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Alternative Fuzzy C-Means Clustering for DNA Computing Readout Method Implemented on DNA Engine Opticon 2 System

Alternative Fuzzy C-Means Clustering for DNA Computing Reado...

引用

International IEEE Conference on Signal-Image Technologies and Internet-Based System

作者： Muhmmad Faiz Mohamed Saaid Zuwairie Ibrahim Marzuki Khalid Azli Yahya Department of Mechatronic and Robotics Center for Artificial Intelligence and Robotics (CAIRO)Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Microelectronic and Computer Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia

In the previous paper, a readout approach for the Hamiltonian path problem (HPP) in DNA computing based on the real-time polymerase chain reaction (PCR) was proposed. Based on this approach, real-time amplification was performed with the TaqMan probes and the TaqMan detection mechanism was exploited for the design and development of the readout approach. The readout approach consists of two steps: real-time amplification in vitro using TaqMan-based real-time PCR, followed by information processing in silico to assess the results of real-time amplification, which in turn, enables extraction of the Hamiltonian path. However, the previous method used manual classification of two different output reactions of real-time PCR. In this paper, alternative fuzzy c-means (AFCM) clustering algorithm is used to identify automatically two different reactions in realtime PCR. We show that AFCM clustering technique can be implemented for clustering output results of DNA computing readout method based on DNA Engine Opticon 2 system.

关键词： Fuzzy systems DNA computing Engines Stimulated emission Optical polymers Probes In vitro Information processing Data mining Clustering algorithms

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Robust speaker localization system for a humanoid robot in noise and reverberation environments

Robust speaker localization system for a humanoid robot in n...

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39th International Symposium on robotics, ISR 2008

作者： Kim, Ui-Hyun Kim, Jinsung Kim, Doik Kim, Hyogon You, Bum-Jae Department of Computer Science and Radio Communications Engineering Korea University Anam-Dong Sungbuk-Gu Seoul 136-701 Korea Republic of Center for Cognitive Robotics Research Korea Institute of Science and Technology 39-1 Hawolgok-Dong Seongbuk-Gu Seoul 136-791 Korea Republic of

Human-robot interaction (HRI) is an important study to allow more natural and effective communication between humans and robots. Recently, research on HRI has been receiving an increasing amount of attention. In this paper, we report on a speaker localization system for a humanoid robot, as part of an auditory-based system of HRI. Our system uses a six-channel microphone array on a humanoid robot's head. To achieve good results in environments of noise and reverberation, we utilize a pre-emphasis filter;a voice activity detection (VAD) algorithm;and generalized cross correlation with phase transform weighting (GCCPHAT) method. Experimental results show that our speaker localization system for a humanoid robot can successfully localize a speaker's position over the entire azimuth and altitude in noise and reverberation environments.

关键词： Reverberation

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A mixed-integer simulation-based optimization approach with surrogate functions in water resources management

A mixed-integer simulation-based optimization approach with ...

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作者： Hemker, Thomas Fowler, Kathleen R. Farthing, Matthew W. von Stryk, Oskar Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Hochschulstraße 10 64289 Darmstadt Germany Clarkson Center for the Environment Department of Mathematics Clarkson University Potsdam NY 13676-5815 United States Center for the Integrated Study of the Environment Department of Environmental Sciences and Engineering University of North Carolina at Chapel Hill Chapel Hill NC 27599-7431 United States

Efficient and powerful methods are needed to overcome the inherent difficulties in the numerical solution of many simulation-based engineering design problems. Typically, expensive simulation codes are included as black-box function generators;therefore, gradient information that is required by mathematical optimization methods is entirely unavailable. Furthermore, the simulation code may contain iterative or heuristic methods, low-order approximations of tabular data, or other numerical methods which contribute noise to the objective function. This further rules out the application of Newton-type or other gradient-based methods that use traditional finite difference approximations. In addition, if the optimization formulation includes integer variables the complexity grows even further. In this paper we consider three different modeling approaches for a mixed-integer nonlinear optimization problem taken from a set of water resources benchmarking problems. Within this context, we compare the performance of a genetic algorithm, the implicit filtering algorithm, and a branch-and-bound approach that uses sequential surrogate functions. We show that the surrogate approach can greatly improve computational efficiency while locating a comparable, sometimes better, design point than the other approaches. © Springer Science+Business Media, LLC 2008.

关键词： Iterative methods

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Integrated planning and image-guided control for planar needle steering

Integrated planning and image-guided control for planar need...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Kyle B. Reed Vinutha Kallem Ron Alterovitz Ken Goldbergxz Allison M. Okamura Noah J. Cowan Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore USA Department of Electrical Engineering and Computer Sciences UCSF Comprehensive Cancer Center Department of Industrial Engineering and Operations Research University of California Berkeley USA

Flexible, tip-steerable needles promise to enhance physicianspsila abilities to accurately reach targets and maneuver inside the human body while minimizing patient trauma. Here, we present a functional needle steering system that integrates two components: (1) a patient-specific 2D pre- and intraoperative planner that finds an achievable route to a target within a planar slice of tissue (Stochastic Motion Roadmap), and (2) a low-level image-guided feedback controller that keeps the needle tip within that slice. The planner generates a sequence of circular arcs that can be realized by interleaving pure insertions with 180deg rotations of the needle shaft. This pre-planned sequence is updated in realtime at regular intervals. Concurrently, the low-level image-based controller servos the needle to remain close to the desired plane between plan updates. Both planner and controller are predicated on a previously developed kinematic nonholonomic model of beveltip needle steering. We use slighly different needles here that have a small bend near the tip, so we extend the model to account for discontinuities of the tip position caused by 180deg rotations. Further, during large rotations of the needle base, we maintain the desired tip angle by compensating for torsional compliance in the needle shaft, neglected in previous needle steering work. By integrating planning, control, and torsion compensation, we demonstrate both accurate targeting and obstacle avoidance.

关键词： Needles Shafts USA Councils Automatic control Medical control systems Control systems Robot sensing systems Physics computing Biological tissues Biomechatronics

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Speaker localization using the TDOA-based feature matrix for a humanoid robot

Speaker localization using the TDOA-based feature matrix for...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Ui-Hyun Kim Jinsung Kim Doik Kim Hyogon Kim Bum-Jae You Department of Computer and Radio Communications Engineering Korea University Seoul South Korea Center of Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea

Research on human-robot interaction has recently been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report on a speaker localization system with six microphones for a humanoid robot called MAHRU of KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. To verify the solid performance of our speaker localization system for a humanoid robot, we present the various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.

关键词： Robots

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems Intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Sensing and control in bandwidth-limited systems: A Kalman filter approach

Sensing and control in bandwidth-limited systems: A Kalman f...

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MILCOM, Military Communications Conference

作者： Gregory L. Barnette John M. Shea Warren E. Dixon System Engineering Division Engineering Directorate Air Force Armament Center FL USA Wireless Information Networking Group Department of Electrical & Computer Engineering University of Florida Gainesville FL USA Nonlinear Controls and Robotics Mechanical and Aerospace Engineering Department University of Florida Gainesville FL USA

Cooperative systems, like those found in networks of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), are typically distributed over large geographical areas. This geographic dispersion forces reliance on wireless communications to implement the control systems for these networks. As the number of nodes within the system grows, the bandwidth required to continuously update all nodes exceeds available bandwidth. This forces the system engineers to implement a prioritization scheme to determine which nodes will be updated during each frame. In this paper, we consider the design of protocols to prioritize the communications of sensing and control data. We consider a control system that uses a Kalman filter to supply optimal estimates of the positions for a group of maneuvering targets in the presence of measurement noise and lost data. The filter innovations provide estimates of the magnitude of statistical deviations from the state estimates, as well as deviations from planned profiles. Thus, we propose protocols that use the filter innovations to prioritize the sensing and control traffic. We compare the performance of this approach to a round-robin protocol and to the performance of a Kalman filter with no bandwidth constraints. We show that using the filter innovations offers a significant performance improvement over the round-robin protocol.

关键词： Control systems Communication system control Protocols Bandwidth Filters Technological innovation State estimation Cooperative systems Unmanned aerial vehicles Land vehicles

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Multi-modal Task Apportionment in dynamic multi-factor systems

Multi-modal Task Apportionment in dynamic multi-factor syste...

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Chinese Control and Decision Conference, CCDC

作者： Hooman A. Samani C. Fua T. Chai S. S. Ge C. C. Hang Social Robotics Laboratory Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education and Research Center of Automation Northeastern University China

The problem of task apportionment for dynamic multi-factor systems is categorized in three different scenarios in this paper: admin, crew and factor based. The system is discussed based on the realistic manufacturing environments as an application platform in order to consider the robust Task Apportionment system for such a case but the proposed system can be generalized to any similar system. Both centralized and decentralized systems are considered and task allocation, re-allocation, exchange and execution as layers of task apportionment methods are designed and described in each system. The system may switch between modes according the feedback information of communication capabilities or uses different modes for each part of the platform.

关键词： Switches Resource management Manufacturing systems Manufacturing Dynamic scheduling Servers Robustness

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Modeling and simulation of a condenser microphone

Modeling and simulation of a condenser microphone

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14th International Conference on Solid-State Sensors, Actuators and Microsystems/21st European Conference on Solid-State Transducers

作者： Chen, Jen-Yi Hsu, Yu-Chun Mukherjee, Tamal Fedder, Gary K. Microsystems Technology Center Industrial Technology Research Institute Taiwan Department of Electrical and Computer Engineering Robotics Institute Carnegie Mellon University Pittsburgh PA United States

ISBN: (纸本)9781424408412

A nodal analysis model of a condenser microphone has been implemented in an IC design environment. The fundamental characteristics, including sensitivity, frequency response and output referred noise are obtained by co-simulation with the microphone and the readout circuit using Cadence/Spectre (R) simulator. The new model is capable of dealing with the multi-field coupling effects including acoustical, mechanical and electrostatic behavior. Both the numerical analysis and measured data agree with the nodal simulation results. Co-simulating the microphone and readout circuit, enables trade-off analysis between the acousto-electro-mcchanical and electronic design parameters.

关键词： condenser microphone system level simulation

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