Image Ratio Features for Facial Expression Recognition Application

Video-based facial expression recognition is a challenging problem in computer vision and human-computer interaction. To target this problem, texture features have been extracted and widely used, because they can capture image intensity changes raised by skin deformation. However, existing texture features encounter problems with albedo and lighting variations. To solve both problems, we propose a new texture feature called image ratio features. Compared with previously proposed texture features, e. g., high gradient component features, image ratio features are more robust to albedo and lighting variations. In addition, to further improve facial expression recognition accuracy based on image ratio features, we combine image ratio features with facial animation parameters (FAPs), which describe the geometric motions of facial feature points. The performance evaluation is based on the Carnegie Mellon University Cohn-Kanade database, our own database, and the Japanese Female Facial Expression database. Experimental results show that the proposed image ratio feature is more robust to albedo and lighting variations, and the combination of image ratio features and FAPs outperforms each feature alone. In addition, we study asymmetric facial expressions based on our own facial expression database and demonstrate the superior performance of our combined expression recognition system.

Kinetics and Statistical Distributions of Single-Molecule Conformational Dynamics

We developed a coarse-grained yet microscopic detailed model to study the statistical fluctuations of single-molecule protein conformational dynamics of adenylate kinase. We explored the underlying conformational energy landscape and found that the system has two basins of attractions, open and closed conformations connected by two separate pathways. The kinetics is found to be nonexponential, consistent with single-molecule conformational dynamics experiments. Furthermore, we found that the statistical distribution of the kinetic times for the conformational transition has a long power law tail, reflecting the exponential density of state of the underlying landscape. We also studied the joint distribution of the two pathways and found memory effects.

Electrochemical and in situ spectroelectrochemical behavior of 2,3,7,8,12,13,17,18-octakis(hexyl-thio) tetraazaporphyrin (H(2)OHTTAP) and (Zn(II)OHTTAP)

The characterization of free base porphyrin 2,3,7,8,12,13,17,18-octakis(hexyl-thio) tetraazaporphyrin (H(2)OHTTAP) and its zinc(II) complexes [Zn(II)OHTTAP] containing eight thioether groups at the beta -pyrrole positions of the macrocycle was reported. Results obtained by cyclic voltammetry and differential pulse voltammetry indicated a five-electron reduction in five steps for each complex. They were oxidized in two single-electron-transfer steps to yield pi -cation radicals and dications and reduced in three single-electron-transfer steps to yield pi -anion radicals, dianions and trianions, respectively. The redox property of H(2)OHTTAP was unusual as compared to porphyrins (PPs) and phthalocyanines (Pcs). Each process was monitored by in situ thin-layer spectroelectrochemistry, which indicated that only the Ligand was electroactive. The existence of the eight hexylthio groups was responsible for the intrastack interactions and enhanced intracolumnar and intercolumnar electron motions, resulting in improved conductivity. Copyright (C) 2001 John Wiley & Sons, Ltd.

Electrochemical growth and characterization of polyoxometalate-containing monolayers and multilayers on alkanethiol monolayers self-assembled on gold electrodes

A general strategy has been developed for fabrication of ultrathin monolayer and multilayer composite films composed of nearly all kinds of polyoxometalates (POMs), including isopolyanions (IPAs), and heteropolyanions (HPAs). It involves stepwise adsorption between the anionic POMs and a cationic polymer on alkanethiol (cysteamine and 3-mercaptopropionic acid) self-assembled monolayers (SAMs) based on electrostatic interaction. Here a Keggin-type HPA SiMo11VO405- was chosen as a main representative to elucidate, in detail, the fabrication and characterization of the as-prepared composite films. A novel electrochemical growth method we developed for film formation involves cyclic potential sweeps over a suitable potential range in modifier solutions. It was comparatively studied with a commonly used method of immersion growth, i.e., alternately dipping a substrate into modifier solutions. Growth processes and structural characteristics of the composite films are characterized in detail by cyclic voltammetry, UV-vis spectroscopy (UV-vis), X-ray photoelectron spectroscopy (XPS), micro-Fourier transform infrared reflection-absorption spectroscopy (FTIR-RA), and electrochemical quartz crystal microbalance (EQCM). The electrochemical growth is proven to be more advantageous than the immersion growth. The composite films exhibit well-defined surface waves characteristic of the HPAs' redox reactions. In addition, the composite films by the electrochemical growth show a uniform structure and an excellent stability. Ion motions accompanying the redox processes of SiMo11VO405- in multilayer films are examined by in situ time-resolved EQCM and some results are first reported. The strategy used here has been successfully popularized to IPAs as well as other HPAs no matter what structure and composition they have.

Phase identification of triphenylene-based discotic monomer and its main chain polymers

A monomer, 2,3,6,7,10,11-hexakispentyloxy triphenylene (HPT) possesses a triphenylene core as a discotic mesogen. Polymers containing this discotic mesogen have been studied using wide-angle X-ray and electron diffraction. HPT is known to show a discotic liquid crystal phase, noted as D-ho (h for hexagonal bidimensional lattice, o for ordered molecular spacing in each column). In this paper, however, HPT Liquid crystalline phases, heated up from the crystalline state and cooled down from the isotropic state, were characterized in the diameter dimensions. In addition. the diameters of the columns are close to a parameter of two separate crystals. A core orientation was, therefore, proposed in the mesophase obtained by heating the crystalline. In order to distinguish these differences, the D-ho phase was divided to include the D-hcd and D-hco phases. Molecular modeling was performed to help our understanding of the orientation. The D-hcd and D-hco phases were used to characterize the phases of the discotic polymeric analogs by comparing their column diameters to those of the monomers. (C) 1998 Published by Elsevier Science Ltd. All rights reserved.

Structure and order of the discotic compound 2,3,6,7,10,11-hexakispentyloxytriphenylene as revealed by diffraction and molecular simulation studies

The aggregate structure of the discotic compound 2,3,6,7,10,11-hexakispentyloxytriphenylene (HPT) was studied both for the crystalline state and the liquid crystalline state by using electron crystallography and a molecular simulation approach. In the crystalline state, HPT was found to adopt an orthorhombic P-2212 space group with cell parameters a = 36.73 Angstrom, b = 27.99 Angstrom and c = 4.91 Angstrom. Molecular packing calculations were conducted to elucidate the molecular conformation and mutual orientational characteristics in the different states. Phase transitions and relationships are discussed from a structural point of view.

AN INFRARED SPECTROSCOPIC STUDY OF THE STRUCTURAL PHASE-TRANSITION IN THE PEROVSKITE-TYPE LAYER COMPOUND [N-C16H33NH3]2COCL4

The solid-solid phase transitions in the perovskite-type layer compound [n- C16H33NH3]2CoCl4 have been studied by infrared spectroscopy. A new phase transition at 340 K was found by comparison with differential scanning calorimetry results. A temperature dependence study of the infrared spectra provides evidence of the occurrence of structural phase transitions related to the dynamics of the alkylammonium ions and hydrogen bonds. The main transition at 374 K corresponds to the conformational order-disorder change in the chain, which probably couples with reorientational motions of the NH3 polar heads. GTG or GTG' defects appear in the high temperature disordered phase.

基于初等运动的多机器人避碰及死锁预防

该文以一实际应用为背景提出了多移动机器人避碰及死锁预防算法 ,该算法将机器人的运行环境形式化地描述为初等运动集、冲突图、总任务集及机器人作业集 ,利用集合论、图论的有关方法及技术实现了多机器人间的避碰与死锁预防 .当机器人的运行环境改变时 ,只需要对相应的集合描述文件进行修改 ,而不用对程序做任何改动 .算法的另一个特点是利用避碰算法巧妙地完成了死锁预防 .仿真和实际运行证明了该算法高效可靠 .

SARV光纤收放装置的控制系统设计与实现

根据小型自治遥控水下机器人SARV的运动特性,研制了光纤微缆收放的控制系统。设计使用了嵌入式QNX软件开发技术,系统稳定可靠。采用系统辨识的方法,获得被控对象的等效数学模型。采用单神经元自适应PID控制器对控制参数进行在线自调节,实现了SARV在水中运动时光纤收放的恒张力控制,满足光纤收放装置的设计要求。

遥控作业移动机器人环境建模方法研究

本文介绍了用于遥控机器人作业虚拟环境生成的建模方法．重点研究了基于人机交互的双目立体视觉和多视点建模方法，以克服视觉自动建模方法计算复杂、鲁棒性差的缺点．给出了环境建模的实验系统和实验结果。

海洋机器人的闭环控制与流体动力学模型

本文给出一开启式海洋机器人的水平面运动与垂直面运动的流体动力学模型,闭环控制,解耦设计和仿真结果。本文对海洋机器人控制系统设计,有一定参考价值。

中强地震震源的破裂过程

With the large developments of the seismic sources theory, computing technologies and survey instruments, we can model and rebuild the rupture process of earthquakes more realistically. On which earthquake sources' properties and tectonic activities law are realized more clearly. The researches in this domain have been done in this paper as follows. Based on the generalized ray method, expressions for displacement on the surface of a half-space due to an arbitrary oriented shear and tensile dislocation are also obtained. Kinematically, fault-normal motion is equivalent to tensile faulting. There is some evidence that such motion occurs in many earthquakes. The expressions for static displacements on the surface of a layered half-space due to static point moment tensor source are given in terms of the generalized reflection and transmission coefficient matrix method. The validity and precision of the new method is illustrated by comparing the consistency of our results with the analytical solution given by Okada's code employing same point source and homogenous half-space model. The computed vertical ground displacement using the moment tensor solution of the Lanchang_Gengma earthquake displays considerable difference with that of a double couple component .The effect of a soft layer at the top of the homogenous half-space on a shallow normal-faulting earthquake is also analyzed. Our results show that more seismic information would be obtained utilizing seismic moment tensor source and layered half-space model. The rupture process of 1999 Chi-Chi, Taiwan, earthquake investigated by using co-seismic surface displacement GPS observations and far field P-wave records. In according to the tectonic analysis and distributions of aftershock, we introduce a three-segment bending fault planes into our model. Both elastic half-space models and layered-earth models to invert the distribution of co-seismic slip along the Chi-Chi earthquake rupture. The results indicate that the shear slip model can not fit horizontal and vertical co-seismic displacements together, unless we add the fault-normal motion (tensile component) in inversions. And then, the Chi Chi earthquake rupture process was obtained by inversion using the seismograms and GPS observations. Fault normal motions determined by inversion, concentrate on the shallow northern bending fault from Fengyuan to Shuangji where the surface earthquake ruptures reveal more complexity and the developed flexural slip folding structures than the other portions of the rupture zone For understanding the perturbation of surface displacements caused by near-surface complex structures, We have taken a numeric test to synthesize and inverse the surface displacements for a pop-up structure that is composed of a main thrust and a back thrust. Our result indicates that the pop-up structure, the typical shallow complex rupture that occurred in the northern bending fault zone form Fengyuan to Shuangji, can be modeled better by a thrust fault added negative tensile component than by a simple thrust fault. We interpret the negative tensile distributions, that concentrate on the shallow northern bending fault from Fengyuan to Shuangji, as a the synthetic effect including the complexities of property and geometry of rupture. The earthquake rupture process also reveal the more spatial and temporal complexities form Fenyuan to SHuangji. According to the three-components teleseismic records, the S-wave velocity structure beneath the 59 teleseismic stations of Taiwan obtained by using the transform function method and the SA techniques. The integrated results, the 3D crustal structure of Taiwan reveal that the thickest part of crustal local in the western Central Range. This conclusion is consistent with the result form the Bouguer gravity anomaly. The orogenic evolution of Taiwan is young period, and the developing foot of Central Range dose not in static balancing. The crustal of Taiwan stays in the course of dynamic equilibrium. The rupture process of 2003)2,24,Jiashi, Xinjiang earthquake was estimated by the finite fault model using far field broadband P wave records of CDSN and IRIS. The results indicate that the earthquake focal is north dip trust fault including some left-lateral strike slip. The focal mechanism of this earthquake is different form that of earthquakes occurred in 1997 and 1998, but similar to that of 1996, Artux, Xinjiang earthquake. We interpreted that the earthquake caused trust fault due to the Tarim basin pushing northward and orogeny of Tianshan mountain. In the end, give a brief of future research subject: Building the Real Time Distribute System for rupture process of Large Earthquakes Based on Internet.

Analysis of Differential and Matching Methods for Optical Flow

Several algorithms for optical flow are studied theoretically and experimentally. Differential and matching methods are examined; these two methods have differing domains of application- differential methods are best when displacements in the image are small (<2 pixels) while matching methods work well for moderate displacements but do not handle sub-pixel motions. Both types of optical flow algorithm can use either local or global constraints, such as spatial smoothness. Local matching and differential techniques and global differential techniques will be examined. Most algorithms for optical flow utilize weak assumptions on the local variation of the flow and on the variation of image brightness. Strengthening these assumptions improves the flow computation. The computational consequence of this is a need for larger spatial and temporal support. Global differential approaches can be extended to local (patchwise) differential methods and local differential methods using higher derivatives. Using larger support is valid when constraint on the local shape of the flow are satisfied. We show that a simple constraint on the local shape of the optical flow, that there is slow spatial variation in the image plane, is often satisfied. We show how local differential methods imply the constraints for related methods using higher derivatives. Experiments show the behavior of these optical flow methods on velocity fields which so not obey the assumptions. Implementation of these methods highlights the importance of numerical differentiation. Numerical approximation of derivatives require care, in two respects: first, it is important that the temporal and spatial derivatives be matched, because of the significant scale differences in space and time, and, second, the derivative estimates improve with larger support.

Object Recognition By Alignment Using Invariant Projections of Planar Surfaces

In order to recognize an object in an image, we must determine the best transformation from object model to the image. In this paper, we show that for features from coplanar surfaces which undergo linear transformations in space, there exist projections invariant to the surface motions up to rotations in the image field. To use this property, we propose a new alignment approach to object recognition based on centroid alignment of corresponding feature groups. This method uses only a single pair of 2D model and data. Experimental results show the robustness of the proposed method against perturbations of feature positions.

Control of Vibration in Mechanical Systems Using Shaped Reference Inputs

Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the natural frequencies in order to reduce residual vibration for fast moves. Such profiles are developed using a ramped sinusoid function and its harmonics, choosing coefficients to reduce spectral energy at the natural frequencies of the system. To improve robustness with respect to parameter uncertainty, spectral energy is reduced for a range of frequencies surrounding the nominal natural frequency. An additional set of versine profiles are also constructed to permit motion at constant speed for velocity-limited systems. These shaped force profiles are incorporated into a simple closed-loop system with position and velocity feedback. The force input is doubly integrated to generate a shaped position reference for the controller to follow. This control scheme is evaluated on the MIT Cartesian Robot. The shaped inputs generate motions with minimum residual vibration when actuator saturation is avoided. Feedback control compensates for the effect of friction Using only a knowledge of the natural frequencies of the system to shape the force inputs, vibration can also be attenuated in modes which vibrate in directions other than the motion direction. When moving several axes, the use of shaped inputs allows minimum residual vibration even when the natural frequencies are dynamically changing by a limited amount.