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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： E. Oyama T. Maeda J.Q. Gan E.M. Rosales K.F. MacDorman S. Tachi A. Agah National Institute of Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Human and Information Science Laboratory NTT Communication Science Laboratories Atsugi Kanagawa Japan Department of Computer Science University of Essex Colchester UK Department of Adaptive Machine Systems Osaka University Suita Osaka Japan School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA

Artificial neural networks have been traditionally employed to learn and compute the inverse kinematics of a robotic arm. However, the inverse kinematics model of a typical robotic arm with joint limits is a multi-valued and discontinuous function. Because it is difficult for a multilayer neural network to approximate this type of function, an accurate inverse kinematics model cannot be obtained by using a single neural network. In order to overcome the difficulties of inverse kinematics learning, we propose a novel modular neural network system that consists of a number of expert modules, where each expert approximates a continuous part of the inverse kinematics function. The proposed system selects one appropriate expert whose output minimizes the expected position/orientation error of the end-effector of the arm. The system can learn a precise inverse kinematics model of a robotic arm with equal or more degrees of freedom than that of its end-effector. However, there are robotic arms with fewer degrees of freedom, where the system cannot learn their precise inverse kinematics model. We have adopted a modified Gauss-Newton method for finding the least-squares solution to address this issue. Through the modifications presented in this paper, the improved modular neural network system can obtain a precise inverse kinematics model of a general robotic arm.

关键词： Kinematics Robots Arm Neural networks Artificial neural networks Multi-layer neural network computer networks Newton method Least squares methods Recursive estimation

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WACL: supporting telecommunications using - wearable active camera with laser pointer

WACL: supporting telecommunications using - wearable active ...

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International Symposium on Wearable computers

作者： N. Sakata T. Kurata T. Kato M. Kourogi H. Kuzuoka Institute of Engineering Mechanics University of Tsukuba Japan Human Interface Technology Laboratory University of Washington USA Institute of Advanced Industrial Science and Technology AIST Intelligent Systems Institute AIST Japan Department of Computer and Communication Sciences Wakayama University Japan

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The influence of synchrony and sensory modality on the person perception process in computer-mediated groups

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Journal of computer-Mediated Communication 2005年第3期10卷 00-00页

作者： Nowak, Kristine L. Watt, James Walther, Joseph B. Communication Science Department University of Connecticut United States Rensselaer Social and Behavioral Research Laboratory Rensselaer Polytechnic Institute United States Department of Communication Cornell University United States Human Computer Interaction Lab. University of Connecticut United States Department of Communication Sciences University of Connecticut 850 Bolton Road U-1085 Storrs CT 06269 United States Rensselaer Social and Behavioral Research Laboratory United States Department of Language Literature and Communication Rensselaer Polytechnic Institute United States James Watt LL and C Rensselaer Polytechnic Institute 110 8th Street Troy NY 12180 United States Dept. of Communication Cornell University 336 Kennedy Hall Ithaca NY 14853-4203 United States

This study examined the effects of synchrony and the number of cues on the person perception process in computer-mediated communication. One hundred and forty-two participants in groups of three or four engaged in collaboration over five weeks to develop oral reports, using alternate versions of communication systems or meeting face-to-face. Consistent with the hyperpersonal model, those using low cue media felt their partners were more credible, and reported more social attraction, less uncertainty, and more involvement in the interaction than those using high cue media. People interacting with synchronous media felt increased social attraction, self-reported involvement, and certainty. They also felt that their conversations were more effective, although this effect appeared mainly in low cue groups. Results of an exploratory path analysis suggest that future research should focus on causal chains rather than direct effects, and that intervening variables (such as involvement) may be central to our understanding of the effects of communication technology systems. © 2005 Journal of computer-Mediated Communication.

关键词： Communication systems

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Evolution: Dynamics of mammalian chromosome evolution inferred from multispecies comparative maps

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science 2005年第5734期309卷 613-617页

作者： Murphy, William J. Larkin, Denis M. Everts-Van Der Wind, Annelie Bourque, Guillaume Tesler, Glenn Auvil, Loretta Beever, Jonathan E. Chowdhary, Bhanu P. Galibert, Francis Gatzke, Lisa Hitte, Christophe Meyers, Stacey N. Milan, Denis Ostrander, Elaine A. Pape, Greg Parker, Heidi G. Raudsepp, Terje Rogatcheva, Margarita B. Schook, Lawrence B. Skow, Loren C. Welge, Michael Womack, James E. O'Brien, Stephen J. Pevzner, Pavel A. Lewin, Harris A. Department of Veterinary Integrative Biosciences Texas A and M University College Station TX 77843 United States Department of Veterinary Pathobiology Texas A and M University College Station TX 77843 United States SAIC-Frederick Inc. National Cancer Institute Frederick MD 21702 United States Laboratory of Genomic Diversity National Cancer Institute Frederick MD 21702 United States Department of Animal Sciences University of Illinois at Urbana-Champaign Urbana IL 61801 United States National Center for Supercomputing Applications University of Illinois at Urbana-Champaign Urbana IL 61801 United States Institute for Genomic Biology University of Illinois at Urbana-Champaign Urbana IL 61801 United States Genome Institute of Singapore 138672 Singapore Singapore Department of Mathematics University of California San Diego CA 92093 United States Department of Computer Science and Engineering University of California San Diego CA 92093 United States UMR6061-CNRS Genetique et Developpement Université de Rennes 1 35043 Rennes France Laboratoire de Génétique Cellulaire INRA 31326 Castanet-Tolosan France National Human Genome Research Institute Bethesda MD 20892 United States

The genome organizations of eight phylogenetically distinct species from five mammalian orders were compared in order to address fundamental questions relating to mammalian chromosomal evolution. Rates of chromosome evolution within mammalian orders were found to increase since the Cretaceous-Tertiary boundary. Nearly 20% of chromosome breakpoint regions were reused during mammalian evolution;these reuse sites are also enriched for centromeres. Analysis of gene content in and around evolutionary breakpoint regions revealed increased gene density relative to the genome-wide average. We found that segmental duplications populate the majority of primate-specific breakpoints and often flank inverted chromosome segments, implicating their role in chromosomal rearrangement.

关键词： Biodiversity

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CrossY: A crossing-based drawing application

CrossY: A crossing-based drawing application

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UIST: Proceedings of the Annual ACM Symposium on User Interface Software and Technology

作者： Apitz, Georg Guimbretiére, François Department of Computer Science Human-Computer Interaction Lab University of Maryland College Park MD 20742

We introduce CrossY, a simple drawing application developed as a benchmark to demonstrate the feasibility of goal crossing as the basis for a graphical user interface. We show that crossing is not only as expressive as the current point-and-click interface, but also offers more flexibility in interaction design. In particular, crossing encourages the fluid composition of commands which supports the development of more fluid interfaces. While crossing was previously identified as a potential substitute for the classic point-and-click interaction, this work is the first to report on the practical aspects of implementing an interface based on goal crossing as the fundamental building block. Copyright © 2004 ACM.

关键词： Drawing (graphics)

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Design and display of enhancing information in desktop information-rich virtual environments: Challenges and techniques

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Virtual Reality 2004年第1期8卷 41-54页

作者： Polys, Nicholas F. Bowman, Doug A. Department of Computer Science Center for Human Computer Interaction Virginia Polytechnic Institute and State University Blacksburg VA 24060 United States

Information-rich virtual environments (IRVEs) have been described as environments in which perceptual information is enhanced with abstract (or symbolic) information, such as text, numbers, images, audio, video, or hyperlinked resources. Desktop virtual environment (VE) applications present similar information design and layout challenges as immersive VEs, but, in addition, they may also be integrated with external windows or frames commonly used in desktop interfaces. This paper enumerates design approaches for the display of enhancing information both internal and external to the virtual world's render volume. Using standard Web-based software frameworks, we explore a number of implicit and explicit spatial layout methods for the display and linking of abstract information, especially text. Within the VE view, we demonstrate both heads-up-displays (HUDs) and encapsulated scenegraph behaviors we call semantic objects. For desktop displays, which support information display venues external to the scene, we demonstrate the linking and integration of the scene with Web browsers and external visualization applications. Finally, we describe the application of these techniques in the PathSim visualizer, an IRVE interface for the biomedical domain. These design techniques are relevant to instructional and informative interfaces for a wide variety of VE applications. © Springer-Verlag London Limited 2004.

关键词： Desktop virtual environments Information psychophysics Information-rich virtual environments Multiple view architectures Visualization design

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Supporting faculty goals during student presentations via electronic note-taking

Supporting faculty goals during student presentations via el...

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34th Annual Frontiers in Education: Expanding Educational Opportunities Through Partnerships and Distance Learning - Conference Proceedings, FIE

作者： Golub, Evan Department of Computer Science Human-Computer Interaction Lab. University of Maryland College Park MD 20742

As we have moved to a more technology-based classroom, much attention has been paid to using computers to present material. computer-based presentations can be a powerful tool for faculty, but as more and more students are coming to class with laptop and tablet computers, attention is being paid to questioning the opportunities this could present to these students in the form of enhanced note-taking opportunities. This paper explores the idea of faculty (rather than the students) using a computer note-taking system during student presentations to support interaction, evaluation, and feedback. Good annotations and records of a presentation can assist in more organized and effective feedback both during class as well as after class. It can also be beneficial in the evaluation of grades during the assignment stage of a faculty member's work. The techniques discussed can be extended to a wide variety of student presentation assignments. © 2004 IEEE.

关键词： Engineering education

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Handwritten slides on a TabletPC in a discrete mathematics course

Handwritten slides on a TabletPC in a discrete mathematics c...

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35th SIGCSE Technical Symposium on computer science Education

作者： Golub, Evan Department of Computer Science Human-Computer Interaction Lab. University of Maryland College Park MD 20742

ISBN: (纸本)1581137982

There are a wide variety of ways to present information at the front of a classroom. These include chalk on a blackboard, markers on a whiteboard, pens on transparencies, and computer projection systems. While computer-based presentation systems provide many opportunities both in and out of the classroom, there may also be many limitations. In-class spontaneity and dynamic exposition might be restricted. Class preparation time might increase dramatically when compared to the amount required to prepare handwritten materials. Certain presentation techniques may no longer be available. This paper will introduce a computer-based presentation system modeled on handwritten transparencies. It will then discuss how it addresses the above issues as well as how it can be used in and out of the classroom. These will be explored in the context of its use while teaching an undergraduate discrete mathematics course. Copyright 2004 ACM.

关键词： Personal computers

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Testbed evaluation of navigation and text display techniques in an information-rich virtual environment

Testbed evaluation of navigation and text display techniques...

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Proceedings - IEEE Virtual Reality 2004

作者： Chen, Jian Pyla, Pardha S. Bowman, Doug A. Department of Computer Science Ctr. for Human-Computer Interaction Virginia Tech Blacksburg VA United States

The fundamental question for an information-rich virtual environment is how to access and display abstract information. We investigated two existing navigation techniques: Hand-Centered Object Manipulation Extending Ray-casting (HOMER) and Go-Go navigation, and two text layout techniques: within-the-world display (WWD) and heads-up display (HUD). Four search tasks were performed to measure participants' performance in a densely packed environment. HUD enabled significantly better performance than WWD and the Go-Go technique enabled better performance than the HOMER technique for most of the tasks. We found that using HOMER navigation combined with the WWD technique was significantly worse than other combinations for difficult naïve search tasks. Users also preferred the combination of Go-Go and HUD for all tasks.

关键词： Virtual reality

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Small-Scale Classification Schemes: A Field Study of Requirements Engineering

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computer Supported Cooperative Work 2004年第1期13卷 35-61页

作者： Hertzum, Morten Centre for Human-Machine Interaction Risø National Laboratory Denmark Computer Science Roskilde University Bldg 42.1 1 Universitetsvej DK-4000 Roskilde Denmark

Small-scale classification schemes which are used extensively in the coordination of cooperative work are discussed. The study investigates the creation and use of a classification scheme for handling the system requirements during the redevelopment of a nation-wide information system. The requirements classification provide the software engineers with an important means of discretely balancing the contractual aspect of requirements engineering. The requirements classification is analyzed in terms of complementary concepts of boundary objects.

关键词： Requirements engineering

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