Conference Paper: Karada OK: Matching Body Gestures while Musics Play
- [Show abstract] [Hide abstract] ABSTRACT: Combining depth information and color image, RGB-D cameras provide ready detection of humans and the associated 3D skeleton joints data, facilitating if not revolutionizing conventional image centric researches in, among others, computer vision, surveillance, and human activity analysis. Applicability of a D-RBG camera, however, is restricted by its limited range of frustum of depth in the range of 0.8 to 4 meters. Although a RGB-D camera network, constructed by deployment of several RGB-D cameras at various locations, could extend the range of coverage, it requires precise localization of the camera network: relative location and orientation of neighboring cameras. By introducing a skeleton-based viewpoint invariant transformation (SVIT) that derives relative location and orientation of a detected human's upper torso to a RGB-D camera, this paper presents a reliable automatic localization technique without the need for additional instrument or human intervention. By respectively applying SVIT to two neighboring RGB-D cameras on a commonly observed skeleton, the respective relative position and orientation of the detected human's skeleton to these two respective cameras can be obtained before being combined to yield the relative position and orientation of these two cameras, thus solving the localization problem. Experiments have been conducted where two Kinects are situated with bearing differences of about 45 degrees and 90 degrees when coverage extended by up to 70% with the installment of an additional Kinect. The same localization technique can be applied repeatedly to a larger number of RGB-D cameras, thus extending the applicability of RGB-D cameras to camera networks in making human behavior analysis and context-aware service in a lager surveillance area.
- [Show abstract] [Hide abstract] ABSTRACT: This paper proposes a vision-based indoor localization service system that adopts affine scale invariant features (ASIFT) in MapReduce framework. Compared to prior vision-based localization methods that use scale invariant features or bag-of-words to match database images, the proposed system with ASIFT achieves better localization hit rate, especially when the query image has a large viewing angle difference to the most similar database image. The heavy computation imposed by ASIFT feature detection and image registration is handled by processes designed in MapReduce framework to speed up the localization service. Experiments using a Hadoop computation cluster provide results that show the performance of the localization system. The better localization hit rate is demonstrated by comparing the proposed approach to previous work based on scale invariant feature matching and visual vocabulary.
- [Show abstract] [Hide abstract] ABSTRACT: This study presents the development of a simulation platform for evaluating climate control strategies for automobiles. Unified modeling language-based use-case diagrams and statechart diagrams are employed to model the functionalities and dynamic behaviors, respectively, of a typical automatic air-conditioning system. With these two modeling diagrams as blueprints of the simulation target, a general simulation platform is implemented on Matlab/Simulink. Given a tested climate control algorithm and environment conditions, simulation results in terms of temperature and relative humidity in the car compartment can be visually presented on an implemented graphic user interface of a psychrometric chart. With its flexibility to replace control algorithms and to change testing parameters, the implemented platform has been utilized to test the control results of an enthalpy-based control algorithm, robustness of the same control algorithm at different initial conditions, and comparison of two different control algorithms.
- [Show abstract] [Hide abstract] ABSTRACT: This paper proposes an image sequence-based navigation method under the teaching-replay framework for robots in piecewise linear routes. Waypoints used by the robot contain either the positions with large heading changes or selected midway positions between junctions. The robot applies local visual homing to move between consecutive waypoints. The arrival at a waypoint is determined by minimizing the average vertical displacements of feature correspondences. The performance of the proposed approach is supported by extensive experiments in hallway and office environments. While the homing speed of robots using other approaches is constrained by the speed in the teaching phase, our robot is not bounded by such limit and can travel much faster without compromising the homing accuracy.
- [Show abstract] [Hide abstract] ABSTRACT: Deadlock prevention policies are used to solve the deadlock problems of FMSs. The theory of regions is recognized as the unique method for obtaining maximally permissive (i.e., optimal) controllers in the existing literature. In this paper, the selective siphons and critical markings method  is merged in the new deadlock prevention policy. First of all, reachability graph is still needed. Second, CMTSIs are identified. Further, selective siphons and critical markings method is used to check if all dead/quasi-dead markings of CMTSIs are covered by these selective siphons. Furthermore, choose anyone CMTSI that belongs to a same selective siphon to be processed. Finally, controllers are therefore obtained. Experimental results indicate that the computational cost can be reduced again. Besides, it is the most efficient policy to obtain maximal permissive behavior of Petri net models.
- [Show abstract] [Hide abstract] ABSTRACT: Deadlocks are an important problem in resource allocation systems such as flexible manufacturing systems. The theory of regions and the siphon-based method are usually used in the most deadlock prevention policies. The theory of regions that can obtain a maximally permissive controller is usually considered to be a natural solution with seasonable computational cost for flexible manufacturing systems. The selective siphon method allows one to use fewer control places than the conventional one. This paper employs both methods above. The former can identify the set of curial marking/transition–separation instance; the latter can reduce the computational cost. We can infer that the novel policy is the most efficient policy than the traditional methods, and also, the maximal permissive behavior of Petri net models can still be obtained.
- [Show abstract] [Hide abstract] ABSTRACT: This study investigates thermal dynamic modeling of a passenger compartment in an air conditioned automobile equipped with HVAC (heating, ventilation, and air conditioning). In particular, dynamics of temperature and humidity ratio, both critical to passenger comfort, in the passenger compartment are examined. By analyzing enthalpy change during an automobile air conditioning circulation cycle on a psychrometric chart, heat exchange between outside environment and the passenger compartment can be modeled as functions of operation settings of the HVAC. With enthalpy content decomposed into sensible heat and latent heat, changes in heat content can be attributed to the changes in the corresponding temperature and humidity ratio, respectively. Consequently, impacts resulting from the mismatch between two heat characteristics on temperature and humidity ratio can be formulated accordingly: room sensible heat factor (RSHF) of the passenger compartment and apparatus sensible heat factor (ASHF) of the HVAC. A Matlab/Simulink simulation is implemented to verify the proposed model under several control policies that either maintain constant enthalpy or maintain constant temperature in the passenger compartment. With these two temperature and humidity ratio models derived, further research on designing control policies to achieve better passenger comfort for general automobile air conditioning systems can be derived and tested.
- [Show abstract] [Hide abstract] ABSTRACT: This paper investigates a control strategy for automobile climate control (ACC) problem; in particular, the heating mode in winter is considered when the initial car compartment temperature and outside temperature are colder than comfortable. By analyzing the air conditioning processes involving the automobile air-handling unit operating at various weather conditions on a psychrometric chart, a control strategy is developed based upon the concept of conservation of sensible heat and latent heat. Irrespective of the car compartment's initial condition, the control strategy is to control air flow and mixed air temperature such that the compartment conditions in terms of temperature and humidity reach a setting condition. The proposed strategy is composed of two parts: air mass flow rate and the percentage of heating air flow. In short, balancing the sensible heat transfer among the air condition processes is essential to achieving temperature control, as variation in the net sensible heat will lead to changes in temperature. The proposed control strategy is evaluated in a Matlab/Simulink simulation environment, which shows the proposed control strategy performs better when compared to traditional fuzzy control.
- [Show abstract] [Hide abstract] ABSTRACT: This paper focuses on people tracking within a building with the installment of distributed overhead cameras. Our primary concern is to keep tracks of: number of people entrance to a particular area; and the whereabouts trajectory of a particular person within the monitored building. With image taken from ceiling mounted camera, pedestrian’s physiologic contour is analyzed from four different viewing angles to form a person’s identity signature. In doing so, techniques to locate a person’s head, to predict his/her movement direction, to separate overlapped physiological blobs, and to differentiate different people by color histogram classifier have been proposed. Special attention has been paid for system configurability such that the proposed software architecture can be deployed to different floor plans. We have conducted a continuing surveillance monitoring on the third floor of EE in NTUST, and the result shows moderate surveillance performance: 93% accuracy in entrance counting, and 76% accuracy in identification checking.
- [Show abstract] [Hide abstract] ABSTRACT: A sequence-based visual navigation system for autonomous robots is proposed. A sequence of reference images representing a transportation route is taken as the navigation clues. When a robot navigates in a route, two navigation modes, with better reduction in total transportation time required, are switched according to the difference of scales between the robot's current view and the targeted reference image. When the scale is large, log-polar transform is applied to match regions in two images. A less accurate moving direction is inferred from the matching result. After the difference of scale is reduced when the robot approaches the targeted waypoint, SIFT features are matched between two images. An accurate moving direction is decided from the epipolar geometry which is computed from matched SIFT features. The robot's moving velocity is adjusted accordingly, thus reducing the overall transportation time. While other sequence-based navigation methods moves the robot at a maximal velocity of 10 cm/sec, the proposed method moves the robot in an average velocity of 26.5 cm/sec during a 117.3 m long route with 11 reference images. Comparing to a similar sequence-based navigation research, the proposed method does not only reduce transportation time by at least half, but also requires less number of reference images in route transportation applications.
Conference Paper: Smart home at a finger tip: OSGi-based MyHome[Show abstract] [Hide abstract] ABSTRACT: Abstract—This paper introduces MyHome, a framework of smart home by which household information is all at a finger tip. Through adopting Message Oriented Middleware (MOM) and Open Service Gateway Initiative (OSGi) technologies, MyHome offers reliable automatic operations, fault tolerant and configurable home automation, high extensibility and large scalability. In its design, MyHome system is composed of a residential gateway MyServer and Internet accessible GUI MyIcon and MyMobile. MyServer is used to provide services regarding home security, inventory tracking, facility management, GPS location recording and family care. Inherently aninteractive and multitasking system driven by peripherals connected through wireless sensor networks, the overall MyServer architecture is designed with six core service modules operating on a MOM. Each of these modules is designed as an OSGi bundles and is implemented by a programming template utilizing event publish/subscribe messaging mechanism. To facilitate program demonstration, simulator and scenario editor are also developed. A successful implementation of the proposed MyServer is also demonstrated in an emulated home environ- ment where peripherals are connected through ZigBee wireless sensor network with data integrated into a database. With these clearly defined service modules and pertinent infrastructure to integrate household peripherals, this paper presents a practical approach to the implementation of a smart home. Keywords—MyHome, smart home, MOM, OSGi
Conference Paper: Multi-robot dispatching in a geographically constrained environment[Show abstract] [Hide abstract] ABSTRACT: We develop a task allocation approach using k-means algorithm and Steiner tree properties to dispatch a platoon of mobile robots in a constrained environment. Our approach increases task-execution efficiency of multiple robots by reducing the response time to each task. It clusters the request points based on the k-means algorithm, then pre-positions the robots at standby locations obtained by considering Steiner trees in their designated clusters. Robots travel along shortest paths to serve requests and have collision avoidance ability. A switching strategy for robots is also presented. By switching designated clusters, robots further shorten the total response time and balance their workloads implicitly. Thus, the total task execution time is reduced. The performance of our approach is evaluated through simulations.
- [Show abstract] [Hide abstract] ABSTRACT: We introduce an improved approach, called FCVC, that finds accurate matches from two related images of indoor environments by matching corresponding vertical cylinders of features, then retrieves more matches by epipolar geometry. Feature matching is a critical technique for many vision-based applications. However, since the preliminary matching results obtained by SIFT sometimes are not accurate enough, and therefore, post processing methods, like RANSAC, have been proposed to increase the correctness of feature mappings. As RANSAC iteratively selects partial matches from preliminary matches and recovers the epipolar geometry to find correct matches, our method first finds accurate matches in vertical cylinders, based on three consistency properties which are common while two images are taken on a flat floor: (1) altitudinal order, (2) composition of features for each vertical cylinder, and (3) horizontal order of all vertical cylinders. Once some accurate matches are acquired, the epipolar geometry is recovered to retrieve matches that are not grouped into any vertical cylinder previously. Experiments in different indoor environments reveal that the proposed FCVC in general spends at most 6% of the time required by RANSAC, has at least 71% of the number of matches obtained by RANSAC, and yet with accuracy rate similar to that of RANSAC.
Conference Paper: Design of MyServer: A Residential Server in Smart Home Systems[Show abstract] [Hide abstract] ABSTRACT: This paper addresses the design and implement- tation of a residential gateway: MyServer, which is to provide services regarding home security, inventory tracking, facility management, and family care in a smart home system. Inherently an interactive and multitasking system driven by peripherals connected through wireless sensor networks, the overall MyServer architecture is designed with six clearly defined core service modules operating on a message oriented middleware (MOM) framework. Each of these modules is implemented with a programming template utilizing event publish/subscribe messaging mechanism. This paper also demonstrates a successful implementation of the proposed MyServer system in an emulated home environment, where peripherals are connected through ZigBee wireless sensor network.
- [Show abstract] [Hide abstract] ABSTRACT: The purpose of this paper is to design an image-based platform for real-time dispatching of multi-robots, in the context of, for example, supporting a courier transportation system. With this integration platform, we are able to compare efficiencies of different dispatching policies. With the global information regarding the robots and pick-up points available from the image process, this real-time dispatching platform is capable of detecting current positions of robots and their relative positions to the destination, of planning online motion trajectories for each robot to reach its destination smoothly, and of maintaining collision avoidance while robots are moving. Different dispatching strategies, as a combination of pre-positioning of robots and swapping strategies of responsible zones for individual robots in transportation operation, are conducted on a miniature implementation platform to simulate corresponding performance of response time.
- [Show abstract] [Hide abstract] ABSTRACT: This paper presents an intelligent approach using Petri nets for designing diagnosable discrete event systems such as complex semiconductor manufacturing machines. The concept is based on diagnosability analysis and enhancement. We use a real-world Metal-Organic Vapor Phase Epitaxy (MOVPE) system to illustrate that our proposed approach is practically useful.
Conference Paper: MyHome: A Residential Server for Smart Homes[Show abstract] [Hide abstract] ABSTRACT: To take advantage of the recent advances in computer science, control, biomedical, and communication, an experimental project of MyHome is conducted. The objective is to explore innovation technology for future design and implementation of smart homes. This paper reports on current status of the MyHome project, which comprises of a local residential server, MyServer, and remote access interface, MyIcon. By clicking the icon, a user has information about his or her home as a whole at the finger tip. Information related to: alarm security, inventory tracking, facility management, and family members are all to be available through internet access. Design philosophy and proposed architecture are presented. Current technology related to the proposed architecture is surveyed before the ongoing status is reported. Scenarios of full function are also sketched1.
National Taiwan University of Science and Technology
T’ai-pei, Taipei, Taiwan
- • Department of Electronic and Computer Engineering
- • Department of Electrical Engineering
Shizuoka UniversitySizuoka, Shizuoka, Japan