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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Hasan H. Kani Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Cognitive Robotics Laboratory School of ECE College of Engineering University of Tehran Tehran Iran

Spinal actuation is necessary for quadruped robots to achieve rapid leg locomotion. In this paper, effect of flexible spinal actuation on the bounding gait is investigated. By defining a performance criterion for the bounding gait, a quadruped robot (Ghostdog) is tested in four different case studies; namely rigid spine, flexible passive spine, actuated spine, and series elastic actuated spine. We show that the robot with a series elastic actuator in its spinal joint has the best performance criterion and is the best robot in terms of bounding power consumption. On the other hand, it is shown that by using spinal actuation not only the speed of locomotion increases considerably, but also the pattern of bounding becomes more similar to real fast felines.

关键词： Robots Oscillators Equations Hip

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Using general sound descriptors for early autism detection

Using general sound descriptors for early autism detection

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Asian control Conference

作者： Seyyed Hamid R. Ebrahimi Motlagh Hadi Moradi Hamidreza Pouretemad Advanced Robotics and Intelligent Systems Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran ARIS and CIPCE School of ECE College of Engineering University of Tehran Iran Shahid Beheshti University Tehran Tehran IR

ISBN: (纸本)9781467357661

Early detection of autism is crucial for successfully dealing with it and reduce/eliminate its effects. In other words, early treatment can make a big difference in the lives of many children with this disorder. Consequently, in this study the pattern recognition algorithms are used to determine the unique features of the voice of autistic children to distinguish between the autistic children and normal children between ages 2 and 3. These descriptors extract various audio features such as temporal features, energy features, harmonic features, perceptual and spectral features. Two feature selection methods are used and the results are compared. One method is based on comparing the effect of using all of a group features together and another method compares the effect of using features one by one. The selected features are used to classify selected children into autistic and non-autistic ones. The results show 96.17 percent accuracy. After feature selection, we classified data using S.V.M classifier for recognizing two types of input data.

关键词： Autism Feature extraction Mel frequency cepstral coefficient Educational institutions Harmonic analysis Accuracy Motion pictures

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： controllers

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Incommensurate order fractional optimal control: Application to treatment of psychiatric disorders

Incommensurate order fractional optimal control: Application...

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Iranian Conference on Electrical Engineering (ICEE)

作者： S. S. Tabatabaei M. J. Yazdanpanah M. S. Tavazoei Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Advanced Control Systems Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Tehran Iran Electrical Engineering Department Sharif University of Technology Tehran Iran

ISBN: (纸本)9781467356329

The main point of this paper is to present a time domain strategy for drug dosage to treat psychiatric disorders. A time domain model of emotion is obtained from an extension of a recently developed fractional nonlinear dynamic model of happiness. First, the Fractional Optimal control law for incommensurate multi state systems is obtained. It will be then applied as an optimal drug administration procedure in the line of psychiatric disorders treatment. Results of this paper show that optimal control scheme is a proper approach to face the difficulties of analysis and control the incommensurate systems. It can be also clearly seen from the simulation results that this approach is very effective in the case that control methods are used as treatment techniques.

关键词： Mathematical model Drugs Optimal control Numerical models Differential equations Equations

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MULTIPLE INSTANCE LEARNING VIA DISTANCE METRIC OPTIMIZATION

MULTIPLE INSTANCE LEARNING VIA DISTANCE METRIC OPTIMIZATION

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IEEE International Conference on Image processing

作者： Haifeng Zhao Jun Cheng Jun Jiang Dacheng Tao Sci. & Tech. on Information System Engineering Laboratory Nanjing 210007 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology CAS Shenzhen 518055 China Center for Quantum Computation and Intelligent Systems University of Technology Sydney 2007 Australia

ISBN: (纸本)9781479923427

Multiple Instance Learning (MIL) has been widely applied in practice, such as drug activity prediction, content-based image retrieval. In MIL, a sample, comprised of a set of instances, is called a bag. Labels are assigned to bags instead of instances. The uncertainty of labels on instances makes MIL different from conventional supervised single instance learning (SIL) tasks. Therefore, it is critical to learn an effective mapping to convert an MIL task to an SIL task. In this paper, we present OptMILES by learning the optimal transformation on the bag-to-instance similarity measure, exploring the optimal distance metric between instances, by an alternating minimization training procedure. We thoroughly evaluate the proposed method on both a synthetic dataset and real world datasets by comparing with representative MIL algorithms. The experimental results suggest the effectiveness of OptMILES.

关键词： Multiple instance learning distance metric learning MILES image classification alternating minimization MILES Image classification distance metric Squamous Intraepithelial Lesions Learning

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State prediction approach for master-slave agents in presence of communication delay

State prediction approach for master-slave agents in presenc...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sona Ghahremani Majid Nili Ahmadabadi Maryam S. Mirian Babak N. Araabi Member of cognitive robotics Laboratory Department of Electrical and Compo Engineering University of Tehran Iran Control & Intelligent Processing Center of Excellence Department of Electrical and Compo Engineering University of Tehran Iran Robotics and Machine Intelligence Department of Electrical and Compo Engineering University of Tehran Iran

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects.

关键词： Robots Predictive models Switches Communications technology Delays

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A coding style-based plagiarism detection

A coding style-based plagiarism detection

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International Conference on Interactive Mobile and Computer Aided Learning (IMCL)

作者： S. Arabyarmohamady H. Moradi M. Asadpour Advanced Robotics and Intelligent Systems Laboratory & Control and Intelligent Processing Center University of Tehran

In this paper a plagiarism detection framework is proposed based on coding style. Furthermore, the typical style-based approach is improved to better detect plagiarism in programming codes. The plagiarism detection is performed in two phases: in the first phase the main features representing a coding style are extracted. In the second phase the extracted features are used in three different modules to detect the plagiarized codes and to determine the giver and takers of the codes. The extracted features for each code developer are kept in a history log, i.e. a user profile as his/her style of coding, and would be used to determine the change in coding style. The user profile allows the system to detect if a code is truly developed by the claimed developer or it is written by another person, having another style. Furthermore, the user profile allows determining the code giver and code taker when two codes are similar by comparing the codes' styles with the style of the programmers. Also if a code is copied from the internet or developed by a third party, then the style of who claims the ownership of the code is normally less proficient in coding than the third party and can be detected. The difference between the style levels is done through the style level checker module in the proposed framework. The proposed framework has been implemented and tested and the results are compared to Moss which shows comparable performance in detecting plagiarized codes.

关键词： Plagiarism Feature extraction Encoding Vectors Watermarking Internet Conferences

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CloudLCA: finding the lowest common ancestor in metagenome analysis using cloud computing

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Protein & Cell 2012年第2期3卷 148-152页

作者： Guoguang Zhao Dechao Bu Changning Liu Jing Li Jian Yang Zhiyong Liu Yi Zhao Runsheng Chen Bioinformatics Research Group Key Laboratory of Intelligent Information ProcessingAdvanced Computing Research LaboratoryInstitute of Computing TechnologyChinese Academy of SciencesBeijing 100190China Bioinformatics Laboratory and National Laboratory of Biomacromolecules Institute of BiophysicsChinese Academy of SciencesBeijing 100101China State Key Laboratory for Molecular Virology and Genetic Engineering National Institute for Viral Disease Control and PreventionChinese Center for Disease Control and PreventionBeijing 100176China Graduate School of the Chinese Academy of Sciences Beijing 100190China

Estimating taxonomic content constitutes a key problem in metagenomic sequencing data ***,extracting such content from high-throughput data of next-generation sequencing is very time-consuming with the currently available ***,we present CloudLCA,a parallel LCA algorithm that significantly improves the efficiency of determining taxonomic composition in metagenomic data *** show that CloudLCA(1)has a running time nearly linear with the increase of dataset magnitude,(2)displays linear speedup as the number of processors grows,especially for large datasets,and(3)reaches a speed of nearly 215 million reads each minute on a cluster with ten thin *** comparison with MEGAN,a well-known metagenome analyzer,the speed of CloudLCA is up to 5 more times faster,and its peak memory usage is approximately 18.5%that of MEGAN,running on a fat *** can be run on one multiprocessor node or a *** is expected to be part of MEGAN to accelerate analyzing reads,with the same output generated as MEGAN,which can be import into MEGAN in a direct way to finish the following ***,CloudLCA is a universal solution for finding the lowest common ancestor,and it can be applied in other fields requiring an LCA algorithm.

关键词： CloudLCA metagenome analysis cloud computing

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Wheeled-tip object manipulation: Modeling and motion planning of throwing an object

Wheeled-tip object manipulation: Modeling and motion plannin...

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IEEE International Conference on robotics and Biomimetics

作者： S. Parastegari M. Nili Ahmadabadi E. Noohi H. Moradi Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence University of Tehran Tehran Iran University of Tehran Tehran Iran

ISBN: (纸本)9781467321259

In this paper we address the task of throwing an object on a plane using a wheeled-tip robot. Wheeled-tip robots constitute of one or more artificial fingers with an active wheel at the end of each finger that acts as its fingertip. This class of robots may be used for the task of transfer-throwing objects. In this task, the robot transfers the object for a while, giving it required velocity and then throws it toward a defined goal. The use of wheeled-tip robot in a transfer-throwing task has some advantages in practice and with respect to a typical robot. The wheel at the tip of the robot finger can move independently on the object and gives it the desired velocity at the time of throwing the object. Here we present an algorithm of a planner for throwing objects on a plane using a wheeled-tip robot. We show how using the ability of moving the wheel on the object leads to capability of overcoming joint velocity limits, making this class of robots proper for doing the task.

关键词： Throwing an Object Motion- Planning Wheeled-tip Manipulator

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Smart plugs for building energy management systems

Smart plugs for building energy management systems

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Iranian Conference on Smart Grids (ICSG)

作者： Hamed Morsali Seyed Mohammad Shekarabi Kamyar Ardekani Hossein Khayami Alireza Fereidunian Mona Ghassemian Hamid Lesani Systems and Machines Research Laboratory (SMRL) Control and Intelligent Processing Center of Excellence (CIPCE) School of ECE University of Tehran Tehran Iran Faculty of ECE K.N. Toosi University of Technology Tehran Iran School of Computing and Mathematical Sciences University of Greenwich London UK

Due to rising value of energy supplies, the need for managing electrical energy sources becomes prominent. In this paper, a smart plug device is presented; which provides features to measure energy consumption and recognizes the type of attached electrical devices. Furthermore, the proposed framework enables home controller systems to monitor and control home energy consumption efficiently. Subsequently an analysis of energy consumption of a pilot house, prior and after the installation of the smart plug, based on a hypothetical scenario, is provided. The results present positive impacts of using the smart plug on energy consumption rate; especially during peak hours.

关键词： Plugs Home appliances Energy consumption Switches Monitoring Energy management

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