Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413380
I. Ahmed, N. Ahmad, H. Ali, G. Ahmad
The availability of standard speech database is of paramount importance in the automatic speech recognition (ASR) research in the context of providing a baseline for comparing the performance of automatic speech recognition approaches. This paper presents the development of a Medium-Vocabulary Speech Corpus for Pashto language. The vocabulary encompasses 161 isolated words of Pashto language, consisting of most frequently used words of Pashto language, names of the days of the week and digits from 0 to 25. The words were uttered by 30 speakers of different ages and genders, including both native and non-native speakers of Pashto language. Recording of the corpus was performed in a noise free office environment. The Corpus developed is then used for the development of an automatic speech recognition system for Pashto language.
{"title":"The development of isolated words corpus of Pashto for the automatic speech recognition research","authors":"I. Ahmed, N. Ahmad, H. Ali, G. Ahmad","doi":"10.1109/ICRAI.2012.6413380","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413380","url":null,"abstract":"The availability of standard speech database is of paramount importance in the automatic speech recognition (ASR) research in the context of providing a baseline for comparing the performance of automatic speech recognition approaches. This paper presents the development of a Medium-Vocabulary Speech Corpus for Pashto language. The vocabulary encompasses 161 isolated words of Pashto language, consisting of most frequently used words of Pashto language, names of the days of the week and digits from 0 to 25. The words were uttered by 30 speakers of different ages and genders, including both native and non-native speakers of Pashto language. Recording of the corpus was performed in a noise free office environment. The Corpus developed is then used for the development of an automatic speech recognition system for Pashto language.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129750009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413390
A. Salman, J. Iqbal, U. Izhar, U. S. Khan, N. Rashid
An optimized circuit for processing of EMG signals has been designed and presented in this paper. This circuit acquires EMG signals from surface of the skin using bipolar electrodes and enables the amputee to control the prosthetic hand in an efficient manner. EMG can be defined as the electrical potential produced due to the contraction of muscle. It can be picked from the residual portion of muscles of an amputee. EMG signal requires the processes of amplification, band limiting and rectification, before it can be fed to an analog to digital converter (ADC) and subsequently to motors driving the prosthetic device.
{"title":"Optimized circuit for EMG signal processing","authors":"A. Salman, J. Iqbal, U. Izhar, U. S. Khan, N. Rashid","doi":"10.1109/ICRAI.2012.6413390","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413390","url":null,"abstract":"An optimized circuit for processing of EMG signals has been designed and presented in this paper. This circuit acquires EMG signals from surface of the skin using bipolar electrodes and enables the amputee to control the prosthetic hand in an efficient manner. EMG can be defined as the electrical potential produced due to the contraction of muscle. It can be picked from the residual portion of muscles of an amputee. EMG signal requires the processes of amplification, band limiting and rectification, before it can be fed to an analog to digital converter (ADC) and subsequently to motors driving the prosthetic device.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129721906","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413396
Faizan Ahmad, Aaima Najam
The goal of this paper is to provide; an up-to-date, critical and comprehensive; survey of existing literature on face classification. The survey of this research paper includes the research work ranges from single: frame, object, classifier to multi: frame, object, classifier approach that provides robust and efficient solution for several applications in the area of biometrics, personal security, law enforcement, information security, entertainment, smart card and access management. Such applications have several constraints in terms of complexity of processing requirements and thus present a wide range of technical challenges. The detail overview of techniques for segmentation/location of the face, tracking, feature extraction and recognition are reviewed. As human face is a dynamic object having high degree of variability in its appearance, that makes face detection a difficult problem in computer vision. In this paper we will provide a brief introduction, different approaches and related state of the art recent work in the field of face recognition and classification specially for videos like global transform and feature based methods. At the end critical analysis based on literature results and conclusion have been provided.
{"title":"Video-based face classification approach: A survey","authors":"Faizan Ahmad, Aaima Najam","doi":"10.1109/ICRAI.2012.6413396","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413396","url":null,"abstract":"The goal of this paper is to provide; an up-to-date, critical and comprehensive; survey of existing literature on face classification. The survey of this research paper includes the research work ranges from single: frame, object, classifier to multi: frame, object, classifier approach that provides robust and efficient solution for several applications in the area of biometrics, personal security, law enforcement, information security, entertainment, smart card and access management. Such applications have several constraints in terms of complexity of processing requirements and thus present a wide range of technical challenges. The detail overview of techniques for segmentation/location of the face, tracking, feature extraction and recognition are reviewed. As human face is a dynamic object having high degree of variability in its appearance, that makes face detection a difficult problem in computer vision. In this paper we will provide a brief introduction, different approaches and related state of the art recent work in the field of face recognition and classification specially for videos like global transform and feature based methods. At the end critical analysis based on literature results and conclusion have been provided.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"2008 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127317778","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413404
H. Baqapuri, Hamza Asif Nizami, S. Siddiqui, J. Iqbal, U. Shahbaz
Partial Paralysis often occurs due to spinal cord injuries, which generally means some functionality loss in the hands of the affected. This paper covers a novel model design of an exoskeleton which will restore hand use for basic daily activities such as gripping and pinching. This also has applications for individuals who may be physically weaker such as the elderly or those with neuromuscular diseases. The design is economical to manufacture and hence affordable to the commoner. The structure is made of lightweight materials and the design is based closely on tendon actuation, which is how the human hand functions. Four servo motors are used to close and open the grip, with the thumb fixed in a specific position, which can be adjusted manually. Threads are used to actuate the exoskeleton structure by the servo motors.
{"title":"Prefabrication design of an actuated exoskeleton for traumatized and paralytic hands","authors":"H. Baqapuri, Hamza Asif Nizami, S. Siddiqui, J. Iqbal, U. Shahbaz","doi":"10.1109/ICRAI.2012.6413404","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413404","url":null,"abstract":"Partial Paralysis often occurs due to spinal cord injuries, which generally means some functionality loss in the hands of the affected. This paper covers a novel model design of an exoskeleton which will restore hand use for basic daily activities such as gripping and pinching. This also has applications for individuals who may be physically weaker such as the elderly or those with neuromuscular diseases. The design is economical to manufacture and hence affordable to the commoner. The structure is made of lightweight materials and the design is based closely on tendon actuation, which is how the human hand functions. Four servo motors are used to close and open the grip, with the thumb fixed in a specific position, which can be adjusted manually. Threads are used to actuate the exoskeleton structure by the servo motors.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133413352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413391
N. Fazal, S. Bashir
This paper present pent band micro strip patch antenna that resonates at GSM (Global system for mobile communication), GPS(L), GPS(L2), WLAN(wireless local area Network) and UWB .The proposed design is fed by a micro strip line and the multi band operation is achieved by using slots in the patch and a conducting strip on the bottom side of the patch. The antenna exhibits return loss RL<;<;-10dB for all the five bands. Due to its small size it can be used in portable devices having multi band operations.
{"title":"Penta band micro strip patch antenna","authors":"N. Fazal, S. Bashir","doi":"10.1109/ICRAI.2012.6413391","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413391","url":null,"abstract":"This paper present pent band micro strip patch antenna that resonates at GSM (Global system for mobile communication), GPS(L), GPS(L2), WLAN(wireless local area Network) and UWB .The proposed design is fed by a micro strip line and the multi band operation is achieved by using slots in the patch and a conducting strip on the bottom side of the patch. The antenna exhibits return loss RL<;<;-10dB for all the five bands. Due to its small size it can be used in portable devices having multi band operations.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132041647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413413
S. Mufti, Muhammad Alam
This paper introduces a method for integrating real-time obstacle avoidance capability in two-legged walking robots i.e. Biped using Sonar and Ultrasonic sensors embedded within the super-structure of the robot. The main objective of this paper is to elaborate the method involving the use of sonar and ultrasonic sensors for computing and analyzing path in real-time and avoiding obstacles based-on the computational algorithm embedded on the micro-controller. The Biped under consideration for this paper works on a 4-bar mechanism (4-DOF) and fulfills the Grubler/Kutzbach Mobility equation. The Biped is equipped with two-linear DC actuators fitted in the foot, providing effective turning radius and tilting of the Biped structure based on the obstacle avoidance algorithm. This paper also focuses on the design of a modular wireless segment that provides navigational control to the operator for In-Plane Path planning using Digital image processing filters and limiters embedded within the MATLAB environment. All the experimental results are directly compared with the simulated ones to prove the Sonar's and ultrasonic sensors effectiveness for In-Plane path planning.
{"title":"Real-time obstacle avoidance and Path planning of a self-navigated autonomous biped robot using RugBat sonar sensors and modular digital image processing","authors":"S. Mufti, Muhammad Alam","doi":"10.1109/ICRAI.2012.6413413","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413413","url":null,"abstract":"This paper introduces a method for integrating real-time obstacle avoidance capability in two-legged walking robots i.e. Biped using Sonar and Ultrasonic sensors embedded within the super-structure of the robot. The main objective of this paper is to elaborate the method involving the use of sonar and ultrasonic sensors for computing and analyzing path in real-time and avoiding obstacles based-on the computational algorithm embedded on the micro-controller. The Biped under consideration for this paper works on a 4-bar mechanism (4-DOF) and fulfills the Grubler/Kutzbach Mobility equation. The Biped is equipped with two-linear DC actuators fitted in the foot, providing effective turning radius and tilting of the Biped structure based on the obstacle avoidance algorithm. This paper also focuses on the design of a modular wireless segment that provides navigational control to the operator for In-Plane Path planning using Digital image processing filters and limiters embedded within the MATLAB environment. All the experimental results are directly compared with the simulated ones to prove the Sonar's and ultrasonic sensors effectiveness for In-Plane path planning.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117322436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413398
M. Heydari, A. Moghadam
This paper addresses the automatic player detection and tracking problem applied to broadcast images of soccer games. We propose an approach for player detection in long view of broadcast soccer video. We detect long view frames using dominant color ratio. We use k-means clustering algorithm for calculating dominant color thresholds. Our method for player detection has two phases: in the first phase we perform a preprocessing for deleting some non-player regions, this is done with knowledge of soccer video domain and morphology operation. Remaining regions will be classified into player or non-player groups with using a Multilayer Perceptron Neural Network as classifier in second phase. Our used feature vector for every region consist of two parts: color value of region in Cb and Cr layers from YCbCr color space and area of the region. Finally we track each player. Experiments show that our method can detect player effectively and with high accuracy.
{"title":"An MLP-based player detection and tracking in broadcast soccer video","authors":"M. Heydari, A. Moghadam","doi":"10.1109/ICRAI.2012.6413398","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413398","url":null,"abstract":"This paper addresses the automatic player detection and tracking problem applied to broadcast images of soccer games. We propose an approach for player detection in long view of broadcast soccer video. We detect long view frames using dominant color ratio. We use k-means clustering algorithm for calculating dominant color thresholds. Our method for player detection has two phases: in the first phase we perform a preprocessing for deleting some non-player regions, this is done with knowledge of soccer video domain and morphology operation. Remaining regions will be classified into player or non-player groups with using a Multilayer Perceptron Neural Network as classifier in second phase. Our used feature vector for every region consist of two parts: color value of region in Cb and Cr layers from YCbCr color space and area of the region. Finally we track each player. Experiments show that our method can detect player effectively and with high accuracy.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"565 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116654108","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413397
Z. Rasheed, D. Magee
Lung cancer is a disease that consists of uncontrolled cell growth in tissues of the lungs. There are a number of different treatment options available for lung cancer. Radiation therapy is a process in which high energy radiation is applied to kill cancer cells and shrink tumors. A treatment plan of patient is developed before radiation therapy in which the clinician spent a lot of time on manually marking the airways on the CT scan images so that airways can be protected while doing the radiotherapy. Work in this paper is a step towards automating the airway segmentation.
{"title":"Modeling of airway in 4D lung CT images","authors":"Z. Rasheed, D. Magee","doi":"10.1109/ICRAI.2012.6413397","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413397","url":null,"abstract":"Lung cancer is a disease that consists of uncontrolled cell growth in tissues of the lungs. There are a number of different treatment options available for lung cancer. Radiation therapy is a process in which high energy radiation is applied to kill cancer cells and shrink tumors. A treatment plan of patient is developed before radiation therapy in which the clinician spent a lot of time on manually marking the airways on the CT scan images so that airways can be protected while doing the radiotherapy. Work in this paper is a step towards automating the airway segmentation.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"87 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114502414","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413411
I. Ullah, Q. Ullah, F. Ullah, Seoyong Shin
Intelligent systems to increase the road safety have been widely applied in the automotive sector; similarly, they have critical importance in the robotics to navigate the robot safely. Automatic distance control system helps to avoid collision between vehicles. In this paper, we present an algorithm to maintain a distance between the robot and the object. It keeps the autonomous mobile robot at a safe distance from the object. It is implemented in a wheeled mobile robot to track the moving object. The surrounding information is obtained through the range sensors that are mounted at the front side of the robot. The central sensor gives instructions for the forward and backward motion, and the other sensors help for the left and right motion. To avoid collision, safety distance, which makes the movement easy in the out of range, stop, and forward and backward modes, is predefined in the mobile robot. Each time the range data is compared with the predefined distance measurements, and the respected function is activated. The robot is characterized due to low cost and simple control architecture. Different experiments were carried out in the indoor and outdoor environments with different objects. The results have shown that the robot tracks the object correctly by maintaining a constant distance from the followed object.
{"title":"Mobile robot navigation with distance control","authors":"I. Ullah, Q. Ullah, F. Ullah, Seoyong Shin","doi":"10.1109/ICRAI.2012.6413411","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413411","url":null,"abstract":"Intelligent systems to increase the road safety have been widely applied in the automotive sector; similarly, they have critical importance in the robotics to navigate the robot safely. Automatic distance control system helps to avoid collision between vehicles. In this paper, we present an algorithm to maintain a distance between the robot and the object. It keeps the autonomous mobile robot at a safe distance from the object. It is implemented in a wheeled mobile robot to track the moving object. The surrounding information is obtained through the range sensors that are mounted at the front side of the robot. The central sensor gives instructions for the forward and backward motion, and the other sensors help for the left and right motion. To avoid collision, safety distance, which makes the movement easy in the out of range, stop, and forward and backward modes, is predefined in the mobile robot. Each time the range data is compared with the predefined distance measurements, and the respected function is activated. The robot is characterized due to low cost and simple control architecture. Different experiments were carried out in the indoor and outdoor environments with different objects. The results have shown that the robot tracks the object correctly by maintaining a constant distance from the followed object.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114543937","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413385
S. Pervaiz, I. Deiab, S. Zafar, S. Shams
Reaming operation is a commonly used finishing phase for already drilled hole. Finishing is required because surface roughness of hole plays a significant role towards the functionality of the component. Surface roughness is a critical parameter for fatigue life of the component. Cutting forces are important indicator for power consumption required for cutting task. An artificial neural network (ANN) based surface roughness and power consumption model was established for Al 6061 under reaming operation. Back propagation neural networks were utilized for prediction of surface roughness and power consumption. Reaming test data was used to train and test the ANN network. In this presented study comparative investigation has been performed between the actual experimental values and neural network outputs to achieve good agreement.
{"title":"Prediction of energy consumption and surface roughness in reaming operation of Al-6061using ANN based models","authors":"S. Pervaiz, I. Deiab, S. Zafar, S. Shams","doi":"10.1109/ICRAI.2012.6413385","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413385","url":null,"abstract":"Reaming operation is a commonly used finishing phase for already drilled hole. Finishing is required because surface roughness of hole plays a significant role towards the functionality of the component. Surface roughness is a critical parameter for fatigue life of the component. Cutting forces are important indicator for power consumption required for cutting task. An artificial neural network (ANN) based surface roughness and power consumption model was established for Al 6061 under reaming operation. Back propagation neural networks were utilized for prediction of surface roughness and power consumption. Reaming test data was used to train and test the ANN network. In this presented study comparative investigation has been performed between the actual experimental values and neural network outputs to achieve good agreement.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127554068","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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