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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Nejadfard, A. Moradi, H. Ahmadabadi, M. Nili School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

ISBN: (纸本)9781457721373

In this paper a novel approach based on multi-robot cooperation is introduced for inspection and repair of dome structures. In this application, three robots which can be extended to more, connect to each other by three strings and cooperate such that all the robots are stable and at least one robot have access to all parts of the dome. The mathematical model of the system is derived and a systematic methodology is developed to find an optimal configuration, based on minimizing the strings' tensions or maximizing the stability, using Particle Swarm Optimization (PSO) algorithm and quadratic programming. The simulation results prove that there exists a stable path to fully sweep the surface of a dome. The experimental results on a small scale prototype validate these findings. © 2011 IEEE.

关键词： Multipurpose robots

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Fast outcome prediction based on slow cause estimation: A human inspired approach in air hockey game

Fast outcome prediction based on slow cause estimation: A hu...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Ghazvini, S.A. Moradi, H. Ahmadabadi, M. Nili Araabi, B. School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

ISBN: (纸本)9781457721373

In this paper, we present an approach, inspired by human behavior, in predicting the state of a high speed object based on the state of another object that causes such a high speed, e.g. predicting the state of a high speed puck which is hit by a lower speed paddle in the air hockey game. The proposed approach eliminates the need for high speed sensors, such as high speed cameras and grabbers, for capturing and processing high speed motions. This approach has been implemented and tested on an air hockey simulator and in real images taken by an off-the-shelf camera. The results show that the low speed of a paddle in the air hockey can be easily captured by an off-the-shelf camera and then the state of the puck, which is the speed and its pose, after being hit by the paddle can be calculated. © 2011 IEEE.

关键词： High speed cameras

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Context transfer and Q-Transferable tasks 29

Context transfer and Q-Transferable tasks

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29th AAAI Conference on Artificial Intelligence, AAAI 2015

作者： Mousavi, Amin Araabi, Babak Nadjar Ahmadabadi, Majid Nili Robotics and AI Lab Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Iran School of Cognitive Science Tehran Iran

ISBN: (纸本)9781577357209

This article discusses the notion of context transfer in reinforcement learning tasks. Context transfer, as defined in this article, implies knowledge transfer between tasks that share the same environment's dynamics and reward function, but have different state and action spaces. For example, we have a working mobile robot in an environment. At some point, we decide to upgrade its sensors and/or actuators. Any change in these modules will result in a different description of the agent- environment model, and the trained knowledge is no longer applicable. We consider the tasks of the old and new robots, as the source and target tasks, respectively. The Markov decision process (MDP) of these tasks, under certain conditions, are called Q-transferable tasks, and the problem of knowledge transfer between them is called context transfer. We investigate the relation of the MDPs of these tasks. Copyright © 2015, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Markov processes

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Pseudo-increasing frame rates of carotid artery B-mode images using manifold learning

Pseudo-increasing frame rates of carotid artery B-mode image...

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2013 20th Iranian Conference on Biomedical Engineering, ICBME 2013

作者： Rizi, Fereshteh Yousefi Setarehdan, Seyed Kamaledin Behnam, Hamid Control and Intelligent Processing Center of Excellence College of Engineering University of Tehran Tehran Iran School of Electrical Engineering Iran University of Science and Technology Tehran Iran

ISBN: (纸本)9781479932320

Tracking the rapid motions and vibrations of the carotid artery wall is an important issue in the noninvasive carotid ultasonography. In order to capture the fast moving structures and vibrations, high frame rate B-mode sequences, without decreasing lateral resolution, are needed. In the present paper, manifold learning is used to find the relation between the frames during a cardiac cycle as well as multiple cardiac cycles. Locally linear embeddings method represents the nonlinear embedded information in the sequential B-mode images in a two-dimensional manifold and each image is shown by a point on reconstructed manifold. The relationship between images in the new domain is obtained based on the periodicity of the cardiac cycle. Knowing the phase of the cardiac cycle for every frame helps the automatic detection of end-diastole and end-systole frames of carotid B-mode images which is helpful for noninvaisive elastography and carotid wall studies. The results show that our proposed method is capable of increasing frame rate effectively. © 2013 IEEE.

关键词： Medical imaging

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A centralized potential field method for stable operation of a multi-robot dome inspection, repair, and maintenance system

A centralized potential field method for stable operation of...

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2013 1st RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2013

作者： Naderi, K. Nejadfard, A. Moradi, H. Nili Ahmadabadi, M. School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

ISBN: (纸本)9781467358118

In this paper we propose a centralized algorithm for stable operation of a multi-robot dome inspection, repair, and maintenance based on potential field method. The multi-robot system consists of two robots, a leader robot and a supporter robot, connected to each other by two strings. The follower robot sends its information to the leader robot for processing and receiving commands. The leader robot uses the friction model, the slope of the dome detected by the two robots' tilt sensors and the mass of the robots to calculate the stability ranges and determines the proper action to make the whole system stable. The leader robot moves toward its target pose while adjusting the tension of its string using potential field method to combine the attractive and repulsive potentials. The follower robot executes the commands sent by the leader robot to create the most stable configuration for the whole system. It is shown that the algorithm can guarantee stable operation all over a typical dome. The algorithm has been implemented and shown its effectiveness in simulation. Furthermore, the effect of each parameter has been discussed and it is shown that the multi-robot system is capable of completely covering a typical dome using the proposed potential field algorithm. © 2013 IEEE.

关键词： Multipurpose robots

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Shifting dynamics of self-immolation in the capital of Iran? The rising trend among young, unmarried, less-educated men

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Burns Open 2025年 11卷 100406-100406页

作者： Shokri, MohammadAli Khalili, SaeedehSadat Vahabie, Abdol-Hossein Ghanbari Jolfaei, Atefeh Keshavarz-Akhlaghi, Amir-Abbas Dehmardei, Mostafa Mirfazeli, Fatemeh Sadat National Brain Centre Iran University of Medical Sciences Tehran Iraq Department of Neuroscience Faculty of Advanced Technologies in Medicine Iran University of Medical Sciences Tehran Iraq Cognitive Systems Laboratory Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iraq Mental Health Research Center Psychosocial Health Research Institute Department of Psychiatry School of Medicine Iran University of Medical Sciences Tehran Iraq School of Medicine Iran University of Medical Sciences Tehran Iraq Department of Cognitive Sciences Faculty of Psychology and Education University of Tehran Tehran Iraq School of Cognitive Sciences Institute for Research in Fundamental Sciences (IPM) Tehran Iraq

In our study, we aimed to explore the psychiatric disorders, risk factors, and predictors of self-immolation among individuals admitted to Shahid Motahari Hospital in Tehran from 2019 to 2020. This cross-sectional study examines 64 hospitalized patients who received psychiatric counseling following self-immolation incidents. The rate of self-immolation varies significantly based on specific demographics. It is observed that in our population men had a higher rate of being unmarried (70.96 % vs 15.15 %), lower levels of education (70.96 % vs 63.63 % did not have a university degree), higher level of unemployment (54.83 % vs 30.30 %), younger age average with most men aging 15–24 (29.06 (SD = 9.33)) vs women 35–44 (35.27(SD = 10.27)) and higher prevalence of addiction (67.74 % vs 36.36 %) compared to women. On the other hand, women who attempted self-immolation mainly were married, involved in housekeeping, and tended to exhibit higher rates of depression (63.63 % vs 32.25 %) than men. Furthermore, these self-immolation incidents are often impulsive (64.1 %) and occur shortly (under an hour) after experiencing a stressor (39.1 %). Self-immolation accidents are frequently carried out using gasoline (50 %). Geographically, the majority of self-immolation cases of our study are concentrated in the central region of Iran (76.6 %), followed by the western region (15.6 %) this may be due to the proximity of these regions to our center while patients of other regions were hospitalized in their referral hospitals and were rarely transferred to the capital. To effectively address the issue of self-immolation and reduce its prevalence, it is essential to identify vulnerable populations and explore targeted preventive measures. Based on our findings, future pilot studies could investigate the feasibility of specific interventions, such as crisis hotlines to reduce impulsivity-related acts of self-immolation. Additionally, small-scale feasibility projects could explore the effect

关键词： Contributing factors Psychiatric disorders Self-immolation

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Development of a MATLAB-based toolbox for brain computer interface applications in virtual reality

Development of a MATLAB-based toolbox for brain computer int...

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20th Iranian Conference on Electrical Engineering, ICEE 2012

作者： Afdideh, Fardin Shamsollahi, Mohammad Bagher Resalat, Seyed Navid School of Electrical Engineering Sharif University of Technology Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467311489

Brain computer interface (BCI) is a widely used system to assist the disabled and paralyzed people by creating a new communication channel. Among the various methods used in BCI area, motor imagery (MI) is the most popular and the most common one due to its the most natural way of communication for the subject. Some software applications are used to implement BCI systems, and some toolboxes exist for EEG signal processing. In recent years virtual reality (VR) technology has entered into the BCI research area to simulate the real world situations and enhance the subject performance. In this work, a completely MATLAB-based MI-based BCI system is proposed and implemented in order to navigate into a virtual environment. In addition, a variety of features types were employed to select the best ones in the proposed system with the use of linear discriminant analysis (LDA) classifier through some interactive graphical user interfaces (GUIs). The results show the feasibility of the proposed BCI system in the subject training with or without feedback and even navigation into a virtual home. © 2012 IEEE.

关键词： Brain computer interface

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A novel local spline smoothing-based approach for medical ultrasound images enhancement

A novel local spline smoothing-based approach for medical ul...

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2012 2nd IEEE-EMBS Conference on Biomedical Engineering and Sciences, IECBES 2012

作者： Afdideh, Fardin Khasheei Rad, Roya Resalat, Seyed Navid Sabeti, Elyas Biomedical Engineering Department Islamic Azad University Tehran Iran Control and Intelligent Processing Center of Excellence University of Tehran Iran Sharif University of Technology Tehran Iran

ISBN: (纸本)9781467316668

In this work, a novel local spline smoothing-based approach is proposed in order to despeckling medical ultrasound images. For better comparison, firstly nine conventional statistical spatial filters were applied on the ultrasound images and the results evaluated by quantitative indices of contrast to noise ratio (CNR) and speckle signal to noise ratio (SSNR). Secondly, one-dimensional cubic spline smoothing (1DCSS) function was applied on the whole speckled image as the first proposed approach. Finally, as the second proposed approach, 1DCSS was applied locally on the sliding windows of the ultrasound image then conventional statistical spatial filters were applied. The results indicate that the proposed approaches outperform the existing conventional ones. © 2012 IEEE.

关键词： Signal to noise ratio

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A novel approach to automatic music composing: Using genetic algorithm

A novel approach to automatic music composing: Using genetic...

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International Computer Music Conference, ICMC 2006

作者： Zad, Damon Daylamani Araabi, Babak N. Lucas, Caru Department of Information Systems and Computing Brunel University United Kingdom Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Iran

Artificial music composition is one of the ever rising problems of computer science. Genetic Algorithm has been one of the most useful means in our hands to solve optimization problems. By use of precise assumptions and adequate fitness function it is possible to change the music composing into an optimization problem. This paper proposes a new genetic algorithm for composing music. Considering entropy of the notes distribution as a factor of fitness function and developing mutation and crossover functions based on harmonic rules and trying to keep the melodies intact during these processes would result in a musical piece pleasant to human ears and interesting for human mind. This algorithm does not have the constraints of the previous algorithms. Restraining mutation and crossover functions with a goal of producing melodies based on acceptable melodies composed by humans, this algorithm is not bound to any genre, instrument or melody. The experimental results of this approach show that it is near to the human composing and the results produced from it are more acceptable than the ones produced by its predecessors.

关键词： Genetic algorithms

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Improve text classification accuracy based on classifier fusion methods

Improve text classification accuracy based on classifier fus...

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FUSION 2007 - 2007 10th International Conference on Information Fusion

作者： Danesh, Ali Moshiri, Behzad Fatemi, Omid Dept. of Elec. and Comp. Eng. University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran

ISBN: (纸本)0662478304

Naïve-Bayes and k-NN classifiers are two machine learning approaches for text classification. Rocchio is the classic method for text classification in information retrival. Based on these three approaches and using classifier fusion methods, we propose a novel approach in text classification. Our approach is a supervised method, meaning that the list of categories should be defined and a set of training data should be provided for training the system. In this approach, documents are represented as vectors where each component is associated with a particular word. We propose voting methods and OWA operator and Decision Template method for combining classifiers. Experimental results show that these methods decrese the classification error 15 percent as measured on 2000 training data from 20 newsgroups dataset.

关键词： Classification (of information)

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