or soft tissue wound closure. The pre-wound suturing target, skin, or deformable tissue is modeled as a modified mass-spring system. The suturing...

A geometric approach to multi-robots group formation with connectivity preservation(from a graph-theoretic perspective) among group members has been presented. It has been proven that such formation approach would result into a unique shortest connectivity link among group members which would not only guarantee the communication preservation among...

This paper presents a kernel regression approach towards the navigation control of a robotic agent in static as well as dynamic environments where robot's field of operation may comprise number of obstacles. Two di®erent scenarios namely, o®-line and online navigation controls, have been examined while dealing with static environment. In o®-line ca...

This paper presents a geometric approach to multi-robots group formation with connectivity preservation (from a graph-theoretic perspective) among group members. The controller demonstrates consistency among di®erent formations, as well as stability while performing dynamic switching between formations. Inter-robots collision avoidance is delivered...

Optimal-control theory is used in the manipulation planning for an ability-limited robot (i.e., a mobile robot with limited maneuverability). The goal of manipulation is to push an object from a given initial configuration to a goal configuration—a common task could be found in the application of mobile robots to manufacturing, in adaptive fixturin...

In this paper we present a point based potential field mechanics model for suture interaction. We study extended models to represent suture behaviors such as bending, stretching, twisting, which can be used in haptic rendering of knotting and unknotting tasks. In this paper, one-dimensional single point-samples and adaptive point-samples are studie...

This paper presents modeling and experimental studies of a new type of haptic device which combines the spherical parallel and the serial configurations. The paper presents an overview of our design and then outlines the procedure for mapping the force/moment vector acting on the stylus coordinate frame of the device to its joint torque. The paper...

This paper presents a spatial tracking system in a multiple camera environment. As a part of a general distributed sensing and system where the task of monitoring and tracking can be synchronized and divided between each of the modules, this multiple camera system covers a wider field of view, and detects moving objects by means of motion-based vis...

Traditional, hands-on dissection of an animal is common practice in many classrooms to aid in the study of anatomy and biology. More specifically, virtual dissection environments have been developed making it possible to study the inner workings of animals without cutting them up. In this paper, we present a novel virtual reality dissection simulat...