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Robust robotic grasping using IR Net-Structure Proximity Sensor to handle objects with unknown position and attitude

Robust robotic grasping using IR Net-Structure Proximity Sen...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Sha Ye Kenji Suzuki Yosuke Suzuki Masatoshi Ishikawa Makoto Shimojo Mechanical Engineering and Intelligent Systems University of Electro-Communications Chofu Tokyo Japan Department of Information Physics and Computing Graduate School of Information Science and Technology University of Tokyo Bunkyo Tokyo Japan

ISBN: (纸本)9781467356404

In this paper, we focus on unknown parameters such as the position and attitude of the object, and describe a short-range, high-speed and noncontact sensing method for obtaining the position and attitude of the object using IR Net-Structure Proximity Sensor (“IR-NSPS”) which complements the dead region of sensory information between visual and tactile sensing. To be more precise, we propose two effective control methods which are pre-shaping and object positioning using IR-NSPS for robust grasping by adjusting the gripper configuration in response to attitude error of up to ±45 deg and the position error of up to ±80 mm of the unknown object. The methods therefore can significantly increase the speed and effectiveness of grasping objects without requiring a specific approach that depends on a vision sensor. Furthermore, to demonstrate the advantages of pre-shaping and object positioning, object grasping experiments were performed using these two operations to grasp objects placed randomly on a tabletop.

关键词： Grasping Position measurement Tactile sensors Robustness

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A hybrid model for migrating customer segmentation with missing attributes

A hybrid model for migrating customer segmentation with miss...

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Conference of the North American Fuzzy information Processing Society - NAFIPS

作者： J. Ma H. Lin J. Lu G. Zhang University of Wollongong Wollongong NSW Australia Centre for Quantum Computation and information Systems School of Software Faculty of Engineering and IT University of Technology Sydney Sydney NSW Australia

ISBN: (纸本)9781479903467

Due to missing attributes in an enterprise's database, migrating customer segmentation results from external dataset to enterprise database in difficult. In this paper, a hybrid model, called HMCS model, is presented. This model artificially generates values of missing attributes based on external dataset and populates them to enterprise database. Based on this model, an application in a telecom application is reported. Application indicates the presented model can produce acceptable segmentation results on the enterprise dataset which is with missing attributes.

关键词： HMCS populates presented model MOCOS gene Hybrid modes Telecommunications applications segmentation Segmentation Dataset

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Video transcoding for mobile digital television

Video transcoding for mobile digital television

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作者： Garrido-Cantos, R. De Cock, J. Martínez, J.L. Van Leuven, S. Garrido, A. Escuela Superior de Ingeniería Informática University of Castilla-La Mancha Edificio Infante Don Juan Manuel Avda. De España s/n 02071 Albacete Spain Department of Electronics and Information Systems Multimedia Lab Ghent University-IBBT Gaston Crommenlaan 8 bus 201 9050 Ledeberg Ghent Belgium Architecture and Technology of Computing Systems Group Complutense University Ciudad Universitaria s/n 28040 Madrid Spain

Mobile digital television is one of the new services introduced recently by telecommunications operators. Due to the possibilities of personalization and interaction provided, together with the increasing demand for this type of portable services, it will undoubtedly be a successful technology in the near future. Multimedia content is generally encoded by reducing the storage capacity necessary and bandwidth consumption in order to be transmitted. In order to adapt to the different characteristics of the networks and the varying capabilities of the devices, scalable video coding schemes have been proposed that provide temporal, spatial, and quality scalability, or a combination of these. Most of the existing video content is compressed using H.264/AVC, which is a single-layer codec, so these contents cannot benefit from the scalability tools due to the lack of intrinsic scalability provided in the bitstream at encoding time. This paper proposes a technique to convert from the single-layer H.264/AVC bitstream to a scalable bitstream with temporal scalability. Applying this approach, a reduction of 60% in coding complexity is achieved while maintaining the coding efficiency. © 2011 Springer Science+Business Media, LLC.

关键词： Scalable video coding

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Effect of mobility on the stability of routes in ODMRP

Effect of mobility on the stability of routes in ODMRP

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Student Conference on Research and Development (SCOReD)

作者： Abdulmalek Al-Hemyari Rosilah Hassan Mahamod Ismail Sabri Saeed Department of Electrical Electronic and Systems Engineering Faculty of Engineering Bangi Selangor Malaysia Faculty of Information Science and Technology Research Center for Software Technology and Management (SOFTAM) Bangi Selangor Malaysia

One of the most challenging issues in Mobile Ad-hoc Network (MANET) is how to establish the most stable, reliable and efficient route in multicast routing strategies to forward the data from one node to other nodes in mobility and crowded environment. In this paper, we study the impact of mobility and scalability on the routing stability performance of On-Demand Multicast Routing Protocol (ODMRP) in MANET. Some metrics will be used to evaluate these effects like number of CBR and control packets that will be generated by the network. Two scenarios will implement with single and multiple sources via NS2 simulator. Results of simulation illustrate that, in term of increase mobility, CBR packet sent will increase by 16.5% and 8.4% in first and second simulation respectively, and receiving CBR packet will be reduced by 2.8% and 5.9% in first and second simulation respectively.

关键词： Routing protocols Mobile nodes Routing Object oriented modeling Mobile ad hoc networks Receivers

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Analysis of myoelectric signals using a Field Programmable SoC

Analysis of myoelectric signals using a Field Programmable S...

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2013 European Conference on Circuit Theory and Design, ECCTD 2013

作者： Borbely, Bence J. Kineses, Zoltan Vorohazi, Zsolt Nagy, Zoltan Szolgay, Peter Faculty of Information Technology Pâzmâny Péter Catholic University Budapest H-1083 Hungary Institute of Informatics University of Szeged Szeged H-6701 Hungary Dept. of Electrical Engineering and Information Systems University of Pannonia Veszprém H-8200 Hungary Cellular Sensory and Optical Wave Computing Laboratory Hungarian Academy of Sciences Budapest H-1111 Hungary

ISBN: (纸本)9783000437854

A platform design for the analysis of human myoelectric signals (MES) is presented. Offline recorded multichannel signals of forearm muscles are processed with a Field Programmable SoC in order to classify different movement patterns to control human-assisting electromechanical systems with multiple degrees of freedom (e.g. a prosthetic hand). Benchmark results of an ANSI C implementation are shown to assess the raw performance of the built-in ARM cores of the SoC. Possible computational bottlenecks are located based on the results and custom hardware implementations are shown to fully utilize the flexibility and performance of the used hardware platform. © 2013 TU Dresden.

关键词： System-on-chip

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The role of trust in the development and adoption of cultural internet-based systems 10

The role of trust in the development and adoption of cultura...

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10th European, Mediterranean and Middle Eastern Conference on information systems - Transforming Societies: Managing the Change!, EMCIS 2013

作者： Pavlidis, Michalis Kavakli, Evangelia Bantimaroudis, Philemon Mouratidis, Haralambos Kalloniatis, Christos Gritzalis, Stefanos School of Architecture Computing and Engineering University of East London Docklands Campus 4-6 University Way LondonE16 2RD United Kingdom Cultural Informatics Laboratory Department of Cultural Technology and Communication University of the Aegean University Hill MytileneGR 81100 Greece Department of Cultural Technology and Communication University of the Aegean University Hill MytileneGR 81100 Greece School of Architecture Computing and Engineering University of East London Docklands Campus 4-6 University Way LondonE16 2RD United Kingdom Laboratory of Information and Communication Systems Security Department of Information and Communication Systems Engineering University of the Aegean Karlovassi SamosGR 83200 Greece

ISBN: (纸本)9781908549112

This paper examines the importance of trust factors in the development and adoption of internet based cultural information systems. The proposed trust model identifies the relationship between user communication goals and trust parameters from both technical and social perspectives. To this end, it combines uses and gratifications theory as well as the notion of organisational reputation in order to identify the system’s expected behaviour, i.e., what things the system needs to do in order to be trusted by the users, together with a trust modelling methodology in order to explicitly model and analyse trust assumptions. The approach is explained through an example demonstrating how reasoning about trust relationships affects the development of cultural internet-based systems. © 2013 European and Mediterranean Conference on information systems. All rights reserved.

关键词： information systems

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Converting continuous-space language models into N-gram language models for statistical machine translation

Converting continuous-space language models into N-gram lang...

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2013 Conference on Empirical Methods in Natural Language Processing, EMNLP 2013

作者： Wang, Rui Utiyama, Masao Goto, Isao Sumita, Eiichro Zhao, Hai Lu, Bao-Liang Center for Brain-Like Computing and Machine Intelligence Department of Computer Science and Engineering Shanghai Jiao Tong Unviersity Shanghai200240 China Multilingual Translation Laboratory MASTAR Project National Institute of Information and Communications Technology 3-5 Hikaridai Keihanna Science City Kyoto619-0289 Japan MOE-Microsoft Key Lab. for Intelligent Computing and Intelligent Systems Shanghai Jiao Tong Unviersity Shanghai200240 China

ISBN: (纸本)9781937284978

Neural network language models, or continuous-space language models (CSLMs), have been shown to improve the performance of statistical machine translation (SMT) when they are used for reranking n-best translations. However, CSLMs have not been used in the first pass decoding of SMT, because using CSLMs in decoding takes a lot of time. In contrast, we propose a method for converting CSLMs into back-off n-gram language models (BNLMs) so that we can use converted CSLMs in decoding. We show that they outperform the original BNLMs and are comparable with the traditional use of CSLMs in reranking. © 2013 Association for Computational Linguistics.

关键词： Decoding

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Effect on generalization of using relational information in list-wise algorithms

Effect on generalization of using relational information in ...

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Joint International Conference on Pervasive computing and the Networked World, ICPCA/SWS 2012

作者： Chen, Guohua Tang, Yong Tang, Feiyi Ding, Shijin He, Chaobo School of Mathematical Sciences Souch China Normal University Guangzhou 510631 Guangdong China Shenzhen Engineering Laboratory for Mobile Internet Application Middleware Technology Shenzhen 518060 Guangdong China School of Computer Science Souch China Normal University Guangzhou 510631 Guangdong China School of Computing and Information Systems Univerisity of Melbourne VIC 3010 Australia

ISBN: (纸本)9783642370144

Learning to rank became a hot research topic in recent years and utilizing relational information in list-wise algorithms was discovered to be valuable and was widely adopted in various algorithms. These algorithms' empirical performances were usually given, but few of them conduct theoretical analysis on the generalization bound. Based on the theory of Rademacher Average, we derive the generalization bound of ranking relational objects algorithms and discuss the effect on the generalization bound of using this method. Especially, an interesting property of ranking relational objects algorithms for Topic Distillation was discovered: the generalization bound does not depend on the size of documents in each query in training set. Experiments are conducted to verify this property. © 2013 Springer-Verlag.

关键词： Distillation

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A constraint and rule in an enhancement of binary particle swarm optimization to select informative genes for cancer classification

A constraint and rule in an enhancement of binary particle s...

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17th Pacific-Asia Conference on Knowledge Discovery and Data Mining, PAKDD 2013

作者： Mohamad, Mohd Saberi Omatu, Sigeru Deris, Safaai Yoshioka, Michifumi Artificial Intelligence and Bioinformatics Research Group Faculty of Computing Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Department of Electronics Information and Communication Engineering Osaka Institute of Technology Osaka 535-8585 Japan Department of Computer Science and Intelligent Systems Graduate School of Engineering Osaka Prefecture University Sakai Osaka 599-8531 Japan

ISBN: (纸本)9783642403187

Gene expression data have been analyzing by many researchers by using a range of computational intelligence methods. From the gene expression data, selecting a small subset of informative genes can do cancer classification. Nevertheless, many of the computational methods face difficulties in selecting small subset since the small number of samples needs to be compared to the huge number of genes (high-dimension), irrelevant genes and noisy genes. Hence, to choose the small subset of informative genes that is significant for the cancer classification, an enhanced binary particle swarm optimization is proposed. Here, the constraint of the elements of particle velocity vectors is introduced and a rule for updating particle's position is proposed. Experiments were performed on five different gene expression data. As a result, in terms of classification accuracy and the number of selected genes, the performance of the introduced method is superior compared to the conventional version of binary particle swarm optimization (BPSO). The other significant finding is lower running times compared to BPSO for this proposed method. © Springer-Verlag 2013.

关键词： Particle swarm optimization (PSO)

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Behavioral decision making of an artificial fish based on artificial emotion and the Cerebellar Model Articulation Controller

Behavioral decision making of an artificial fish based on ar...

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International Conference on Natural Computation (ICNC)

作者： Hongchun Yuan Sihao Huang Ying Chen International Center for Marine studies Shanghai Ocean University Shanghai China College of Information Technology Shanghai Ocean University Shanghai China School of Computing and Information Systems University of Tasmania Hobart Tasmania Australia

Artificial emotion is an emerging field of study. Emotional intelligence in the research of artificial intelligence is a critical leap towards emulating human intelligence. In order to simulate behavioral change of an artificial fish more vividly in a virtual marine environment and to resolve a deficiency of behavioral decision making on artificial fish, we propose a combination of emotional factors with CMAC (Cerebellar Model Articulation Controller) framework to realize artificial fish's behavioral decision making. The simulation experiment was implemented by using Visual Studio 2010 and OpenGL together. Experimental results show that the method can help artificial fish develop reasonable behavioral strategy. The research has theoretical value in that it proposes a method incorporating emotional intelligence for the decision making of artificial fish. It also delivers practical value in improving survival ability of an artificial fish in the virtual ocean environment and its decision making capability for self-organization.

关键词： Marine animals Decision making Learning (artificial intelligence) Robots Solid modeling Neural networks Computational modeling

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