Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices bec...
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Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices become limited. A versatile intraoral tongue control interface (ITCI) has previously been develop for this user group, as the tongue is usually spared from disability. A previous study has shown that the ITCI can provide direct and continuous control of 6-7 degrees of freedom (DoF) of an ARM, due to a high number of provided inputs (18). In the present pilot study we investigated whether semi-automation might further improve the efficiency of the ITCI, when controlling an ARM. this was achieved by adding a camera to the end effector of the ARM and using computer vision algorithms to guide the ARM to grasp a target object. three ITCI and one joystick control scheme were tested and compared: 1) manual Cartesian control with a base frame reference point, 2) manual Cartesian control with an end effector reference point 3) manual Cartesian control with an end effector reference point and an autonomous grasp function 4) regular JACO 2 joystick control. the results indicated that end effector control was superior to the base frame control in total task time, number of commands issued and path efficiency. the addition of the automatic grasp function did not improve the performance, but resulted in fewer collisions/displacements of the target object when grasping.
In this paper, we try to make an author identification of two ancient Arabic religious books dating from the 6th century: the holy Quran and the Hadith. the authorship identification process is achieved through four p...
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ISBN:
(纸本)9781509015948
In this paper, we try to make an author identification of two ancient Arabic religious books dating from the 6th century: the holy Quran and the Hadith. the authorship identification process is achieved through four phases which are: documents collection, text preprocessing, features extraction and classification model building. thus, two series of experiments are undergone and commented. the first experiment deals with authorship identification of the two books using a Manhattan centroid distance and SMO-SVM classifier. Whereas, in the second experiment a Hierarchical Clustering is employed to distinguish the different segments belonging to the two books. For that purpose, three types of original NLP features are combined before the classification process. the results show good authorship identification performances with an accuracy of 100%. In fact, all the results of this investigation correspond to a clear authorship distinction between the two religious books.
the evolution of the telecommunication networks towards their 6th generation has emerged new research directions in order to deal withthe challenges that are posed by the high-complexity of the new infrastructure. In...
the evolution of the telecommunication networks towards their 6th generation has emerged new research directions in order to deal withthe challenges that are posed by the high-complexity of the new infrastructure. In this new era, the structuring of the network management infrastructure is a complex endeavor that should efficiently control both communication and computational resources. In this paper, we present a set of strategies for managing the computational load in a cell-free-based, converged optical-wireless 6G network. the proposed approaches target to controlthe computational load of a cell-free network, by either compressing the load by considering load-thresholds, or offloading the load to the SDN controller of the fixed network. Both strategies are mathematically formulated by considering traffic-engineering formulas, while their performance is evaluated by comparing analytical results with corresponding results from a baseline scenario, where no load control strategies are applied. Moreover, the proposed analysis can be applied in order to determine the capacity of the network controllers that is required in order to guarantee pre-determined Quality of Service requirements.
Magnetic resonance imaging (MRI) provide superior visuals that might be suitable for complicated surgical procedures in complex parts of the human body like brain and heart. Brain tumor removal is one of the trickiest...
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Magnetic resonance imaging (MRI) provide superior visuals that might be suitable for complicated surgical procedures in complex parts of the human body like brain and heart. Brain tumor removal is one of the trickiest surgical procedures and the pituitary tumor is one of the most common type of intracranial tumors. In this paper, we present an MRI compatible robotic system for pituitary tumor removal via trans-nasal access to the surgical site. the robotic system is designed to operate in a Siemens® 3T MRI scanner. A 5mm diameter and 6-DOF design specific manipulator is developed to access the pituitary glands and remove the tumor using the commercially available tools. the actuation system is designed to fit inside the MRI bore and operate just above the nasal entry point. the manipulator is designed to work in a 20×20mm workspace of the pituitary gland and this workspace is validated by experiments. the presented robotic system is expected to decrease the complexity by accessing the surgical site through the nasal cavity and improve the quality of tumor removal by providing better image quality under MRI guidance.
the phenomenon of leader emergence is typically defined as a cognitive process of leadership that occurs within a general biological group. this process is indicative of the interactions between groups and individuals...
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ISBN:
(数字)9798331541699
ISBN:
(纸本)9798331541705
the phenomenon of leader emergence is typically defined as a cognitive process of leadership that occurs within a general biological group. this process is indicative of the interactions between groups and individuals within those groups. therefore, it is important to study the mechanisms of the leader emergence for the formation of leadership, the understanding of group behavior and the research of groups complex systems. Based on the charge force model, the leader emergence is described, in this paper, in terms of a time-varying hybrid potential energy function with uncertain parameters. Based on this potential energy function, the formation process of leaders is analyzed and modeled. this process involves individuals within the group perceiving and recognizing the emergence of leaders through interaction. Computer simulations are performed to illustrate and verify the mechanism and validity of the models. this model not only solves the problem of target generation and target selection of swarm robots, but also simulates the behavior process of self-organization.
this paper provides guidelines for designing bus transit simulations and justifies the need of a qualitatively and quantitatively correct model that is validated and can serve as a benchmark testing platform for the n...
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this paper provides guidelines for designing bus transit simulations and justifies the need of a qualitatively and quantitatively correct model that is validated and can serve as a benchmark testing platform for the numerous optimisation strategies that researchers *** describes and comments on some of the most important contributions regarding bus transportation control and optimisation from a modelling ***,a case study concerning a bus line in Singapore is conducted where smart card data is used to extract the parameters needed in order to construct the model,while discussing the methods and challenges of this ***,the simulation is calibrated and validated in order to ensure maximum accuracy of its outputs.
Among all the reasons that leads to the success or failure of a Free/Libre Open Source Software (FLOSS) project, understanding the system's evolution can reveal important pieces of information to open source stake...
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Among all the reasons that leads to the success or failure of a Free/Libre Open Source Software (FLOSS) project, understanding the system's evolution can reveal important pieces of information to open source stakeholders, helping them to identify what can be improved in the software system's internal organization. Once software complexity is one of the most important attributes to determine software maintainability, controlling its level in the system evolution process makes the software easier to maintain, reducing the maintainability costs. Otherwise, uncontrolled complexity makes the maintenance and enhancement process lengthy, more costly and some times it can contribute to the system abandonment. this work investigates the evolution of complexity in discontinued FLOSS projects. After several analyses, the results showed that inactive FLOSS projects do not seem to be able to keep up withthe extra work required to controlthe systems complexity, presenting a different behaviour of the successful active FLOSS projects.
the application range of communication robots could be widely expanded by the use of an automatic speech recognition (ASR) system with improved robustness for noise and for speakers of different ages. In this paper, w...
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ISBN:
(纸本)1424401992
the application range of communication robots could be widely expanded by the use of an automatic speech recognition (ASR) system with improved robustness for noise and for speakers of different ages. In this paper, we describe an ASR system which can robustly recognize speech by adults and children in noisy environments. We evaluate the ASR system in a communication robot placed in a real noisy environment. Speech is captured using a twelve-element microphone array arranged in the robot chest. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized sidelobe canceller (RGSC) technique and a feature-space noise suppression using MMSE criteria. Speech activity periods are detected using GMM-based end-point detection (GMM-EPD). Our ASR system has two decoders for adults' and children's speech. the final hypothesis is selected based on posterior probability. We then assign a generalized word posterior probability (GWPP)-based confidence measure to this hypothesis, and if it is higher than a threshold, we transfer it to a subsequent dialog processing module. the performance of each step was evaluated for adults' and children's speech, by adding different levels of real environment noise recorded in a cafeteria. Experimental results indicated that our ASR system could achieve over 80 % word accuracy in 70 dBA noise. Further evaluation of adult speech recorded in a real noisy environment resulted in 73 % word accuracy
the article discusses the use of linear, polynomial and k-dimensional general linear fit for fitting the Keeling Curve in the LabVIEW environment. Description of mathematical models and equations for linear, polynomia...
the article discusses the use of linear, polynomial and k-dimensional general linear fit for fitting the Keeling Curve in the LabVIEW environment. Description of mathematical models and equations for linear, polynomial and k-dimensional general linear fitting, virtual instruments developed in the LabVIEW environment for curve fitting and extrapolation, as well as the curve fitting and extrapolation results for all considered approximation types in formulaic and graphical forms are presented. Statistical estimates of the different approximation type accuracy are given in the form of calculated standard deviation and variance. With reference to historical and modern studies of the atmospheric CO 2 and global warming level, importance and significance of the problem under discussion and of the study carried out are shown. In particular, the article demonstrates that the Keeling Curve approximation and extrapolation are having a polynomial component, and the CO 2 concentration level is characterized by the polynomial growth. the article presents a method for taking into account the Keeling Curve shape during approximation by using the k-dimensional general linear fit and a special functions basis with high accuracy in approximating the curve cyclic shape. the conclusions made provide areas for future research on this topic.
this paper presents an ICA-based robot audition system which estimates the reverberation time of the environment automatically by using the robot's own speech. the system is based on multi-channel semi-blind indep...
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ISBN:
(纸本)9781424445875
this paper presents an ICA-based robot audition system which estimates the reverberation time of the environment automatically by using the robot's own speech. the system is based on multi-channel semi-blind independent component analysis (MCSB-ICA), a source separation method using a microphone array that can separate user and robot speech under reverberant environments. Perception of the reverberation time (RT) is critical, because an inappropriate RT degrades separation performance and increases processing time. Unlike most previous methods that assume the RT is given in advance, our method estimates an RT by using the echo's intensity of the robot's own speech. It has three steps: speaks a sentence in a new environment, calculates the relative powers of the echoes, and estimates the RT using linear regression of them. Experimental results show that this method sets an appropriate RT for MCSB-ICA for real-world environments and that word correctness is improved by up to 6 points and processing time is reduced by up to 60%.
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