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Advanced Robotics 2009年第12-13期23卷 1687-1702页

作者： Wang, Chieh-Chih Lin, Chi-Hao Hu, Jwu-Sheng Department of Computer Science and Information Engineering Graduate Institute of Networking and Multimedia National Taiwan University Taipei 10617 Taiwan Intelligent Robotics Program of Industrial Technology Research Institute Department of Electrical and Control Engineering National Chiao Tung University HsinChu 310 Taiwan

Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practice, microphone array calibration can be tedious and other devices or means are required. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events that provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform in which the uncertainties of the PSFS results are also available. In addition, a probabilistic sound source localization approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low-cost, off-the-shelf microphones demonstrate the feasibility and performance of the proposed PSFS approach. © 2009 VSP.

关键词： Microphone array

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A fuzzy inference system to determine the number of clones in the clonal selection algorithm

A fuzzy inference system to determine the number of clones i...

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2010 2nd World Congress on Nature and Biologically Inspired Computing, NaBIC 2010

作者： Carraro, Luiz Antonio De Castro, Leandro Nunes De Ré, Angelita Maria Computer and Informatics Faculty Graduate Program in Electrical Engineering Mackenzie University São Paulo Brazil Computer Science Department State University of West-Center Parana Guarapuava Brazil

ISBN: (纸本)9781424473762

Artificial Immune Systems (AISs) are composed of techniques inspired by immunology. The clonal selection principle ensures the organism adaptation to fight invading antigens by an immune response activated by the binding of antigens and antibodies. As an immune response can be elicited even when the binding between an antigen and an antibody is not perfect, an approximate binding might suffice, and a Fuzzy Logic mechanism might be the most appropriate mechanism to control such process. This paper presents a novel hybrid model based on concepts of Immune and Fuzzy Systems with applications to pattern recognition problems. The preliminary results obtained here suggest the proposed model is a promising pattern recognition tool. © 2010 IEEE.

关键词： Fuzzy systems

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Measurement of capacitance and electrical potential of plural points for estimation of permittivity distribution

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IEEJ Transactions on Fundamentals and Materials 2013年第4期133卷 173-179+5页

作者： Okada, Shota Ohchi, Masashi Furukawa, Tatsuya Itoh, Hideaki Fukumoto, Hisao Master's Program in Electrical Graduate School of Engineering Chiba Institute of Technology 2-17-1 Tudanuma Narashino 275-0016 Japan Department of Electrical Electronics and Computer Engineering Faculty of Engineering Chiba Institute of Technology 2-17-1 Tudanuma Narashino 275-0016 Japan Graduate School of Science and Engineering Saga University 1 Honjo-machi Saga 840-8502 Japan

Recently, a method for estimating permittivity distributions was reported. The method combined a numerical technique (Finite Element Method) with Genetic Algorithm (GA). However, methods for estimating the distribution of permittivity have not yet been established. The purpose of this study is to obtain experimental data in order to improve the estimation method. We measured capacitance and electrical potential of plural points when an acrylic rod is placed in various positions within a measurement system. © 2013 The Institute of electrical Engineers of Japan.

关键词： Capacitance

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On the Evaluation of Access-point Handovers for UAVs in Long-distance Missions

On the Evaluation of Access-point Handovers for UAVs in Long...

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2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

作者： Fagundes, Leonardo A. Souza, Vitor Barbosa Brandao, Alexandre S. Núcleo de Especialização em Robótica Federal University of Viçosa Department of Electrical Engineering and Graduate Program on Computer Science Viçosa Brazil Federal University of Viçosa Graduate Program on Computer Science Department of Informatics Viçosa Brazil

ISBN: (纸本)9780738131153

Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of applications requiring extensive communications either to interconnect the UAVs with each other or to connect them with Ground Control Stations (GCS). Due to the complexity and difficulty of performing long distance experiments with these robots, simulation becomes a viable and necessary alternative. However, focusing either on the modeling of UAV operations or communication dynamics, available simulation tools are not able to capture the complex interdependencies between these two aspects, especially in applications where extensive communications are required. The main contribution of this work is the modeling and implementation of strategies for enhancing connectivity of a UAV performing long-distance navigation tasks, taking into account applications' requirements. The proposed strategies aim at assessing the impact of frequent handovers between wireless access points in terms of packet loss and available bandwidth. The first strategy prioritizes maintaining a connection until the signal-to-noise ratio (SNR) observed by the robot reaches a predefined threshold. For this, it is assumed that the data to be transmitted is small enough so that the robot may change its modulation to obtain smaller bandwidths while improving connection time. The second one prioritizes bandwidth availability, thus, it always searches for a network that is able to offer data rates higher than a minimum threshold. A hybrid model is validated by considering the characteristics of each individual strategy. The capabilities of the simulation tool designed for this work are illustrated through some case-study scenarios. © 2021 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Polymer channel waveguide: Prospects of production and characterization

Polymer channel waveguide: Prospects of production and chara...

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SBMO/IEEE MTT-S International Conference on Microwave and Optoelectronics (IMOC)

作者： Fernando Antonio Moura Saccon Alexandre de Oliveira Florão Bruno César Krause Morás Ismael Chiamenti Marcia Muller José Luís Fabris Graduate School of Electrical Engineering and Computer Science-CPGEI Federal University of Technology Paraná Curitiba Brazil

This work shows the production of optical channel waveguides in polymethyl methacrylate slabs. A writing technique employing an Argon laser at 488 nm was used. Parameters in the writing step were adjusted to obtain waveguides with different characteristics. Writing scanning speeds of 5 mm/s, 3 mm/s and 1 mm/s resulted in waveguides widths of 0.4 mm, 0.5 mm and 0.8 mm, respectively. Transversal profiles of refractive index of waveguides were measured by means of Optical Coherence Tomography. Guiding capability was determined by the near field pattern diffraction.

关键词： Optical waveguides Waveguide lasers Measurement by laser beam Refractive index Optical surface waves Optical diffraction Optical refraction

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The DTN Routing Problem: Exploitation versus Exploration of Solutions

The DTN Routing Problem: Exploitation versus Exploration of ...

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IEEE Vehicular Technology Conference

作者： Jaquinei de Oliveira Ana Cristina B. Kochem Vendramin Anelise Munaretto Myriam Delgado Graduate Program in Applied Computer Science (PPGCA) Federal University of Technology - Parana (UTFPR) Curitiba Brazil Graduate Program in Electrical and Computer Engineering (CPGEI) Federal University of Technology - Parana (UTFPR) Curitiba Brazil

Designed to Delay Tolerant Networks, the Cultural Greedy GrAnt (CGrAnt) routing protocol uses Ant Colony Optimization to represent the population space of a Cultural Algorithm. CGrAnt aims to improve the message forwarding by analyzing the network characteristics based on three distinct knowledge: Domain, History, and Situational. The Domain knowledge plays a central role in the CGrAnt operation as it provides a good balance between search space exploration (through the selection of new solutions) and exploitation (through the selection of previously found solutions). This work proposes alternative metrics to be used by the Domain knowledge of CGrAnt. Results show that the new proposed metrics increase the CGrAnt performance.

关键词： Measurement Routing protocols Sociology Statistics History Social network services

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Conjugate gradient and regularized Inverse Problem-Based solutions applied to ultrasound image reconstruction

Conjugate gradient and regularized Inverse Problem-Based sol...

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IEEE Symposium (IUS) Ultrasonics

作者： Leonardo G. S. Zanin Marcelo V. W. Zibetti Fábio K. Schneider UTFPR - Federal University of Technology - Paraná Graduate School of Electrical Engineering & Computer Science (CPGEI) Brazil

Image reconstruction based on inverse problems has the potential for providing good image quality in ultrasound imaging. In this paper, two Inverse Problems-Based (IPB) methods, i.e., Regularized Least Squares (RLS) and the iterative Conjugated Gradient (CG), are evaluated in comparison to the traditional Delay-And-Sum (DAS) Beamrfoming method. It is shown an improvement from 0:36mm to 0:2mm for the axial resolution when comparing the traditional DAS method with the IPB methods, showing the high potential of the method for improving image quality. Similarly, an improvement from 0:5mm to 0:2mm in lateral resolution was found. Further evaluation need to be carried out using data from actual ultrasound systems when noise and speckle is expected.

关键词： Image resolution Image reconstruction Ultrasonic imaging Imaging Acoustics Array signal processing Noise

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Genetic programming with incremental learning for grammatical inference

Genetic programming with incremental learning for grammatica...

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6th International Conference on Hybrid Intelligent Systems and 4th Conference on Neuro-Computing and Evolving Intelligence, HIS-NCEI 2006

作者： Rodrigues, Ernesto Lopes, Heitor Silvério Graduate Program in Electrical Engineering and Computer Science Federal University of Technology - Paraná Av. 7 de setembro 3165 80230-901 Curitiba Brazil

ISBN: (纸本)0769526624

We present an evolutionary algorithm for the inference of context-free grammars from positive and negative examples. The algorithm is based on genetic programming and uses a local optimization operator that is capable of improving the learning task. Ordinary genetic operators are modified so as to bias the search. The system was evaluated using Tomita 's language examples and results were compared with another similar approach. Results show that the proposed approach is promising and more robust than the other one. © 2006 IEEE.

关键词： Context free grammars

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Smart optical fiber sensor for impact localization on planar structures

Smart optical fiber sensor for impact localization on planar...

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SBMO/IEEE MTT-S International Conference on Microwave and Optoelectronics (IMOC)

作者： Fabiano Ribeiro Gustavo Rafael Collere Possetti José Luís Fabris Marcia Muller Graduate School of Electrical Engineering and Computer Science-CPGEI Federal University of Technology Paraná Curitiba Brazil

ISBN: (纸本)9781479913961

This work shows a method to determine, in real time, external impact location on planar structures based on responses of optical fiber strain sensors. In order to demonstrate experimentally the sensing approach, four fibre Bragg gratings were attached to a polymeric board for detecting the disturbance caused by a drop weight impact. An artificial neural network was used to process the sensor responses and to identify the quadrant location of the impact on the structure. The results demonstrate that such location can be predicted with correct classification rate of approximately 85.0% in validation step.

关键词： Fiber gratings Artificial neural networks Monitoring Optical fiber sensors Strain

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Galvanotactic control of collective cell migration in epithelial monolayers (vol 13, pg 409, 2014)

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NATURE MATERIALS 2014年第5期13卷 530-530页

作者： Cohen, Daniel J. Nelson, W. James Maharbiz, Michel M. Joint Graduate Program in Bioengineering University of California at Berkeley Berkeley California 94720 USA Department of Biology Molelcular Cellular Physiology Stanford University Stanford California 94305 USA Department of Electrical Engineering Computer Science University of California at Berkeley Berkeley California 94720 USA

Many normal and pathological biological processes involve the migration of epithelial cell sheets. This arises from complex emergent behaviour resulting from the interplay between cellular signalling networks and the forces that physically couple the cells. Here, we demonstrate that collective migration of an epithelium can be interactively guided by applying electric fields that bias the underlying signalling networks. We show that complex, spatiotemporal cues are locally interpreted by the epithelium, resulting in rapid, coordinated responses such as a collective U-turn, divergent migration, and unchecked migration against an obstacle. We observed that the degree of external control depends on the size and shape of the cell population, and on the existence of physical coupling between cells. Together, our results offer design and engineering principles for the rational manipulation of the collective behaviour and material properties of a tissue.

关键词： CELL migration EPITHELIUM EPITHELIAL cells CELL populations SPATIOTEMPORAL processes

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