453 research outputs found

    Image preprocessing for artistic robotic painting

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    Artistic robotic painting implies creating a picture on canvas according to a brushstroke map preliminarily computed from a source image. To make the painting look closer to the human artwork, the source image should be preprocessed to render the effects usually created by artists. In this paper, we consider three preprocessing effects: aerial perspective, gamut compression and brushstroke coherence. We propose an algorithm for aerial perspective amplification based on principles of light scattering using a depth map, an algorithm for gamut compression using nonlinear hue transformation and an algorithm for image gradient filtering for obtaining a well-coherent brushstroke map with a reduced number of brushstrokes, required for practical robotic painting. The described algorithms allow interactive image correction and make the final rendering look closer to a manually painted artwork. To illustrate our proposals, we render several test images on a computer and paint a monochromatic image on canvas with a painting robot

    Video Manipulation Techniques for the Protection of Privacy in Remote Presence Systems

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    Systems that give control of a mobile robot to a remote user raise privacy concerns about what the remote user can see and do through the robot. We aim to preserve some of that privacy by manipulating the video data that the remote user sees. Through two user studies, we explore the effectiveness of different video manipulation techniques at providing different types of privacy. We simultaneously examine task performance in the presence of privacy protection. In the first study, participants were asked to watch a video captured by a robot exploring an office environment and to complete a series of observational tasks under differing video manipulation conditions. Our results show that using manipulations of the video stream can lead to fewer privacy violations for different privacy types. Through a second user study, it was demonstrated that these privacy-protecting techniques were effective without diminishing the task performance of the remote user.Comment: 14 pages, 8 figure

    Sifat fizikal dan keupayaan mekanikal konkrit campuran abu kulit kupang (perna viridis) sebagai bahan tambah

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    Matlamat SDGs selari dengan inisiatif RMK-11 iaitu pengaplikasian teknologi hijau di dalam pembinaan infrastruktur yang mampan, berkonsepkan lestari dan pemuliharaan alam sekitar. Kajian ini memfokuskan kulit kupang yakni limpahan sisa akuakultur yang tidak diurus dengan tepat untuk dijadikan bahan tambah di dalam campuran konkrit bagi meningkatkan nilai kulit kupang dan keupayaan konkrit campuran bagi memacu infrastruktur yang lestari. Kupang yang telah di proses menjadi abu di tambah di dalam konkrit sebanyak 1%, 2%, 3% dan 4% dan melalui proses pengawetan air biasa selama 7, 28 dan 60 hari dengan sasaran gred 30MPa. Penyelidikan ini memfokuskan beberapa ujian pencirian bahan iaitu sifat-sifat fizikal (graviti tentu, masa pengerasan dan serakan saiz partikel), dan kimia (X-Ray Powder Diffraction ), morfologi partikel (Scanning Electron Microscope), keupayaan konkrit (kebolehkerjaan, kekuatan mampatan, kekuatan tegangan dan serapan kapilari air dan analisis statistik (korelasi dan signifikan). Dapatan sifat-sifat fizikal abu kulit kupang mendapati kulit kupang lebih halus (saiz diameter purata 8.284μm) dan ringan (nilai graviti tentu 2.52) berbanding simen Portland biasa memberi kelebihan di dalam masa pengerasan, kebolehkerjaan dan serapan kapilari. Bagi nilai keupayaan konkrit mampatan , tegangan dan serapan kapilari air konkrit campuran 2% abu kulit kupang adalah lebih baik berbanding konkrit campuran yang lain. Selain itu, tempoh pengawetan 7, 28 dan didapati tiada perbezaan yang signifikan (p > 0.025) bagi konkrit campuran 2%. Berdasarkan dapatan kajian abu kulit kupang mempunyai potensi sebagai bahan tambah yang menghasilkan konkrit berkekuatan awal dan berkeupayaan tinggi. Penyelidikan ini menambah pengetahuan bahan pembinaan , meningkatkan nilai kulit kupang serta memastikan infrastruktur berkonsepkan kehidupan lestari dan pemeliharaan alam sekitar di dalam matlamat SDGs dan dasar RMK-11 dicapai

    Self-employment for autonomous robots using smart contracts

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    The physical autonomy of robots is well understood both theoretically and practically. By contrast, there is almost no research exploring a robot's potential economic autonomy. In this paper, we present the first economically autonomous robot -- a robot able to produce marketable goods while having full control over the use of its generated income. In our proof-of-concept, the robot is self-employed as an artist. It produces physical artistic goods and uses blockchain-based smart contracts on the Ethereum network to autonomously list its goods for sale in online auctions. Using the blockchain-based smart contract, the robot then uses its income from sales to autonomously order more materials from an online shop, pay for its consumables such as network fees, and remunerate human assistance for support tasks. The robot also uses its income to repay investor loans that funded its initial phase of production. In these transactions, the robot interacts with humans as a peer, not as a tool. In other words, the robot makes peer financial transactions with humans in the same way that another human would, first as an investment vehicle, then as a seller at an auction, and then as a shop customer and a client. Our proof-of-concept is conducted as an in-lab experiment, but gives rise to an important discussion of the legal implications of economically autonomous robots, which under existing frameworks can already be embedded in corporate entities that are classed as artificial persons.Comment: Discussion extended with the legal implications subsectio

    Visual Human-Computer Interaction

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    Towards Interactive Photorealistic Rendering

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