Abstract

The capacity to sequence information is central to human performance. Sequencing ability forms the foundation stone for higher order cognition related to language and goal-directed planning. Information related to the order of items, their timing, chunking and hierarchical organization are important aspects in sequencing. Past research on sequencing has emphasized two distinct and independent dichotomies: implicit versus explicit and goal-directed versus habits. We propose a theoretical framework unifying these two streams. Our proposal relies on brain's ability to implicitly extract statistical regularities from the stream of stimuli and with attentional engagement organizing sequences explicitly and hierarchically. Similarly, sequences that need to be assembled purposively to accomplish a goal require engagement of attentional processes. With repetition, these goal-directed plans become habits with concomitant disengagement of attention. Thus attention and awareness play a crucial role in the implicit-to-explicit transition as well as in how goal-directed plans become automatic habits. Cortico-subcortical loops ─ basal ganglia-frontal cortex and hippocampus-frontal cortex loops ─ mediate the transition process. We show how the computational principles of model-free and model-based learning paradigms, along with a pivotal role for attention and awareness, offer a unifying framework for these two dichotomies. Based on this framework, we make testable predictions related to the potential influence of response-to-stimulus interval (RSI) on developing awareness in implicit learning tasks.

Abstract

Early detection of cardiovascular diseases can prevent the premature deaths caused by abnormal heartbeat problems. Application of unsupervised classification by Extreme learning machine is addressed for ElectroCardiogram (ECG) heart-beat time series clustering by a hybrid of Extreme learning machine and Decision rule using full heart-beat time series by alignment of R-peaks of all beats is proposed in this work. PQRST Time series of heart-beats having converted into equal length series by alignment of R-peaks of all heart-beats based on R-peak of largest length PQRST series in the data and by padding zeroes to the smaller length series on either side, was used in this experimentation. The main objective of this paper is to identify the abnormalities in ECG heart beats based on AAMI Categorization. Because of the large patient specific characteristics in ECG heartbeat morphology across individuals, the …

Abstract

This paper focuses on evaluating the gains obtained through cooperative spectrum sensing in the real world while using cyclostationary-based mobile sensors. In cooperative sensing(CS), different secondary users (SUs) in a geographical neighbor-hood cooperate to detect the presence of a primary user (PU).Compared with single-user sensing, cooperation provides diversity gains in the face of multi path fading and shadowing. The effectiveness of CS is demonstrated by analyzing data acquired in two extensive field measurement campaigns. The first measurement campaign (MC-I) focuses on measurements at fixed locations,whereas the second measurement campaign (MC-II) focuses on a scenario where measurements are taken inside a moving car.These measurements are carried out for DVB-T channels in the Capital Region of Finland, which consists of urban and suburban environments. Hard decision rules such as OR,AND,and MAJOR-ITYand a soft decision rule such as sum of cyclostationary test statistics (SUM) are employed, and their detection performances are compared with a cyclostationary-based single-user detector. A performance parameter of relative increase in probability of detection (RIPD) is used to efficiently demonstrate the cooperation gain obtained relative to local sensing. It is shown that cooperation can significantly improve the performance of a sensor severely affected by fading and shadowing effects. Furthermore, it is shown that increasing the number of collaborating users beyond few users(five to eight) does not, in practice, bring significant improvement in terms of the expected RIPD. The performances of CS schemes evaluated from MC-I are also compared with the corresponding simulated CS results using empirical channel models and terrain data for the same experimental parameters. It is shown that the use of empirical or theoretical models may result in detection errors in practical conditions, and measurements should be used to improve the accuracy in such scenarios.

Abstract

An index coding problem withn messages has symmetric rate R if all n messages can be conveyed at rate R. In a recent work, a class of index coding problems for which symmetric rate13is achievable was characterised using special properties of the side-information available at the receivers. In this paper, we show a larger class of index coding problems(which includes the previous class of problems) for which symmetric rate13is achievable. In the process, we also obtain a stricter necessary condition for rate13feasibility than what is known in literature.

Abstract

The purpose of this paper is to present the modelof a Humanoid robot inspired by Poppy, modified for heavier load capacity and the balancing of humanoid in multiple work environments. The design has been modified in order to useMX-64 servos with more torque capacity than MX-28 servos which were used in original design. We have also redesigned the ankle joint and feet to make it a more accurate human like model. We are using an integrated approach using zero moment point (ZMP) with force sensing resistor (FSR) and center of mass (CoM) to find balance margins of the robot. Balancing and forward bending experiments on robot are conducted by providing some basic motion to the robot and ensuring that the robot is balanced and moving within safe margins using this approach.

Abstract

It is a well known result in the vision literature that the motion of independently moving objects viewed by an affine camera lie on affine subspaces of dimension four or less. As a result a large number of the recently proposed motion segmentation algorithms model the problem as one of clustering the trajectory data to its corresponding affine subspace. While these algorithms are elegant in formulation and achieve near perfect results on benchmark datasets, they fail to address certain very key real-world challenges, including perspective effects and motion degeneracies. Within a robotics and autonomous vehicle setting, the relative configuration of the robot and moving object will frequently be degenerate leading to a failure of subspace clustering algorithms. On the other hand, while gestalt-inspired motion similarity algorithms have been used for motion segmentation, in the moving camera case, they tend to over-segment or under-segment the scene based on their parameter values. In this paper we present a principled approach that incorporates the strengths of both approaches into a cohesive motion segmentation algorithm capable of dealing with the degenerate cases, where camera motion follows that of the moving object. We first generate a set of prospective motion models for the various moving and stationary objects in the video sequence by a RANSAC-like procedure. Then, we incorporate affine and long-term gestalt-inspired motion similarity constraints, into a multi-label Markov Random Field (MRF). Its inference leads to an over-segmentation, where each label belongs to a particular moving object or the background. This is followed by a model selection step where we merge clusters based on a novel motion coherence constraint, we call in-frame shear, that tracks the in-frame change in orientation and distance between the clusters, leading to the final segmentation. This oversegmentation is deliberate and necessary, allowing us to assess the relative motion between the motion models which we believe to be essential in dealing with degenerate motion scenarios.We present results on the Hopkins-155 benchmark motion segmentation dataset [27], as well as several on-road scenes where camera and object motion are near identical. We show that our algorithm is competitive with the state-of-the-art algorithms on [27] and exceeds them substantially on the more realistic on-road sequences.

Abstract

Application of wheeled mobile robots has gradually progressed from the confines of structured indoor environments to rough outdoor terrains. Material transport and exploration are some of the few areas where wheeled robots are required to navigate over uneven terrains. Stable and efficient navigation of wheeled robots over uneven terrains requires a framework which can correctly ascertain the stability and maneuverability for a given robot’s state. Most existing works on uneven terrain navigation assume a one-to-one correspondence between postural stability and maneuverability. In this paper, we show that such characterization is incomplete as states having high postural stability may have restricted maneuverability depending on underlying terrain topology. We thus, present a novel metric called Feasible Acceleration Count (FAC), introduced in our earlier works as a unified measure of robot stability and maneuverability. The metric gives the measure of the space of feasible accelerations available to the robot at a given state. The feasibility is decided by a set of inequalities which depends not only on robot’s state but also on surface normals at the wheel ground contact point. This unique feature of the FAC metric makes it a more appropriate choice for motion planning on uneven terrains than metrics like Tip-Over. We further show that since space of feasible accelerations is a direct characterization of the space of possible motions at a given state, the metric FAC, also quantifies the quality of state space exploration achieved at each step of incremental sampling based planners. We build on top of this aspect of FAC and present an incremental trajectory planner with a novel node selection criteria for navigation of generic four wheeled robots and articulated systems like mobile manipulators on uneven terrain.

Abstract

Reasoning about objects in images and videos using 3D representations is re-emerging as a popular paradigm in computer vision. Specifically, in the context of scene understanding for roads, 3D vehicle detection and tracking from monocular videos still needs a lot of attention to enable practical applications. Current approaches leverage two kinds of information to deal with the vehicle detection and tracking problem: (1) 3D representations (eg. wireframe models or voxel based or CAD models) for diverse vehicle skeletal structures learnt from data, and (2) classifiers trained to detect vehicles or vehicle parts in single images built on top of a basic feature extraction step. In this paper, we propose to extend current approaches in two ways. First, we extend detection to a multiple view setting. We show that leveraging information given by feature or part detectors in multiple images can lead to more accurate detection results than single image detection. Secondly, we show that given multiple images of a vehicle, we can also leverage 3D information from the scene generated using a unique structure from motion algorithm. This helps us localize the vehicle in 3D, and constrain the parameters of optimization for fitting the 3D model to image data. We show results on the KITTI dataset, and demonstrate superior results compared with recent state-of-the-art methods, with upto 14.64 % improvement in localization error.

Abstract

Classical visual servoing approaches use visual features based on geometry of the object such as points, lines, region, etc. to attain the desired camera pose. However, geometrical features are not suited for visual servoing across different object instances due to large variations in appearance and shape. In this paper, we present a new framework for visual servoing across object instances. Our approach is based on a discriminative learning framework where the desired pose is estimated using previously seen examples. Specifically, we learn a binary classifier that separates the desired pose from all other poses for that object category. The classification error is then used to control the end-effector so that the desired pose is attained. We present controllers for linear, kernel and exemplar Support Vector Machine (SVM) and empirically discuss their performance in the visual servoing context. To address large intra-category variation in appearance, we propose a modified version of Histogram of Oriented Gradients (HOG) features for visual servoing. We show effective servoing across diverse instances over 3 object categories with zero terminal velocity and acceptable camera pose error at termination.

Abstract

Recently, quadcopters with their advance sensors and imaging capabilities have become an imperative part of the precision agriculture. In this work, we have described a framework which performs plantation monitoring and yield estimation using the supervised learning approach, while autonomously navigating through an inter-row path of the plantation. The proposed navigation framework assists the quadcopter to follow a sequence of collision-free GPS way points and has been integrated with ROS (Robot Operating System). The trajectory planning and control module of the navigation framework employ convex programming techniques to generate minimum time trajectory between way-points and produces appropriate control inputs for the quadcopter. A new `pomegranate dataset' comprising of plantation surveillance video and annotated frames capturing the varied stages of pomegranate growth along with the navigation framework are being delivered as a part of this work.