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Fault tolerant relative navigation using inertial and relative sensors

Fault tolerant relative navigation using inertial and relati...

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AIAA Guidance, Navigation, and Control Conference 2007

作者： Hoffmann, Gabriel M. Gorinevsky, Dimitry Mah, Robert W. Tomlin, Claire J. Mitchell, Jennifer D. Department of Aeronautics and Astronautics Stanford University Mitek Analytics LLC United States AIAA United States Electrical Engineering Department Stanford University United States SSRL Group Lead NASA Ames Research Center United States Department of Aeronautics and Astronautics United States Hybrid Systems Laboratory Stanford University United States Department of Electrical Engineering and Computer Sciences University of California Berkeley United States EG6/GN and C Autonomous Flight Systems Office Aeroscience and Flight Mechanics Division NASA Johnson Space Center United States Mitek Analytics LLC United States

ISBN: (纸本)1563479044

Many emerging applications of space, ground, marine, and air vehicles require relative automated navigation with respect to other vehicles and objects. Disturbances in the environment may cause faults in relative navigation sensors. For sensors based on cameras or laser range finders, events as common as lighting changes, glint, or obstruction by debris could potentially cause spurious responses. Relative navigation is safety critical-fault tolerance must be addressed. We propose a fault detection, identification, and recovery architecture using multiple moving horizon estimators, each for a separate hypothesis of the fault state of the system. The hypothesis with maximum empirical likelihood is selected. Detected and identified faults are reported to the main navigation filter, which may then discard the relative navigation sensor data, and instead temporarily rely on the inertial navigation system. The guidance system may also act on the identified fault state, taking actions to recover the system to a safe state. This logic is demonstrated in simulation for the automated rendezvous and docking (AR&D) of spacecraft-a key technology for the near future demands of the space program. The simulation results demonstrate that faulty relative sensors may seriously affect the navigation solution. The proposed fault detection scheme has demonstrated an ability to identify faults in these sensors and take them offline before they disrupt navigation and lead to mission failure.

关键词： Sensors

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Linking protein mass with function via organismal massome networks

Linking protein mass with function via organismal massome ne...

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7th IEEE International Conference on Bioinformatics and Bioengineering, BIBE

作者： Alterovitz, Gil Lyashenko, Eugenia Xiang, Michael Ramoni, Marco F. Division of Health Sciences and Technology Harvard Medical School Massachusetts Institute of Technology Boston MA United States Children's Hospital Informatics Program at Health Sciences and Technology Harvard Medical School Boston MA United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA United States Harvard Partners Center for Genetics and Genomics Harvard Medical School Boston MA United States Department of Biomedical Informatics Columbia University New York NY United States

ISBN: (纸本)1424415098

With the human genome sequenced, attention has been shifting to proteins and their function. Several technologies including mass spectrometry and gel electrophoresis have traditionally been used to study proteins. These technologies rely on proteins' masses to characterize and/or identify them. Once identified, the discovered proteins' are often analyzed for their functional relevance. In this paper, we present an alternative approach to studying protein function directly, based on protein mass. By analyzing proteins with similar mass ranges (bins), we discovered that certain biological functions are associated with specific mass bins more frequently than would be expected by chance. Biological functional classes found in this manner could be seen across the three examined organisms: human, worm and fly. We found no sequence-based homology across significant mass-function proteins in the three different organisms. This investigation leads to useful property that the mass-based biological functional classes are preserved across the organisms. Thus, this paper describes a potential constraint for evolution of similar function based on mass constraints. Finally, this work yields a roadmap for experimental design for functional exploration of proteomes in mass-based technologies such as gel electrophoresis and mass spectrometry. ©2007 IEEE.

关键词： Proteins

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An information theoretic framework for ontology-based bioinformatics

An information theoretic framework for ontology-based bioinf...

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2007 Information Theory and Applications Workshop, ITA

作者： Alterovitz, Gil Xiang, Michael Ramoni, Marco F. Division of Health Sciences and Technology Harvard Medical School Massachusetts Institute of Technology Boston MA United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA United States Children's Hospital Informatics Program Boston MA United States Harvard Partners Center for Genetics and Genomics Harvard Medical School Boston MA United States Department of Biology Massachusetts Institute of Technology Cambridge MA United States

ISBN: (纸本)9780615153148

With myriad information being generated from high-throughput experiments such as microarrays and sequencing technologies, an ever-increasing amount of data is being recorded and analyzed with the help of hierarchical ontologies, such as the Gene Ontology (GO). We have developed a novel framework-based on the well established foundations of information theory - that allows for the evaluation of new types of hypotheses. The framework, encapsulated in Open Biomedical Ontology-Based Exploration and Search (OBOES), has already been applied in the investigation of different kinds of questions. The resulting framework enables the new field of information theoretic ontology-based analysis. We have applied this framework to create methods to re-engineer ontologies, explore fundamental questions on the evolution of biological complexity, determine optimal ontology terms for bioinformatics analysis, and quantify the usefulness of biofluids as proxies for tissues/diseases. In each case, we found that our methods provide novel, significant findings. An open source Java implementation of OBOES is available at: http://***. net.

关键词： Information theory

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Decision Fusion of Circulating Markers for Breast Cancer Detection in Premenopausal Women

Decision Fusion of Circulating Markers for Breast Cancer Det...

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IEEE Symposium on Bioinformatics and Bioengineering (BIBE)

作者： Jonathan L. Jesneck Sayan Mukherjee Loren W. Nolte Anna E. Lokshin Jeffrey R. Marks Joseph Lo Duke Advanced Imaging Labs Institute for Genome Sciences and Policy Department of Computer Science Duke University USA Department of Electrical and Computer Engineering Division of Hematology/Oncology University of Pittsburgh School of Medicine Pittsburgh PA USA Division of Hematology/Oncology University of Pittsburgh Cancer Institute Pittsburgh PA USA Division of Hematology/Oncology University of Pittsburgh Cancer Institute Pittsburgh PA Institute for Genome Sciences and Policy Department of Experimental Surgery Medical Center Duke University USA Department of Experimental Surgery Duke University Medical Center Medical Physics Graduate Program Duke University Durham NC USA

Current mammographic screening for breast cancer is less effective for younger women. To complement mammography for premenopausal women, we investigated the feasibility screening test using 98 blood serum proteins. Because the data set was very noisy and contained only weak features, we used a classifier designed for noisy data: decision fusion. Decision fusion outperformed both a support vector machine (SVM) and linear regression with forward stepwise feature selection on all three two-class classification tasks: normal tissue vs. cancer, normal tissue vs. benign lesions, and benign lesions vs. cancer. Decision fusion detected cancer moderately well (AUC=0.84 on normal vs. cancer), demonstrating promise as a screening tool. Decision fusion also detected benign lesions similarly well (AUC=0.83 on normal vs. benign lesions) and was the only classifier to achieve any success in separating benign from malignant lesions (AUC=0.64 on benign vs. cancer). The classification results suggest that the assayed proteins are more indicative of a secondary effect, such as immune response, rather than specific for breast cancer. In conclusion, the decision fusion classifier demonstrated some promise in detecting breast lesions and outperformed other classifiers, especially for the very noisy classification problem of distinguishing benign from malignant lesions.

关键词： Breast cancer Cancer detection Lesions Proteins Support vector machines Support vector machine classification Mammography Testing Blood Linear regression

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An Information Theoretic Framework for Ontology-based Bioinformatics

An Information Theoretic Framework for Ontology-based Bioinf...

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Information Theory and Applications Workshop, ITA

作者： Gil Alterovitz Michael Xiang Marco F. Ramoni Harvard Partners Center for Genetics and Genomics Harvard Medical School Boston MA USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA Department of Biology Massachusetts Institute of Technology Cambridge MA USA Division of Health Sciences and Technology Harvard Medical School and Massachusetts Institute of Technology Boston MA Children's Hospital Informatics Program Boston MA Harvard Partners Center for Genetics and Genomics Harvard Medical School Boston MA.

With myriad information being generated from high-throughput experiments such as microarrays and sequencing technologies, an ever-increasing amount of data is being recorded and analyzed with the help of hierarchical ontologies, such as the gene ontology (GO). We have developed a novel framework- based on the well established foundations of information theory- that allows for the evaluation of new types of hypotheses. The framework, encapsulated in open biomedical ontology-based exploration and search (OBOES), has already been applied in the investigation of different kinds of questions. The resulting framework enables the new field of information theoretic ontology-based analysis. We have applied this framework to create methods to re-engineer ontologies, explore fundamental questions on the evolution of biological complexity, determine optimal ontology terms for bioinformatics analysis, and quantify the usefulness of biofluids as proxies for tissues/diseases. In each case, we found that our methods provide novel, significant findings. An open source Java implementation of OBOES is available at: http://***.

关键词： Ontologies Bioinformatics Genomics Information analysis Biological information theory Information theory Genetic communication Humans Biochemistry Frequency

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NASA administrator's fellowship program (NAFP): Panel discussion and fellow presentations

NASA administrator's fellowship program (NAFP): Panel discus...

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113th Annual ASEE Conference and Exposition, 2006

作者： Green, Melissa Hittle, Maria Jackson Shaykhian, Gholam Ali Yue, Jianping Singleterry, Robert Obot, Victor Saganti, Premkumar Mendez, Marc Esparza, Jack Bachnak, Rafic Fernandez, Ken Denkins, Pamela United Negro College Fund Special Programs Corp. 2750 Prosperity Avenue Fairfax VA 22031 United States Division of Science and Technology Programs UNCFSP UNCF SP Corporation NASA United States Shuttle Processing Directorate United States Daytona Beach FL United States United States IEEE Canaveral Section Essex County College United States Texas Southern University United States Prairie View A and M University United States Texas A and M University Corpus Christi United States Manufacturing and Mechanical Engineering Technology Program Division of Engineering Technologies and Computer Sciences Essex County College Newark NJ United States

The NASA Administrator's Fellowship program (NAFP) research grant is awarded to faculty fellows upon the completion of their one-year resident research at a NASA center. The award provided a unique research opportunity, which is rarely available for faculty and students at community college level, for the author to conduct a research project at a community college. With the support of the NAFP faculty research award, the author was able to not only continue the NASA related research on optimum machining parameters, but also get students involved in the research project. In this paper, the author presents the research project and experimental results. In addition, he shares his experiences of how to engage and supervise community college students in research as well as lessons learned from the process. © American Society for engineering Education, 2006.

关键词： NASA

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Biological network epitomes via topological compression

Biological network epitomes via topological compression

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IEEE International Workshop on Genomic Signal Processing and Statistics (GENSIPS)

作者： Gil Alterovitz Marco F. Ramon Health Science and Technology/Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge USA Children's Hospital Informatics Program at the Harvard-MIT Division of Health Sciences and Technology / Harvard Medical School- Partners Center for Genetics and Genomics Boston 02115 USA.

High-throughput generation of new types of relational biological datasets is creating a demand for network-based signal processing and pattern recognition to provide new insights. Such networks are often too large to interpret visually and too complicated to be explained solely based on local topological properties. Just as signal processing and statistical techniques have been used in traditional, sequential-based biological datasets, so too are methodologies needed to automatically discern patterns in the huge, emerging networks. One way to do this is by transforming these very large networks into discernable epitomes, or abstracts, of the original networks. This work presents an approach for doing this via topological compression. Through capturing nodes' global topologies and subsequent compression, a new network epitome can be derived. Here, this is done with an E. Coli gene regulation network, resulting in biological findings that could not be derived from the local topology of the original network.

关键词： Biological information theory Network topology Genomics Bioinformatics Biomedical signal processing Compression algorithms Visualization Biology Gas insulated transmission lines computer science

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Gene lethality detection across biological network domains: Hubs versus stochastic global topological analysis

Gene lethality detection across biological network domains: ...

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IEEE International Workshop on Genomic Signal Processing and Statistics (GENSIPS)

作者： Gil Alterovitz Vinayak Muralidhar Marco F. Ramoni Health Science and Technology/Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge USA Harvard Medical School-Partners Center for Genetics and Genomics Boston USA Harvard-MIT Division of Health Sciences and Technology Children's Hospital Informatics Program Boston USA

In this paper, we investigate the properties of lethal genes in E. coli, our model organism. Topological analysis of networks of functional interactions among genes has shown that lethal genes share common local connectivity properties. In this paper, we analyze cellular networks across three domains. We show that a stochastic global topological analysis, via random walks, is more effective at predicting gene lethality than simply looking at local topology using the standard hub-based method. We also introduce the possibility of using metabolic pathways to understand lethal genes, as regulating these pathways is among one of the most important functions of the gene-encoded proteins. Additionally, we analyze lethal genes in terms of the Gene Ontology (GO) and find that the graph forms two highly connected clusters that are each GO enriched for specific terms. We also find that lethal metabolic regulators are extremely enriched. Finally, we provide applications of the work and avenues for future research.

关键词： Stochastic processes Proteins Organisms Humans Genomics Bioinformatics Databases Genetics Network topology Production

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Attitudes toward service learning in engineering: A comparative analysis between faculty and students

Attitudes toward service learning in engineering: A comparat...

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Frontiers in Education - 35th Annual Conference 2005, FIE' 05

作者： Bauer, E. Heidi Moskal, Barbara Gosink, Joan Lucena, Jüan Munoz, David Colorado School of Mines Golden CO 80401 Humanitarian Engineering Program Colorado School of Mines Mathematical and Computer Sciences Department Colorado School of Mines Engineering Division Colorado School of Mines Liberal Arts and International Studies Division Colorado School of Mines

ISBN: (纸本)0780390776

Now entering its second year, the Humanitarian engineering program, which is sponsored by the Hewlett Foundation, at the Colorado School of Mines, is creating curriculum that will support engineering students in developing an understanding of their responsibility for solving humanitarian problems that exist throughout the world. As part of this effort, baseline data has been collected on both the faculty and student attitudes towards service activities using the "Community Service Attitudes Scale" which was developed and validated by Shiarella, McCarthy, and Tucker1. This paper uses this instrument to examine and compare the phase of development that faculty and students at the Colorado School of Mines have obtained with respect to service activities prior to the proposed intervention. During the fall of 2004, 78 students and 34 faculty responded to this assessment instrument. The results of this study suggest that the participating faculty were at a higher level of development with respect to service activities than were students. © 2005 IEEE.

关键词： engineering education

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Editorial

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Journal of Intelligent Manufacturing 2005年第2期16卷 135-137页

作者： Dolgui, Alexandre Chairman of the International Program Committee of SCM’02 Director of the Division for Industrial Engineering and Computer Sciences Ecole des Mines de Saint Etienne France

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