This study used Corona KH-4A and Advanced Land Observing Satellite (ALOS) PRISM images to generate digital terrain models (DTMs) of the distal part of Imja Glacier,where a few supraglacial ponds (~0.07 km 2) expanded...This study used Corona KH-4A and Advanced Land Observing Satellite (ALOS) PRISM images to generate digital terrain models (DTMs) of the distal part of Imja Glacier,where a few supraglacial ponds (~0.07 km 2) expanded into the large Imja Glacier Lake (Imja Tsho,~0.91 km 2) between 1964 and 2006.DTMs and subsequently derived topographical maps with contour intervals of 1 m were created from the high-resolution images (Corona in 1964 and ALOS in 2006) in the Leica Photogrammetric Suite (LPS) platform.The DTMs and topographic maps provided excellent representation of the elevation and micro-topography of the glacier surface,such as its supra-glacial ponds/lake,surface depressions,and moraine ridges,with an error of about +/-4 m (maximum).The DTMs produced from the Corona and ALOS PRISM images are suitable for use in studies of the surface change of glaciers.The topographical maps produced from the Corona data (1964) showed that part of the dead ice in the down-glacier area was even higher than the top of the lateral moraine ridges,while the glacier surface in the up-glacier area was noticeably lower than the moraine crests.This suggests more extensive melting of glacier ice in the up-glacier area before 1964.The average lowering of the glacier surface from 1964 to 2006 was 16.9 m for the dead-ice area west of the lake and 47.4 m for the glacier surface east of the lake;between 1964 and 2002,the lake surface lowered by 82.3 m.These figures represent average lowering rates of 0.4,1.1,and 2.2 m/year for the respective areas.展开更多
Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, whi...Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, which can maintain a map keeping track of the latest environment. The main model describing the environment is a multi-session pose graph, which evolves over the multiple visits of the robot. The poses in the graph will be pruned when the 3D point scans corresponding to those poses are out of date. When the robot explores the new areas, its poses will be added to the graph. Thus the scans kept in the current graph will always give a map of the latest environment. The changes of the environment are detected by out-of-dated scans identification module through analyzing scans collected at different sessions. Besides, a redundant scans identification module is employed to further reduce the poses with redundant scans in order to keep the total number of poses in the graph with respect to the size of environment. In the experiments, the framework is first tuned and tested on data acquired by a Kinect from laboratory environment. Then the framework is applied to external dataset acquired by a Kinect II from a workspace of an industrial robot in another country, which is blind to the development phase, for further validation of the performance. After this two-step evaluation, the proposed framework is considered to be able to manage the map in date in dynamic or static environment with a noncumulative complexity and acceptable error level.展开更多
In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor...In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor, LeapMotion, to perform a non-contact demonstration for robotic systems. A Multi-LeapMotion hand tracking system is developed. The setup of the two sensors is analyzed to gain a optimal way for efficiently use the informations from the two sensors. Meanwhile, the coordinate systems of the Mult-LeapMotion hand tracking device and the robotic demonstration system are developed. With the recognition to the element actions and the delay calibration, the fusion principles are developed to get the improved and corrected gesture recognition. The gesture recognition and scenario experiments are carried out, and indicate the improvement of the proposed Multi-LeapMotion hand tracking system in tabletop object manipulation task for robotic demonstration.展开更多
The research studied the influences of high temperature, high pressure, high humidity, noise and other harmful factors in mining conditions on the people health and safety, and investigated the impacts of confined env...The research studied the influences of high temperature, high pressure, high humidity, noise and other harmful factors in mining conditions on the people health and safety, and investigated the impacts of confined environmental on human physiology factors, including temperature, humidity, noise, pressure,toxic and harmful gases in terms of environmental characteristics in underground mines and an artificial intelligence system for simulation of the environment in a confined space of deep mines. Our results show that the systolic pressure, diastolic pressure, mean pressure, heart rate, respiratory rate, typing test speed and memory level percentage are negatively correlated with temperature value, and positively correlated with humidity value; the human temperature and weight are positively correlated with temperature value, and negatively correlated with humidity value. This research lays the foundation for the study of interaction between the deep confined space environment and safety behavior.展开更多
A dynamic cooperation model of multi-agent is established by combining reinforcement learning with distributed artificial intelligence(DAI),in which the concept of individual optimization loses its meaning because of ...A dynamic cooperation model of multi-agent is established by combining reinforcement learning with distributed artificial intelligence(DAI),in which the concept of individual optimization loses its meaning because of the dependence of repayment on each agent itself and the choice of other agents.Utilizing the idea of DAI,the intellectual unit of each robot and the change of task and environment,each agent can make decisions independently and finish various complicated tasks by communication and reciprocation between each other.The method is superior to other reinforcement learning methods commonly used in the multi-agent system.It can improve the convergence velocity of reinforcement learning,decrease requirements of computer memory,and enhance the capability of computing and logical ratiocinating for agent.The result of a simulated robot soccer match proves that the proposed cooperative strategy is valid.展开更多
Beginning with the analysis of the behavior of natural ants, this paper illuminates the principle and method that, by adopting image texture energy as pheromone and finding their way on the track of the pheromone, art...Beginning with the analysis of the behavior of natural ants, this paper illuminates the principle and method that, by adopting image texture energy as pheromone and finding their way on the track of the pheromone, artificial ants have the ability to identify and remember through similar measurement of pheromone. Based on the quantity of experiments, this paper analyzes some factors that influence the ability of artificial ants and draws some conclusions about the law of ant perception.展开更多
This study aimed to contribute in establishing an international journalism model of professionalism in the production of the news. The main purpose is to explore the degree to which this model predicts the professiona...This study aimed to contribute in establishing an international journalism model of professionalism in the production of the news. The main purpose is to explore the degree to which this model predicts the professional values in the media content. In particular, this model was tested on the content of a leading news organization in the Middle East, AI Jazeera, to identify whether or not AI Jazeera reflected professional values in news production or other non-professional values. A total of 592 news stories--234 from AJE and 358 from AJA--published from January I, 2014, to April 30, 2014, were analyzed. The findings of this study indicate that AI Jazeera reflects professional values to a substantial degree. The professional values were reflected highly and nearly two thirds of the stories had professional values in the content. The chi square tests shows there are frequency/percentage differences, but overall the patterns are similar, with no statistically significant differences in the AJA and AlE. Scholarly implications, future studies and limitations were presented in this study.展开更多
Artificial intelligence(AI) is intrinsically data-driven.It calls for the application of statistical concepts through human-machine collaboration during the generation of data,the development of algorithms,and the eva...Artificial intelligence(AI) is intrinsically data-driven.It calls for the application of statistical concepts through human-machine collaboration during the generation of data,the development of algorithms,and the evaluation of results.This paper discusses how such human-machine collaboration can be approached through the statistical concepts of population,question of interest,representativeness of training data,and scrutiny of results(PQRS).The PQRS workflow provides a conceptual framework for integrating statistical ideas with human input into AI products and researches.These ideas include experimental design principles of randomization and local control as well as the principle of stability to gain reproducibility and interpretability of algorithms and data results.We discuss the use of these principles in the contexts of self-driving cars,automated medical diagnoses,and examples from the authors' collaborative research.展开更多
基金the Japan Science Society (Sasagawa Research Fund)the Global Centre of Excellence (GCOE) programme by JSPS for partial funding
文摘This study used Corona KH-4A and Advanced Land Observing Satellite (ALOS) PRISM images to generate digital terrain models (DTMs) of the distal part of Imja Glacier,where a few supraglacial ponds (~0.07 km 2) expanded into the large Imja Glacier Lake (Imja Tsho,~0.91 km 2) between 1964 and 2006.DTMs and subsequently derived topographical maps with contour intervals of 1 m were created from the high-resolution images (Corona in 1964 and ALOS in 2006) in the Leica Photogrammetric Suite (LPS) platform.The DTMs and topographic maps provided excellent representation of the elevation and micro-topography of the glacier surface,such as its supra-glacial ponds/lake,surface depressions,and moraine ridges,with an error of about +/-4 m (maximum).The DTMs produced from the Corona and ALOS PRISM images are suitable for use in studies of the surface change of glaciers.The topographical maps produced from the Corona data (1964) showed that part of the dead ice in the down-glacier area was even higher than the top of the lateral moraine ridges,while the glacier surface in the up-glacier area was noticeably lower than the moraine crests.This suggests more extensive melting of glacier ice in the up-glacier area before 1964.The average lowering of the glacier surface from 1964 to 2006 was 16.9 m for the dead-ice area west of the lake and 47.4 m for the glacier surface east of the lake;between 1964 and 2002,the lake surface lowered by 82.3 m.These figures represent average lowering rates of 0.4,1.1,and 2.2 m/year for the respective areas.
基金This work is supported by the National Natural Science Foundation of China (Grant No. NSFC: 61473258, U 1509210), and the Joint Centre for Robotics Research (JCRR) between Zhejiang University and the University of Technology, Sydney.
文摘Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, which can maintain a map keeping track of the latest environment. The main model describing the environment is a multi-session pose graph, which evolves over the multiple visits of the robot. The poses in the graph will be pruned when the 3D point scans corresponding to those poses are out of date. When the robot explores the new areas, its poses will be added to the graph. Thus the scans kept in the current graph will always give a map of the latest environment. The changes of the environment are detected by out-of-dated scans identification module through analyzing scans collected at different sessions. Besides, a redundant scans identification module is employed to further reduce the poses with redundant scans in order to keep the total number of poses in the graph with respect to the size of environment. In the experiments, the framework is first tuned and tested on data acquired by a Kinect from laboratory environment. Then the framework is applied to external dataset acquired by a Kinect II from a workspace of an industrial robot in another country, which is blind to the development phase, for further validation of the performance. After this two-step evaluation, the proposed framework is considered to be able to manage the map in date in dynamic or static environment with a noncumulative complexity and acceptable error level.
基金This research is funded by National Natural Science Foundation of China under Project no. 61210013, Science and Technology Planning Project of Guangdong Province under no. 2014A020215027.
文摘In some complicated tabletop object manipulation task for robotic system, demonstration based control is an efficient way to enhance the stability of execution. In this paper, we use a new optical hand tracking sensor, LeapMotion, to perform a non-contact demonstration for robotic systems. A Multi-LeapMotion hand tracking system is developed. The setup of the two sensors is analyzed to gain a optimal way for efficiently use the informations from the two sensors. Meanwhile, the coordinate systems of the Mult-LeapMotion hand tracking device and the robotic demonstration system are developed. With the recognition to the element actions and the delay calibration, the fusion principles are developed to get the improved and corrected gesture recognition. The gesture recognition and scenario experiments are carried out, and indicate the improvement of the proposed Multi-LeapMotion hand tracking system in tabletop object manipulation task for robotic demonstration.
基金funded by ‘‘a group of four’’ Safety Science and Technology Project of State Production Safety Supervision Administration of China (No. 20130801)
文摘The research studied the influences of high temperature, high pressure, high humidity, noise and other harmful factors in mining conditions on the people health and safety, and investigated the impacts of confined environmental on human physiology factors, including temperature, humidity, noise, pressure,toxic and harmful gases in terms of environmental characteristics in underground mines and an artificial intelligence system for simulation of the environment in a confined space of deep mines. Our results show that the systolic pressure, diastolic pressure, mean pressure, heart rate, respiratory rate, typing test speed and memory level percentage are negatively correlated with temperature value, and positively correlated with humidity value; the human temperature and weight are positively correlated with temperature value, and negatively correlated with humidity value. This research lays the foundation for the study of interaction between the deep confined space environment and safety behavior.
文摘A dynamic cooperation model of multi-agent is established by combining reinforcement learning with distributed artificial intelligence(DAI),in which the concept of individual optimization loses its meaning because of the dependence of repayment on each agent itself and the choice of other agents.Utilizing the idea of DAI,the intellectual unit of each robot and the change of task and environment,each agent can make decisions independently and finish various complicated tasks by communication and reciprocation between each other.The method is superior to other reinforcement learning methods commonly used in the multi-agent system.It can improve the convergence velocity of reinforcement learning,decrease requirements of computer memory,and enhance the capability of computing and logical ratiocinating for agent.The result of a simulated robot soccer match proves that the proposed cooperative strategy is valid.
基金Founded by the National Science Foundation of China (No.42071094) .
文摘Beginning with the analysis of the behavior of natural ants, this paper illuminates the principle and method that, by adopting image texture energy as pheromone and finding their way on the track of the pheromone, artificial ants have the ability to identify and remember through similar measurement of pheromone. Based on the quantity of experiments, this paper analyzes some factors that influence the ability of artificial ants and draws some conclusions about the law of ant perception.
文摘This study aimed to contribute in establishing an international journalism model of professionalism in the production of the news. The main purpose is to explore the degree to which this model predicts the professional values in the media content. In particular, this model was tested on the content of a leading news organization in the Middle East, AI Jazeera, to identify whether or not AI Jazeera reflected professional values in news production or other non-professional values. A total of 592 news stories--234 from AJE and 358 from AJA--published from January I, 2014, to April 30, 2014, were analyzed. The findings of this study indicate that AI Jazeera reflects professional values to a substantial degree. The professional values were reflected highly and nearly two thirds of the stories had professional values in the content. The chi square tests shows there are frequency/percentage differences, but overall the patterns are similar, with no statistically significant differences in the AJA and AlE. Scholarly implications, future studies and limitations were presented in this study.
基金supported by the Army Research Office(No.W911NF1710005)the National Science Foundation(Nos.DMS-1613002 and IIS 1741340)+1 种基金the Center for Science of Information,a US National Science Foundation Science and Technology Center(No.CCF-0939370)the National Library of Medicine of the NIH(No.T32LM012417)
文摘Artificial intelligence(AI) is intrinsically data-driven.It calls for the application of statistical concepts through human-machine collaboration during the generation of data,the development of algorithms,and the evaluation of results.This paper discusses how such human-machine collaboration can be approached through the statistical concepts of population,question of interest,representativeness of training data,and scrutiny of results(PQRS).The PQRS workflow provides a conceptual framework for integrating statistical ideas with human input into AI products and researches.These ideas include experimental design principles of randomization and local control as well as the principle of stability to gain reproducibility and interpretability of algorithms and data results.We discuss the use of these principles in the contexts of self-driving cars,automated medical diagnoses,and examples from the authors' collaborative research.