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IEEE WIC ACM International Conference on Web Intelligence (WI)

作者： Steven Okamoto Praveen Paruchuri Yonghong Wang Katia Sycara Janusz Marecki Mudhakar Srivatsa Computer Science Department Carnegie Mellon University Pittsburgh PA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA IBM Thomas J. Watson Research Center Hawthorne NY USA

In many exciting multiagent applications - including future battlefields, law enforcement, and commerce - agents must communicate in inherently or potentially hostile environments in which an adversaries disrupt or intercept the communication between agents for malicious purposes, but the wireless ad hoc networks often proposed for these applications are particularly susceptible to attack. Intelligent agents must balance network performance with possible harm suffered from an adversary's attack, while accounting for the broadcast nature of their communication and heterogenous vulnerabilities of communication links. Furthermore, they must do so when the adversary is also actively and rationally attempting to counter their efforts. We address this challenge in this paper by representing the problem as a game between a sender agent choosing communication paths through a network and an adversary choosing nodes and links to attack. We introduce a network-flow-based approach for compactly representing the competing objectives of network performance and security from adversary attack, and provide a polynomial-time algorithm for finding the equilibrium strategy for the sender. Through empirical evaluation we show how this technique improves upon existing approaches.

关键词： Games Security Routing Game theory Matrix decomposition Batteries Jamming

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From optimal planning to visual servoing with limited FOV

From optimal planning to visual servoing with limited FOV

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Paolo Salaris Lucia Pallottino Seth Hutchinson Antonio Bicchi Interdepartmental Research Center Enrico Piaggio University of Pisa Italy Department of Electrical and Computer Engineering Beckman Institute of Advanced Science and Technology University of Illinois USA Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

This paper presents an optimal feedback control scheme to drive a vehicle equipped with a limited Field-Of-View (FOV) camera towards a desired position following the shortest path and keeping a given landmark in sight. Based on the shortest path synthesis available from previous works, feedback control laws are defined for any point on the motion plane exploiting geometric properties of the synthesis itself. Moreover, by using a slightly generalized stability analysis setting, which is that of stability on a manifold, a proof of stability is given. Reported simulations demonstrate the effectiveness of the proposed technique.

关键词： Vehicles Feedback control Spirals Visual servoing Stability analysis Robot kinematics

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Investigation of acute ocular injury threshold by 76 GHz band exposure in rabbits

Investigation of acute ocular injury threshold by 76 GHz ban...

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General Assembly and Scientific Symposium, URSI

作者： Masami Kojima Hiroshi Sasaki Kazuyuki Sasaki Taiji Sakai Kanako Wake Soichi Watanabe Yoshitsugu Kamimura Akimasa Hirata Yukihisa Suzuki Masao Taki School of Nursing Kanazawa Medical University Ishikawa Japan Division of Vision Research for Environmental Health Medial Research Institute Kanazawa Medical University 1-1 Daigaku Uchinada-machi Kahoku-gun Ishikawa 920-0293 Japan Kanazawa Medical University Kahoku-gun Ishikawa Japan Division of Vision Research for Environmental Health Medial Research Institute Department of Ophthalmology Department of Rehabilitation Faculty of Medical Science and Welfare Tohoku Bunka Gakuen University Aoba-ku Sendai Japan Electromagnetic Compatibility Group Applied Electromagnetic Research Center National Institute of Information and Communications Technology Koganei Tokyo Japan Department of Information Science Faculty of Engineering Utsunomiya University Utsunomiya Tochigi Japan Department of Computer Science and Engineering Nagoya Institute of Technology Nagoya Aichi Japan Division of Electrical & Electronic Engineering Graduate Schools of Science and Engineering Tokyo Metropolitan University Hachioji Tokyo Japan

The acute ocular injury threshold of 76 GHz band millimeter wave (MMW) exposure was investigated using an in vivo rabbit model. Pigmented rabbits were exposed unilaterally to 200, 100, 75, 50, 10 mW/cm 2 76 GHz band MMW for 6 min with a lens antenna. Corneal opacity, epithelial injury, miosis, and ocular inflammation were present up to 2-3 days after exposure at a dose of 200 mW/cm 2 . No ocular changes other than reversible corneal epithelial injury were seen following exposure at 100 and 75 mW/cm 2 . There were no ocular changes after exposure at doses of 50 or 10 mW/cm 2 . Six-minute exposure to 76 GHz 10 mW/cm 2 did not induce any detectable ocular tissue damage.

关键词： Rabbits Injuries Lenses Educational institutions Antennas Temperature measurement

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Investigation of acute ocular injury threshold by 76 GHz band exposure in rabbits

Investigation of acute ocular injury threshold by 76 GHz ban...

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2011 30th URSI General Assembly and Scientific Symposium, URSIGASS 2011

作者： Kojima, Masami Sasaki, Hiroshi Sasaki, Kazuyuki Sakai, Taiji Wake, Kanako Watanabe, Soichi Kamimura, Yoshitsugu Hirata, Akimasa Suzuki, Yukihisa Taki, Masao Division of Vision Research for Environmental Health Medial Research Institute Kanazawa Medical University 1-1 Daigaku Uchinada-machi Kahoku-gun Ishikawa 920-0293 Japan Department of Ophthalmology Kanazawa Medical University 1-1 Daigaku Uchinada-machi Kahoku-gun Ishikawa 920-0293 Japan School of Nursing Kanazawa Medical University 1-1 Daigaku Uchinada-machi Kahoku-gun Ishikawa 920-0293 Japan Department of Rehabilitation Faculty of Medical Science and Welfare Tohoku Bunka Gakuen University 45-1 6-chome Kunimi Aoba-ku Sendai Miyagi 981-8551 Japan Electromagnetic Compatibility Group Applied Electromagnetic Research Center National Institute of Information and Communications Technology 4-2-1 Nukui-Kitamachi Koganei Tokyo 184-8795 Japan Department of Information Science Faculty of Engineering Utsunomiya University 7-1-2 Yoto Utsunomiya Tochigi 321-8585 Japan Department of Computer Science and Engineering Nagoya Institute of Technology Gokiso-cho Showa-ku Nagoya Aichi 466-8555 Japan Division of Electrical and Electronic Engineering Graduate Schools of Science and Engineering Tokyo Metropolitan University 1-1 Minamiosawa Hachioji Tokyo 192-0397 Japan

ISBN: (纸本)9781424451173

The acute ocular injury threshold of 76 GHz band millimeter wave (MMW) exposure was investigated using an in vivo rabbit model. Pigmented rabbits were exposed unilaterally to 200, 100, 75, 50, 10 mW/cm2 76 GHz band MMW for 6 min with a lens antenna. Corneal opacity, epithelial injury, miosis, and ocular inflammation were present up to 2-3 days after exposure at a dose of 200 mW/cm2. No ocular changes other than reversible corneal epithelial injury were seen following exposure at 100 and 75 mW/cm2. There were no ocular changes after exposure at doses of 50 or 10 mW/cm2. Six-minute exposure to 76 GHz 10 mW/cm2 did not induce any detectable ocular tissue damage. © 2011 IEEE.

关键词： Millimeter waves

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In-vitro verification of CFD simulations for predicting flow in a stented aneurysm model

In-vitro verification of CFD simulations for predicting flow...

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IEEE International Symposium on Biomedical Imaging

作者： Qi Sun Alexandra Groth Ignacio Larrabide Salvatore Cito Martha Aguila Alejandro F. Frangi Vitor Mendes Pereira Rafik Ouared Olivier Brina Til Aach Institute of Imaging and Computer Vision RWTH Aachen University Aachen Germany Philips Research Europe Aachen Germany Center for Computational Imaging and Simulation Technologies in Biomedicine (CISTIB) Universitat Pompeu Fabra Barcelona Spain CIBER-BBN Networking Center on Biomedical Research Barcelona Spain Institució Catalana de Recerca i Estudis Avançats (ICREA) Barcelona Spain Center for Computational Imaging and Simulation Technologies in Biomedicine (CISTIB Universitat Pompeu Fabra Barcelona Spain Service of Neuro Radiology and Neuro-Interventional Imaging and Information Science Department University Hospitals of Geneva Geneva Switzerland

In this work, under fully controlled flow conditions, we perform an in vitro verification of computational fluid dynamic (CFD) simulations against the experimental data of a stented aneurysm phantom. The stent model is simplified to have different sizes and its influence on the hemodynamic parameters is demonstrated. For CFD validation, quantitative measures are defined for CFD by virtual angiography. The results show general good correspondence in the parent vessel and the impingement site inside the aneurysm. Compared to the experimentally acquired angiograms, slight delay of the bolus arrival time is detected in the aneurysm sac in the virtual angiograms. This is correlated with over estimated stent function in the CFD model.

关键词： Aneurysm Phantoms Computational fluid dynamics Computational modeling Neck Angiography Numerical models

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When to assist? - Modelling human behaviour for hybrid assembly systems

When to assist? - Modelling human behaviour for hybrid assem...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, ROBOTIK 2010

作者： Huber, Markus Knoll, Alois Brandt, Thomas Glasauer, Stefan Center for Sensorimotor Research Department for Clinical Neurosciences LMU Germany Robotics and Embedded Systems Lab Dept. of Computer Science TUM Germany

ISBN: (纸本)9781617387197

Over centuries the successful cooperation of foreman and assistant has been an important factor of efficiency, as the mutual understanding of each others actions and intentions facilitates a smooth work flow. Hence, a promising option in the field of automation is to develop models of intuitive and adaptive assistance. An artificial system equipped with such models could improve not only efficiency, but also acceptance and safety in human-robot interaction (HRI). As a first step towards this goal, we investigated the timing of the most common physical interaction occurring in HRI - the handing over of items. In an assembly experiment we measured the duration of the different steps. We found that a linear dependency sufficiently describes the relation between the complexity of each working step and its duration. The parameters of the linear model however largely differ between the individual subjects. This linear dependency was used to develop Kalman filters to predict durations and complexities of different assembly steps. We showed that after a short adapting phase we received an accuracy of 18.03%, comparing the predicted assembling duration to the measured duration. The model was integrated into an assistive robot system to demonstrate its robustness and low requirements of the sensory systems.

关键词： Human robot interaction

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Design of an actuated phantom to mimic the motion of cardiac landmarks for the study of image-guided intracardiac interventions

Design of an actuated phantom to mimic the motion of cardiac...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Von Sternberg, Nicholas Hedayati, Yousef Yeniaras, Erol Christoforou, Eftychios Tsekos, Nikolaos V. Medical Robotics Laboratory Department of Computer Science University of Houston Houston TX 77204 United States KIOS Research Center University of Cyprus Nicosia Cyprus

ISBN: (纸本)9781424493173

In order to be accepted by the clinical and technical community, a new medical tool needs a long duration of testing and validation period. Whereas animal trials are the current standard for evaluating new technologies just before experimenting on human, they are costly in terms of both money and time. For the early stages of a novel technological tool or an approach, the use of a cost-effective and reusable dynamic model would be highly effective. In this study we demonstrate the viability of a novel and specific MR compatible, computer controlled, and actuated phantom that can mimic the left ventricle (LV) for image guided and robot assisted transapical intracardiac surgeries in the beating heart. © 2010 IEEE.

关键词： Phantoms

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MULTI-CAMERA POSITIONING FOR AUTOMATED TRACKING SYSTEMS IN DYNAMIC ENVIRONMENTS

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International Journal of Information Acquisition 2010年第3期7卷 225-242页

作者： YI YAO CHUNG-HAO CHEN BESMA ABIDI DAVID PAGE ANDREAS KOSCHAN MONGI ABIDI Visualization and Computer Vision Lab GE Global Research USA Department of Mathematics and Computer Science North Carolina Central University USA Imaging Robotics and Intelligent Systems Lab University of Tennessee Knoxville USA

Most existing camera placement algorithms focus on coverage and/or visibility analysis, which ensures that the object of interest is visible in the camera's field of view (FOV). According to recent literature, handoff safety margin is introduced to sensor planning so that sufficient overlapped FOVs among adjacent cameras are reserved for successful and smooth target transition. In this paper, we investigate the sensor planning problem when considering the dynamic interactions between moving targets and observing cameras. The probability of camera overload is explored to model the aforementioned interactions. The introduction of the probability of camera overload also considers the limitation that a given camera can simultaneously monitor or track a fixed number of targets and incorporates the target's dynamics into sensor planning. The resulting camera placement not only achieves the optimal balance between coverage and handoff success rate but also maintains the optimal balance in environments with various target densities. The proposed camera placement method is compared with a reference algorithm by Erdem and Sclaroff. Consistently improved handoff success rate is illustrated via experiments using typical office floor plans with various target densities.

关键词： Sensor planning visual surveillance multiple camera systems camera handoff

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Augmented reality approach for paper map visualization

Augmented reality approach for paper map visualization

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International Conference on Communication and Computational Intelligence (INCOCCI)

作者： C Adithya K Kowsik D Namrata V S Nageli Sangeeta Shrivastava S Rakshit Department of Information Science B. M. Sreenivasaiah College of Engineering Bangalore India Computer Vision Group Center for Artificial Intelligence and Robotics Bangalore India

Paper map visualization is good value proposition, even in the `everything is digital' world, because of the huge information density and ease of use at any remote or mobile location, especially in the military context. Completely doing away with the paper map brings in a discomfort factor for the military user. In this paper, we present a paper map data visualization solution that augments the information from the digital world onto a spread of a paper map. Augmented Reality techniques are used to enhance paper maps digitally resulting in a 3D visualization space with some interactions. The dynamic information of the terrain, placing virtual objects and interaction are features of the digital world that are superimposed onto a paper map. We have used ARToolkit marker tracking based approach and a see through Head Mounted Device for implementation. The digital elevation data in VRML format is split into smaller bits before rendering. The rendering is done after culling the relevant part of the terrain data and the same is popped up in stereo for enhanced visualization. The user can place virtual objects using markers. The distance between markers (user and reference) is calculated and is used for interactive features. The interaction options are load/select, slice/split and latch/freeze. We have achieved better performance by loading only the region of interest and not the complete terrain. The paper also illustrates the basic hardware set-up required for implementation.

关键词： Augmented reality Data visualization Cameras Three dimensional displays Rendering (computer graphics) Solid modeling Training

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A reliability assessment paradigm for automated video tracking systems

A reliability assessment paradigm for automated video tracki...

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2010 20th International Conference on Pattern Recognition, ICPR 2010

作者： Chen, Chung-Hao Yao, Yi Koschan, Andreas Abidi, Mongi Department of Math and Computer Science North Carolina Central University NC 27713 United States Global Research Center General Electric NY 12309 United States Imaging Robotics and Intelligent Systems Lab. University of Tennessee Knoxville TN 37996 United States

ISBN: (纸本)9780769541099

Most existing performance evaluation methods concentrate on defining separate metrics over a wide range of conditions and generating standard benchmarking video sequences for examining the effectiveness of video tracking systems. In other words, these methods attempt to design a robustness margin or factor for the system. These methods are deterministic in which a robustness factor, for example, 2 or 3 times the expected number of subjects to track or the strength of illumination would be required in the design. This often results in overdesign, thus increasing costs, or underdesign causing failure by unanticipated factors. In order to overcome these limitations, we propose in this paper an alternative framework to analyze the physics of the failure process and, through the concept of reliability, determine the time to failure in automated video tracking systems. The benefit of our proposed framework is that we can provide a unified and statistical index to evaluate the performance of automated video tracking system for a task to be performed. At the same time, the uncertainty problem about a failure process, which may be caused by the system's complexity, imprecise measurements of the relevant physical constants and variables, or the indeterminate nature of future events, can be addressed accordingly based on our proposed framework. © 2010 IEEE.

关键词： Benchmarking

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