Gesture recognition is topical in computer science and aims at interpreting human gestures via mathematical algorithms. Among the numerous applications are physical rehabilitation and imitation games. In this work, we...Gesture recognition is topical in computer science and aims at interpreting human gestures via mathematical algorithms. Among the numerous applications are physical rehabilitation and imitation games. In this work, we suggest performing human gesture recognition within the context of a serious imitation game, which would aim at improving social interactions with teenagers with autism spectrum disorders. We use an artificial intelligence algorithm to detect the skeleton of the participant, then model the human pose space and describe an imitation learning method using a Gaussian Mixture Model in the Riemannian manifold.展开更多
Imitation models for computing the environmental water pollution level depending on the intensity of pollution sources created by the author over the years are presented. For this purpose, an additive model of a non-s...Imitation models for computing the environmental water pollution level depending on the intensity of pollution sources created by the author over the years are presented. For this purpose, an additive model of a non-stationary random process is considered. For the modeling of its components, models that consider only dilution and self-purification processes are proposed for waste water and three-dimensional turbulent diffusion equations for river waters, and multidimensional Gaussian Markov series are proposed for modeling the random component. The purpose, the capabilities and the peculiarities of such imitation models are discussed taking into account the peculiarities of the water objects. The modular principle of creating imitation models is proposed to facilitate their development and use.展开更多
近年来,模仿学习被广泛应用于机器人领域,并展示出巨大的潜力。同时关注到智能系统在教育领域的应用越来越多样化,将机器人合理地应用到教学中可以提升教学效果,如果机器人可以教授一些专业技巧,如演奏乐器,可以为学生和人类老师都提供...近年来,模仿学习被广泛应用于机器人领域,并展示出巨大的潜力。同时关注到智能系统在教育领域的应用越来越多样化,将机器人合理地应用到教学中可以提升教学效果,如果机器人可以教授一些专业技巧,如演奏乐器,可以为学生和人类老师都提供很大的便利。模仿学习特别适用于高度专业和技术性强的小提琴演奏,但在将专家演示引入动态运动原语(Dynamic Movement Primitive,DMP)的过程中,模糊性问题尤为突出,例如换弦角度的不确定性。传统的换弦角度测量方法如物理测量会有很大的误差且无法泛化,为了解决这一问题,提出了一种名为基于模糊和PCA的动态运动原语(Fuzzy Dynamic Movement Primitive for Teaching,T-FDMP)的新模型。该模型基于二型模糊模型和主成分分析(Principal Component Analysis,PCA)进行构建,使用主成分分析法(PCA)得到的特征变量(运弓角度)作为隶属度函数(琴弦角度)的输入进行学习,同时构建了一个专业级的音乐演奏行为数据库。仿生实验结果证明,所提出的T-FDMP模型能够以高精度控制机器人进行小提琴演奏,还为模仿学习在其他高度专业和技术性强的领域的应用提供了新的研究方向。展开更多
在人机协作领域,模仿学习是广泛使用的机器人编程方法。在机器人对运动轨迹进行技能学习过程中,针对基于动态运动基元方法(dynamic movement primitives,DMP)只能从单条示教轨迹建模动作的局限性,提出了一种新的将高斯混合模型(gaussian...在人机协作领域,模仿学习是广泛使用的机器人编程方法。在机器人对运动轨迹进行技能学习过程中,针对基于动态运动基元方法(dynamic movement primitives,DMP)只能从单条示教轨迹建模动作的局限性,提出了一种新的将高斯混合模型(gaussian mixture model,GMM)、高斯混合回归(gaussian mixture regression,GMR)和改进的DMP三者相结合的运动轨迹模仿学习方法。该方法先将高斯噪声引入示教轨迹,消除由于示教数据中不可避免存在噪声等不平滑特征带来的不利影响;然后,为了减少单条示教轨迹的不确定性带来的动作建模误差,采用GMM从多条示教轨迹中对运动特征进行编码,使用GMR进行概率轨迹回归;其次,利用改进的DMP算法将轨迹进行泛化,提高机器人技能学习的适应性;最后,通过手写字母轨迹和协作机器人拖动轨迹技能学习试验验证了所提算法的有效性。展开更多
In real life, in different industries, we often deal with systems designed for multiple use for performing single-type tasks. Processes taking place at this time are called service of requirements, and the systems the...In real life, in different industries, we often deal with systems designed for multiple use for performing single-type tasks. Processes taking place at this time are called service of requirements, and the systems themselves—Queueing Systems. This article is dedicated to computer software modelling of processes taking place in the systems in question, Markov processes in particular. In this article, by means of Matlab environment, software realization of one of the typical models of queueing service theory-multichannel QS with unreliable recoverable servers and limited number of requirements in the system, is fulfilled. The results of this research are important because it gives the possibility to use received results to determine optimality degree of some real queueing systems that possess Markov property.展开更多
The political environment of the South China Sea Region(SCSR)has gradually stabilized,such that regional cooperation in the preservation of marine resources seems realistic.Blue carbon international cooperation is an ...The political environment of the South China Sea Region(SCSR)has gradually stabilized,such that regional cooperation in the preservation of marine resources seems realistic.Blue carbon international cooperation is an important solution to the problem of global warming,which has a large number of economic and political attributes.As a region that has incredibly abundant blue carbon resources,further cooperation among SCSR governments would present the opportunity to establish meaningful economic and environmental protections that would promote peaceful blue carbon development of this region.To examine the feasibility of such an undertaking,we leverage the imitator's dynamic game as a research method and introduce Weber's law to examine the subjective psychological factors(i.e.,biases)of participants in qualifying the economic stability of blue carbon cooperation in the SCSR.The results suggest that the economic stability of blue carbon cooperation correlates to Weber's coefficient and the income produced by the different strategies.Based on these findings,we discussed policy recommendations to promote the sustainable economic development of SCSR.展开更多
文摘Gesture recognition is topical in computer science and aims at interpreting human gestures via mathematical algorithms. Among the numerous applications are physical rehabilitation and imitation games. In this work, we suggest performing human gesture recognition within the context of a serious imitation game, which would aim at improving social interactions with teenagers with autism spectrum disorders. We use an artificial intelligence algorithm to detect the skeleton of the participant, then model the human pose space and describe an imitation learning method using a Gaussian Mixture Model in the Riemannian manifold.
文摘Imitation models for computing the environmental water pollution level depending on the intensity of pollution sources created by the author over the years are presented. For this purpose, an additive model of a non-stationary random process is considered. For the modeling of its components, models that consider only dilution and self-purification processes are proposed for waste water and three-dimensional turbulent diffusion equations for river waters, and multidimensional Gaussian Markov series are proposed for modeling the random component. The purpose, the capabilities and the peculiarities of such imitation models are discussed taking into account the peculiarities of the water objects. The modular principle of creating imitation models is proposed to facilitate their development and use.
文摘近年来,模仿学习被广泛应用于机器人领域,并展示出巨大的潜力。同时关注到智能系统在教育领域的应用越来越多样化,将机器人合理地应用到教学中可以提升教学效果,如果机器人可以教授一些专业技巧,如演奏乐器,可以为学生和人类老师都提供很大的便利。模仿学习特别适用于高度专业和技术性强的小提琴演奏,但在将专家演示引入动态运动原语(Dynamic Movement Primitive,DMP)的过程中,模糊性问题尤为突出,例如换弦角度的不确定性。传统的换弦角度测量方法如物理测量会有很大的误差且无法泛化,为了解决这一问题,提出了一种名为基于模糊和PCA的动态运动原语(Fuzzy Dynamic Movement Primitive for Teaching,T-FDMP)的新模型。该模型基于二型模糊模型和主成分分析(Principal Component Analysis,PCA)进行构建,使用主成分分析法(PCA)得到的特征变量(运弓角度)作为隶属度函数(琴弦角度)的输入进行学习,同时构建了一个专业级的音乐演奏行为数据库。仿生实验结果证明,所提出的T-FDMP模型能够以高精度控制机器人进行小提琴演奏,还为模仿学习在其他高度专业和技术性强的领域的应用提供了新的研究方向。
文摘In real life, in different industries, we often deal with systems designed for multiple use for performing single-type tasks. Processes taking place at this time are called service of requirements, and the systems themselves—Queueing Systems. This article is dedicated to computer software modelling of processes taking place in the systems in question, Markov processes in particular. In this article, by means of Matlab environment, software realization of one of the typical models of queueing service theory-multichannel QS with unreliable recoverable servers and limited number of requirements in the system, is fulfilled. The results of this research are important because it gives the possibility to use received results to determine optimality degree of some real queueing systems that possess Markov property.
文摘The political environment of the South China Sea Region(SCSR)has gradually stabilized,such that regional cooperation in the preservation of marine resources seems realistic.Blue carbon international cooperation is an important solution to the problem of global warming,which has a large number of economic and political attributes.As a region that has incredibly abundant blue carbon resources,further cooperation among SCSR governments would present the opportunity to establish meaningful economic and environmental protections that would promote peaceful blue carbon development of this region.To examine the feasibility of such an undertaking,we leverage the imitator's dynamic game as a research method and introduce Weber's law to examine the subjective psychological factors(i.e.,biases)of participants in qualifying the economic stability of blue carbon cooperation in the SCSR.The results suggest that the economic stability of blue carbon cooperation correlates to Weber's coefficient and the income produced by the different strategies.Based on these findings,we discussed policy recommendations to promote the sustainable economic development of SCSR.
