Embedded vision-based autonomous move-to-grasp approach for a mobile manipulator

This paper proposes a vision‐based autonomous move‐to‐grasp approach for a compact mobile manipulator under some low and small environments. The visual information of specified object with a radial symbol and an overhead colour block is extracted from two CMOS cameras in an embedded way. Furthermore, the mobile platform and the postures of the manipulator are adjusted continuously by vision‐based control, which drives the mobile manipulator approaching the object. When the mobile manipulator is sufficiently close to the object, only the manipulator moves to grasp the object based on the incremental movement with its head end centre of the end‐effector conforming to a Bezier curve. The effectiveness of the proposed approach is verified by experiments.

Multi-objective image segmentation with an interactive evolutionary computation approach

In this paper, a multi-objective image segmentation approach with an Interactive Evolutionary Computation (IEC)-based framework is presented. Two objectives, i.e., the overall deviation and the connectivity measure, are optimized simultaneously using a mu

Annihilation electrogenerated chemiluminescence of mixed metal chelates in solution : Modulating emission colour by manipulating the energetics

We demonstrate the mixed annihilation electrogenerated chemiluminescence of tris(2,2′-bipyridine)ruthenium(ii) with various cyclometalated iridium(iii) chelates. Compared to mixed ECL systems comprising organic luminophores, the absence of T-route pathways enables effective predictions of the observed ECL based on simple estimations of the exergonicity of the reactions leading to excited state production. Moreover, the multiple, closely spaced reductions and oxidations of the metal chelates provide the ability to finely tune the energetics and therefore the observed emission colour. Distinct emissions from multiple luminophores in the same solution are observed in numerous systems. The relative intensity of these emissions and the overall emission colour are dependent on the particular oxidized and reduced species selected by the applied electrochemical potentials. Finally, these studies offer insights into the importance of electronic factors in the question of whether the reduced or oxidized partner becomes excited in annihilation ECL. This journal is

Fast road detection and tracking in aerial videos

 We propose a fast approach for detecting and tracking a specific road in aerial videos. It combines adaptive Gaussian Mixture Models (GMMs) to describe road colour distributions, and homography based tracking to track road geometries, where an efficient technique is developed to estimate homography transformations between two frames. Experiments are conducted on videos captured by our unmanned aerial vehicles. All the results demonstrate the effectiveness of our proposed method. We test 1755 frames from 5 videos. Our approach can achieve 0.032 seconds per frame and 2.64% segmentation error for images with 908 × 513 resolutions, on average.

Tree-based iterated local search for Markov random fields with applications in image analysis

The maximum a posteriori assignment for general structure Markov random fields is computationally intractable. In this paper, we exploit tree-based methods to efficiently address this problem. Our novel method, named Tree-based Iterated Local Search (T-ILS), takes advantage of the tractability of tree-structures embedded within MRFs to derive strong local search in an ILS framework. The method efficiently explores exponentially large neighborhoods using a limited memory without any requirement on the cost functions. We evaluate the T-ILS on a simulated Ising model and two real-world vision problems: stereo matching and image denoising. Experimental results demonstrate that our methods are competitive against state-of-the-art rivals with significant computational gain.

Artificial selection for food colour preferences

Colour is an important factor in food detection and acquisition by animals using visually based foraging. Colour can be used to identify the suitability of a food source or improve the efficiency of food detection, and can even be linked to mate choice. Food colour preferences are known to exist, but whether these preferences are heritable and how these preferences evolve is unknown. Using the freshwater fish Poecilia reticulata, we artificially selected for chase behaviour towards two different-coloured moving stimuli: red and blue spots. A response to selection was only seen for chase behaviours towards the red, with realized heritabilities ranging from 0.25 to 0.30. Despite intense selection, no significant chase response was recorded for the blue-selected lines. This lack of response may be due to the motion-detection mechanism in the guppy visual system and may have novel implications for the evolvability of responses to colour-related signals. The behavioural response to several colours after five generations of selection suggests that the colour opponency system of the fish may regulate the response to selection.

A new color space based on K-medoids clustering for fire detection

Pixel color has proven to be a useful and robust cue for detection of most objects of interest like fire. In this paper, a hybrid intelligent algorithm is proposed to detect fire pixels in the background of an image. The proposed algorithm is introduced by the combination of a computational search method based on a swarm intelligence technique and the Kemdoids clustering method in order to form a Fire-based Color Space (FCS), in fact, the new technique converts RGB color system to FCS through a 3*3 matrix. This algorithm consists of five main stages:(1) extracting fire and non-fire pixels manually from the original image. (2) using K-medoids clustering to find a Cost function to minimize the error value. (3) applying Particle Swarm Optimization (PSO) to search and find the best W components in order to minimize the fitness function. (4) reporting the best matrix including feature weights, and utilizing this matrix to convert the all original images in the database to the new color space. (5) using Otsu threshold technique to binarize the final images. As compared with some state-of-the-art techniques, the experimental results show the ability and efficiency of the new method to detect fire pixels in color images.

Learning feature trajectories using Gabor Filter Bank for human activity segmentation and recognition

We describe a novel method for human activity segmentation and interpretation in surveillance applications based on Gabor filter-bank features. A complex human activity is modeled as a sequence of elementary human actions like walking, running, jogging, boxing, hand-waving etc. Since human silhouette can be modeled by a set of rectangles, the elementary human actions can be modeled as a sequence of a set of rectangles with different orientations and scales. The activity segmentation is based on Gabor filter-bank features and normalized spectral clustering. The feature trajectories of an action category are learnt from training example videos using Dynamic Time Warping. The combined segmentation and the recognition processes are very efficient as both the algorithms share the same framework and Gabor features computed for the former can be used for the later. We have also proposed a simple shadow detection technique to extract good silhouette which is necessary for good accuracy of an action recognition technique. © 2008 IEEE.

An intelligent decision support system for leukaemia diagnosis using microscopic blood images

This research proposes an intelligent decision support system for acute lymphoblastic leukaemia diagnosis from microscopic blood images. A novel clustering algorithm with stimulating discriminant measures (SDM) of both within- and between-cluster scatter variances is proposed to produce robust segmentation of nucleus and cytoplasm of lymphocytes/lymphoblasts. Specifically, the proposed between-cluster evaluation is formulated based on the trade-off of several between-cluster measures of well-known feature extraction methods. The SDM measures are used in conjuction with Genetic Algorithm for clustering nucleus, cytoplasm, and background regions. Subsequently, a total of eighty features consisting of shape, texture, and colour information of the nucleus and cytoplasm sub-images are extracted. A number of classifiers (multi-layer perceptron, Support Vector Machine (SVM) and Dempster-Shafer ensemble) are employed for lymphocyte/lymphoblast classification. Evaluated with the ALL-IDB2 database, the proposed SDM-based clustering overcomes the shortcomings of Fuzzy C-means which focuses purely on within-cluster scatter variance. It also outperforms Linear Discriminant Analysis and Fuzzy Compactness and Separation for nucleus-cytoplasm separation. The overall system achieves superior recognition rates of 96.72% and 96.67% accuracies using bootstrapping and 10-fold cross validation with Dempster-Shafer and SVM, respectively. The results also compare favourably with those reported in the literature, indicating the usefulness of the proposed SDM-based clustering method.

Fast vision-based catheter 3D reconstruction

Continuum robots offer better maneuverability and inherent compliance and are well-suited for surgical applications as catheters, where gentle interaction with the environment is desired. However, sensing their shape and tip position is a challenge as traditional sensors can not be employed in the way they are in rigid robotic manipulators. In this paper, a high speed vision-based shape sensing algorithm for real-time 3D reconstruction of continuum robots based on the views of two arbitrary positioned cameras is presented. The algorithm is based on the closed-form analytical solution of the reconstruction of quadratic curves in 3D space from two arbitrary perspective projections. High-speed image processing algorithms are developed for the segmentation and feature extraction from the images. The proposed algorithms are experimentally validated for accuracy by measuring the tip position, length and bending and orientation angles for known circular and elliptical catheter shaped tubes. Sensitivity analysis is also carried out to evaluate the robustness of the algorithm. Experimental results demonstrate good accuracy (maximum errors of  ±0.6 mm and  ±0.5 deg), performance (200 Hz), and robustness (maximum absolute error of 1.74 mm, 3.64 deg for the added noises) of the proposed high speed algorithms.

Energy consumption prediction based on time-series models for CPU-intensive activities in the cloud

Due to the increasing energy consumption in cloud data centers, energy saving has become a vital objective in designing the underlying cloud infrastructures. A precise energy consumption model is the foundation of many energy-saving strategies. This paper focuses on exploring the energy consumption of virtual machines running various CPU-intensive activities in the cloud server using two types of models: traditional time-series models, such as ARMA and ES, and time-series segmentation models, such as sliding windows model and bottom-up model. We have built a cloud environment using OpenStack, and conducted extensive experiments to analyze and compare the prediction accuracy of these strategies. The results indicate that the performance of ES model is better than the ARMA model in predicting the energy consumption of known activities. When predicting the energy consumption of unknown activities, sliding windows segmentation model and bottom-up segmentation model can all have satisfactory performance but the former is slightly better than the later.

The etymology of a colourful design language: How do we determine what informs architect’s colour choices?

The development of materials and visualization technology is transforming the colour palettes of cities. As architects have significant roles in determining the appearance of buildings that contribute to city colourscapes, it might be expected that they have considerable colour knowledge. However, there is largely an absence of colour training in built environment education outside of interior design, meaning architects are likely making colour choices based on practical rather than theoretical knowledge. This prompts the question: what informs the architect’s colour choices? While colour has been studied in a broad range of disciplines, few studies have focussed on the built environment and even fewer on how and why built environment designers choose colours. This article explains the origins and development of a framework for understanding factors that influence architects’ uses of colour. The framework has informed a national survey in Australia to determine how personal and educational experiences have affected the use of colour.