Recognition of 26 Degrees of Freedom of Hands Using Model-based approach and Depth-Color Images

In this study, we present an model-based approach to recognize full 26 degrees of freedom of a human hand. Input data include RGB-D images acquired from a Kinect camera and a 3D model of the hand constructed from its anatomy and graphical matrices. A cost function is then defined so that its minimum value is achieved when the model and observation images are matched. To solve the optimization problem in 26 dimensional space, the particle swarm optimization algorimth with improvements are used. In addition, parallel computation in graphical processing units (GPU) is utilized to handle computationally expensive tasks. Simulation and experimental results show that the system can recognize 26 degrees of freedom of hands with the processing time of 0.8 seconds per frame. The algorithm is robust to noise and the hardware requirement is simple with a single camera.

Development of a Fuzzy-based Patrol Robot Using in Building Automation System

A Building Automation System (BAS) has functions of monitoring and controlling the operation of all building sub-systems such as HVAC (Heating-Ventilation, Air-conditioning Control), electric consumption management, fire alarm control, security and access control, and appliance switching control. In the BAS, almost operations are automatically performed at the control centre, the building security therefore must be strictly protected. In the traditional system, the security is usually ensured by a number of cameras installed at fixed positions and it may results in a limited vision. To overcome this disadvantage, our paper presents a novel security system in which a mobile robot is used as a patrol. The robot is equipped with fuzzy-based algorithms to allow it to avoid the obstacles in an unknown environment as well as other necessary mechanisms demanded for its patrol mission. The experiment results show that the system satisfies the requirements for the objective of monitoring and securing the building.