199 research outputs found

    A learning approach to swarm-based path detection and tracking

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    Dissertação para obtenção do Grau de Mestre em Engenharia ElectrotĂ©cnica e de ComputadoresThis dissertation presents a set of top-down modulation mechanisms for the modulation of the swarm-based visual saliency computation process proposed by Santana et al. (2010) in context of path detection and tracking. In the original visual saliency computation process, two swarms of agents sensitive to bottom-up conspicuity information interact via pheromone-like signals so as to converge on the most likely location of the path being sought. The behaviours ruling the agents’motion are composed of a set of perception-action rules that embed top-down knowledge about the path’s overall layout. This reduces ambiguity in the face of distractors. However, distractors with a shape similar to the one of the path being sought can still misguide the system. To mitigate this issue, this dissertation proposes the use of a contrast model to modulate the conspicuity computation and the use of an appearance model to modulate the pheromone deployment. Given the heterogeneity of the paths, these models are learnt online. Using in a modulation context and not in a direct image processing, the complexity of these models can be reduced without hampering robustness. The result is a system computationally parsimonious with a work frequency of 20 Hz. Experimental results obtained from a data set encompassing 39 diverse videos show the ability of the proposed model to localise the path in 98.67 % of the 29789 evaluated frames

    Real time tracking using nature-inspired algorithms

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    This thesis investigates the core difficulties in the tracking field of computer vision. The aim is to develop a suitable tuning free optimisation strategy so that a real time tracking could be achieved. The population and multi-solution based approaches have been applied first to analyse the convergence behaviours in the evolutionary test cases. The aim is to identify the core misconceptions in the manner the search characteristics of particles are defined in the literature. A general perception in the scientific community is that the particle based methods are not suitable for the real time applications. This thesis improves the convergence properties of particles by a novel scale free correlation approach. By altering the fundamental definition of a particle and by avoiding the nostalgic operations the tracking was expedited to a rate of 250 FPS. There is a reasonable amount of similarity between the tracking landscapes and the ones generated by three dimensional evolutionary test cases. Several experimental studies are conducted that compares the performances of the novel optimisation to the ones observed with the swarming methods. It is therefore concluded that the modified particle behaviour outclassed the traditional approaches by huge margins in almost every test scenario

    Visual attention and swarm cognition for off-road robots

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    Tese de doutoramento, InformĂĄtica (Engenharia InformĂĄtica), Universidade de Lisboa, Faculdade de CiĂȘncias, 2011Esta tese aborda o problema da modelação de atenção visual no contexto de robĂŽs autĂłnomos todo-o-terreno. O objectivo de utilizar mecanismos de atenção visual Ă© o de focar a percepção nos aspectos do ambiente mais relevantes Ă  tarefa do robĂŽ. Esta tese mostra que, na detecção de obstĂĄculos e de trilhos, esta capacidade promove robustez e parcimĂłnia computacional. Estas sĂŁo caracterĂ­sticas chave para a rapidez e eficiĂȘncia dos robĂŽs todo-o-terreno. Um dos maiores desafios na modelação de atenção visual advĂ©m da necessidade de gerir o compromisso velocidade-precisĂŁo na presença de variaçÔes de contexto ou de tarefa. Esta tese mostra que este compromisso Ă© resolvido se o processo de atenção visual for modelado como um processo auto-organizado, cuja operação Ă© modulada pelo mĂłdulo de selecção de acção, responsĂĄvel pelo controlo do robĂŽ. Ao fechar a malha entre o processo de selecção de acção e o de percepção, o Ășltimo Ă© capaz de operar apenas onde Ă© necessĂĄrio, antecipando as acçÔes do robĂŽ. Para fornecer atenção visual com propriedades auto-organizadas, este trabalho obtĂ©m inspiração da Natureza. Concretamente, os mecanismos responsĂĄveis pela capacidade que as formigas guerreiras tĂȘm de procurar alimento de forma auto-organizada, sĂŁo usados como metĂĄfora na resolução da tarefa de procurar, tambĂ©m de forma auto-organizada, obstĂĄculos e trilhos no campo visual do robĂŽ. A solução proposta nesta tese Ă© a de colocar vĂĄrios focos de atenção encoberta a operar como um enxame, atravĂ©s de interacçÔes baseadas em feromona. Este trabalho representa a primeira realização corporizada de cognição de enxame. Este Ă© um novo campo de investigação que procura descobrir os princĂ­pios bĂĄsicos da cognição, inspeccionando as propriedades auto-organizadas da inteligĂȘncia colectiva exibida pelos insectos sociais. Logo, esta tese contribui para a robĂłtica como disciplina de engenharia e para a robĂłtica como disciplina de modelação, capaz de suportar o estudo do comportamento adaptĂĄvel.Esta tese aborda o problema da modelação de atenção visual no contexto de robĂŽs autĂłnomos todo-o-terreno. O objectivo de utilizar mecanismos de atenção visual Ă© o de focar a percepção nos aspectos do ambiente mais relevantes Ă  tarefa do robĂŽ. Esta tese mostra que, na detecção de obstĂĄculos e de trilhos, esta capacidade promove robustez e parcimĂłnia computacional. Estas sĂŁo caracterĂ­sticas chave para a rapidez e eficiĂȘncia dos robĂŽs todo-o-terreno. Um dos maiores desafios na modelação de atenção visual advĂ©m da necessidade de gerir o compromisso velocidade-precisĂŁo na presença de variaçÔes de contexto ou de tarefa. Esta tese mostra que este compromisso Ă© resolvido se o processo de atenção visual for modelado como um processo auto-organizado, cuja operação Ă© modulada pelo mĂłdulo de selecção de acção, responsĂĄvel pelo controlo do robĂŽ. Ao fechar a malha entre o processo de selecção de acção e o de percepção, o Ășltimo Ă© capaz de operar apenas onde Ă© necessĂĄrio, antecipando as acçÔes do robĂŽ. Para fornecer atenção visual com propriedades auto-organizadas, este trabalho obtĂ©m inspi- ração da Natureza. Concretamente, os mecanismos responsĂĄveis pela capacidade que as formi- gas guerreiras tĂȘm de procurar alimento de forma auto-organizada, sĂŁo usados como metĂĄfora na resolução da tarefa de procurar, tambĂ©m de forma auto-organizada, obstĂĄculos e trilhos no campo visual do robĂŽ. A solução proposta nesta tese Ă© a de colocar vĂĄrios focos de atenção encoberta a operar como um enxame, atravĂ©s de interacçÔes baseadas em feromona. Este trabalho representa a primeira realização corporizada de cognição de enxame. Este Ă© um novo campo de investigação que procura descobrir os princĂ­pios bĂĄsicos da cognição, ins- peccionando as propriedades auto-organizadas da inteligĂȘncia colectiva exibida pelos insectos sociais. Logo, esta tese contribui para a robĂłtica como disciplina de engenharia e para a robĂłtica como disciplina de modelação, capaz de suportar o estudo do comportamento adaptĂĄvel.Fundação para a CiĂȘncia e a Tecnologia (FCT,SFRH/BD/27305/2006); Laboratory of Agent Modelling (LabMag

    Multi-Robot Systems: Challenges, Trends and Applications

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    This book is a printed edition of the Special Issue entitled “Multi-Robot Systems: Challenges, Trends, and Applications” that was published in Applied Sciences. This Special Issue collected seventeen high-quality papers that discuss the main challenges of multi-robot systems, present the trends to address these issues, and report various relevant applications. Some of the topics addressed by these papers are robot swarms, mission planning, robot teaming, machine learning, immersive technologies, search and rescue, and social robotics

    Mixed Reality Interiors: Exploring Augmented Reality Immersive Space Planning Design Archetypes for the Creation of Interior Spatial Volume 3D User Interfaces

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    Augmented reality is an increasingly relevant medium of interaction and media reception with the advances in user worn or hand-held input/output technologies endowing perception of the digital nested within and reactive to the native physical. Our interior spaces are becoming the media interface and this emergence affords designers the opportunity to delve further into crafting an aesthetics for the medium. Beyond having the virtual assets and applications in correct registration with the real-world environment, critical topics are addressed such as the compositional roles of virtual and physical design features including their purpose, modulation, interaction potentials and implementation into varying indoor settings. Examining and formulating methodologies for mixed reality interior 3D UI schemes derived from the convergence of digital media and interior design disciplines comprise the scope of this design research endeavor. A holistic approach is investigated to produce a framework for augmented reality 3D user interface interiors through research and development of pattern language systems for the balanced blending of complimentary digital and physical design elements. These foundational attributes serve in the creation, organization and exploration of interactive possibilities and implications of these hybrid futuristic spatial interface layouts.M.S., Digital Media -- Drexel University, 201

    Using MapReduce Streaming for Distributed Life Simulation on the Cloud

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    Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable to various lattice-based a-life models. We implement and empirically evaluate our algorithms’ performance on Amazon’s Elastic MR cloud. Our experiments demonstrate that a single MR optimization technique called strip partitioning can reduce the execution time of continuous life simulations by 64%. To the best of our knowledge, we are the first to propose and evaluate MR streaming algorithms for lattice-based simulations. Our algorithms can serve as prototypes in the development of novel MR simulation algorithms for large-scale lattice-based a-life models.https://digitalcommons.chapman.edu/scs_books/1014/thumbnail.jp

    HyperCell: A Bio-inspired Design Framework for Real-time Interactive Architectures

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    This pioneering research focuses on Biomimetic Interactive Architecture using “Computation”, “Embodiment”, and “Biology” to generate an intimate embodied convergence to propose a novel rule-based design framework for creating organic architectures composed of swarm-based intelligent components. Furthermore, the research boldly claims that Interactive Architecture should emerge as the next truly Organic Architecture. As the world and society are dynamically changing, especially in this digital era, the research dares to challenge the Utilitas, Firmitas, and Venustas of the traditional architectural Weltanschauung, and rejects them by adopting the novel notion that architecture should be dynamic, fluid, and interactive. This project reflects a trajectory from the 1960’s with the advent of the avant-garde architectural design group, Archigram, and its numerous intriguing and pioneering visionary projects. Archigram’s non-standard, mobile, and interactive projects profoundly influenced a new generation of architects to explore the connection between technology and their architectural projects. This research continues this trend of exploring novel design thinking and the framework of Interactive Architecture by discovering the interrelationship amongst three major topics: “Computation”, “Embodiment”, and “Biology”. The project aims to elucidate pioneering research combining these three topics in one discourse: “Bio-inspired digital architectural design”. These three major topics will be introduced in this Summary.   “Computation”, is any type of calculation that includes both arithmetical and nonarithmetical steps and follows a well-defined model understood and described as, for example, an algorithm. But, in this research, refers to the use of data storage, parametric design application, and physical computing for developing informed architectural designs. “Form” has always been the most critical focus in architectural design, and this focus has also been a major driver behind the application computational design in Architecture. Nonetheless, this research will interpret the term “Form” in architecture as a continual “information processor” rather than the result of information processing. In other words, “Form” should not be perceived only as an expressive appearance based computational outcome but rather as a real-time process of information processing, akin to organic “Formation”. Architecture embodying kinetic ability for adjusting or changing its shape with the ability to process the surroundings and feedback in accordance with its free will with an inherent interactive intelligent movement of a living body. Additionally, it is also crucial to address the question of whether computational technologies are being properly harnessed, if they are only used for form-generating purposes in architecture design, or should this be replaced with real-time information communication and control systems to produce interactive architectures, with embodied computation abilities?   “Embodiment” in the context of this research is embedded in Umberto Eco’s vision on Semiotics, theories underlying media studies in Marshall McLuhan’s “Body Extension” (McLuhan, 1964), the contemporary philosophical thought of “Body Without Organs” (Gilles Deleuze and FĂ©lix Guattari, 1983), the computational Logic of ‘Swarm Behavior’ and the philosophical notion of “Monadology” proposed by Gottfried Leibniz (Leibniz, 1714). Embodied computation and design are predominant today within the wearable computing and smart living domains, which combine Virtual and Real worlds. Technical progress and prowess in VR development also contribute to advancing 3D smart architectural design and display solutions. The proposed ‘Organic body-like architectural spaces’ emphasize upon the realization of a body-like interactive space. Developing Interactive Architecture will imply eliciting the collective intelligence prevalent in nature and the virtual world of Big Data. Interactive Architecture shall thus embody integrated Information exchange protocols and decision-making systems in order to possess organic body-like qualities.   “Biology”, in this research explores biomimetic principles intended to create purposedriven kinetic and organic architecture. This involves a detailed study/critique of organic architecture, generating organic shapes, performance optimization based digital fabrication techniques and kinetic systems. A holistic bio-inspired architecture embodies multiple performance criteria akin to natural systems, which integrate structural, infrastructure performances throughout the growth of an organic body. Such a natural morphogenesis process of architectural design explores what Janine M. Benyus described as “learning the natural process”. Profoundly influenced by the processes behind morphogenesis, the research further explores Evolutionary Development Biology (Evo-Devo) explaining how embryological regulation strongly affect the resulting formations. Evo-Devo in interactive architecture implies the development of architecture based on three fundamental principles: “Simple to Complex”, “Geometric Information Distribution”, and “On/Off Switch and Trigger.” The research seeks to create a relatively intelligent architectural body, and the tactile interactive spatial environment by applying the extracted knowledge from the study of the aforementioned principles of Evo-Devo in the following fashion: A. Extract a Self-Similar Componential System based approach from the “Simple to Complex” principle of Evo-Devo B. Extract the idea of “Collective Intelligence” from “Geometric information Distribution” principle of Evo-Devo C. Extract the principle of “Assembly Regulation” from “On/Off switch and trigger” principle of Evo-Devo The “HyperCell” research, through an elaborate investigation on the three aforementioned topics, develops a design framework for developing real-time adaptive spatial systems. HyperCell does this, by developing a system of transformable cubic elements which can self-organize, adapt and interact in real-time. These Hypercells shall comprise an organic space which can adjust itself in relation to our human bodies. The furniture system is literally reified and embodied to develop an intra-active space that proactively provokes human movement. The space thus acquires an emotive dimension and can become your pet, partner, or even friend, and might also involve multiple usabilities of the same space. The research and its progression were also had actively connected with a 5-year collaborative European Culture project: “MetaBody”. The research thus involves exploration of Interactive Architecture from the following perspectives: architectural design, digital architectural history trajectory, computational technology, philosophical discourse related to the embodiment, media and digital culture, current VR and body-related technology, and Evolutionary Developmental Biology. “HyperCell” will encourage young architects to pursue interdisciplinary design initiatives via the fusion of computational design, embodiment, and biology for developing bio-inspired organic architectures
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