Simultaneous Feature and Body-Part Learning for Real-Time Robot Awareness of Human Behaviors

Robot awareness of human actions is an essential research problem in robotics with many important real-world applications, including human-robot collaboration and teaming. Over the past few years, depth sensors have become a standard device widely used by intelligent robots for 3D perception, which can also offer human skeletal data in 3D space. Several methods based on skeletal data were designed to enable robot awareness of human actions with satisfactory accuracy. However, previous methods treated all body parts and features equally important, without the capability to identify discriminative body parts and features. In this paper, we propose a novel simultaneous Feature And Body-part Learning (FABL) approach that simultaneously identifies discriminative body parts and features, and efficiently integrates all available information together to enable real-time robot awareness of human behaviors. We formulate FABL as a regression-like optimization problem with structured sparsity-inducing norms to model interrelationships of body parts and features. We also develop an optimization algorithm to solve the formulated problem, which possesses a theoretical guarantee to find the optimal solution. To evaluate FABL, three experiments were performed using public benchmark datasets, including the MSR Action3D and CAD-60 datasets, as well as a Baxter robot in practical assistive living applications. Experimental results show that our FABL approach obtains a high recognition accuracy with a processing speed of the order-of-magnitude of 10e4 Hz, which makes FABL a promising method to enable real-time robot awareness of human behaviors in practical robotics applications.Comment: 8 pages, 6 figures, accepted by ICRA'1

Genetic learning particle swarm optimization

Social learning in particle swarm optimization (PSO) helps collective efficiency, whereas individual reproduction in genetic algorithm (GA) facilitates global effectiveness. This observation recently leads to hybridizing PSO with GA for performance enhancement. However, existing work uses a mechanistic parallel superposition and research has shown that construction of superior exemplars in PSO is more effective. Hence, this paper first develops a new framework so as to organically hybridize PSO with another optimization technique for “learning.” This leads to a generalized “learning PSO” paradigm, the *L-PSO. The paradigm is composed of two cascading layers, the first for exemplar generation and the second for particle updates as per a normal PSO algorithm. Using genetic evolution to breed promising exemplars for PSO, a specific novel *L-PSO algorithm is proposed in the paper, termed genetic learning PSO (GL-PSO). In particular, genetic operators are used to generate exemplars from which particles learn and, in turn, historical search information of particles provides guidance to the evolution of the exemplars. By performing crossover, mutation, and selection on the historical information of particles, the constructed exemplars are not only well diversified, but also high qualified. Under such guidance, the global search ability and search efficiency of PSO are both enhanced. The proposed GL-PSO is tested on 42 benchmark functions widely adopted in the literature. Experimental results verify the effectiveness, efficiency, robustness, and scalability of the GL-PSO

Image Registration Techniques: A Survey

Image Registration is the process of aligning two or more images of the same scene with reference to a particular image. The images are captured from various sensors at different times and at multiple view-points. Thus to get a better picture of any change of a scene or object over a considerable period of time image registration is important. Image registration finds application in medical sciences, remote sensing and in computer vision. This paper presents a detailed review of several approaches which are classified accordingly along with their contributions and drawbacks. The main steps of an image registration procedure are also discussed. Different performance measures are presented that determine the registration quality and accuracy. The scope for the future research are presented as well

Elephant Search with Deep Learning for Microarray Data Analysis

Even though there is a plethora of research in Microarray gene expression data analysis, still, it poses challenges for researchers to effectively and efficiently analyze the large yet complex expression of genes. The feature (gene) selection method is of paramount importance for understanding the differences in biological and non-biological variation between samples. In order to address this problem, a novel elephant search (ES) based optimization is proposed to select best gene expressions from the large volume of microarray data. Further, a promising machine learning method is envisioned to leverage such high dimensional and complex microarray dataset for extracting hidden patterns inside to make a meaningful prediction and most accurate classification. In particular, stochastic gradient descent based Deep learning (DL) with softmax activation function is then used on the reduced features (genes) for better classification of different samples according to their gene expression levels. The experiments are carried out on nine most popular Cancer microarray gene selection datasets, obtained from UCI machine learning repository. The empirical results obtained by the proposed elephant search based deep learning (ESDL) approach are compared with most recent published article for its suitability in future Bioinformatics research.Comment: 12 pages, 5 Tabl

Artificial Immune Systems - Models, algorithms and applications

Copyright © 2010 Academic Research Publishing Agency.This article has been made available through the Brunel Open Access Publishing Fund.Artificial Immune Systems (AIS) are computational paradigms that belong to the computational intelligence family and are inspired by the biological immune system. During the past decade, they have attracted a lot of interest from researchers aiming to develop immune-based models and techniques to solve complex computational or engineering problems. This work presents a survey of existing AIS models and algorithms with a focus on the last five years.This article is available through the Brunel Open Access Publishing Fun