Most industrial robots today have little or no sensory capability. Feedback is limited to information about joint positions, combined with a few interlock and timing signals. These robots can function only in an environment where the objects to be manipulated are precisely located in the proper position for the robot to grasp (i. e. , in a structured environment). For many present industrial applications, this level of performance has been adequate. With the increasing demand for high performance sensor-based robot manipulators in assembly tasks, meeting this demand and challenge can only be achieved through the consideration of: 1) efficient acquisition and processing of intemaVextemal sensory information, 2) utilization and integration of sensory information from various sensors (tactile, force, and vision) to acquire knowledge in a changing environment, 3) exploitation of inherent robotic parallel algorithms and efficient VLSI architectures for robotic computations, and finally 4) system integration into a working and functioning robotic system. This is the intent of the Workshop on Sensor-Based Robots: Algorithms and Architectures - to study the fundamental research issues and problems associated with sensor-based robot manipulators and to propose approaches and solutions from various viewpoints in improving present day robot manipula tors in the areas of sensor fusion and integration, sensory information processing, and parallel algorithms and architectures for robotic computations.

This book contains the proceedings of the NATO Advanced Research Workshop held in Maratea (Italy), May 5-9, 1986 on Pyramidal Systems for Image Processing and Computer Vision. We had 40 participants from 11 countries playing an active part in the workshop and all the leaders of groups that have produced a prototype pyramid machine or a design for such a machine were present. Within the wide field of parallel architectures for image processing a new area was recently born and is growing healthily: the area of pyramidally structured multiprocessing systems. Essentially, the processors are arranged in planes (from a base to an apex) each one of which is generally a reduced (usually by a power of two) version of the plane underneath: these processors are horizontally interconnected (within a plane) and vertically connected with "fathers" (on top planes) and "children" on the plane below. This arrangement has a number of interesting features, all of which were amply discussed in our Workshop including the cellular array and hypercube versions of pyramids. A number of projects (in different parts of the world) are reported as well as some interesting applications in computer vision, tactile systems and numerical calculations.

The second edition of this volume has been extensively revised. A different version of Chap. 7, reflecting recent significant progress in understanding of spatiotempo ral chaos, is now provided. Much new material has been included in the sections dealing with intermittency in birth-death models and noise-induced phase transi tions. A new section on control of chaotic behavior has been added to Chap. 6. The subtitle of the volume has been changed to better reflect its contents. We acknowledge stimulating discussions with H. Haken and E. Scholl and are grateful to our colleagues M. Bar, D. Battogtokh, M. Eiswirth, M. Hildebrand, K. Krischer, and V. Tereshko for their comments and assistance. We thank M. Lubke for her help in producing new figures for this volume. Berlin and Moscow A. s. Mikhailov April 1996 A. Yu. Loskutov Preface to the First Edition This textbook is based on a lecture course in synergetics given at the University of Moscow. In this second of two volumes, we discuss the emergence and properties of complex chaotic patterns in distributed active systems. Such patterns can be produced autonomously by a system, or can result from selective amplification of fluctuations caused by external weak noise."

Thirty years ago pattern recognition was dominated by the learning machine concept: that one could automate the process of going from the raw data to a classifier. The derivation of numerical features from the input image was not considered an important step. One could present all possible features to a program which in turn could find which ones would be useful for pattern recognition. In spite of significant improvements in statistical inference techniques, progress was slow. It became clear that feature derivation was a very complex process that could not be automated and that features could be symbolic as well as numerical. Furthennore the spatial relationship amongst features might be important. It appeared that pattern recognition might resemble language analysis since features could play the role of symbols strung together to form a word. This led. to the genesis of syntactic pattern recognition, pioneered in the middle and late 1960's by Russel Kirsch, Robert Ledley, Nararimhan, and Allan Shaw. However the thorough investigation of the area was left to King-Sun Fu and his students who, until his untimely death, produced most of the significant papers in this area. One of these papers (syntactic recognition of fingerprints) received the distinction of being selected as the best paper published that year in the IEEE Transaction on Computers. Therefore syntactic pattern recognition has a long history of active research and has been used in industrial applications.

This book contains several invited papers and a selection of research papers submitted to Computer Animation '92, the fourth international workshop on Computer Animation, which was held in Geneva on May 20-22. This workshop, now an annual event, has been organized by the Computer Graphics Society, the University of Geneva, and the Swiss Federal Institute of Technology in Lausanne. During the international workshop on Computer Animation '92, the fifth Computer-generated Film Festival of Geneva, was held. The book presents original research results and applications experience in various areas of computer animation. This year most papers are related to physics-based animation, human animation, and geometric modelling for animation. NADIA MAGNENAT THALMANN DANIEL THALMANN Table of Contents Part I: Physics-based Animation The Control of Hovering Flight for Computer Animation David Haumann, Jessica K. Hodgins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Inverse Problems in Computer Graphics Michael Kass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . " . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 NPSNET: Physically-based Modeling Enhancements to An Object File Format Michael J. Zyda, James G. Monahan, David R. Pratt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 A New Method for Approximative Interactive Dynamics Ulrich Leiner, Bernhard Preim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Part ll: Human animation Extraction of 3D Shapes from the Moving Human Face Using Lighting Swjtch Photometry Hitoshi Saji, Hirohisa Hioki, Yoshihisa Shinagawa, Kensyu Yoshida, Tosiyasu L. Kunii . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 An Interactive Tool for the Design of Human Free-Walking Trajectories Laurent Bezault, Ronan Boulic, Nadia Magnenat Thalmann, Daniel Thalmann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Achilles - A System for Visualizing Non Standard Human Gait Homero L. Piccolo, Kentaro Takahashi, Marcus G. de Amorim, Andre C. de Sa Carneiro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

This book constitutes the refereed proceedings of the International Conference on Brain Informatics, BI 2012, held in Macau, China, in December 2012. The 34 revised full papers were carefully reviewed and selected for inclusion in the book. The papers are organized in topical sections on computer science, information technology, artificial intelligence, web intelligence, cognitive science, neuroscience, medical science, life science, economics, data mining, data and knowledge engineering, intelligent agent technology, human computer interaction, complex systems, and system science.

This volume contains a series of papers originally presented at a NATO Advanced Research Workshop (ARW) entitled Kinematic and Dynamic Issues in Sensor Based Control. The workshop, one of a series concerned with topics in sensory robotics, took place at II Ciocco, Castelvecchio di Pascoli, Italy in October 1987. Attendance was by invitation only and the majority of participants are recognised leaders in their field- some from the robotics community, others with a more general control background. The main topics of interest were grouped into eight sessions represented by the eight main sections of the book: 1: Modelling Techniques: General Kinematic and Dynamic Issues 2: Sensor Signal Processing 3: Force Control 4: Further Control Topics 5: Vision Based Control 6: Further Kinematic and Dynamic Issues 7: Computational Issues 8: Learning from Sensor Input Also included are brief reports of the roundtable discussions which sought to determine important future directions of research in this area. My thanks to all those who made the workshop possible: The NATO Scientific Affairs Division and the panel on Sensory Systems for Robotic Control who provided most of the financial support; the workshop committee, Dr. B. Espiau, Dr. P. Coiffet, Dr. P.

This book constitutes the refereed proceedings of the 10th International Conference on Computer Information Systems, CISIM 2011, held in Kolkata, India, in December 2011. The 30 revised full papers presented together with 6 keynote tasks and plenary lectures were carefully reviewed and selected from 67 submissions. The papers are organized in topical sections on networking and its applications; agent-based systems; biometric applications; pattern recognition and image processing; industrial applications; algorithmic applications and data management; information and network security.

This book gives an introduction to the mathematical theory of cooperative behavior in active systems of various origins, both natural and artificial. It is based on a lecture course in synergetics which I held for almost ten years at the University of Moscow. The first volume deals mainly with the problems of pattern fonnation and the properties of self-organized regular patterns in distributed active systems. It also contains a discussion of distributed analog information processing which is based on the cooperative dynamics of active systems. The second volume is devoted to the stochastic aspects of self-organization and the properties of self-established chaos. I have tried to avoid delving into particular applications. The primary intention is to present general mathematical models that describe the principal kinds of coopera tive behavior in distributed active systems. Simple examples, ranging from chemical physics to economics, serve only as illustrations of the typical context in which a particular model can apply. The manner of exposition is more in the tradition of theoretical physics than of in mathematics: Elaborate fonnal proofs and rigorous estimates are often replaced the text by arguments based on an intuitive understanding of the relevant models. Because of the interdisciplinary nature of this book, its readers might well come from very diverse fields of endeavor. It was therefore desirable to minimize the re quired preliminary knowledge. Generally, a standard university course in differential calculus and linear algebra is sufficient."

This volume contains the Proceedings of the 9th Italian Workshop on Neural Nets WIRN VIETRI-97, organised by the International Institute for Advanced Scientific Studies ((Eduardo R. Caianiello" (IIASS), the Societa Italiana Reti Neuroniche (SIREN) and the IEEE NNC Italian RIG. As in the previous editions some invited and reviewed talks on updated subjects are presented in addition to the original contributions selected by the Refereeing Committee. Also included is Professor C.M. Bishop's Invited paper on: * Latent Variables, Topographic Mappings and Data Visualization; and two review talks that deal with updated topics: * Fuzzy Neural Networks for Pattern Recognition; * A Unifying View of Gradient Calculations and Learning for Locally Recurrent Neural Networks; For publication the original contributions have been assembled into 4 sections: Applications, Architectures and Algorithms, Mathematical Models, Pattern Recognition and Robotics. The Editors thank the invited speaker and all the participants for having contributed to the success of the Workshop by submitting high quality manuscripts, and also express gratitude to the Refereeing Committee for the high quality of the selection process. Maria Marinaro Roberto Tagliaferri VI Organizing -Scientific Committee: B. Apolloni (Univ. Milano), A. Bertoni (Univ. Milano), D.O. Caviglia (Univ. Genova), P. Campadelli (Univ. Milano), A. Colla (ELSAG BAILEY -Genova), M. Frixione (1IASS), C. Furlanello (IRST -Trento), A. Esposito (1IASS), G.M. Guazzo (1IASS), M. Gori (Univ. Firenze), F. Lauria (Univ. Napoli), M. Marinaro (Univ. Salerno - IIASS), F.

The NATO Advanced Research Workshop on Issues in Acoustic Signal/Image Processing and Recognition was held August 5-9, 1982 at the Cappuccini complex in San Miniato Italy. The Workshop was primarily concerned with the underwater acoustic signal processing and seismic signal analysis and a major effort was made to link these topics with pattern recognition, i ge processing and artificial intelligence. Major issues and new approaches in these interrelated areas were closely examined in the Workshop. In addition to paper presentations three discussion sessions were held on (1) spectral analysis in underwater acoustics, (2) seismic wave propaga tion, seismic imaging and migration, and seismic inversion, and (3) unresolved issues and future directions. This Proceedings volume includes most presentations made at the Workshop. The publication, like the meeting itself, is unique in the sense that it provides exten sive interactions among the closely related areas stated above. Such interactions which usually result in the integration of different systems or approaches are certainly much needed to achieve some performance breakthrough while individual systems or approaches reach their performance limit. I am grateful to all participants for their active participation that makes the Workshop very productive, and to Dr. Lewis J. Lloyd and Dr. Ralph Goodman for their help to arrange an informative visit to the SACLANT ASW Research Centre for the Workshop participants. I am confident that this publication will be equally produc tive to report important current research results and near-future research activity particularly in underwater acoustic signal processing."

Rapid development of computer hardware has enabled usage of automatic object recognition in an increasing number of applications, ranging from industrial image processing to medical applications, as well as tasks triggered by the widespread use of the internet. Each area of application has its specific requirements, and consequently these cannot all be tackled appropriately by a single, general-purpose algorithm. This easy-to-read text/reference provides a comprehensive introduction to the field of object recognition (OR). The book presents an overview of the diverse applications for OR and highlights important algorithm classes, presenting representative example algorithms for each class. The presentation of each algorithm describes the basic algorithm flow in detail, complete with graphical illustrations. Pseudocode implementations are also included for many of the methods, and definitions are supplied for terms which may be unfamiliar to the novice reader. Supporting a clear and intuitive tutorial style, the usage of mathematics is kept to a minimum. Topics and features: presents example algorithms covering global approaches, transformation-search-based methods, geometrical model driven methods, 3D object recognition schemes, flexible contour fitting algorithms, and descriptor-based methods; explores each method in its entirety, rather than focusing on individual steps in isolation, with a detailed description of the flow of each algorithm, including graphical illustrations; explains the important concepts at length in a simple-to-understand style, with a minimum usage of mathematics; discusses a broad spectrum of applications, including some examples from commercial products; contains appendices discussing topics related to OR and widely used in the algorithms, (but not at the core of the methods described in the chapters). Practitioners of industrial image processing will find this simple introduction and overview to OR a valuable reference, as will graduate students in computer vision courses. Marco Treiber is a software developer at Siemens Electronics Assembly Systems, Munich, Germany, where he is Technical Lead in Image Processing for the Vision System of SiPlace placement machines, used in SMT assembly.

This book contains the manuscripts of the papers delivered at the International Sym posium on Synergetics held at SchloB Elmau, Bavaria, Germany, from April 30 until May 5, 1979. This conference followed several previous ones (Elmau 1972, Sicily 1974, Elmau 1977). This time the subject of the symposium was "pattern formation by dynam ic systems and pattern recognition." The meeting brought together scientists from such diverse fields as mathematics, physics, chemistry, biology, history as well as experts in the fields of pattern recognition and associative memory. When I started this type of conference in 1972 it appeared to be a daring enter prise. Indeed, we began to explore virgin land of science: the systematic study of cooperative effects in physical systems far from equi ibrium and in other disciplines. Though these meetings were attended by scientists from quite different disciplines, a basic concept and even a common language were found from the very beginning. The idea that there exist profound analogies in the behaviour of large classes of complex systems, though the systems themselves may be quite different, proved to be most fruitful. I was delighted to see that over the past one or two years quite similar conferences were now held in various places allover the world. The inclusion of prob lems of pattern recognition at the present meeting is a novel feature, however."

This book constitutes the refereed proceedings of CVM 2012, the First International Conference on Computational Visual Media, held in Beijing, China, in November 2012.
The 33 revised full papers were carefully reviewed and selected from 81 submissions. The papers are organized in topical sections on image processing I and II, geometric processing, saliency, recognition, perception and learning, shape analysis, media retrieval, and capture, rendering and visualization.

Pattern recognition is a child of modern technology; electronics and computers in particular have inspired research and made it possible to develop the subject in a way which would have been impossible otherwise. It is a rapidly growing research field which began to flourish in the 1960s and which is beginning to produce commercial devices. Significant developments have been made, both in the theory and practical engineering of the subject, but there is evidence of a schism developing between these two approaches. Practical machines have usually been designed on an ad hoc basis, with little use being made of advanced theory. It is difficult to provide a rigorous mathematical treatment of many problems pertinent to a practical situation. This is due, in part at least, to a conceptual rift between theory and practice. The mathematics of optimal systems is well developed, whereas pragmatists are more concerned with vaguer ideas of reasonable and sufficient. In some situations, the quest for optimality can constrain research and retard practical progress. This can occur, for example, if too narrow a view is taken of "optimal": the accuracy of a system may be optimal whereas its speed, cost, or physical size may be grossly suboptimal. The objective of this book is to present a glimpse of the pragmatic approach to pattern recognition; there already exist a number of excellent texts describing theoretical developments.

This book constitutes the thoroughly refereed post-conference proceedings of the 7th International Conference on Intelligent Computing, ICIC 2011, held in Zhengzhou, China, in August 2011. The 94 revised full papers presented were carefully reviewed and selected from 832 submissions. The papers are organized in topical sections on neural networks; machine learning theory and methods; fuzzy theory and models; fuzzy systems and soft computing; evolutionary learning & genetic algorithms; swarm intelligence and optimization; intelligent computing in computer vision; intelligent computing in image processing; biometrics with applications to individual security/forensic sciences; intelligent image/document retrievals; natural language processing and computational linguistics; intelligent data fusion and information security; intelligent computing in pattern recognition; intelligent agent and web applications; intelligent computing in scheduling; intelligent control and automation.

Document image analysis is the automatic computer interpretation of images of printed and handwritten documents, including text, drawings, maps, music scores, etc. Research in this field supports a rapidly growing international industry. This is the first book to offer a broad selection of state-of-the-art research papers, including authoritative critical surveys of the literature, and parallel studies of the architectureof complete high-performance printed-document reading systems. A unique feature is the extended section on music notation, an ideal vehicle for international sharing of basic research. Also, the collection includes important new work on line drawings, handwriting, character and symbol recognition, and basic methodological issues. The IAPR 1990 Workshop on Syntactic and Structural Pattern Recognition is summarized, including the reports of its expert working groups, whose debates provide a fascinating perspective on the field. The book is an excellent text for a first-year graduate seminar in document image analysis, and is likely to remain a standard reference in the field for years.

Surface properties play a very important role in many perception tasks. Object recognition, navigation, and inspection use surface properties ex tensively. Characterizing surfaces at different scales in given data is often the first and possibly the most important step. Most early research in ma chine perception relied on only very coarse characterization of surfaces. In the last few years, surface characterization has been receiving due attention. Dr. T. J. Fan is one of the very few researchers who designed and im plemented a complete system for object recognition. He studied issues re lated to characterization of surfaces in the context of object recognition, and then uses the features thus developed for recognizing objects. He uses a multi-view representation of 3-D objects for recognition, and he devel ops techniques for the segmentation of range images to obtain features for recognition. His matching approach also allows him to recognize objects from their partial views in the presence of other occluding objects. The efficacy of his approach is demonstrated in many examples."

Keith M. Ponting Speech Research Unit, DERA Malvern St. Andrew's Road, Great Malvern, Worcs. WR14 3PS, UK email: ponting

As is true with most areas of Artificial Intelligence, there is real need for a symbiotic relationship between the biological and artificial - a need for problems to be viewed from many different angles, and particularly so in the study of vision. The INSIGHT consortium is taking steps in this direction. In a traditional sense, the papers in this volume are represented by the areas of neuroscience, psychophysics and traditional computer vision. However, to gain deeper insight into vision processes, it is the interaction of scientific ideas from these areas that is essential. The scope of the topics discussed has a definite interdisciplinary flavour: at one end of the spectrum we have experiments performed and direct measurement of the responses of neurons to visual stimuli; at the other end we have the mathematical and computational aspects of optical flow (the relative motion between observer and object) and approaches of tackling vision through binocular disparities (stereopsis). Traditional edge detection (essential for the initial classification of shape) is also covered as is the study of natural texture patterns that occur on object surfaces. A fundamental aim of the Basic Research part of the ESPRIT programme is the pro duction and maintenance of a pool of research expertise in Europe, from which both fur ther research and industry can draw. As the authors state in their preface, this project has not only succesfully merged the talents of senior researchers from different backgrounds, but also brought many young ones along."

This book constitutes the refereed proceedings of the 14th Conference of the Spanish Association for Artificial Intelligence, CAEPIA 2009, held in La Laguna, Canary Islands, Spain, in November 2011. The 50 revised full papers presented were carefully selected from 149 submissions. The papers are organized in topical sections on agent-based and multi-agent systems; machine learning; knowledge representation, logic, search and planning; multidisciplinary topics and applications; vision and robotics; soft computing; Web intelligence and information retrieval.

Fundamentals algorithms for SIMD and MIMD hypercubes are developed. These include algorithms for such problems as data broadcasting, data sum, prefix sum, shift, data circulation, data accumulation, sorting, random access reads and writes and data permutation. The fundamental algorithms are then used to obtain efficient hypercube algorithms for matrix multiplication, image processing problems such as convolution, template matching, hough transform, clustering and image processing transformation, and string editing. Most of the algorithms in this book are for hypercubes with the number of processors being a function of problems size. However, for image processing problems, the book also includes algorithms for and MIMD hypercube with a small number of processes. Experimental results on an NCUBE/77 MIMD hypercube are also presented. The book is suitable for use in a one-semester or one-quarter course on hypercube algorithms. For students with no prior exposure to parallel algorithms, it is recommended that one week will be spent on the material in chapter 1, about six weeks on chapter 2 and one week on chapter 3. The remainder of the term can be spent covering topics from the rest of the book.

The visualization of human anatomy for diagnostic, therapeutic, and educational pur poses has long been a challenge for scientists and artists. In vivo medical imaging could not be introduced until the discovery of X-rays by Wilhelm Conrad ROntgen in 1895. With the early medical imaging techniques which are still in use today, the three-dimensional reality of the human body can only be visualized in two-dimensional projections or cross-sections. Recently, biomedical engineering and computer science have begun to offer the potential of producing natural three-dimensional views of the human anatomy of living subjects. For a broad application of such technology, many scientific and engineering problems still have to be solved. In order to stimulate progress, the NATO Advanced Research Workshop in Travemiinde, West Germany, from June 25 to 29 was organized. It brought together approximately 50 experts in 3D-medical imaging from allover the world. Among the list of topics image acquisition was addressed first, since its quality decisively influences the quality of the 3D-images. For 3D-image generation - in distinction to 2D imaging - a decision has to be made as to which objects contained in the data set are to be visualized. Therefore special emphasis was laid on methods of object definition. For the final visualization of the segmented objects a large variety of visualization algorithms have been proposed in the past. The meeting assessed these techniques.

This book constitutes the refereed proceedings of the Second International Workshop on Spatio-temporal Image Analysis for Longitudinal and Time-Series Image Data, STIA 2012, held in conjunction with MICCAI 2012 in Nice, France, in October 2012. The 13 papers presented in this volume were carefully reviewed and selected from 22 submissions. They are organized in topical sections named: longitudinal registration and transport; spatio-temporal analysis for shapes; spatio-temporal analysis under appearance changes; and spatio-temporal analysis for biology.

The three volume set LNCS 7062, LNCS 7063, and LNCS 7064 constitutes the proceedings of the 18th International Conference on Neural Information Processing, ICONIP 2011, held in Shanghai, China, in November 2011. The 262 regular session papers presented were carefully reviewed and selected from numerous submissions. The papers of part I are organized in topical sections on perception, emotion and development, bioinformatics, biologically inspired vision and recognition, bio-medical data analysis, brain signal processing, brain-computer interfaces, brain-like systems, brain-realistic models for learning, memory and embodied cognition, Clifford algebraic neural networks, combining multiple learners, computational advances in bioinformatics, and computational-intelligent human computer interaction. The second volume is structured in topical sections on cybersecurity and data mining workshop, data mining and knowledge doscovery, evolutionary design and optimisation, graphical models, human-originated data analysis and implementation, information retrieval, integrating multiple nature-inspired approaches, kernel methods and support vector machines, and learning and memory. The third volume contains all the contributions connected with multi-agent systems, natural language processing and intelligent Web information processing, neural encoding and decoding, neural network models, neuromorphic hardware and implementations, object recognition, visual perception modelling, and advances in computational intelligence methods based pattern recognition.