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作者： Shin, Peter J. Larson, Peder E. Z. Ohliger, Michael A. Elad, Michael Pauly, John M. Vigneron, Daniel B. Lustig, Michael Department of Radiology and Biomedical Imaging University of California at San Francisco San FranciscoCA United States UC Berkeley-UCSF Graduate Program in Bioengineering CA United States Department of Electrical Engineering and Computer Science University of California at Berkeley BerkeleyCA United States Department of Computer Science Technion'Israel Institute of Technology Haifa Israel Magnetic Resonance Systems Research Laboratory Department of Electrical Engineering Stanford University StanfordCA United States

Purpose: A calibrationless parallel imaging reconstruction method, termed simultaneous autocalibrating and k-space estimation (SAKE), is presented. It is a data-driven, coil-by-coil reconstruction method that does not require a separate calibration step for estimating coil sensitivity information. Methods: In SAKE, an undersampled, multichannel dataset is structured into a single data matrix. The reconstruction is then formulated as a structured low-rank matrix completion problem. An iterative solution that implements a projection-ontosets algorithm with singular value thresholding is described. Results: Reconstruction results are demonstrated for retrospectively and prospectively undersampled, multichannel Cartesian data having no calibration signals. Additionally, non-Cartesian data reconstruction is presented. Finally, improved image quality is demonstrated by combining SAKE with wavelet-based compressed sensing. Conclusion: Because estimation of coil sensitivity information is not needed, the proposed method could potentially benefit MR applications where acquiring accurate calibration data is limiting or not possible at all. © 2013 Wiley Periodicals, Inc.

关键词： Compressed sensing

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Acquiring brain signals of imagining humanoid robot walking behavior via cerebot

Advances in Intelligent Systems and Computing

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Advances in Intelligent systems and computing 2014年 215卷 617-627页

作者： Li, Wei Li, Yunyi Chen, Genshe Meng, Qinghao Zeng, Ming Sun, Fuchun Tianjin University Tianjin China Department of Computer and Electrical Engineering and Computer Science California State University Bakersfield 9001 Stockdale Hwy Bakersfield CA 93311-1022 United States Department of Psychology and Neuroscience Duke University 417 Chapel Drive Durham NC 27708-0086 United States I-Fusion Technologies Inc Germantown MD 20874 United States State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

Control of humanoid robot behavior with the mind begins a new era of robotics research. One of the critical issues in this research is how to acquire the brain signals with high quality which are correlated to humanoid robot behavior. In order to improve subjects' concentration on their mental activities during tests, we develop a stimuli module in the Cerebot system, consisting of a Cerebus neural data acquisition system and a Kumotek robot with 20 degrees of freedom or a NAO robot with 25 degrees of freedom. We present the experimental procedures for acquiring brain signals of imagining humanoid robot walking behavior by using movies of robot walking or real robot walking activities. We record two groups of brain signals correlated to mental activities of six robot walking behavior. Finally, we present a demonstration of controlling the humanoid robot walking behavior using the phase coding mechanisms of the Delta rhythms. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Anthropomorphic robots

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Program-based and model-based PLC design environment for multicore FPGA architectures 11

Program-based and model-based PLC design environment for mul...

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11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014

作者： Economakos, Christoforos Skarpetis, Michael Economakos, George Technological Educational Institution of Sterea Ellada Department of Automation Engineering Psahna EviaGR34400 Greece National Technical University of Athens School of Electrical and Computer Engineering Microprocessors and Digital Systems Laboratory Heroon Polytechniou 9 Zografou AthensGR15780 Greece

ISBN: (纸本)9789897580390

Digital design has been growing rapidly during the last years, offering advanced implementation solutions for a diversity of appliances and instruments, integrating different sensors and actuators. This has a great impact on embedded automation, where traditional Programmable Logic Controllers (PLCs) have been gradually replaced by high performance Embedded Controllers, Digital Signal Processor (DSP) chips and, more recently, power efficient Field Programmable Gate Arrays (FPGAs). Such new implementation platforms bring together efficient design methodologies, like model-based design and high-level or C level program-based design. In their turn, new design methodologies are accompanied by new design technologies like Intellectual Property (IP) based design and High-Level Synthesis (HLS). This paper presents a design environment that utilizes program-based and model-based design, for the development of PLC applications. Specifically, a tool flow is constructed that supports either the design of new control algorithms or the translation of existing algorithms into C. Then, HLS and FPGA implementation tools are adopted, to implement the selected algorithms as mul-ticore, embedded designs, offering performance improvements and hardware utilization efficiency. Overall, the proposed methodology and underlying tool flow support a novel high productivity prototyping platform for digital control applications, with very promising future extension capabilities.

关键词： Programmable logic controllers

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Cooperative and Geometric Learning Algorithm (CGLA) for path planning of UAVs with limited information

Cooperative and Geometric Learning Algorithm (CGLA) for path...

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作者： Zhang, Baochang Liu, Wanquan Mao, Zhili Liu, Jianzhuang Shen, Linlin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering BeiHang University Beijing 100191 China Department of Computing Curtin University Perth WA 6102 Australia Shenzhen Key Laboratory of Spatial Smart Sensing and Services School of Computer Science and Software Engineering Shenzhen University China Media Laboratory Huawei Technologies Co.Ltd. Shenzhen 518129 China

In this paper, we propose a new learning algorithm, named as the Cooperative and Geometric Learning Algorithm (CGLA), to solve problems of maneuverability, collision avoidance and information sharing in path planning for Unmanned Aerial Vehicles (UAVs). The contributions of CGLA are three folds: (1) CGLA is designed for path planning based on cooperation of multiple UAVs. Technically, CGLA exploits a new defined individual cost matrix, which leads to an efficient path planning algorithm for multiple UAVs. (2) The convergence of the proposed algorithm for calculating the cost matrix is proven theoretically, and the optimal path in terms of path length and risk measure from a starting point to a target point can be calculated in polynomial time. (3) In CGLA, the proposed individual weight matrix can be efficiently calculated and adaptively updated based on the geometric distance and risk information shared among UAVs. Finally, risk evaluation is introduced first time in this paper for UAV navigation and extensive computer simulation results validate the effectiveness and feasibility of CGLA for safe navigation of multiple UAVs. © 2014 Elsevier Ltd. All rights reserved.

关键词： Motion planning

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Computational Approaches for Bad Data Handling in Power System Synchrophasor Networks

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IFAC Proceedings Volumes 2014年第3期47卷 11269-11274页

作者： Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering Clemson University Clemson SC 29634 USA Tel: +1 864-6565936

The state estimators used in real-time power system control centers now process bad data as a standard routine. With the introduction and deployment of phasor measurement units (PMUs), it is possible to model power systems, even with their time-varying nature, in real-time. However, PMUs remain vulnerable to providing bad data for several reasons. In this paper, a new intelligent framework, the cellular computational netwo rk (CCN), is introduced for the decentralized predictive modeling and dynamic state estimation (DSE) of a power system with PMU data. The CCN-based DSE is resilient to interactions between multiple segments of bad data from one or more PMUs.

关键词： Bad Data Phasor Measurement Units Power System Synchrophasor Network

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Revisiting Routing in Multi-Hop Wireless Networks: Spatial Reusability-Aware Routing

Revisiting Routing in Multi-Hop Wireless Networks: Spatial R...

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IEEE Global Communications Conference

作者： Tong Meng Fan Wu Guihai Chen Athanasios V. Vasilakos Shanghai Key Laboratory of Scalable Computing and Systems Shanghai Jiao Tong University Department of Computer and Telecommunication Engineering University of Western Macedonia

ISBN: (纸本)9781479935130

In this paper, we argue that by carefully considering spatial reusability of the wireless communication media, we can tremendously improve the end-to-end throughput in multi-hop wireless networks. To support our argument, we propose spatial reusability-aware single-path routing (SASR) and anypath routing (SAAR) protocols, and compare them with existing single-path routing and anypath routing protocols, respectively. Our evaluation results show that our protocols significantly improve the end-to-end throughput compared with existing protocols. Specifically, for single-path routing, the throughput gain is up to 2.9x;for anypath routing, the throughput gain is up to 62.7%.

关键词： Routing Throughput Routing protocols Wireless communication Measurement Ad hoc networks Media

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Ionic channel changes in glaucomatous retinal ganglion cells: multicompartment modeling

Ionic channel changes in glaucomatous retinal ganglion cells...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Matias I. Maturana Andrew Turpin Allison M. McKendrick Tatiana Kameneva NeuroEngineering Laboratory Department of Electrical Electronic Engineering The University of Melbourne Department of Computing and Information Systems The University of Melbourne Department of Optometry and Vision Science The University of Melbourne

ISBN: (纸本)9781424479276

This research takes a step towards discovering underlying ionic channel changes in the glaucomatous ganglion cells. Glaucoma is characterized by a gradual death of retinal ganglion cells. In this paper, we propose a hypothesis that the ionic channel concentrations change during the progression of glaucoma. We use computer simulation of a multi-compartment morphologically correct model of a mouse retinal ganglion cell to verify our hypothesis. Using published experimental data, we alter the morphology of healthy ganglion cells to replicate glaucomatous cells. Our results suggest that in glaucomatous cell, the sodium channel concentration decreases in the soma by 30% and by 60% in the dendrites, calcium channel concentration decreases by 10% in all compartments, and leak channel concentration increases by 40% in the soma and by 100% in the dendrites.

关键词： Calcium Neurons Retina Morphology Diseases Mice Resistance

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Solving the Klein-Gordon equation using Fourier spectral methods: A benchmark test for computer performance 23

Solving the Klein-Gordon equation using Fourier spectral met...

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23rd High Performance computing Symposium, HPC 2015, Part of the 2015 Spring Simulation Multi-Conference, SpringSim 2015

作者： Aseeri, S. Batrašev, O. Icardi, M. Leu, B. Liu, A. Li, N. Muite, B.K. Müller, E. Palen, B. Quell, M. Servat, H. Sheth, P. Speck, R. Van Moer, M. Vienne, J. KAUST Supcrcomputing Laboratory 4700 King Abdullah University of Science and Technology Thuwal23955-6900 Saudi Arabia Arvutitcaduse Instituut Tartu Ülikool Liivi 2 Tartu50409 Estonia Stochastic Numerics Group 4700 King Abdullah University of Science and Technology Thuwal23955-6900 Saudi Arabia Electrical and Computer Engineering University of Michigan Ann ArborMI48109-2122 United States Numerical Algorithms Group Wilkinson House Jordan Hill Road Oxford0X2 8DR United Kingdom Numerical Mathematics Group 4700 King Abdullah University of Science and Technology Thuwal23955-6900 Saudi Arabia Department of Mathematical Sciences University of Bath BathBA2 7 AY United Kingdom CAEN Advanced Computing University of Michigan Ann ArborMI48109-2094 United States Lnstitut für Analysis und Scientific Computing Technische Universität Wien Wiedner Haupstrasse 8-10 Wien1040 Austria Compulcr Sciences Department BSC UPC c/Jordi Girona Barcelona Calalunya08034 Spain Biomedical Engineering University of Michigan Ann ArborMI48109-2122 United States Jülich Supercomputing Centre Forschungszentrum Jülich GmbH Germany Germany National Center for Supercomputing Applications University of Illinois at Urbiina-Chanipaign UrbanaIL61801 United States Texas Advanced Computing Center University of Texas at Austin AustinTX78758-4497 United States

ISBN: (纸本)9781510810600

The cubic Klein-Gordon equation is a simple but non-trivial partial differential equation whose numerical solution has the main building blocks required for the solution of many other partial differential equations. In this study, the library 2DE-COMP&FFT is used in a Fourier spectral scheme to solve the Klein-Gordon equation and strong scaling of the code is examined on thirteen different machines for a problem size of 5123. The results are useful in assessing likely performance of other parallel fast Fourier transform based programs for solving partial differential equations. The problem is chosen to be large enough to solve on a workstation, yet also of interest to solve quickly on a supercomputer, in particular for parametric studies. Unlike the Linpack benchmark, a high ranking will not be obtained by simply building a bigger computer. © 2015 Aseeri et al.

关键词： Fast Fourier transforms

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Applications of Brain–Machine Interface systems in Stroke Recovery and Rehabilitation

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Current Physical Medicine and Rehabilitation Reports 2014年第2期2卷 93-105页

作者： Venkatakrishnan, Anusha Francisco, Gerard E. L. Contreras-Vidal, Jose Laboratory for Non-invasive Brain–Machine Interface Systems Department of Electrical and Computer Engineering University of Houston Houston TX United States Department of Physical Medicine and Rehabilitation University of Texas Health Science Center Houston TX United States NeuroRecovery Research Center TIRR Memorial Hermann Houston Houston TX United States

Stroke is a leading cause of disability, significantly impacting the quality of life (QOL) in survivors, and rehabilitation remains the mainstay of treatment in these patients. Recent engineering and technological advances such as brain–machine interfaces (BMI) and robotic rehabilitative devices are promising to enhance stroke neurorehabilitation, to accelerate functional recovery and improve QOL. This review discusses the recent applications of BMI and robotic-assisted rehabilitation in stroke patients. We present the framework for integrated BMI and robotic-assisted therapies, and discuss their potential therapeutic, assistive and diagnostic functions in stroke rehabilitation. Finally, we conclude with an outlook on the potential challenges and future directions of these neurotechnologies, and their impact on clinical rehabilitation. © 2014, Springer Science + Business Media New York.

关键词： Brain–machine interfaces Clinical trials Functional recovery Neuroplasticity Neurorehabilitation Robotic exoskeletons Robotic-assisted rehabilitation Stroke

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