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RETRACTED ARTICLE: Input Displacement Neuro-fuzzy Control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper

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Journal of Intelligent & Robotic Systems 2015年第2期82卷 177-187页

作者： Petković, Dalibor Shamshirband, Shahaboddin Anuar, Nor Badrul Sabri, Aznul Qalid Md Abdul Rahman, Zulkanain Bin Pavlović, Nenad D. Faculty of Mechanical Engineering Deparment for Mechatronics and Control University of Niš Niš Serbia Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Department of History Faculty of Arts and Social Sciences Building University of Malaya Kuala Lumpur Malaysia

The requirement for new flexible adaptive grippers is the ability to detect and recognize objects in their environments. It is known that robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain, thus making it difficult make decision strategies using conventional techniques. Here, an adaptive neuro fuzzy inference system (ANFIS) for controlling input displacement and object recognition of a new adaptive compliant gripper is presented. The grasping function of the proposed adaptive multi-fingered gripper relies on the physical contact of the finger with an object. This design of the each finger has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize particular shapes of the grasping objects. Fuzzy based controllers develop a control signal according to grasping object shape which yields on the firing of the rule base. The selection of the proper rule base depending on the situation can be achieved by using an ANFIS strategy, which becomes an integrated method of approach for the control purposes. In the designed ANFIS scheme, neural network techniques are used to select a proper rule base, which is achieved using the back propagation algorithm. The simulation results presented in this paper show the effectiveness of the developed method.

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RETRACTED ARTICLE: Support vector regression methodology for prediction of input displacement of adaptive compliant robotic gripper

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Applied Intelligence 2014年第3期41卷 887-896页

作者： Dalibor Petković Shahaboddin Shamshirband Hadi Saboohi Tan Fong Ang Nor Badrul Anuar Nenad D. Pavlović Faculty of Mechanical Engineering Deparment for Mechatronics and Control University of Niš Niš Serbia Department of Computer Science Chalous Branch Islamic Azad University (IAU) Chalous Iran Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Department of Information System Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Computer Engineering Department Islamic Azad University of Karaj Karaj Iran

The prerequisite for new versatile grippers is the capability to locate and perceive protests in their surroundings. It is realized that automated controllers are profoundly nonlinear frameworks, and a faultless numerical model is hard to get, in this way making it troublesome to control utilizing tried and true procedure. Here, a design of an adaptive compliant gripper is presented. This design of the gripper has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize specific shapes of the grasping objects. Since the conventional control strategy is a very challenging task, soft computing based controllers are considered as potential candidates for such an application. In this study, the polynomial and radial basis function (RBF) are applied as the kernel function of Support Vector Regression (SVR) to estimate and predict optimal inputs displacement of the gripper according to experimental tests and shapes of grasping objects. Instead of minimizing the observed training error, SVR poly and SVR rbf attempt to minimize the generalization error bound so as to achieve generalized performance. The experimental results show that an improvement in predictive accuracy and capability of generalization can be achieved by the SVR approach compared to other soft computing methodology.

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Treedy: A heuristic for counting and sampling subsets

Treedy: A heuristic for counting and sampling subsets

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29th Conference on Uncertainty in Artificial Intelligence, UAI 2013

作者： Niinimäki, Teppo Koivisto, Mikko Helsinki Institute for Information Technology Deparment of Computer Science University of Helsinki Finland

Consider a collection of weighted subsets of a ground set N. Given a query subset Q of N, how fast can one (1) find the weighted sum over all subsets of Q, and (2) sample a subset of Q proportionally to the weights? We present a tree-based greedy heuristic, Treedy, that for a given positive tolerance d answers such counting and sampling queries to within a guaranteed relative error d and total variation distance d, respectively. Experimental results on artificial instances and in application to Bayesian structure discovery in Bayesian networks show that approximations yield dramatic savings in running time compared to exact computation, and that Treedy typically outperforms a previously proposed sorting-based heuristic.

关键词： Bayesian networks

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A unified framework for nonlinear detections of impulse radio UWB systems

A unified framework for nonlinear detections of impulse radi...

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Aidong Yang Zhimeng Xu Hong Nie Zhizhang Chen Deparment of Electrical and Computer Engineering Dalhousie University Halifax Canada College of Physics & Information Engineering Fuzhou University Fuzhou China Department of Technology University of Northern Iowa Cedar Falls Iowa USA School of Electronic Engineering The University of Electronic Science and Technology P.R. China

ISBN: (纸本)9781479949113

In this paper, a unified framework, denoted as generalized nonlinear detection (GND), is developed to encompass existing nonlinear detection technologies as well as further optimize the performance of nonlinear detection for noncoherent impulse radio (IR) ultra-wideband (UWB) receivers. computer simulations show that independent of absence or presence of narrowband interferences (NBIs), the GND-based receivers can achieve much better bit-error rate (BER) performance than the energy detection (ED) based receivers under both AWGN and multipath channels. Furthermore, as compared to the existing nonlinear detection algorithms, the GND algorithm with a well selected β value always has the best BER performance and the strongest ability to resist NBIs.

关键词： Receivers Bit error rate Detection algorithms AWGN channels Multipath channels Noise Interference

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Examining various denoising techniques in video processing system 1

Examining various denoising techniques in video processing s...

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1st International Conference on Emerging Trends in science, Engineering and technology, INCOSET 2012

作者： Shanmuga Priyaa, D. Karthikeyan, S. Deparment of Computer Science Karpagam University Coimbatore India Dept. of Information Technology College of Applied Sciences Sohar Sultanate of Oman Oman

ISBN: (纸本)9781467351447

In this paper we have adopted different filtering techniques for removing various noises occurred in video. The quality of video plays a key role in Video Based information Retrieval Systems (VBIRs). Noise removal is a challenging problem in image processing as well as in video processing. The presence of noise gives an image a mottled, grainy, textured, or snowy appearance. Video images often contain noise that comes from various electronic sources. Some of the electronic components that make up a video system can be sources of electronic noise. The noise is in the form of random electrical currents often produced by thermal activity within the device. The goal of preprocessing stage is to remove the noise in video. The denoising is done to improve the quality of video frame. This paper proposes different filtering techniques for removing various noises in video. The video quality is measured using Mean Square Error, Root Mean Square Error, Peak-to-Signal Noise Ratio and Average Difference. The results were compared to identify the significant filtering technique for denoising in video applications. © 2012 IEEE.

关键词： Mean square error

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Spiral MRI reconstruction based on table-lookup gridding 1

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International Conference on information Engineering and Applications, IEA 2011

作者： Peng, Yanni Liu, Qing Huo College of Computer Science and Information Engineering Chongqing Technology and Busimess University Chongqing 400067 China Deparment of Electrical and Computer Engineering Duke University Durham NC 27705 United States

ISBN: (数字)9781447123866

ISBN: (纸本)9781447123859

Since spiral encoding is often performed for fast data acquisition in magnetic resonance image (MRI), the MRI images can be reconstructed by taking inverse Fourier transform of the sampled MRI data in k-space. Therefore, nonuniform inverse Fourier transform have been widely used in MRI reconstruction. © 2012 Springer-Verlag London Limited.

关键词： Data acquisition

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ESICM LIVES 2016: part two

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Intensive Care Medicine Experimental 2016年第1期4卷 205-404页

作者： S. Sivakumar F. S. Taccone K. A. Desai C. Lazaridis M. Skarzynski M. Sekhon W. Henderson D. Griesdale L. Chapple A. Deane L. Williams R. Strickland K. Lange D. Heyland M. Chapman M. J. Rowland P. Garry J. Westbrook R. Corkill C. A. Antoniades K. T. Pattinson G. Fatania A. J. Strong R. B. Myers C. M. Jermaine C. S. Robertson C. G. Rusin J. Hofmeijer L. Sondag M. C. Tjepkema-Cloostermans A. Beishuizen F. H. Bosch M. J. A. M. van Putten L. Carteron C. Patet D. Solari M. Oddo M. A. Ali C. Dias R. Almeida A. Vaz-Ferreira J. Silva E. Monteiro A. Cerejo A. P. Rocha A. A. Elsayed A. M. Abougabal B. N. Beshey K. M. Alzahaby S. Pozzebon A. Blandino Ortiz S. Cristallini O. Lheureux A. Brasseur J. L. Vincent J. Creteur M. Hravnak K. Yousef Y. Chang E. Crago R. M. Friedlander S. A. Abdelmonem S. A. Tahon T. A. Helmy H. S. Meligy F. Puig I. Dunn-Siegrist J. Pugin S. Gupta D. Govil S. Srinivasan S. J. Patel J. K. N A. Gupta D. S. Tomar M. Shafi R. Harne D. P. Arora N. Talwar S. Mazumdar E. E. Papakrivou D. Makris E. Manoulakas B. Tsolaki B. Karadodas E. Zakynthinos I. Palacios Garcia A. Diaz Martin V. Sanchez Encinares M. Pachón Ibañez J. Garnacho Montero G. Labrador T. Cebrero Cangueiro V. Poulose J. Koh J. W. Kam H. Yeter A. Kara O. Aktepe A. Topeli I. Tsolakoglou G. Intas P. Stergiannis A. A. Kolaros E. Chalari E. Athanasiadou A. Martika G. Fildisis V. Faivre C. Mengelle B. Favier D. Payen A. Poppe M. S. Winkler E. Mudersbach J. Schreiber M. L. Wruck E. Schwedhelm S. Kluge C. Zöllner T. Tavladaki A. M. Spanaki H. Dimitriou E. Kondili C. Choulaki E. Meleti D. Kafetzopoulos D. Georgopoulos G. Briassoulis A. García-de la Torre M. V. de la Torre-Prados T. Tsvetanova-Spasova P. Nuevo-Ortega C. Rueda-Molina A. Fernández-Porcel E. Camara-Sola L. Salido-Díaz A. García-Alcántara D. E. Meleti B. Suberviola J. Riera L. Rellan M. Sanchez J. C. Robles E. Lopez R. Vicente E. Miñambres M. Santibañez M. Le Guen J. Moore N. Mason M. Windpassinger O. Plattner E. Mascha D. I. Sessler Outcomes Research U. Melia J. Fontanet J. P. van den Berg M. Baylor College of Medicine Neurology/Neurocritical Care Houston USA Erasmus Hospital Intensive Care Medicine Brussels Belgium Centre Hospitalier Régional Orléans Réaimation Médicale Orléans France University of British Columbia Vancouver Canada University of Adelaide Discipline of Acute Care Medicine Adelaide Australia Royal Adelaide Hospital Intensive Care Adelaide Australia Griffith University Menzies Health Institute of Queensland Gold Coast Australia University of Adelaide Discipline of Medicine Adelaide Australia Kingston General Hospital Clinical Evaluation Research Unit Kingston Canada University of Oxford Nuffield Department of Clinical Neurosciences Oxford UK Oxford University Hospitals NHS Foundation Trust Neurosciences Intensive Care Unit Oxford UK King’s College Hospital Department of Neurosurgery London UK King’ College London Institute of Psychiatry Psychology and Neuroscience Department of Clinical Neuroscience London UK Rice University Computer Science Houston USA Baylor College of Medicine Neurosurgery Houston USA Baylor College of Medicine Pediatric Cardiology Houston USA University of Twente Clinical Neurophysiology Enschede Netherlands Rijnstate Hospital Neurology Arnhem Netherlands Medical Spectrum Twente Clinical Neurophysiology Enschede Netherlands Medical Spectrum Twente Intensive Care Enschede Netherlands Rijnstate Hospital Intensive Care Arnhem Netherlands CHUV Department of Intensive Care Medicine Neuroscience Critical Care Research Group Lausanne Switzerland Aga Khan University Hospital Anaesthesiology Karachi Pakistan Centro Hospitalar São João Intensive Care Porto Portugal Faculty of Medicine University of Porto Medicine Porto Portugal Faculdade de Ciências Universidade do Porto Departamento de Matemática Porto Portugal Centro de Matemática Universidade do Porto Porto Portugal The Biomedical Research Networking Center in Bioengineering Biomaterials and Nanomedicine Zaragoza Spain Centro Hospitalar

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Global stability analysis of computer networks with arbitrary topology and time-varying delays

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Journal of Zhejiang University-science C(computers and Electronics) 2010年第3期11卷 214-226页

作者： Behrooz REZAIE Mohammad-Reza JAHED MOTLAGH Siavash KHORSANDI Morteza ANALOUI Deparment of Electrical Engineering Iran University of Science and Technology Department of Computer Engineering and Information Technology Amirkabir University of Technology Deparment of Computer Engineering Iran University of Science and Technology

In this paper,we determine the delay-dependent conditions of global asymptotic stability for a class of multi-dimensional nonlinear time-delay systems with application to computer communication networks. A nonlinear delayed model is considered for a rate-based congestion control system of a heterogeneous network with arbitrary topology and time-varying delays. We propose a Lyapunov-based method to obtain a sufficient condition under which global asymptotic stability of the equilibrium is guaranteed. The main contribution of the paper lies in considering time variations of delays in a heterogeneous network which may be applicable in actual networks. Moreover,we obtain conditions for Internet-style networks with multi-source multi-link topology. We first prove the stability for a class of nonlinear time-delay systems. Then,we apply the results to a Kelly's rate-based ap-proximation of the congestion control system.

关键词： Intemet congestion control Global stability Nonlinear time-delay system Time-varying delay

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An improved MRI reconstruction method based on table-lookup gridding

An improved MRI reconstruction method based on table-lookup ...

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2009 International Conference on Image Analysis and Signal Processing, IASP 2009

作者： Peng, Yanni Qing, Huo Liu College of Computer Science and Information Engineering Chongqing Technology and Business University Chongqing 400067 China Deparment of Electrical and Computer Engineering Duke University Durham NC 27705 United States

ISBN: (纸本)9781424439867

Radial encoding is often performed for fast data acquisition in magnetic resonance imaging (MRI). Therefore, the gridding method, which is a kind of algorithm for Fast Fourier Transform, is widely used in fast MRI reconstruction. In this paper, an improved gridding method has been utilized to 2D MRI reconstruction, which precomputes an 1D finely sampled table of a high-accuracy interpolator and then uses separable bilinear interpolation by look-up table. Experimental comparisons are made by assessing the performance of the direct reconstruction, the conventional KB gridding and the proposed method. The experimental results show that the proposed method provides high accuracy, fast computation, and dramatic memory saving. ©2009 IEEE.

关键词： Magnetic resonance imaging

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An Improved MRI Reconstruction Method Based on Table-Lookup Gridding

An Improved MRI Reconstruction Method Based on Table-Lookup ...

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2009图像分析与信号处理国际会议(2009 International Conference on Image Analysis and Signal Processing)

作者： Yanni Peng Qing Huo Liu College of Computer Science and Information Engineering Chongqing Technology and Business Universit Deparment of Electrical and Computer Engineering Duke University Durham NC27705 USA

ISBN: (纸本)9781424439874

关键词： Radial MRI Reconstruction Kaiser-Bessel Gridding

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