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2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Tomoaki Nakamura Takayuki Nagai Kotaro Funakoshi Shogo Nagasaka Tadahiro Taniguchi Naoto Iwahashi Honda Research Institute Japan Co. Ltd. Saitama Japan Dept. of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Dept. of Human and Computer Intelligence Ritsumeikan University Shiga Japan Graduate School of Informatics Kyoto University Kyoto Japan

Humans develop their concept of an object by classifying it into a category, and acquire language by interacting with others at the same time. Thus, the meaning of a word can be learnt by connecting the recognized word and concept. We consider such an ability to be important in allowing robots to flexibly develop their knowledge of language and concepts. Accordingly, we propose a method that enables robots to acquire such knowledge. The object concept is formed by classifying multimodal information acquired from objects, and the language model is acquired from human speech describing object features. We propose a stochastic model of language and concepts, and knowledge is learnt by estimating the model parameters. The important point is that language and concepts are interdependent. There is a high probability that the same words will be uttered to objects in the same category. Similarly, objects to which the same words are uttered are highly likely to have the same features. Using this relation, the accuracy of both speech recognition and object classification can be improved by the proposed method. However, it is difficult to directly estimate the parameters of the proposed model, because there are many parameters that are required. Therefore, we approximate the proposed model, and estimate its parameters using a nested Pitman-Yor language model and multimodal latent Dirichlet allocation to acquire the language and concept, respectively.

关键词： Speech recognition Speech Computational modeling Robot sensing systems Visualization Haptic interfaces

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Sequence data and association statistics from 12,940 type 2 diabetes cases and controls

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Scientific data 2017年第1期4卷 170179页

作者： Jason Flannick Christian Fuchsberger Anubha Mahajan Tanya M Teslovich Vineeta Agarwala Kyle J Gaulton Lizz Caulkins Ryan Koesterer Clement Ma Loukas Moutsianas Davis J McCarthy Manuel A Rivas John R B Perry Xueling Sim Thomas W Blackwell Neil R Robertson N William Rayner Pablo Cingolani Adam E Locke Juan Fernandez Tajes Heather M Highland Josee Dupuis Peter S Chines Cecilia M Lindgren Christopher Hartl Anne U Jackson Han Chen Jeroen R Huyghe Martijn van de Bunt Richard D Pearson Ashish Kumar Martina Müller-Nurasyid Niels Grarup Heather M Stringham Eric R Gamazon Jaehoon Lee Yuhui Chen Robert A Scott Jennifer E Below Peng Chen Jinyan Huang Min Jin Go Michael L Stitzel Dorota Pasko Stephen C J Parker Tibor V Varga Todd Green Nicola L Beer Aaron G Day-Williams Teresa Ferreira Tasha Fingerlin Momoko Horikoshi Cheng Hu Iksoo Huh Mohammad Kamran Ikram Bong-Jo Kim Yongkang Kim Young Jin Kim Min-Seok Kwon Juyoung Lee Selyeong Lee Keng-Han Lin Taylor J Maxwell Yoshihiko Nagai Xu Wang Ryan P Welch Joon Yoon Weihua Zhang Nir Barzilai Benjamin F Voight Bok-Ghee Han Christopher P Jenkinson Teemu Kuulasmaa Johanna Kuusisto Alisa Manning Maggie C Y Ng Nicholette D Palmer Beverley Balkau Alena Stančáková Hanna E Abboud Heiner Boeing Vilmantas Giedraitis Dorairaj Prabhakaran Omri Gottesman James Scott Jason Carey Phoenix Kwan George Grant Joshua D Smith Benjamin M Neale Shaun Purcell Adam S Butterworth Joanna M M Howson Heung Man Lee Yingchang Lu Soo-Heon Kwak Wei Zhao John Danesh Vincent K L Lam Kyong Soo Park Danish Saleheen Wing Yee So Claudia H T Tam Uzma Afzal David Aguilar Rector Arya Tin Aung Edmund Chan Carmen Navarro Ching-Yu Cheng Domenico Palli Adolfo Correa Joanne E Curran Dennis Rybin Vidya S Farook Sharon P Fowler Barry I Freedman Michael Griswold Daniel Esten Hale Pamela J Hicks Chiea-Chuen Khor Satish Kumar Benjamin Lehne Dorothée Thuillier Wei Yen Lim Jianjun Liu Marie Loh Solomon K Musani Sobha Puppala William R Scott Loïc Yengo Sian-Tsung Tan Herman A Taylor Farook Thameem Gregory Wilson Tien Yin Wong Pål Rasmu Department of Molecular Biology Massachusetts General Hospital Boston Massachusetts USA. Program in Medical and Population Genetics Broad Institute Cambridge Massachusetts USA. Department of Biostatistics and Center for Statistical Genetics University of Michigan Ann Arbor Michigan USA. Wellcome Trust Centre for Human Genetics Nuffield Department of Medicine University of Oxford Oxford UK. Harvard-MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge Massachusetts USA. Department of Statistics University of Oxford Oxford UK. Genetics of Complex Traits University of Exeter Medical School University of Exeter Exeter UK. MRC Epidemiology Unit Institute of Metabolic Science University of Cambridge Cambridge UK. Department of Twin Research and Genetic Epidemiology King's College London London UK. Oxford Centre for Diabetes Endocrinology and Metabolism Radcliffe Department of Medicine University of Oxford Oxford UK. Department of Human Genetics Wellcome Trust Sanger Institute Hinxton Cambridgeshire UK. School of Computer Science McGill University Montreal Quebec Canada. McGill University and Génome Québec Innovation Centre Montreal Quebec Canada. Human Genetics Center The University of Texas Graduate School of Biomedical Sciences at Houston The University of Texas Health Science Center at Houston Houston Texas USA. Department of Biostatistics Boston University School of Public Health Boston Massachusetts USA. National Heart Lung and Blood Institute's Framingham Heart Study Framingham Massachusetts USA. Medical Genomics and Metabolic Genetics Branch National Human Genome Research Institute National Institutes of Health Bethesda Maryland USA. Department of Biostatistics Harvard School of Public Health Boston Massachusetts USA. Chronic Disease Epidemiology Swiss Tropical and Public Health Institute University of Basel Basel Switzerland. Institute of Genetic Epidemiology Helmholtz Zentrum München German R

To investigate the genetic basis of type 2 diabetes (T2D) to high resolution, the GoT2D and T2D-GENES consortia catalogued variation from whole-genome sequencing of 2,657 European individuals and exome sequencing of 12,940 individuals of multiple ancestries. Over 27M SNPs, indels, and structural variants were identified, including 99% of low-frequency (minor allele frequency [MAF] 0.1-5%) non-coding variants in the whole-genome sequenced individuals and 99.7% of low-frequency coding variants in the whole-exome sequenced individuals. Each variant was tested for association with T2D in the sequenced individuals, and, to increase power, most were tested in larger numbers of individuals (>80% of low-frequency coding variants in ~82 K Europeans via the exome chip, and ~90% of low-frequency non-coding variants in ~44 K Europeans via genotype imputation). The variants, genotypes, and association statistics from these analyses provide the largest reference to date of human genetic information relevant to T2D, for use in activities such as T2D-focused genotype imputation, functional characterization of variants or genes, and other novel analyses to detect associations between sequence variation and T2D.

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Declarative Approach to AGVS Modeling and Cyclic Scheduling

Declarative Approach to AGVS Modeling and Cyclic Scheduling

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2013 4th International Conference on Information technology for Manufacturing Systems(ITMS 2013)

作者： Bocewicz Grzegorz Muszyński Wojciech Banaszak Zbigniew Dept. of Electronics and Computer Science Koszalin University of Technology Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Dept. of Business informatics Warsaw University of Technology

The paper presents constraint satisfaction problem driven approach to analytical solution of the cyclic scheduling problem in the Flexible Manufacturing System(FMS) producing multi-type parts where for material handling are used the Automated Guide Vehicles Systems(AGVS). Finding the conditions guaranteeing the AGVs deadlock-free and collision-free movement policy is the aim of our researches. The AGVs co-sharing the common parts of the transportation route while executing repetitive processes, i.e. being assigned to AGVs passing along machines in a cyclic way, can be modeled in terms of Cyclic Concurrent Process Systems(CCPS). Schedulability analysis for a given CCPS answers the question whether a cyclic schedule exists or not. The paper suggests approach for schedulability analysis of multimodal processes representing real manufacturing employing the declarative modeling.

关键词： Discrete event simulation DEVS Environmental science Decision support systems

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Distributed Multi-Robot Coverage using Micro Aerial Vehicles

Distributed Multi-Robot Coverage using Micro Aerial Vehicles

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Mediterranean Conference on Control & Automation

作者： A. Renzaglia L. Doitsidis S. A. Chatzichristofis A. Martinelli E. B. Kosmatopoulos Department of Computer Science & Engineering University of Minnesota Dept. of Electronics Technological Educational Institute of Crete Informatics & Telematics Institute Center for Research and Technology-Hellas (ITI-CERTH) INRIA Rhone-Alpes Dept. of Electrical and Computer Engineering Democritus University of Thrace

ISBN: (纸本)9781479909964

In this paper we present a solution to the problem of positioning a team of Micro Aerial Vehicles for a surveillance task in an environment of arbitrary and unknown morphology. The problem is addressed taking into account physical and environmental constraints like limited sensor capabilities and obstacle avoidance. The goal is to maximize the area monitored by the team, by identifying the best configuration of the team members. The proposed method is a distributed extension of our previous work based on the Cognitive Adaptive Optimization (CAO) algorithm. This distributed and scalable approach allows us to obtain coordinated and safe trajectories to accomplish the task in 3D environments. The different formulation of the problem considered in this paper allows also dealing with communication constraints. We provide extensive experimental results using data collected by a team of aerial robots and compare the efficiency of the distributed and centralized approach.

关键词： Micro aerial vehicle Distribute vehicle Obstacle avoidance Aerial robot Unmanned Aerial Vehicle Environments

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Poster abstracts

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Sleep and Biological Rhythms 2016年第1期5卷 A1-A189页

作者： J. Ferrie M. Shipley F. Cappuccio E. Brunner M. Miller M. Kumari M. Marmot A. Coenen J. L. Castillo F. Araya G. Bustamante L. Montecino C. Torres S. Oporto J. Gronli E. Fiske R. Murison B. Bjorvatn E. Sorensen R. Ursin C. M. Portas S. Rajaraman A. Gribok N. Wesensten T. Balkin J. Reifman N. Dursunoglu S. Ozkurt S. Baser O. Delen S. Sarikaya P. Sadler P. Mitchell D. Françon M. Decobert B. Herve A. Richard G. Griebel P. Avenet B. Scatton G. L. Fur D. Eckert A. Jordan A. Wellman S. Smith A. Malhotra D. White D. Bruck I. Thomas A. Kritikos W. Oertel K. Stiasny-Kolster D. Garcia-Borreguero W. Poewe B. Hoegl R. Kohnen E. Schollmayer J. Keffel C. Trenkwalder A. Valle S. Roizenblatt F. Fregni P. Boggio S. Tufik K. Ward L. Robertson L. Palmer P. Eastwood D. Hillman J. Lee S. Mukherjee V. de Padova G. Barbato G. Ficca I. Zilli P. Salzarulo M. Veldi T. Hion V. Vasar M. Kull L. Nowak J. Davis Y. Latzer O. Tzischinsky S. Crowley M. Carskadon M. Anca-Herschkovitsch D. Frey J. Ortega C. Wiseman C. Farley K. Wright A. Campbell A. Neill K. Spiegel R. Leproult E. Tasali N. Scherberg E. van Cauter A. T. Noradina N. A. Karim I. Norlinah A. A. Raymond R. Sahathevan B. Hamidon E. Werth R. Poryazova R. Khatami C. Bassetti R. G. Beran L. Ainley G. Holand J. Duncan H. Kinney B. Davis B. Hood S. Frey C. Schmidt M. Hofstetter P. Peigneux C. Cajochen W.-P. Hu J.-D. Li C. Zhang L. Boehmer J. Siegel Q.-Y. Zhou Y. Sagawa H. Kondo T. Takemura H. Kanayama Y. Kaneko M. Sato T. Kanbayashi Y. Hishikawa T. Shimizu A. Viola L. James L. Schlangen D.-J. Dijk R. Andretic Y.-C. Kim K.-A. Han F. Jones R. Greenspan L. Sanford L. Yang X. Tang K. Dieter E. Uta H. Sven M. Richard N. Oyane S. Pallesen F. Holsten Y. Inoue M. Fujita N. Emura K. Kuroda N. Uchimura A. Johnston J. Astbury G. Kennedy K. Hoedlmoser M. Schabus T. Pecherstorfer S. Moser G. Gruber P. Anderer W. Klimesch N. Naidoo M. Ferber A. Pack D. Neu O. Mairesse G. Hoffmann A. Dris L. Lambrecht P. Linkowski P. Verbanck O. Le Bon N. Matsuura M. Yamao N. Adachi R. Aritomi Y. Komada H. Tanaka S. Shirak University College London London UK University College London London USA Warwick Medical School London UK Warwick Medical School Coventry USA Radboud University Nijmegen Nijmegen Netherlands Department of Neurology University of Chile Santiago Chile Neurology Service Hospital del Salvador Santiago Chile Family Health Center Juan Pablo II Santiago Chile Department of Biomedicine Section on Physiology Univeristy of Bergen Bergen Norway Department of Public Health and Primary Health Care Univeristy of Bergen Bergen Norway Department of Public Health and Primary Health Care University of Bergen Bergen Norway Norwegian Competence Center for Sleep Disorders Haukeland University Hospital Bergen Norway Department of Child and Adolescent Psychiatry Haukeland University Hospital Univeristy of Bergen Bergen Norway Department of Biomedicine University of Bergen Bergen Norway US Army Medical Research and Materiel Command Fort Detrick Frederick USA Walter Reed Army Institute of Research Silver Spring USA Department of Behavioral Biology Walter Reed Army Institute of Research Silver Spring USA Faculty Department of Pulmonology Pamukkale University Medical Denizli Turkey University of Ballarat Ballarat Australia Sanofi-Aventis Recherche et Developpement Paris France Brigham and Women’s Hospital Harvard Medical School Boston USA The University of Queensland Adelaide Australia School of Psychology University of Queensland Brisbane Australia The University of Queensland Brisbane Australia Victoria University Melbourne Australia Department of Psychology Victoria University Melbourne Australia School of Psychology Victoria University Melbourne Australia Philips-Universität Marburg Germany Philips-Universitaet-Marburg Marburg Germany Instituto de Investigaciones del Sueno Madrid Spain Universitätsklinik für Neurologie Innsbruck Austria Universitaetsklinik fuer Neurologie Innsbruck Austria IMEREM GmbH Nuernberg Germany Schwarz Pharma AG Monheim Germany

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3D Surfaces Reconstruction of Seafloor Images Using Multiview Camera Based on Image Registration

3D Surfaces Reconstruction of Seafloor Images Using Multivie...

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2013 International Conference on Advances in Information technology(ICAIT 2013)

作者： Pulung Nurtantio Andono I Ketut Eddy Purnama Mochamad Hariadi Taichi Watanabe Kunio Kondo Informatics Engineering Dept. Faculty of Computer Science University of Dian Nuswantoro Electrical Engineering Dept. Faculty of Industrial Technology Sepuluh Nopember Institute of Technology School of Media Science Tokyo University of Technology

In this paper, we evaluate the effectiveness of Generalized Procrustes Analysis into an Iterative Closest Point(GPA-ICP) for 3D surface reconstruction of underwater coral reef imagesInstead of using original ICP we use GPA-ICP for final alignment to build 3D modelIn land 3D reconstruction, GPA-ICP is preferable for efficiency and robustnessThis is challenging task to implement GPA-ICP for 3D reconstruction of underwater imagesThis paper generates 3D point cloud of underwater coral reef images from dataset acquired by stereo camera systemThe performance of GPA-ICP is measured by computation time of registration process, visual appearance and Mean Square Error between the point and their closest neighbor compared to the original ICPThe result shows that GPA-ICP is more accurate and faster than the original ICP for 3D surface reconstruction of seafloor images.

关键词： 3D Reconstruction GPA ICP Image Registration Seafloor Images SIFT Stereo Vision

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Geometrical bounds on the efficiency of wireless network coding

Geometrical bounds on the efficiency of wireless network cod...

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International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks (WiOpt)

作者： Petteri Mannersalo Georgios S. Paschosy Lazaros Gkatzikis VTT Technical Research Centre of Finland Finland Informatics & Telematics Institute CERTH-ITI Greece Dept. of Computer & Communication Engineering University of Thessaly Greece

ISBN: (纸本)9781479922390

This paper explores wireless network coding both in case of deterministic and random point patterns. Using the Boolean connectivity model we provide upper bounds for the maximum encoding number, i.e., the number of packets that can be combined such that the corresponding receivers are able to decode. For the models studied, this upper bound is of order √N, where N denotes the (mean) number of neighbours. Our simulations show that the √N law is applicable to small-sized networks as well. Moreover, achievable encoding numbers are provided for grid-like networks where we obtain the multiplicative constants analytically. Building on the above results, we provide an analytic expression for the upper bound of the efficiency of wireless network coding. The conveyed message is that it is favourable to reduce computational complexity by relying only on small encoding numbers, for example, XORing only pairs, as the resulting throughput loss is typically small.

关键词： Encoding Relays Network coding Wireless networks Throughput Topology Upper bound

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Semiglobal Stabilization of Nonlinear Uncertain Systems via a Lyapunov-based Switching Logic

Semiglobal Stabilization of Nonlinear Uncertain Systems via ...

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IEEE Annual Conference on Decision and Control

作者： Simone Baldi Elias B. Kosmatopoulos Petros A. Ioannou Informatics & Telematics Institute Center for Research and Technology Hellas (ITI-CERTH) Thessaloniki Greece Dept. of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Electrical Engineering University of Southern California Los Angeles CA USA

ISBN: (纸本)9781467357159

An adaptive supervisory switching control scheme for nonlinear uncertain systems is developed. Such a scheme comprises: a family of nonlinear candidate controllers, designed using a convex control design methodology;and a Lyapunovbased switching criterion that orchestrates which of the candidate controllers should be put in feedback with the uncertain plant. The family of candidate controllers is designed in such a way that, for every portion of the uncertainty set there is one Lyapunov function whose derivative is decreasing with a prescribed rate. Such Lyapunov functions are used by the switching logic to assess which is the most suitable controller to be put in feedback. The resulting scheme guarantees semi-global stability with desired transient performance, in terms of decaying rate of the derivative of the Lyapunov function.

关键词： Switches Lyapunov methods Telematics Robustness

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Elastic bandwidth allocation in flexible OFDM-based optical networks (Invited paper)

Elastic bandwidth allocation in flexible OFDM-based optical ...

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7th International ICST Conference on Broadband Communications, Networks, and Systems, BROADNETS 2010

作者： Christodoulopoulos, Konstantinos Computer Engineering and Informatics Department University of Patras Research Academic Computer Technology Institute Patra Greece

ISBN: (纸本)9783642303753

Orthogonal Frequency Division Multiplexing (OFDM) has recently been proposed as a modulation technique for optical networks, because of its good spectral efficiency, flexibility, and tolerance to impairments. We consider the planning problem of an OFDM optical network, where connections are provisioned for their requested rate by elastically allocating spectrum using a variable number of OFDM subcarriers and choosing an appropriate modulation level taking into account the transmission distance. Using algorithms developed in our previous works, we evaluate the spectrum utilization gains that can be obtained by utilizing the elastic bandwidth allocation of OFDM, when compared to a traditional WDM network. © 2012 ICST institute for computer Science, Social informatics and Telecommunications engineering.

关键词： Orthogonal frequency division multiplexing

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Profiling TCP traffic in optical burst switching networks

Profiling TCP traffic in optical burst switching networks

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7th International ICST Conference on Broadband Communications, Networks, and Systems, BROADNETS 2010

作者： Ramantas, Kostas Vlachos, Kyriakos Computer Engineering and Informatics Department and Research Academic Computer Technology Institute University of Patras Rio Greece

ISBN: (纸本)9783642303753

The efficient transmission of TCP traffic over OBS networks is a challenging problem, due to the high sensitivity of TCP congestion control mechanism to losses. In this paper, a traffic profiling scheme is proposed for gathering TCP flow statistics, which are used to estimate steady-state performance of TCP traffic over OBS networks. The burst assembly unit, in parallel to the assembly process, can inspect TCP traffic, keeping traffic statistics that can be used for throughput estimations. In this paper, we detail the traffic profiling and estimation mechanism and also provide analytical and simulation results to assess its performance. © 2012 ICST institute for computer Science, Social informatics and Telecommunications engineering.

关键词： Optical burst switching

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