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Brigham Young University

Faculty Publications

2007

Articles 31 - 38 of 38

Full-Text Articles in Physical Sciences and Mathematics

Performance Evaluation Of Vision-Based Navigation And Landing On A Rotorcraft Unmanned Aerial Vehicle, David Hubbard, Timothy W. Mclain, Bryan S. Morse, Colin Theodore, Mark Tischler Feb 2007

Performance Evaluation Of Vision-Based Navigation And Landing On A Rotorcraft Unmanned Aerial Vehicle, David Hubbard, Timothy W. Mclain, Bryan S. Morse, Colin Theodore, Mark Tischler

Faculty Publications

A Rotorcraft UAV provides an ideal experimental platform for vision-based navigation. This paper describes the flight tests of the US Army PALACE project, which implements Moravec’s pseudo-normalized correlation tracking algorithm. The tracker uses the movement of the landing site in the camera, a laser range, and the aircraft attitude from an IMU to estimate the relative motion of the UAV. The position estimate functions as a GPS equivalent to enable the rotorcraft to maneuver without the aid of GPS. With GPS data as a baseline, tests were performed in simulation and in flight that measure the accuracy of the position …

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Human–Robot Interaction: A Survey, Michael A. Goodrich, Alan C. Schultz Feb 2007

Human–Robot Interaction: A Survey, Michael A. Goodrich, Alan C. Schultz

Faculty Publications

Human–Robot Interaction (HRI) has recently received considerable attention in the academic community, in labs, in technology companies, and through the media. Because of this attention, it is desirable to present a survey of HRI to serve as a tutorial to people outside the field and to promote discussion of a unified vision of HRI within the field. The goal of this review is to present a unified treatment of HRI-related problems, to identify key themes, and discuss challenge problems that are likely to shape the field in the near future. Although the review follows a survey structure, the goal of …

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Interactive Image Repair With Assisted Structure And Texture Completion, Teryl Arnold, Bryan S. Morse Feb 2007

Interactive Image Repair With Assisted Structure And Texture Completion, Teryl Arnold, Bryan S. Morse

Faculty Publications

Removing image defects in an undetectable manner has been studied for its many useful and varied applications. In many cases the desired result may be ambiguous from the image data alone and needs to be guided by a user’s knowledge of the intended result. This paper presents a framework for interactively incorporating user guidance into the filling-in process, more effectively using user input to fill in damaged regions in an image. This framework contains five main steps: first, the scratch or defect is detected; second, the edges outside the defect are detected; third, curves are fit to the detected edges; …

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Strain-Based Electrical Properties Of Systems Of Carbon Nanotubes Embedded In Parylene, David D. Allred, Jon Brame, Johnathan Goodsell, Stephanie Getty Jan 2007

Strain-Based Electrical Properties Of Systems Of Carbon Nanotubes Embedded In Parylene, David D. Allred, Jon Brame, Johnathan Goodsell, Stephanie Getty

Faculty Publications

We have fabricated flexible electronic devices to test the strain-based change in resistance of a network of single-walled carbon nanotubes (SWCNTs) for use in microscale, high resolution magnetometry. To do this, we first develop a simple, reliable method to obtain catalyst nanoparticles for carbon nanotube growth through indirect, thin-film evaporation. Next we fabricate a two-terminal SWCNT device on a rigid substrate. We then transfer the device, intact, to a flexible substrate for strain testing. Herein, we report progress in growth and measurement techniques.

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Clustering Streaming Music Via The Temporal Similarity Of Timbre, Jacob Merrell, Bryan S. Morse, Dan A. Ventura Jan 2007

Clustering Streaming Music Via The Temporal Similarity Of Timbre, Jacob Merrell, Bryan S. Morse, Dan A. Ventura

Faculty Publications

We consider the problem of measuring the similarity of streaming music content and present a method for modeling, on the fly, the temporal progression of a song’s timbre. Using a minimum distance classification scheme, we give an approach to classifying streaming music sources and present performance results for auto-associative song identification and for content-based clustering of streaming music. We discuss possible extensions to the approach and possible uses for such a system.

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Generating Ontologies Via Language Components And Ontology Reuse, Deryle W. Lonsdale, Yihong Ding, David W. Embley, Martin Hepp, Li Xu Jan 2007

Generating Ontologies Via Language Components And Ontology Reuse, Deryle W. Lonsdale, Yihong Ding, David W. Embley, Martin Hepp, Li Xu

Faculty Publications

Realizing the Semantic Web involves creating ontologies, a tedious and costly challenge. Reuse can reduce the cost of ontology engineering. Semantic Web ontologies can provide useful input for ontology reuse. However, the automated reuse of such ontologies remains underexplored. This paper presents a generic architecture for automated ontology reuse. With our implementation of this architecture, we show the practicality of automating ontology generation through ontology reuse. We experimented with a large generic ontology as a basis for automatically generating domain ontologies that fit the scope of sample natural-language web pages. The results were encouraging, resulting in five lessons pertinent to …

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Analogical Modeling: An Update, Deryle W. Lonsdale, David Eddington Jan 2007

Analogical Modeling: An Update, Deryle W. Lonsdale, David Eddington

Faculty Publications

Analogical modeling is a supervised exemplar-based approach that has been widely applied to predict linguistic behavior. The paradigm has been well documented in the linguistics and cognition literature, but is less well known to the machine learning community. This paper sets out some of the basics of the approach, including a simplified example of the fundamental algorithm’s operation. It then surveys some of the recent analogical modeling language applications, and sketches how the computational system has been enhanced lately to offer users increased flexibility and processing power. Some comparisons and contrasts are drawn between analogical modeling and other language modeling …

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A Cognitive Robotics Approach To Comprehending Human Language And Behaviors, Deryle W. Lonsdale, D. Paul Benjamin, Damian Lyons Jan 2007

A Cognitive Robotics Approach To Comprehending Human Language And Behaviors, Deryle W. Lonsdale, D. Paul Benjamin, Damian Lyons

Faculty Publications

The ADAPT project is a collaboration of researchers in linguistics, robotics and artificial intelligence at three universities. We are building a complete robotic cognitive architecture for a mobile robot designed to interact with humans in a range of environments, and which uses natural language and models human behavior. This paper concentrates on the HRI aspects of ADAPT, and especially on how ADAPT models and interacts with humans.

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