Analysis and implementation of swimming backward for biomimetic carangiform robot fish

The swimming backward for biomimetic carangiform robot fish is analyzed and implemented in this paper. The swimming law of the carangiform robot fish is modified according to the European Eel swimming mode based on the multiple-link structure to implement the backward motion. The motion mode difference between the eel and carangiform fish is discussed, and a qualitative kinematic analysis of the carangiform swimming in water is given to analyze the propulsion produced by the undulation of the multi-links tail. The experiments conducted demonstrate the good performance of the proposed method, and the results are given.

Toward a broader appreciation of human motion in education

Motion is a fundamental activity for the healthy functioning human organism. Its importance, however, is increasingly de-valued in Western cultures as they speed toward adopting technologies and virtual experiences as adjuncts to, and even replacements for7 traditional educational structures and processes that involve physical activity. Organised and reflective experience of human motion is becoming increasingly marginalised in teaching methodologies and learning programs in educational institutions at all levels around the globe. This inquiry sets out to gain a greater understanding of why people and human motion become disconnected, particularly during periods of formal education. A central question and two sub-questions form the basis of the inquiry. The central question asks why human motion is not valued and more utilised in education. In particular, why do learning areas that directly represent involvement with human motion, such as physical education, continually struggle in education programs. It directs the investigation to focus on the causes rather than the symptoms of the disuse and devaluation of human motion in Australian education. The two sub-questions split the praxis of the study. The first seeks to understand how the causes of devaluation work in the educational context lo affect the lack of acknowledgement; and the second considers ways to counter the disuse of human movement in education programs. To address these questions, the research focuses on rebutting the notion of a mind-body dualism. Rather, it seeks to better understand how humans learn and function as monists - integrated beings, acquiring self-knowledge in their 'world of being' in which bodily and emotional experiences, and reasoning are inextricably intertwined. I have approached this qualitative research as an ethnographic sociologist examining the issues from a critical high modernist perspective in order to demonstrate the pervading influence in Australian education of strong beliefs and values from the era of Enlightenment. Narrative analysis of 'memoir' in the form of self-defining memories was selected to gain a sensibility of the connectedness between human emotion, motion and reasoning in the lived experiences of students in three primary and three secondary schools across Years 2-12. An opportunity for human movement to be more valued and utilised in emerging educational frameworks that have life knowledge, dispositions and capabilities at their core is identified. The inquiry proposes a conceptualisation of human motion in education for new times characterised by the need for people to develop personal resources and strong positive identities in order to cope with a world of rapid change and uncertainty.

Design earthquake ground motion prediction for Perth metropolitan area with microtremor measurements for site characterization

Perth is the largest city in Western Australia and home to three-quarters of the state's residents. In recent decades, there have been a lot of earthquake activities just east of Perth in an area known as the South-West Seismic Zone. Previous numerical results of site response analyses based on limited available geology information for PMA indicated that Perth Basin might amplify the bedrock motion by more than 10 times at some frequencies and at some sites. Hence, more detailed studies on site characterization and amplification are necessary. The microtremor method using spatial autocorrelation (SPAC) processing is a useful tool for gaining thickness and shear wave velocity (SWV) of sediments and has been adopted in many previous studies. In this study, the response spectrum of rock site corresponding to the 475-year return period for PMA is defined according to the probabilistic seismic hazard analysis (PSHA) based on the latest ground motion attenuation model of Southwest Western Australia. Site characterization in PMA is performed using two microtremor measurements, namely SPAC technique and H/V method. The clonal selection algorithm (CSA) is introduced to perform direct inversion of SPAC curves to determine the soil profiles of representative PMA sites investigated in this study. Using the simulated bedrock motion as input, the responses of the soil sites are estimated using numerical method based on the shear-wave velocity vs. depth profiles determined from the SPAC technique. The response spectrum of the earthquake ground motion on surface of each site is derived from the numerical results of the site response analysis, and compared with the respective design spectrum defined in the Australian Earthquake Loading Code. The comparison shows that the code spectra are conservative in the short period range, but may slightly underestimate the response spectrum at some long period range.

A full body musculoskeletal model based on flexible multibody simulation approach utilised in bone strain analysis during human locomotion

Load-induced strains applied to bone can stimulate its development and adaptation. In order to quantify the incident strains within the skeleton, in vivo implementation of strain gauges on the surfaces of bone is typically used. However, in vivo strain measurements require invasive methodology that is challenging and limited to certain regions of superficial bones only such as the anterior surface of the tibia. Based on our previous study [Al Nazer et al. (2008) J Biomech. 41:1036–1043], an alternative numerical approach to analyse in vivo strains based on the flexible multibody simulation approach was proposed. The purpose of this study was to extend the idea of using the flexible multibody approach in the analysis of bone strains during physical activity through integrating the magnetic resonance imaging (MRI) technique within the framework. In order to investigate the reliability and validity of the proposed approach, a three-dimensional full body musculoskeletal model with a flexible tibia was used as a demonstration example. The model was used in a forward dynamics simulation in order to predict the tibial strains during walking on a level exercise. The flexible tibial model was developed using the actual geometry of human tibia, which was obtained from three-dimensional reconstruction of MRI. Motion capture data obtained from walking at constant velocity were used to drive the model during the inverse dynamics simulation in order to teach the muscles to reproduce the motion in the forward dynamics simulation. Based on the agreement between the literature-based in vivo strain measurements and the simulated strain results, it can be concluded that the flexible multibody approach enables reasonable predictions of bone strain in response to dynamic loading. The information obtained from the present approach can be useful in clinical applications including devising exercises to prevent bone fragility or to accelerate fracture healing.

Recognition and response to human movement contained in motion capture data using the Self Organising Map

Neural Networks have been used successfully for recognition of human gestures in many applications including analysis of motion capture data. This paper investigates the potential for using the same methods for both recognition and synthesising responses in relation to movement contained in motion capture sequences.

A probabilistic framework for extracting narrative act boundaries and semantics in motion pictures

This work constitutes the first attempt to extract the important narrative structure, the 3-Act storytelling paradigm in film. Widely prevalent in the domain of film, it forms the foundation and framework in which a film can be made to function as an effective tool for story telling, and its extraction is a vital step in automatic content management for film data. The identification of act boundaries allows for structuralizing film at a level far higher than existing segmentation frameworks, which include shot detection and scene identification, and provides a basis for inferences about the semantic content of dramatic events in film. A novel act boundary likelihood function for Act 1 and 2 is derived using a Bayesian formulation under guidance from film grammar, tested under many configurations and the results are reported for experiments involving 25 full-length movies. The result proves to be a useful tool in both the automatic and semi-interactive setting for semantic analysis of film, with potential application to analogues occuring in many other domains, including news, training video, sitcoms.

Scene extraction in motion pictures

This paper addresses the challenge of bridging the semantic gap between the rich meaning users desire when they query to locate and browse media and the shallowness of media descriptions that can be computed in today's content management systems. To facilitate high-level semantics-based content annotation and interpretation, we tackle the problem of automatic decomposition of motion pictures into meaningful story units, namely scenes. Since a scene is a complicated and subjective concept, we first propose guidelines from fill production to determine when a scene change occurs. We then investigate different rules and conventions followed as part of Fill Grammar that would guide and shape an algorithmic solution for determining a scene. Two different techniques using intershot analysis are proposed as solutions in this paper. In addition, we present different refinement mechanisms, such as film-punctuation detection founded on Film Grammar, to further improve the results. These refinement techniques demonstrate significant improvements in overall performance. Furthermore, we analyze errors in the context of film-production techniques, which offer useful insights into the limitations of our method.

Toward automatic extraction of expressive elements from motion pictures : tempo

This paper addresses the challenge of bridging the semantic gap that exists between the simplicity of features that can be currently computed in automated content indexing systems and the richness of semantics in user queries posed for media search and retrieval. It proposes a unique computational approach to extraction of expressive elements of motion pictures for deriving high-level semantics of stories portrayed, thus enabling rich video annotation and interpretation. This approach, motivated and directed by the existing cinematic conventions known as film grammar, as a first step toward demonstrating its effectiveness, uses the attributes of motion and shot length to define and compute a novel measure of tempo of a movie. Tempo flow plots are defined and derived for a number of full-length movies and edge analysis is performed leading to the extraction of dramatic story sections and events signaled by their unique tempo. The results confirm tempo as a useful high-level semantic construct in its own right and a promising component of others such as rhythm, tone or mood of a film. In addition to the development of this computable tempo measure, a study is conducted as to the usefulness of biasing it toward either of its constituents, namely, motion or shot length. Finally, a refinement is made to the shot length normalizing mechanism, driven by the peculiar characteristics of shot length distribution exhibited by movies. Results of these additional studies, and possible applications and limitations are discussed.

Towards automatic extraction of expressive elements from motion pictures : tempo

This paper proposes a unique computational approach to extraction of expressive elements of motion pictures for deriving high level semantics of stories portrayed, thus enabling better video annotation and interpretation systems. This approach, motivated and directed by the existing cinematic conventions known as film grammar, as a first step towards demonstrating its effectiveness, uses the attributes of motion and shot length to define and compute a novel measure of tempo of a movie. Tempo flow plots are defined and derived for four full-length movies and edge analysis is performed leading to the extraction of dramatic story sections and events signaled by their unique tempo. The results confirm tempo as a useful attribute in its own right and a promising component of semantic constructs such as tone or mood of a film.

Horror film genre typing and scene labeling via audio analysis

We examine localised sound energy patterns, or events, that we associate with high level affect experienced with films. The study of sound energy events in conjunction with their intended affect enable the analysis of film at a higher conceptual level, such as genre. The various affect/emotional responses we investigate in this paper are brought about by well established patterns of sound energy dynamics employed in audio tracks of horror films. This allows the examination of the thematic content of the films in relation to horror elements. We analyse the frequency of sound energy and affect events at a film level as well as at a scene level, and propose measures indicative of the film genre and scene content. Using 4 horror, and 2 non-horror movies as experimental data we establish a correlation between the sound energy event types and horrific thematic content within film, thus enabling an automated mechanism for genre typing and scene content labeling in film.

Identifying film takes for cinematic analysis

In this paper, we focus on the ‘reverse editing’ problem in movie analysis, i.e., the extraction of film takes, original camera shots that a film editor extracts and arranges to produce a finished scene. The ability to disassemble final scenes and shots into takes is essential for nonlinear browsing, content annotation and the extraction of higher order cinematic constructs from film. In this work, we investigate agglomerative hierachical clustering methods along with different similarity metrics and group distances for this task, and demonstrate our findings with 10 movies.

Determining motion components using the point distribution model

The Point Distribution Model (PDM) has proven effective in modelling variations in shape in sets of images, including those in which motion is involved such as body and hand tracking. This paper proposes an extension to the PDM through a re-parameterisation of the model which uses factors such as the angular velocity and distance travelled for sets of points on a moving shape. This then enables non-linear quantities such as acceleration and the average velocity of the body to be expressed in a linear model by the PDM. Results are shown for objects with known acceleration and deceleration components, these being a simulated pendulum modelled using simple harmonic motion and video sequences of a real pendulum in motion.

Reliability maps and probabilistic guarantee of task motion for robotic manipulators

There are many applications for which reliable and safe robots are desired. For example, assistant robots for disabled or elderly people and surgical robots are required to be safe and reliable to prevent human injury and task failure. However, different levels of safety and reliability are required for different tasks so that understanding the reliability of robots is paramount. Currently, it is possible to guarantee the completion of a task when the robot is fault tolerant and the task remains in the fault-tolerant workspace (FTW). The traditional definition of FTW does not consider different reliabilities for the robotic manipulator's different joints. The aim of this paper is to extend the concept of a FTW to address the reliability of different joints. Such an extension can offer a wider FTW while maintaining the required level of reliability. This is achieved by associating a probability with every part of the workspace to extend the FTW. As a result, reliable fault-tolerant workspaces (RFTWs) are introduced by using the novel concept of conditional reliability maps. Such a RFTW can be used to improve the performance of assistant robots while providing the confidence that the robot remains reliable for completion of its assigned tasks. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan.

A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

The peg-in-hole insertion and adjustment operation is one of the most common tasks in the robotic and automatic assembly processes. Fine motion strategies associated with adjustment operations on a peg-in-hole are fundamental manipulations that can be utilised in dynamic assembly and reconfigurable workholding or fixturing systems. This paper presents a comprehensive study of robotic-based height adjustment of a cylindrical pair based on maintaining minimum contact forces between the links. The outer link is held by the end-effector of a six-DOF (Degrees of freedom) serial articulated robot manipulator. The environment represented by the inner link can be either static or dynamic. A force-based approach and a d value approach are established to determine the type of contact that exists between the links of a cylindrical pair, and to extract control parameters. Based on the comparison and analysis of these two approaches, a hybrid methodology is established by combining a d value approach with a force-based approach for contact state determination. Formulations capable of extracting necessary control parameters, which ensure minimum contact forces between the links, are established from both planar and spatial viewpoints under both static and dynamic environmental conditions. Experimental results demonstrate the effectiveness of the proposed methodology.

Detection of dynamic background due to swaying movements from motion features

Dynamically changing background (dynamic background) still presents a great challenge to many motion-based video surveillance systems. In the context of event detection, it is a major source of false alarms. There is a strong need from the security industry either to detect and suppress these false alarms, or dampen the effects of background changes, so as to increase the sensitivity to meaningful events of interest. In this paper, we restrict our focus to one of the most common causes of dynamic background changes: 1) that of swaying tree branches and 2) their shadows under windy conditions. Considering the ultimate goal in a video analytics pipeline, we formulate a new dynamic background detection problem as a signal processing alternative to the previously described but unreliable computer vision-based approaches. Within this new framework, we directly reduce the number of false alarms by testing if the detected events are due to characteristic background motions. In addition, we introduce a new data set suitable for the evaluation of dynamic background detection. It consists of real-world events detected by a commercial surveillance system from two static surveillance cameras. The research question we address is whether dynamic background can be detected reliably and efficiently using simple motion features and in the presence of similar but meaningful events, such as loitering. Inspired by the tree aerodynamics theory, we propose a novel method named local variation persistence (LVP), that captures the key characteristics of swaying motions. The method is posed as a convex optimization problem, whose variable is the local variation. We derive a computationally efficient algorithm for solving the optimization problem, the solution of which is then used to form a powerful detection statistic. On our newly collected data set, we demonstrate that the proposed LVP achieves excellent detection results and outperforms the best alternative adapted from existing art in the dynamic background literature.