Embodiment-Based Object Recognition for Vision-Based Mobile Agents

2001 ◽  
Vol 13 (1) ◽  
pp. 88-95
Author(s):  
Kazunori Terada ◽  
◽  
Takayuki Nakamura ◽  
Hideaki Takeda ◽  
Tsukasa Ogasawara
Keyword(s):  
Computer Simulation ◽  
Object Recognition ◽  
Physical Condition ◽  
Mobile Agents ◽  
Visual Information ◽  
Trial And Error ◽  
Primitive Function ◽  
Tactile Information ◽  
Position And Orientation ◽  
The Relationship

In this paper, we propose a new architecture for object recognition based on the concept of ""embodiment"" as a primitive function for a cognitive robot. We define the term ""embodiment"" as the extent of the agent itself, locomotive ability, and its sensor. Based on this concept, an object is represented by reaching action paths, which correspond to a set of sequences of movement by the agent for reaching the object. Such behavior is acquired by trial-and-error based on visual and tactile information. Visual information is used to obtain sensorimotor mapping, which represents the relationship between the change of an object's appearance and the movement of the agent. Tactile information is used to evaluate the change of physical condition of the object caused by such movement. By such means, the agent can recognize an object regardless of its position and orientation in the environment. To demonstrate the feasibility of our method, we detail experimental results of computer simulation.

scholarly journals Visual–tactile object recognition of a soft gripper based on faster Region-based Convolutional Neural Network and machining learning algorithm

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142094872
Author(s):  
Chenlei Jiao ◽  
Binbin Lian ◽  
Zhe Wang ◽  
Yimin Song ◽  
Tao Sun
Keyword(s):  
Object Recognition ◽  
Visual Information ◽  
Visual Recognition ◽  
Recognition Accuracy ◽  
Learning Algorithm ◽  
Pressure Sensors ◽  
Tactile Sensors ◽  
Recognition Method ◽  
Tactile Information ◽  
Unknown Object

Object recognition is a prerequisite to control a soft gripper successfully grasping an unknown object. Visual and tactile recognitions are two commonly used methods in a grasping system. Visual recognition is limited if the size and weight of the objects are involved, whereas the efficiency of tactile recognition is a problem. A visual–tactile recognition method is proposed to overcome the disadvantages of both methods in this article. The design and fabrication of the soft gripper considering the visual and tactile sensors are implemented, where the Kinect v2 is adopted for visual information, bending and pressure sensors are embedded to the soft fingers for tactile information. The proposed method is divided into three steps: initial recognition by vision, detail recognition by touch, and a data fusion decision making. Experiments show that the visual–tactile recognition has the best results. The average recognition accuracy of the daily objects by the proposed method is also the highest. The feasibility of the visual–tactile recognition is verified.

HUBUNGAN KONDISI FISIK, PSIKOLOGIS, DAN SOSIAL LANJUT USIA DENGAN DISABILITAS FUNGSIONAL LANJUT USIA DI YOGYAKARTA

2017 ◽  
Vol 16 (1) ◽  
Author(s):  
Catur Hary Wibawa
Keyword(s):  
Older People ◽  
Physical Condition ◽  
Social Condition ◽  
Psychological Condition ◽  
High Category ◽  
Correlational Design ◽  
Functional Disabilities ◽  
Relationship Of ◽  
Spearman Test ◽  
The Relationship

Abstract This research aims to reveal 1. the condition of older people who lives in Plosokerep Shleter, 2. the psychological condition of older people in Plosokerep Shelter, 3. the social condition of older people in Plosokerep Shelter, 4. the relationship of physical condition experienced by older people with their functional disabilities in Plosokerep Shelter, 5. the relationship of psychological condition experienced by older people with their functional disabilities in Plosokerep Shleter, 6. to know the relatonship of social condition experienced by older people with their functional disabilities in Plosokerep Shelter. The research method used is explanatory-analytic correlational design, to examine the relationship of factors: Physical (X1 variable), Psychological (X2), and social (X3) with older people functional disabilities (Y variable) descriptive survey used explanatory-analytic correlational design. Data collection carried out through questionnaire. Research data analysis used descriptive statistic technique with Spearman test statistic. The result showed that: 1. some older people in Plosokerep shleter have high physical condition and the rest of them in the low physical condition category, 2. from the psychological condition some of older people are in high category, 3. Social condition experienced by older people who live in shelter are in high category, 4. The relationship of physical condition experienced by older people in the shelter with functional disabilities even though there is a correlation but not significant, 5. the relationship of psychological condition experienced by older people in shleter with functional disabilities even though there is a correlation but not significant, 6. the relationship of social condition experienced by older people in the shelter with functional disabilities even though there is a correlation but not significant, 7. the relationship of Physical, psychological and social condition together with functional disabilities even though there is a correlation but not significant.Keywords: physical, psychological, and social condition, functional disabilities, older people Abstrak Penelitian ini bertujuan untuk mengungkapkan: 1. Mengetahui kondisi fisik lanjut usia yang ada di shelter Plosokerep, 2. Mengetahui kondisi psikologis lanjut usia yang ada di shelter Plosokerep, 3. Mengetahui kondisi sosial lanjut usia yang ada di shelter Plosokerep, 4. Mengetahui hubungan kondisi fisik yang dialami lanjut usia dengan disabilitas fungsionalnya selama tinggal di shelter Plosokerep, 5. Mengetahui hubungan kondisi psikologis yang dialami lanjut usia dengan disabilitas fungsionalnya selama tinggal di shelter Plosokerep, 6. Mengetahui hubungan kondisi sosial yang dialami lanjut usia dengan disabilitas fungsionalnya selama tinggal di shelter Plosokerep.Metode penelitian yang digunakan adalah disain korelasional eksplanatori-analitis, yaitu untuk menguji hubungan antara faktor-faktor: fisik (variabel X1), psikologis (X2), dan sosial (X3) dengan disabilitas fungsional lanjut usia (variabel Y)survey deskriptif dengan menggunakan disain penelitian korelasional eksplanatori-analitis. Teknik pengumpulan data dilakukan melalui kuesioner. Analisis data penelitian menggunakan teknik Statistik deskriptif, dengan statistik uji Spearman.Hasil penelitian menunjukkan bahwa: 1. Sebagian lanjut usia di shelter pengungsian Plosokerep memiliki kondisi fisik kategori tinggi, dan sebagian lagi berada dalam kondisi fisik kategori rendah, 2. Dilihat dari kondisi psikologis, sebagian besar lanjut usia berada dalam kategori tinggi, 3. Kondisi sosial yang dialami lanjut usia selama berada di shelter pengungsian, sebagian besar juga berada dalam kategori tinggi, 4. Hubungan kondisi fisik yang dialami lanjut usia selama berada di shelter pengungsian dengan disabilitas fungsional, meskipun terdapat korelasi tetapi tidak signifikan, 5. Hubungan kondisi psikologis yang dialami lanjut usia selama berada di shelter pengungsian dengan disabilitas fungsional, meskipun terdapat korelasi tetapi tidak signifikan, 6. Hubungan kondisi sosial yang dialami lanjut usia selama berada di shelter pengungsian dengan disabilitas fungsional, meskipun terdapat korelasi tetapi tidak signifikan, 7. Hubungan kondisi fisik, psikologis, dan sosial secara bersama-sama dengan disabilitas fungsional, meskipun terdapat korelasi tetapi tidak signifikan.Kata kunci:  disabilitas fungsional, kondisi fisik, psikologis, dan sosial, lanjut usia

Computer Simulation of the Responses of Human Motoneurons to Composite 1A EPSPS: Effects of Background Firing Rate

1997 ◽  
Vol 77 (1) ◽  
pp. 405-420 ◽  
Author(s):  
Kelvin E. Jones ◽  
Parveen Bawa
Keyword(s):  
Computer Simulation ◽  
Firing Rate ◽  
Time Course ◽  
Current Model ◽  
Response Probability ◽  
Muscle Spindles ◽  
Excitatory Postsynaptic Potential ◽  
Biophysical Properties ◽  
Rhythmic Firing ◽  
The Relationship

Jones, Kelvin E. and Parveen Bawa. Computer simulation of the responses of human motoneurons to composite 1A EPSPS: effects of background firing rate. J. Neurophysiol. 77: 405–420, 1997. Two compartmental models of spinal alpha motoneurons were constructed to explore the relationship between background firing rate and response to an excitatory input. The results of these simulations were compared with previous results obtained from human motoneurons and discussed in relation to the current model for repetitively firing human motoneurons. The morphologies and cable parameters of the models were based on two type-identified cat motoneurons previously reported in the literature. Each model included five voltage-dependent channels that were modeled using Hodgkin-Huxley formalism. These included fast Na+ and K+ channels in the initial segment and fast Na+ and K+ channels as well as a slow K+ channel in the soma compartment. The density and rate factors for the slow K+ channel were varied until the models could reproduce single spike AHP parameters for type-identified motoneurons in the cat. Excitatory synaptic conductances were distributed along the equivalent dendrites with the same density described for la synapses from muscle spindles to type-identified cat motoneurons. Simultaneous activation of all synapses on the dendrite resulted in a large compound excitatory postsynaptic potential (EPSP). Brief depolarizing pulses injected into a compartment of the equivalent dendrite resulted in pulse potentials (PPs), which resembled the compound EPSPs. The effects of compound EPSPs and PPs on firing probability of the two motoneuron models were examined during rhythmic firing. Peristimulus time histograms, constructed between the stimulus and the spikes of the model motoneuron, showed excitatory peaks whose integrated time course approximated the time course of the underlying EPSP or PP as has been shown in cat motoneurons. The excitatory peaks were quantified in terms of response probability, and the relationship between background firing rate and response probability was explored. As in real human motoneurons, the models exhibited an inverse relationship between response probability and background firing rate. The biophysical properties responsible for the relationship between response probability and firing rate included the shapes of the membrane voltage trajectories between spikes and nonlinear changes in PP amplitude during the interspike interval at different firing rates. The results from these simulations suggest that the relationship between response probability and background firing rate is an intrinsic feature of motoneurons. The similarity of the results from the models, which were based on the properties of cat motoneurons, and those from human motoneurons suggests that the biophysical properties governing rhythmic firing in human motoneurons are similar to those of the cat.

scholarly journals Using Computer Simulation Method to Improve Throughput of Production Systems by Buffers and Workers Allocation

2015 ◽  
Vol 6 (4) ◽  
pp. 60-69 ◽  
Author(s):  
Sławomir Kłos ◽  
Peter Trebuna
Keyword(s):  
Computer Simulation ◽  
Production System ◽  
Production Systems ◽  
Simulation Method ◽  
System Throughput ◽  
Buffer Allocation ◽  
Simulation Experiments ◽  
Buffer Capacities ◽  
The Relationship ◽  
Support Decision Making

Abstract This paper proposes the application of computer simulation methods to support decision making regarding intermediate buffer allocations in a series-parallel production line. The simulation model of the production system is based on a real example of a manufacturing company working in the automotive industry. Simulation experiments were conducted for different allocations of buffer capacities and different numbers of employees. The production system consists of three technological operations with intermediate buffers between each operation. The technological operations are carried out using machines and every machine can be operated by one worker. Multi-work in the production system is available (one operator operates several machines). On the basis of the simulation experiments, the relationship between system throughput, buffer allocation and the number of employees is analyzed. Increasing the buffer capacity results in an increase in the average product lifespan. Therefore, in the article a new index is proposed that includes the throughput of the manufacturing system and product life span. Simulation experiments were performed for different configurations of technological operations.

A New View on Grasping

Motor Control ◽  
1999 ◽  
Vol 3 (3) ◽  
pp. 237-271 ◽  
Author(s):  
Jeroen B.J. Smeets ◽  
Eli Brenner
Keyword(s):  
Surface Roughness ◽  
Visual Information ◽  
Experimental Studies ◽  
Movement Speed ◽  
Object Size ◽  
Extensive Review ◽  
Minimum Jerk ◽  
Alternative Description ◽  
Position And Orientation ◽  
Shape And Size

Reaching out for an object is often described as consisting of two components that are based on different visual information. Information about the object's position and orientation guides the hand to the object, while information about the object's shape and size determines how the fingers move relative to the thumb to grasp it. We propose an alternative description, which consists of determining suitable positions on the object—on the basis of its shape, surface roughness, and so on—and then moving one's thumb and fingers more or less independently to these positions. We modeled this description using a minimum-jerk approach, whereby the finger and thumb approach their respective target positions approximately orthogonally to the surface. Our model predicts how experimental variables such as object size, movement speed, fragility, and required accuracy will influence the timing and size of the maximum aperture of the hand. An extensive review of experimental studies on grasping showed that the predicted influences correspond to human behavior.

scholarly journals Tactile spatial discrimination on the torso using vibrotactile and force stimulation

2021 ◽  
Author(s):  
Atena Fadaei Jouybari ◽  
Matteo Franza ◽  
Oliver Alan Kannape ◽  
Masayuki Hara ◽  
Olaf Blanke
Keyword(s):  
Thoracic Spine ◽  
Communication Systems ◽  
Force Feedback ◽  
Spatial Discrimination ◽  
Dynamic Force ◽  
Tactile Information ◽  
Tactile Displays ◽  
The Relationship ◽  
Healthy Participants

AbstractThere is a steadily growing number of mobile communication systems that provide spatially encoded tactile information to the humans’ torso. However, the increased use of such hands-off displays is currently not matched with or supported by systematic perceptual characterization of tactile spatial discrimination on the torso. Furthermore, there are currently no data testing spatial discrimination for dynamic force stimuli applied to the torso. In the present study, we measured tactile point localization (LOC) and tactile direction discrimination (DIR) on the thoracic spine using two unisex torso-worn tactile vests realized with arrays of 3 × 3 vibrotactile or force feedback actuators. We aimed to, first, evaluate and compare the spatial discrimination of vibrotactile and force stimulations on the thoracic spine and, second, to investigate the relationship between the LOC and DIR results across stimulations. Thirty-four healthy participants performed both tasks with both vests. Tactile accuracies for vibrotactile and force stimulations were 60.7% and 54.6% for the LOC task; 71.0% and 67.7% for the DIR task, respectively. Performance correlated positively with both stimulations, although accuracies were higher for the vibrotactile than for the force stimulation across tasks, arguably due to specific properties of vibrotactile stimulations. We observed comparable directional anisotropies in the LOC results for both stimulations; however, anisotropies in the DIR task were only observed with vibrotactile stimulations. We discuss our findings with respect to tactile perception research as well as their implications for the design of high-resolution torso-mounted tactile displays for spatial cueing.

scholarly journals Object comparison in the lateral intraparietal area

2017 ◽  
Vol 118 (4) ◽  
pp. 2458-2469 ◽  
Author(s):  
Wei Song Ong ◽  
Koorosh Mirpour ◽  
James W. Bisley
Keyword(s):  
Prefrontal Cortex ◽  
Object Recognition ◽  
Visual Information ◽  
Posterior Parietal Cortex ◽  
Ventral Stream ◽  
Object Identity ◽  
Stimulus Similarity ◽  
Lateral Intraparietal Area ◽  
Dynamic Representation ◽  
And Task

We can search for and locate specific objects in our environment by looking for objects with similar features. Object recognition involves stimulus similarity responses in ventral visual areas and task-related responses in prefrontal cortex. We tested whether neurons in the lateral intraparietal area (LIP) of posterior parietal cortex could form an intermediary representation, collating information from object-specific similarity map representations to allow general decisions about whether a stimulus matches the object being looked for. We hypothesized that responses to stimuli would correlate with how similar they are to a sample stimulus. When animals compared two peripheral stimuli to a sample at their fovea, the response to the matching stimulus was similar, independent of the sample identity, but the response to the nonmatch depended on how similar it was to the sample: the more similar, the greater the response to the nonmatch stimulus. These results could not be explained by task difficulty or confidence. We propose that LIP uses its known mechanistic properties to integrate incoming visual information, including that from the ventral stream about object identity, to create a dynamic representation that is concise, low dimensional, and task relevant and that signifies the choice priorities in mental matching behavior. NEW & NOTEWORTHY Studies in object recognition have focused on the ventral stream, in which neurons respond as a function of how similar a stimulus is to their preferred stimulus, and on prefrontal cortex, where neurons indicate which stimulus is being looked for. We found that parietal area LIP uses its known mechanistic properties to form an intermediary representation in this process. This creates a perceptual similarity map that can be used to guide decisions in prefrontal areas.

scholarly journals Weaving the Common Threads of Simulation and Formation studies in Archaeology

2017 ◽  
Author(s):  
Benjamin Davies
Keyword(s):  
Computer Simulation ◽  
Human Activity ◽  
Computational Models ◽  
Experimental Studies ◽  
Surface Erosion ◽  
Archaeological Record ◽  
The Common ◽  
The Relationship ◽  
Material Record

Computer simulation is a tool increasingly used by archaeologists to build theories about past human activity; however, simulation has had a limited role theorising about the relationship between past behaviours and the formation of observed patterning in the material record. This paper visits the argument for using simulation as a means of addressing the gap that exists between archaeological interpretations of past behaviours and their physical residues. It is argued that simulation is used for much the same reason that archaeologists use ethnographic or experimental studies, and that computational models can help to address some of the practical limitations of these approaches to record formation. A case study from arid Australia, examining the effects of episodic surface erosion on the visibility of the record, shows how simple, generative simulations, grounded in formational logic, can be used to compare different explanatory mechanisms and suggest tests of the archaeological record itself.

scholarly journals The relationship between local feature distributions and object recognition

2010 ◽  
Vol 8 (6) ◽  
pp. 519-519
Author(s):  
H. Galperin ◽  
P. Bex ◽  
J. Fiser
Keyword(s):  
Object Recognition ◽  
Local Feature ◽  
The Relationship
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