25,948 research outputs found
Enabling Depth-driven Visual Attention on the iCub Humanoid Robot: Instructions for Use and New Perspectives
The importance of depth perception in the interactions that humans have
within their nearby space is a well established fact. Consequently, it is also
well known that the possibility of exploiting good stereo information would
ease and, in many cases, enable, a large variety of attentional and interactive
behaviors on humanoid robotic platforms. However, the difficulty of computing
real-time and robust binocular disparity maps from moving stereo cameras often
prevents from relying on this kind of cue to visually guide robots' attention
and actions in real-world scenarios. The contribution of this paper is
two-fold: first, we show that the Efficient Large-scale Stereo Matching
algorithm (ELAS) by A. Geiger et al. 2010 for computation of the disparity map
is well suited to be used on a humanoid robotic platform as the iCub robot;
second, we show how, provided with a fast and reliable stereo system,
implementing relatively challenging visual behaviors in natural settings can
require much less effort. As a case of study we consider the common situation
where the robot is asked to focus the attention on one object close in the
scene, showing how a simple but effective disparity-based segmentation solves
the problem in this case. Indeed this example paves the way to a variety of
other similar applications
A real time classification algorithm for EEG-based BCI driven by self-induced emotions
Background and objective: The aim of this paper is to provide an efficient, parametric, general, and completely automatic real time classification method of electroencephalography (EEG) signals obtained from self-induced emotions. The particular characteristics of the considered low-amplitude signals (a self-induced emotion produces a signal whose amplitude is about 15% of a really experienced emotion) require exploring and adapting strategies like the Wavelet Transform, the Principal Component Analysis (PCA) and the Support Vector Machine (SVM) for signal processing, analysis and classification. Moreover, the method is thought to be used in a multi-emotions based Brain Computer Interface (BCI) and, for this reason, an ad hoc shrewdness is assumed. Method: The peculiarity of the brain activation requires ad-hoc signal processing by wavelet decomposition, and the definition of a set of features for signal characterization in order to discriminate different self-induced emotions. The proposed method is a two stages algorithm, completely parameterized, aiming at a multi-class classification and may be considered in the framework of machine learning. The first stage, the calibration, is off-line and is devoted at the signal processing, the determination of the features and at the training of a classifier. The second stage, the real-time one, is the test on new data. The PCA theory is applied to avoid redundancy in the set of features whereas the classification of the selected features, and therefore of the signals, is obtained by the SVM. Results: Some experimental tests have been conducted on EEG signals proposing a binary BCI, based on the self-induced disgust produced by remembering an unpleasant odor. Since in literature it has been shown that this emotion mainly involves the right hemisphere and in particular the T8 channel, the classification procedure is tested by using just T8, though the average accuracy is calculated and reported also for the whole set of the measured channels. Conclusions: The obtained classification results are encouraging with percentage of success that is, in the average for the whole set of the examined subjects, above 90%. An ongoing work is the application of the proposed procedure to map a large set of emotions with EEG and to establish the EEG headset with the minimal number of channels to allow the recognition of a significant range of emotions both in the field of affective computing and in the development of auxiliary communication tools for subjects affected by severe disabilities
Cortical Dynamics of Contextually-Cued Attentive Visual Learning and Search: Spatial and Object Evidence Accumulation
How do humans use predictive contextual information to facilitate visual search? How are consistently paired scenic objects and positions learned and used to more efficiently guide search in familiar scenes? For example, a certain combination of objects can define a context for a kitchen and trigger a more efficient search for a typical object, such as a sink, in that context. A neural model, ARTSCENE Search, is developed to illustrate the neural mechanisms of such memory-based contextual learning and guidance, and to explain challenging behavioral data on positive/negative, spatial/object, and local/distant global cueing effects during visual search. The model proposes how global scene layout at a first glance rapidly forms a hypothesis about the target location. This hypothesis is then incrementally refined by enhancing target-like objects in space as a scene is scanned with saccadic eye movements. The model clarifies the functional roles of neuroanatomical, neurophysiological, and neuroimaging data in visual search for a desired goal object. In particular, the model simulates the interactive dynamics of spatial and object contextual cueing in the cortical What and Where streams starting from early visual areas through medial temporal lobe to prefrontal cortex. After learning, model dorsolateral prefrontal cortical cells (area 46) prime possible target locations in posterior parietal cortex based on goalmodulated percepts of spatial scene gist represented in parahippocampal cortex, whereas model ventral prefrontal cortical cells (area 47/12) prime possible target object representations in inferior temporal cortex based on the history of viewed objects represented in perirhinal cortex. The model hereby predicts how the cortical What and Where streams cooperate during scene perception, learning, and memory to accumulate evidence over time to drive efficient visual search of familiar scenes.CELEST, an NSF Science of Learning Center (SBE-0354378); SyNAPSE program of Defense Advanced Research Projects Agency (HR0011-09-3-0001, HR0011-09-C-0011
Exploring participatory design for SNS-based AEH systems
The rapidly emerging and growing social networking sites (SNS) offer an opportunity to improve adaptive e-learning
experience by introducing a social dimension, connecting users within the system. Making connections and providing communication tools can engage students in creating effective learning environment and enriching learning experiences.
Researchers have been working on introducing SNS features into adaptive educational hypermedia systems. The next stage research is centered on how to enhance SNS facilities of AEH systems, in order to engage students’ participation in collaborative learning and generating and enriching learning materials. Students are the core participants in the adaptive e-learning process, so it is essential for the system designers to consider students’ opinions. This paper aims at exploring
how to apply participatory design methodology in the early stage of the SNS-based AEH system design process
As the Cursor Blinks: Electronic Scholarship and Undergraduates in the Library
published or submitted for publicatio
Machine Learning in Wireless Sensor Networks: Algorithms, Strategies, and Applications
Wireless sensor networks monitor dynamic environments that change rapidly
over time. This dynamic behavior is either caused by external factors or
initiated by the system designers themselves. To adapt to such conditions,
sensor networks often adopt machine learning techniques to eliminate the need
for unnecessary redesign. Machine learning also inspires many practical
solutions that maximize resource utilization and prolong the lifespan of the
network. In this paper, we present an extensive literature review over the
period 2002-2013 of machine learning methods that were used to address common
issues in wireless sensor networks (WSNs). The advantages and disadvantages of
each proposed algorithm are evaluated against the corresponding problem. We
also provide a comparative guide to aid WSN designers in developing suitable
machine learning solutions for their specific application challenges.Comment: Accepted for publication in IEEE Communications Surveys and Tutorial
An IoT Endpoint System-on-Chip for Secure and Energy-Efficient Near-Sensor Analytics
Near-sensor data analytics is a promising direction for IoT endpoints, as it
minimizes energy spent on communication and reduces network load - but it also
poses security concerns, as valuable data is stored or sent over the network at
various stages of the analytics pipeline. Using encryption to protect sensitive
data at the boundary of the on-chip analytics engine is a way to address data
security issues. To cope with the combined workload of analytics and encryption
in a tight power envelope, we propose Fulmine, a System-on-Chip based on a
tightly-coupled multi-core cluster augmented with specialized blocks for
compute-intensive data processing and encryption functions, supporting software
programmability for regular computing tasks. The Fulmine SoC, fabricated in
65nm technology, consumes less than 20mW on average at 0.8V achieving an
efficiency of up to 70pJ/B in encryption, 50pJ/px in convolution, or up to
25MIPS/mW in software. As a strong argument for real-life flexible application
of our platform, we show experimental results for three secure analytics use
cases: secure autonomous aerial surveillance with a state-of-the-art deep CNN
consuming 3.16pJ per equivalent RISC op; local CNN-based face detection with
secured remote recognition in 5.74pJ/op; and seizure detection with encrypted
data collection from EEG within 12.7pJ/op.Comment: 15 pages, 12 figures, accepted for publication to the IEEE
Transactions on Circuits and Systems - I: Regular Paper
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