In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known t...
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In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.
This paper presents a segmentation method that exploits object based region merging to delineate the context of the image under investigation. There are two main steps. Initially, primitive objects are obtained by mor...
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This paper presents a segmentation method that exploits object based region merging to delineate the context of the image under investigation. There are two main steps. Initially, primitive objects are obtained by morphological operations that generate spectrally homogenous primitives. We assume that primitives are components of semantic objects that are of interest. Next, these primitives therefore are modeled and merged based on expectation maximization. We presented the results of the experiments applied to QuickBird images of rural and urban areas taken from the city of Ankara, Turkey. Experimental results demonstrate the capabilities of these methods along with their limitations.
When performing telesurgery with current commercially available Minimally Invasive Robotic Surgery (MIRS) systems, a surgeon cannot feel the tool interactions that are inherent in traditional laparoscopy. It is propos...
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ISBN:
(纸本)9781424441211
When performing telesurgery with current commercially available Minimally Invasive Robotic Surgery (MIRS) systems, a surgeon cannot feel the tool interactions that are inherent in traditional laparoscopy. It is proposed that haptic feedback in the control of MIRS systems could improve the speed, safety and learning curve of robotic surgery. To test this hypothesis, a standalone surgical haptic arm (SASHA) capable of manipulating da Vinci tools has been designed and fabricated with the additional ability of providing information for haptic feedback. This arm was developed as a research platform for developing and evaluating approaches to telesurgery, including various haptic mappings between master and slave and evaluating the effects of latency.
Atomic force microscopy (AFM) has proven to be a powerful tool for imaging the topographic properties of biological samples and measuring the molecular specific binding forces at cellular and molecular levels. However...
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The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Comm...
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The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.
Brain CT images are extensively used in detection of Cerebrovascular Accidents (CVA). But CT scan is not really a sensitive test for diagnosis of ischemic stroke. Most of the times, early CT images barely show or even...
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Brain CT images are extensively used in detection of Cerebrovascular Accidents (CVA). But CT scan is not really a sensitive test for diagnosis of ischemic stroke. Most of the times, early CT images barely show or even don 't show any noticeable sign of ischemia. But it is possible to put emphasis on subtle signs of ischemia by means of image contrast enhancement. Contrast enhancement using multiscale transforms is one of the most popular approaches in recent years. Nonsubsampled Contourlet Transform (NSCT) is a directional multiscale transform that is able to take geometrical structures into account. In this paper we are about to customize this transform and improve its performance in contrast enhancement of brain CT images. To this end, we propose a set of simpler and more efficient filters for Nonsubsampled Pyramid (NSP) and introduce an improved method for modification of directional subbands' coefficients.
The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced ...
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A new quantization method is proposed in this paper. This method is useful for enhancement of compression quality when each kind of neural network is used to compress the image. By quantizing the image with the propos...
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A new quantization method is proposed in this paper. This method is useful for enhancement of compression quality when each kind of neural network is used to compress the image. By quantizing the image with the proposed method, the numbers of samples which must be reconstructed by neural network is reduced. This causes a remarkable increase in quality of the reconstructed image. For testing the proposed method we use autoassociative transform coding and by merging it with the proposed quantization method a new compression algorithm is obtained. Then results of compression by the merged method are compared with some previous works. Obtained results show that the proposed compression algorithm increases the compression quality of the images remarkably. Compression time and complexity in the merged method is also better than JPEG and make it suitable for the systems with low processor and hardware implementation.
In this paper, fusion of Common Spatial Pattern (CSP) analysis derived features and Time-Domain Parameters (TDP) is investigated for two-class motion imagery classification: left hand movement and right hand movement ...
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In this paper, fusion of Common Spatial Pattern (CSP) analysis derived features and Time-Domain Parameters (TDP) is investigated for two-class motion imagery classification: left hand movement and right hand movement imagery. This fusion method is aiming at improving the performance of Brain-computer Interface (BCI) systems in translating human thoughts into command to control certain robots, e.g. rehabilitation robots. In the BCI system applied in this paper, a Human-Friendly Interactive Bear Robot is implemented, whose bear-like appearance and interactive actions can alleviate the frustration and anxiety on the part of the user in the experiment. Moreover, off-line experiments are conducted to demonstrate the efficiency of the fusion method using both well-known open-source data and data obtained by the BCI system mentioned before.
In this paper, we present the design of a social robot, Nancy, which is developed as a platform for engaging social interaction. Targeting for a social, safe, interactive and user-friendly robot mate, the design philo...
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In this paper, we present the design of a social robot, Nancy, which is developed as a platform for engaging social interaction. Targeting for a social, safe, interactive and user-friendly robot mate, the design philosophy of Nancy is presented with mechanical, electrical, artificial skin and software specifications. In particular, there are 32 degrees of freedom (DOFs) through the whole body of Nancy, and the social intelligence is implemented based on vision, audio and control subsystems.
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