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

Single Molecule Michaelis-Menten Equation beyond Quasi-Static Disorder

The classic Michaelis-Menten equation describes the catalytic activities for ensembles of enzyme molecules very well. But recent single-molecule experiment showed that the waiting time distribution and other properties of single enzyme molecule are not consistent with the prediction based on the viewpoint of ensemble. It has been contributed to the slow inner conformational changes of single enzyme in the catalytic processes. In this work we study the general dynamics of single enzyme in the presence of dynamic disorder. We find that at two limiting cases, the slow reaction and nondiffusion limits, Michaelis-Menten equation exactly holds although the waiting time distribution has a multiexponential decay behaviors in the nondiffusion limit.Particularly, the classic Michaelis-Menten equation still is an excellent approximation other than the two limits.Comment: 10 pages, 1 figur

Hannah Arendt on the Concept of “Evil”

Hannah Arendt carried out deep thinking on the evil’s problem under the rule of totalitarian terror, it reflected in the two dimensions: “Radical evil” and “Banality of evil”. The former core content is that totalitarianism completely changes human nature, people will become superfluous; the latter is that the evildoers are incogitant、shallow and inane. “Banality of Evil” is the product of dialectical negation to “Radical Evil”, marks the completion and maturity of the system about Arendt on the concept of “evil”. Arendt on the concept of “evil” deeply criticized the totalitarian reign of terror changed human nature completely from the social and individual perspectives