Generating Compliant Motion of Objects with an Articulated Hand

The flexibility of the robot is the key to its success as a viable aid to production. Flexibility of a robot can be explained in two directions. The first is to increase the physical generality of the robot such that it can be easily reconfigured to handle a wide variety of tasks. The second direction is to increase the ability of the robot to interact with its environment such that tasks can still be successfully completed in the presence of uncertainties. The use of articulated hands are capable of adapting to a wide variety of grasp shapes, hence reducing the need for special tooling. The availability of low mass, high bandwidth points close to the manipulated object also offers significant improvements I the control of fine motions. This thesis provides a framework for using articulated hands to perform local manipulation of objects. N particular, it addresses the issues in effecting compliant motions of objects in Cartesian space. The Stanford/JPL hand is used as an example to illustrate a number of concepts. The examples provide a unified methodology for controlling articulated hands grasping with point contacts. We also present a high-level hand programming system based on the methodologies developed in this thesis. Compliant motion of grasped objects and dexterous manipulations can be easily described in the LISP-based hand programming language.

Online Robust 3D Mapping Using Structure from Motion Cues

This paper presents a complete solution for creating accurate 3D textured models from monocular video sequences. The methods are developed within the framework of sequential structure from motion, where a 3D model of the environment is maintained and updated as new visual information becomes available. The camera position is recovered by directly associating the 3D scene model with local image observations. Compared to standard structure from motion techniques, this approach decreases the error accumulation while increasing the robustness to scene occlusions and feature association failures. The obtained 3D information is used to generate high quality, composite visual maps of the scene (mosaics). The visual maps are used to create texture-mapped, realistic views of the scene

Using problem-based learning for introducing producer theory and market structure in intermediate microeconomics

This paper shows how instructors can use the problem‐based learning method to introduce producer theory and market structure in intermediate microeconomics courses. The paper proposes a framework where different decision problems are presented to students, who are asked to imagine that they are the managers of a firm who need to solve a problem in a particular business setting. In this setting, the instructors’ role is to provide both guidance to facilitate student learning and content knowledge on a just‐in‐time basis

Two-Pass Hexagonal algorithm with improved Hashtable structure for motion estimation

This paper presents an improved Two-Pass Hexagonal (TPA) algorithm constituted by Linear Hashtable Motion Estimation Algorithm (LHMEA) and Hexagonal Search (HEXBS) for motion estimation. In the TPA, Motion Vectors (MV) are generated from the first-pass LHMEA and are used as predictors for second-pass HEXBS motion estimation, which only searches a small number of Macroblocks (MBs). The hashtable structure of LHMEA is improved compared to the original TPA and LHMEA. The evaluation of the algorithm considers the three important metrics being processing time, compression rate and PSNR. The performance of the algorithm is evaluated by using standard video sequences and the results are compared to current algorithms.

The role of statistical learning in the acquisition of motion event construal in a second language

Learning to talk about motion in a second language is very difficult because it involves restructuring deeply entrenched patterns from the first language (Slobin 1996). In this paper we argue that statistical learning (Saffran et al. 1997) can explain why L2 learners are only partially successful in restructuring their second language grammars. We explore to what extent L2 learners make use of two mechanisms of statistical learning, entrenchment and pre-emption (Boyd and Goldberg 2011) to acquire target-like expressions of motion and retreat from overgeneralisation in this domain. Paying attention to the frequency of existing patterns in the input can help learners to adjust the frequency with which they use path and manner verbs in French but is insufficient to acquire the boundary crossing constraint (Slobin and Hoiting 1994) and learn what not to say. We also look at the role of language proficiency and exposure to French in explaining the findings.

Understanding and developing structure - its importance for mathematics learning

This issue comes at a time when mathematics education research is becoming more intently focused on the development of "structure" as salient to generalised mathematics learning. Not surprisingly the attention on structure creates particular synergies with the increasingly rich field of research on algebraic thinking and arithmetic processes, particularly in the early years. In many ways, this special issue is concerned with describing the process of "structuring" that enables abstraction and generalisation. A recent MERJ special issue, Abstraction in Mathematics Education (Mitchelmore & White, 2007), illustrated theories of abstraction aligning these to notions of underlying structure. The importance of structure in the transition from school to university was also highlighted by Godfrey and Thomas (2008), and Novotna and Hoch (2008) in the previous special issue of MERJ (Thomas, 2008). In this special issue we present six papers that provide evidence of developing structure as critical for all learners of mathematics throughout schooling.

Tracking-as-recognition for articulated full-body human motion analysis

This paper addresses the problem of markerless tracking of a human in full 3D with a high-dimensional (29D) body model Most work in this area has been focused on achieving accurate tracking in order to replace marker-based motion capture, but do so at the cost of relying on relatively clean observing conditions. This paper takes a different perspective, proposing a body-tracking model that is explicitly designed to handle real-world conditions such as occlusions by scene objects, failure recovery, long-term tracking, auto-initialisation, generalisation to different people and integration with action recognition. To achieve these goals, an action's motions are modelled with a variant of the hierarchical hidden Markov model The model is quantitatively evaluated with several tests, including comparison to the annealed particle filter, tracking different people and tracking with a reduced resolution and frame rate.

Automatically learning structural units in educational videos with the hierarchical hidden Markov models

In this paper we present a coherent approach using the hierarchical HMM with shared structures to extract the structural units that form the building blocks of an education/training video. Rather than using hand-crafted approaches to define the structural units, we use the data from nine training videos to learn the parameters of the HHMM, and thus naturally extract the hierarchy. We then study this hierarchy and examine the nature of the structure at different levels of abstraction. Since the observable is continuous, we also show how to extend the parameter learning in the HHMM to deal with continuous observations.

Narrative structure analysis with education and training videos for e-learning

This paper deals with the problem ofstructuralizing education and training videos for high-level semantics extraction and nonlinear media presentation in e-learning applications. Drawing guidance from production knowledge in instructional media, we propose six main narrative structures employed in education and training videos for both motivation and demonstration during learning and practical training. We devise a powerful audiovisual feature set, accompanied by a hierarchical decision tree-based classification system to determine and discriminate between these structures. Based on a two-liered hierarchical model, we demonstrate that we can achieve an accuracy of 84.7% on a comprehensive set of education and training video data.

Indexing narrative structure and semantics in motion pictures with a probabilistic framework

This work constitutes the first attempt to extract an important narrative structure, the 3-Act story telling paradigm, in film. This narrative structure is prevalent in the domain of film as it forms the foundation and framework in which the 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. A novel act boundary likelihood function for Act 1 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 formulation is shown to be a useful tool in both the automatic and semi-interactive setting for semantic analysis of film.

Classifying and learning cricket shots using camera motion

This paper presents a method to classify and learn cricket shots. The procedure begins by extracting the camera motion parameters from the shots. Then the camera parameter values are converted to symbolic form and combined to generate a symbolic description that defines the trajectory of the cricket bell. The description generated is used to classify the cricket shot and to dynamically expand or update the system's knowledge of shots. The first novel aspect of this approach is that by using the camera motion parameters, a complex and difficult process of low level image segmenting of either the batsman or the cricket ball from video images is avoided. Also the method does not require high resolution images. Another novel aspect of this work is the use of a new incremental learning algorithm that enables the system to improve and update its knowledge base. Unlike previously developed algorithms which store training instances and have simple method to prime their concept hierarchies, the incremental learning algorithm used in this work generates compact concept hierarchies and uses evidence based forgetting. The results show that the system performs well in the task of classifying four types of cricket shots.