Search results for: motion trajectories.

Authors: T. Kusuma, K. Ashwini

Abstract:

This paper presents a real time video surveillance system which is capable of tracking multiple real time objects using Polar Vector Median (PVM) and Block Coding Modes (BCM) with Global Motion Compensation (GMC). This strategy works in the packed area and furthermore utilizes the movement vectors and BCM from the compressed bit stream to perform real time object tracking. We propose to do this in view of the neighboring Motion Vectors (MVs) using a method called PVM. Since GM adds to the object’s native motion, for accurate tracking, it is important to remove GM from the MV field prior to further processing. The proposed method is tested on a number of standard sequences and the results show its advantages over some of the current modern methods.

Keywords: Block coding mode, global motion compensation, object tracking, polar vector median, video surveillance.

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Authors: J. Branstett, V. Gagneux, A. Leleu, B. Levadoux, J. Pascale

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This paper presents the interface ConductHome which controls home automation systems with a Leap Motion using “invariant gesture protocols”. This interface is meant to simplify the interaction of the user with its environment. A hardware part allows the Leap Motion to be carried around the house. A software part interacts with the home automation box and displays the useful information for the user. An objective of this work is the development of a natural/invariant/simple gesture control interface to help elder people/people with disabilities.

Keywords: Automation, ergonomics, gesture recognition, interoperability, leap motion, invariant.

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Authors: Lai-Man Po, Chi-Wang Ting, Ka-Ho Ng

Abstract:

Recently, an enhanced hexagon-based search (EHS) algorithm was proposed to speedup the original hexagon-based search (HS) by exploiting the group-distortion information of some evaluated points. In this paper, a second version of the EHS is proposed with a new point-oriented inner search technique which can further speedup the HS in both large and small motion environments. Experimental results show that the enhanced hexagon-based search version-2 (EHS2) is faster than the HS up to 34% with negligible PSNR degradation.

Keywords: Inner search, fast motion estimation, block-matching, hexagon search

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Authors: Maryam Humayun, Zafar I. Malik, Shaukat Ali

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Computer animation is a widely adopted technique used to specify the movement of various objects on screen. The key issue of this technique is the specification of motion. Motion Control Methods are such methods which are used to specify the actions of objects. This paper discusses the various types of motion control methods with special focus on behavioral animation. A behavioral model is also proposed which takes into account the emotions and perceptions of an actor which in turn generate its behavior. This model makes use of an expert system to generate tasks for the actors which specify the actions to be performed in the virtual environment.

Keywords: Behavioral animation, emotion, expert system, perception.

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Authors: Fatih Kara, Cabir Vural

Abstract:

In this work, a special case of the image superresolution problem where the only type of motion is global translational motion and the blurs are shift-invariant is investigated. The necessary conditions for exact reconstruction of the original image by using finite impulse-response reconstruction filters are developed. Given that the conditions are satisfied, a method for exact super-resolution is presented and some simulation results are shown.

Keywords: Image processing, image super-resolution, finite impulse-response filters, existence-uniqueness conditions.

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Authors: Yizhi Gai, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru

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Motion control of flexible arms is more difficult than that of rigid arms, however utilizing its dynamics enables improved performance such as a fast motion in short operation time. This paper investigates a ball throwing robot with one rigid link and one flexible link. This robot throws a ball at a set speed with a proper control torque. A mathematical model of this ball throwing robot is derived through Hamilton’s principle. Several patterns of torque input are designed and tested through the proposed simulation models. The parameters of each torque input pattern is optimized and determined by chaos embedded vector evaluated particle swarm optimization (CEVEPSO). Then, the residual vibration of the manipulator after throwing is suppressed with input shaping technique. Finally, a real experiment is set up for the model checking.

Keywords: Motion control, flexible robotic arm, CEVEPSO, ball throwing robot.

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Authors: Angelica I. Aviles, Pilar Sobrevilla, Alicia Casals

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Compensating physiological motion in the context of minimally invasive cardiac surgery has become an attractive issue since it outperforms traditional cardiac procedures offering remarkable benefits. Owing to space restrictions, computer vision techniques have proven to be the most practical and suitable solution. However, the lack of robustness and efficiency of existing methods make physiological motion compensation an open and challenging problem. This work focusses on increasing robustness and efficiency via exploration of the classes of 1−and 2−regularized optimization, emphasizing the use of explicit regularization. Both approaches are based on natural features of the heart using intensity information. Results pointed out the 1−regularized optimization class as the best since it offered the shortest computational cost, the smallest average error and it proved to work even under complex deformations.

Keywords: Motion Compensation, Optimization, Regularization, Beating Heart Surgery, Ill-posed problem.

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Authors: Ali Shojaei-Fard

Abstract:

In this paper we consider quantum motion integrals depended on the algebraic reconstruction of BPHZ method for perturbative renormalization in two different procedures. Then based on Bogoliubov character and Baker-Campbell-Hausdorff (BCH) formula, we show that how motion integral condition on components of Birkhoff factorization of a Feynman rules character on Connes- Kreimer Hopf algebra of rooted trees can determine a family of fixed point equations.

Keywords: Birkhoff Factorization, Connes-Kreimer Hopf Algebra of Rooted Trees, Integral Renormalization, Lax Pair Equation, Rota- Baxter Algebras.

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Authors: Sandra Baßler, Peter Dünow, Mathias Marquardt

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A Fourier series based learning control (FSBLC) algorithm for tracking trajectories of mechanical systems with unknown nonlinearities is presented. Two processes are introduced to which the FSBLC with PD controller is applied. One is a simplified service robot capable of climbing stairs due to special wheels and the other is a propeller driven pendulum with nearly the same requirements on control. Additionally to the investigation of learning the feed forward for the desired trajectories some considerations on the implementation of such an algorithm on low cost microcontroller hardware are made. Simulations of the service robot as well as practical experiments on the pendulum show the capability of the used FSBLC algorithm to perform the task of improving control behavior for repetitive task of such mechanical systems.

Keywords: Climbing stairs, FSBLC, ILC, Service robot.

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Authors: Hasan Jumaah Mrayeh, Fue-Sang Lien

Abstract:

ANSYS Fluent will be used to simulate Computational Fluid Dynamics (CFD) for an efficient lens and nozzle design which will be explained in this paper. We have designed and characterized an aerodynamic lens and a divergent nozzle for focusing flow that transmits sub 25 nm particles through the aerodynamic lens. The design of the lens and nozzle has been improved using CFD for particle trajectories. We obtained a case for calculating nanoparticles (25 nm) flowing through the aerodynamic lens and divergent nozzle. Nanoparticles are transported by air, which is pumped into the aerodynamic lens through the nozzle at 1 atmospheric pressure. We have also developed a computational methodology that can determine the exact focus characteristics of aerodynamic lens systems. Particle trajectories were traced using the Lagrange approach. The simulation shows the ability of the aerodynamic lens to focus on 25 nm particles after using a divergent nozzle.

Keywords: Aerodynamic lens AL, divergent nozzle DN, ANSYS Fluent, Lagrange approach.

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Authors: Iman Iraei, Mina Sharifi

Abstract:

A method for object tracking in motion blurred images is proposed in this article. This paper shows that object tracking could be improved with this approach. We use mean shift algorithm to track different objects as a main tracker. But, the problem is that mean shift could not track the selected object accurately in blurred scenes. So, for better tracking result, and increasing the accuracy of tracking, wavelet transform is used. We use a feature named as blur extent, which could help us to get better results in tracking. For calculating of this feature, we should use Harr wavelet. We can look at this matter from two different angles which lead to determine whether an image is blurred or not and to what extent an image is blur. In fact, this feature left an impact on the covariance matrix of mean shift algorithm and cause to better performance of tracking. This method has been concentrated mostly on motion blur parameter. transform. The results reveal the ability of our method in order to reach more accurately tracking.

Keywords: Mean shift, object tracking, blur extent, wavelet transform, motion blur.

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Authors: E. Abedi, A. Ahmadi Nadooshan, S. Salehi

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Modeling and vibration of a flexible link manipulator with tow flexible links and rigid joints are investigated which can include an arbitrary number of flexible links. Hamilton principle and finite element approach is proposed to model the dynamics of flexible manipulators. The links are assumed to be deflection due to bending. The association between elastic displacements of links is investigated, took into account the coupling effects of elastic motion and rigid motion. Flexible links are treated as Euler-Bernoulli beams and the shear deformation is thus abandoned. The dynamic behavior due to flexibility of links is well demonstrated through numerical simulation. The rigid-body motion and elastic deformations are separated by linearizing the equations of motion around the rigid body reference path. Simulation results are shown on for both position and force trajectory tracking tasks in the presence of varying parameters and unknown dynamics remarkably well. The proposed method can be used in both dynamic simulation and controller design.

Keywords: Flexible manipulator, flexible link, dynamicmodeling, end point.

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Authors: Sun Lim, Sewoong Jun, Il-Kyun Jung

Abstract:

This paper presents a wrap-around view system with 4 smart cameras module and remote motion mobile robot control equipped with smart camera module system. The two-level scheme for remote motion control with smart-pad(IPAD) is introduced on this paper. In the low-level, the wrap-around view system is controlled or operated to keep the reference points lying around top view image plane. On the higher level, a robot image based motion controller is utilized to drive the mobile platform to reach the desired position or track the desired motion planning through image feature feedback. The design wrap-around view system equipped on presents such advantages as follows: 1) a satisfactory solution for the FOV and affine problem; 2) free of any complex and constraint with robot pose. The performance of the wrap-around view equipped on mobile robot remote control is proven by experimental results.

Keywords: four smart camera, wrap-around view, remote mobile robot control

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Authors: Rafal Stegierski, Krzysztof Dmitruk

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The paper focus on robotic telepresence system build around humanoid robot operated with controller-less Wizard of Oz technique. Proposed solution gives possibility to quick start acting as a operator with short, if any, initial training.

Keywords: Robotics, Motion Capture, Wizard of Oz, Humanoid Robots, Human Robot Interaction.

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Authors: Amin Aghatabar Roodbary, Mohammad Hassan Bastani

Abstract:

One of the defects of stepped frequency radar systems is their sensitivity to target motion. In such systems, target motion causes range cell shift, false peaks, Signal to Noise Ratio (SNR) reduction and range profile spreading because of power spectrum interference of each range cell in adjacent range cells which induces distortion in High Resolution Range Profile (HRRP) and disrupt target recognition process. Thus Target Motion Parameters (TMPs) effects compensation should be employed. In this paper, such a method for estimating TMPs (velocity and acceleration) and consequently eliminating or suppressing the unwanted effects on HRRP based on entropy minimization has been proposed. This method is carried out in two major steps: in the first step, a discrete search method has been utilized over the whole acceleration-velocity lattice network, in a specific interval seeking to find a less-accurate minimum point of the entropy function. Then in the second step, a 1-D search over velocity is done in locus of the minimum for several constant acceleration lines, in order to enhance the accuracy of the minimum point found in the first step. The provided simulation results demonstrate the effectiveness of the proposed method.

Keywords: ATR, HRRP, motion compensation, SFW, TMP.

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Authors: Ming-Hui Cheng, Jyh-Horng Jeng

Abstract:

In this study, a classification-based video super-resolution method using artificial neural network (ANN) is proposed to enhance low-resolution (LR) to high-resolution (HR) frames. The proposed method consists of four main steps: classification, motion-trace volume collection, temporal adjustment, and ANN prediction. A classifier is designed based on the edge properties of a pixel in the LR frame to identify the spatial information. To exploit the spatio-temporal information, a motion-trace volume is collected using motion estimation, which can eliminate unfathomable object motion in the LR frames. In addition, temporal lateral process is employed for volume adjustment to reduce unnecessary temporal features. Finally, ANN is applied to each class to learn the complicated spatio-temporal relationship between LR and HR frames. Simulation results show that the proposed method successfully improves both peak signal-to-noise ratio and perceptual quality.

Keywords: Super-resolution, classification, spatio-temporal information, artificial neural network.

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Authors: Haiping Ding, Rongchu Zhu, Zhenxia Song

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Local irregular topography has a great impact on earthquake ground motion. For scarp topography, using numerical simulation method, the influence extent and scope of the scarp terrain on scarp's upside and downside ground motion are discussed in case of different vertical incident SV waves. The results show that: (1) The amplification factor of scarp's upside region is greater than that of the free surface, while the amplification factor of scarp's downside part is less than that of the free surface; (2) When the slope angle increases, for x component, amplification factors of the scarp upside also increase, while the downside part decrease with it. For z component, both of the upside and downside amplification factors will increase; (3) When the slope angle changes, the influence scope of scarp's downside part is almost unchanged, but for the upside part, it slightly becomes greater with the increase of slope angle; (4) Due to the existence of the scarp, the z component ground motion appears at the surface. Its amplification factor increases for larger slope angle, and the peaks of the surface responses are related with incident waves. However, the input wave has little effects on the x component amplification factors.

Keywords: Scarp topography, ground motion, amplification factor, vertical incident wave.

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Authors: Boris Barbolyas, Kristina Buckova, Tomas Volensky, Cyril Belavy, Ladislav Dedik

Abstract:

Background: Based on statokinezigram, the human balance control is often studied. Approach to human postural reaction analysis is based on a combination of stabilometry output signal with retroreflective marker data signal processing, analysis, and understanding, in this study. The study shows another original application of Method of Developed Statokinesigram Trajectory (MDST), too. Methods: In this study, the participants maintained quiet bipedal standing for 10 s on stabilometry platform. Consequently, bilateral vibration stimuli to Achilles tendons in 20 s interval was applied. Vibration stimuli caused that human postural system took the new pseudo-steady state. Vibration frequencies were 20, 60 and 80 Hz. Participant's body segments - head, shoulders, hips, knees, ankles and little fingers were marked by 12 retroreflective markers. Markers positions were scanned by six cameras system BTS SMART DX. Registration of their postural reaction lasted 60 s. Sampling frequency was 100 Hz. For measured data processing were used Method of Developed Statokinesigram Trajectory. Regression analysis of developed statokinesigram trajectory (DST) data and retroreflective marker developed trajectory (DMT) data were used to find out which marker trajectories most correlate with stabilometry platform output signals. Scaling coefficients (λ) between DST and DMT by linear regression analysis were evaluated, too. Results: Scaling coefficients for marker trajectories were identified for all body segments. Head markers trajectories reached maximal value and ankle markers trajectories had a minimal value of scaling coefficient. Hips, knees and ankles markers were approximately symmetrical in the meaning of scaling coefficient. Notable differences of scaling coefficient were detected in head and shoulders markers trajectories which were not symmetrical. The model of postural system behavior was identified by MDST. Conclusion: Value of scaling factor identifies which body segment is predisposed to postural instability. Hypothetically, if statokinesigram represents overall human postural system response to vibration stimuli, then markers data represented particular postural responses. It can be assumed that cumulative sum of particular marker postural responses is equal to statokinesigram.

Keywords: Center of pressure (CoP), a method of developed statokinesigram trajectory (MDST), a model of postural system behavior, retroreflective marker data.

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Authors: K. Raghuwaiya, B. Sharma, J. Vanualailai

Abstract:

This paper presents a set of artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of the general3-trailer system in a priori known environment. We basically design and inject two new concepts; ghost walls and the distance optimization technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. Simulations are provided to demonstrate the effectiveness of the controls laws.

Keywords: Artificial potential fields, 3-trailer systems, motion planning, posture.

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Authors: Hossein Mirzaee, Farhad Besharati

Abstract:

Solar sunspot rotation, latitudinal bands are studied based on intelligent computation methods. A combination of image fusion method with together tree decomposition is used to obtain quantitative values about the latitudes of trajectories on sun surface that sunspots rotate around them. Daily solar images taken with SOlar and Heliospheric (SOHO) satellite are fused for each month separately .The result of fused image is decomposed with Quad Tree decomposition method in order to achieve the precise information about latitudes of sunspot trajectories. Such analysis is useful for gathering information about the regions on sun surface and coordinates in space that is more expose to solar geomagnetic storms, tremendous flares and hot plasma gases permeate interplanetary space and help human to serve their technical systems. Here sunspot images in September, November and October in 2001 are used for studying the magnetic behavior of sun.

Keywords: Quad tree decomposition, sunspot image.

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Authors: Asif Ansari, T.C.Manjunath, C. Ardil

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In today-s competitive environment, the security concerns have grown tremendously. In the modern world, possession is known to be 9/10-ths of the law. Hence, it is imperative for one to be able to safeguard one-s property from worldly harms such as thefts, destruction of property, people with malicious intent etc. Due to the advent of technology in the modern world, the methodologies used by thieves and robbers for stealing have been improving exponentially. Therefore, it is necessary for the surveillance techniques to also improve with the changing world. With the improvement in mass media and various forms of communication, it is now possible to monitor and control the environment to the advantage of the owners of the property. The latest technologies used in the fight against thefts and destruction are the video surveillance and monitoring. By using the technologies, it is possible to monitor and capture every inch and second of the area in interest. However, so far the technologies used are passive in nature, i.e., the monitoring systems only help in detecting the crime but do not actively participate in stopping or curbing the crime while it takes place. Therefore, we have developed a methodology to detect the motion in a video stream environment and this is an idea to ensure that the monitoring systems not only actively participate in stopping the crime, but do so while the crime is taking place. Hence, a system is used to detect any motion in a live streaming video and once motion has been detected in the live stream, the software will activate a warning system and capture the live streaming video.

Keywords: Motion, Detection, System, Video, Crime, Matlab, Surveillance.

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Authors: Sang Hyun Kim

Abstract:

In this paper, a fast motion compensation algorithm is proposed that improves coding efficiency for video sequences with brightness variations. We also propose a cross entropy measure between histograms of two frames to detect brightness variations. The framewise brightness variation parameters, a multiplier and an offset field for image intensity, are estimated and compensated. Simulation results show that the proposed method yields a higher peak signal to noise ratio (PSNR) compared with the conventional method, with a greatly reduced computational load, when the video scene contains illumination changes.

Keywords: Motion estimation, Fast motion compensation, Brightness variation compensation, Brightness change detection, Cross entropy.

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Authors: Y. S. Oh, P. Abhishesh, B. S. Ryuh

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This paper presents the method of trajectory planning by the robot end-effector which accounts for more accurate and smooth differential geometry of the ruled surface generated by tool line fixed with end-effector based on the methods of curvature theory of ruled surface and the dual curvature theory, and focuses on the underlying relation to unite them for enhancing the efficiency for trajectory planning. Robot motion can be represented as motion properties of the ruled surface generated by trajectory of the Tool Center Point (TCP). The linear and angular properties of the six degree-of-freedom motion of end-effector are computed using the explicit formulas and functions from curvature theory and dual curvature theory. This paper explains the complete dualization of ruled surface and shows that the linear and angular motion applied using the method of dual curvature theory is more accurate and less complex.

Keywords: Dual curvature theory, robot end effector, ruled surface, TCP, tool center point.

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Authors: M. H. Kargarnovin, A. Mamandi

Abstract:

This paper presents investigation effects of a sharp edged gust on aeroelastic behavior and time-domain response of a typical section model using Jones approximate aerodynamics for pure plunging motion. Flutter analysis has been done by using p and p-k methods developed for presented finite-state aerodynamic model for a typical section model (airfoil). Introduction of gust analysis as a linear set of ordinary differential equations in a simplified procedure has been carried out by using transformation into an eigenvalue problem.

Keywords: Aeroelastic response, jones approximation, pure plunging motion, sharp edged gust.

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Authors: Eileen Chih-Ying Yang, Liang-Han Wu, Chieh-Min Chang

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The design of an active leg orthosis for tumble protection is proposed in this paper. The orthosis would be applied to assist elders or invalids in rebalancing while they fall unexpectedly. We observe the regain balance motion of healthy and youthful people, and find the difference to elders or invalids. First, the physical model of leg would be established, and we consider the leg motions are achieve through four joints (phalanx stem, ankle, knee, and hip joint) and five links (phalanges, talus, tibia, femur, and hip bone). To formulate the dynamic equations, the coordinates which can clearly describe the position in 3D space are first defined accordance with the human movement of leg, and the kinematics and dynamics of the leg movement can be formulated based on the robotics. For the purpose, assisting elders and invalids in avoiding tumble, the posture variation of unbalance and regaining balance motion are recorded by the motion-capture image system, and the trajectory is taken as the desire one. Then we calculate the force and moment of each joint based on the leg motion model through programming MATLAB code. The results would be primary information of the active leg orthosis design for tumble protection.

Keywords: Active leg orthosis, Tumble protection

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Authors: Marcio Leal, Marta Villamil

Abstract:

Computacional recognition of sign languages aims to allow a greater social and digital inclusion of deaf people through interpretation of their language by computer. This article presents a model of recognition of two of global parameters from sign languages; hand configurations and hand movements. Hand motion is captured through an infrared technology and its joints are built into a virtual three-dimensional space. A Multilayer Perceptron Neural Network (MLP) was used to classify hand configurations and Dynamic Time Warping (DWT) recognizes hand motion. Beyond of the method of sign recognition, we provide a dataset of hand configurations and motion capture built with help of fluent professionals in sign languages. Despite this technology can be used to translate any sign from any signs dictionary, Brazilian Sign Language (Libras) was used as case study. Finally, the model presented in this paper achieved a recognition rate of 80.4%.

Keywords: Sign language recognition, computer vision, infrared, artificial neural network, dynamic time warping.

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Authors: Emre Ünal, Hasan Başaran

Abstract:

In this study, starting with a predetermined Lunar free-return trajectory, an analysis of major near-Earth perturbations is carried out. Referencing to historical Apollo-13 flight, changes in the mission’s resultant perimoon and perigee altitudes with each perturbative effect are evaluated. The perturbations that were considered are Earth oblateness effects, up to the 6^th order, atmospheric drag, third body perturbations consisting of solar and planetary effects and solar radiation pressure effects. It is found that for a Moon mission, most of the main perturbative effects spoil the trajectory significantly while some came out to be negligible. It is seen that for apparent future request of constructing low cost, reliable and safe trajectories to the Moon, most of the orbital perturbations are crucial.

Keywords: Apollo-13 trajectory, atmospheric drag, lunar trajectories, oblateness effect, perturbative effects, solar radiation pressure, third body perturbations.

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Authors: Petru Manescu, Joseph Azencot, Michael Beuve, Hamid Ladjal, Jacques Saade, Jean-Michel Morreau, Philippe Giraud, Behzad Shariat

Abstract:

Organ motion, especially respiratory motion, is a technical challenge to radiation therapy planning and dosimetry. This motion induces displacements and deformation of the organ tissues within the irradiated region which need to be taken into account when simulating dose distribution during treatment. Finite element modeling (FEM) can provide a great insight into the mechanical behavior of the organs, since they are based on the biomechanical material properties, complex geometry of organs, and anatomical boundary conditions. In this paper we present an original approach that offers the possibility to combine image-based biomechanical models with particle transport simulations. We propose a new method to map material density information issued from CT images to deformable tetrahedral meshes. Based on the principle of mass conservation our method can correlate density variation of organ tissues with geometrical deformations during the different phases of the respiratory cycle. The first results are particularly encouraging, as local error quantification of density mapping on organ geometry and density variation with organ motion are performed to evaluate and validate our approach.

Keywords: Biomechanical simulation, dose distribution, image guided radiation therapy, organ motion, tetrahedral mesh, 4D-CT.

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Authors: Ahmad R. Naghsh-Nilchi, Mohammad Roshanzamir

Abstract:

One of the popular methods for recognition of facial expressions such as happiness, sadness and surprise is based on deformation of facial features. Motion vectors which show these deformations can be specified by the optical flow. In this method, for detecting emotions, the resulted set of motion vectors are compared with standard deformation template that caused by facial expressions. In this paper, a new method is introduced to compute the quantity of likeness in order to make decision based on the importance of obtained vectors from an optical flow approach. For finding the vectors, one of the efficient optical flow method developed by Gautama and VanHulle[17] is used. The suggested method has been examined over Cohn-Kanade AU-Coded Facial Expression Database, one of the most comprehensive collections of test images available. The experimental results show that our method could correctly recognize the facial expressions in 94% of case studies. The results also show that only a few number of image frames (three frames) are sufficient to detect facial expressions with rate of success of about 83.3%. This is a significant improvement over the available methods.

Keywords: Facial expression, Facial features, Optical flow, Motion vectors.

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Authors: Chun-Ta Chen, Te-Tan Liao, Hoang-Vuong Pham

Abstract:

In this paper motion analysis on a winding stair-climbing is investigated using our proposed rotational arm type of robotic wheelchair. For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger-s safety. Equations of motion based on the skid-steering analysis are developed for the trajectory planning and motion analysis on climbing winding stairs. Since the robotic wheelchair must climb a winding staircase stably, the winding trajectory becomes a constraint equation to be followed, and the Baumgarte-s method is used to solve for the constrained dynamics equations. Experimental results validate the behavior of the prototype as it climbs a winding stair.

Keywords: Climb, robotic wheelchair, skid-steering, windingstair .

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