Hongru Tang

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A novel method of dynamic hand gesture recognition based on Speeded Up Robust Features (SURF) tracking is proposed. The main characteristic is that the dominant movement direction of matched SURF points in adjacent frames is used to help describing a hand trajectory without detecting and segmenting the hand region. The dynamic hand gesture is then modeled(More)
This paper represents the relationship between the stability of stairs climbing and the centroid position of the search and rescue robot. The robot system is considered as a mass point‐ plane model and the kinematics features are analyzed to find the relationship between centroid position and the maximal pitch angle of stairs the robot could climb up. A(More)
Several key issues about the teleoperation system for semi-autonomous reconnaissance robot have been addressed. A human-robot collaborative semi-autonomous mobile robot architecture (SAMRA) which combine the complementary capabilities of both robot's local autonomy and human intelligence is proposed firstly. Then, a novel autonomous mission executive(More)
This paper presents a novel two-step autonomous navigation method for search and rescue robot. The algorithm based on the vision is proposed for terrain identification to give a prediction of the safest path with the support vector regression machine (SVRM) trained off-line with the texture feature and color features. And correction algorithm of the(More)
In the research of reconnaissance robot to respond events involving hazardous materials, a novel hybrid behavior coordination mechanism based on priority and FSA is proposed. It uses a behavior group which combines several elementary behaviors based on priority to perform simple scout tasks. And then uses one of specified FSAs designed for each more complex(More)
Controlling robots with natural language enables untrained users to interact with them more easily. A significant challenge for such systems is the mismatched visual perceptual capabilities between humans and robots. Most existing methods try to improve the perceptual ability of robots by either developing robust vision algorithms to describe and identify(More)
This paper focuses on the development of a multi-agent based robot telesupervision architecture for hazardous materials detection. By combining the supervisors' advanced reasoning capabilities with the robots' local autonomous capacities, this architecture is designed to maximize the safety and efficiency of robot supervisors to detect and deal with(More)
Controlling robots by natural language (NL) is increasingly attracting attention for its versatility, convenience and no need of extensive training for users. Grounding is a crucial challenge of this problem to enable robots to understand NL instructions from humans. This paper mainly explores the object grounding problem and concretely studies how to(More)
Shaft orbit plays an important role in condition monitoring and fault diagnosis for hydropower unit. A novel method of shaft orbit identification based on low-level image feature representation and classification is proposed. The main characteristic is that the vibrations of the shaft in terms of displacements are used to draw points in an image panel at a(More)
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