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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2016年 10037 LNAI卷 135-148页

作者： Adorni, Giovanni Koceva, Frosina Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy

ISBN: (纸本)9783319491295

The paper focuses on the delivery process of learning materials of a course for students by means of Educational Concept Maps (ECM), while in previous works, we presented the ECM model and its implementation, ENCODE system, as a tool to assist the teacher during the process of instructional design of a course. An ECM is composed of concepts and educational relationships, where a concept represents a learning argument, its prerequisites, learning outcomes and associated learning materials. We propose the learning materials generation founded on the ECM with suggested learning path for accessing educational resources personalized on the base of the student’s knowledge. The personalized document creation is based on a self-evaluation process of his/her knowledge and learning objectives, by pruning concepts on the original ECM and verifying for propaedeutic inconsistency. An algorithm that linearize the map generates the suggested learning path for the student. © Springer International Publishing AG 2016.

关键词： Knowledge representation

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Algorithms for joint operation of service robotic platform and set of UAVs in agriculture tasks 5

Algorithms for joint operation of service robotic platform a...

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5th IEEE Workshop on Advances in Information, Electronic and Electrical engineering, AIEEE 2017

作者： Vu, Quyen Nguyen, Vinh Solenaya, Oksana Ronzhin, Andrey Mehmet, H. Department of Electromechanics and Robotics Saint Petersburg State University of Aerospace Instrumentation SUAI St. Petersburg Russia Laboratory of Autonomous Robotic Systems St. Petersburg Institute for Informatics and Automation Russian Academy of Sciences SPIIRAS St. Petersburg Russia Guzey Department of Electrical and Electronics Engineering Erzurum Technical University Erzurum Turkey

ISBN: (纸本)9781538641378

The problems of designing a mobile robotic platform carrying a set of unmanned aerial vehicles and containing a container for a payload are considered. The issues of transportation of robots and joint activity of robots with various functions in solving agriculture problems are discussed. The conceptual model of a mobile platform design is given. The main stages of the algorithmic model of the joint operation of the mobile platform and the set of unmanned aerial vehicles brought to the working area are described. © 2017 IEEE.

关键词： Manipulators

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PALLADIO: A parallel framework for robust variable selection in high-dimensional data 6

PALLADIO: A parallel framework for robust variable selection...

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6th Workshop on Python for High-Performance and Scientific Computing, PyHPC 2016

作者： Barbieri, Matteo Fiorini, Samuele Tomasi, Federico Barla, Annalisa Department of Informatics Bioengineering Robotics and System Engineering Universita degli Studi di Genova GenoaI-16146 Italy

ISBN: (纸本)9781509052202

The main goal of supervised data analytics is to model a target phenomenon given a limited amount of samples, each represented by an arbitrarily large number of variables. Especially when the number of variables is much larger than the number of available samples, variable selection is a key step as it allows to identify a possibly reduced subset of relevant variables describing the observed phenomenon. Obtaining interpretable and reliable results, in this highly indeterminate scenario, is often a non-trivial task. In this work we present PALLADIO, a framework designed for HPC cluster architectures, that is able to provide robust variable selection in high-dimensional problems. PALLADIO is developed in Python and it integrates CUDA kernels to decrease the computational time needed for several independent element-wise operations. The scalability of the proposed framework is assessed on synthetic data of different sizes, which represent realistic scenarios. © 2016 IEEE.

关键词： Clustering algorithms

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Wheels for staircases 12th

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12th Portuguese Conference on Automatic Control, CONTROLO 2016

作者： Leite, Fátima Silva Batista, Jorge Krakowski, Krzysztof Carvalho, André Cruz, Tiago Domingues, Eduardo Lizardo, André Saraiva, Gonçalo Institute of Systems and Robotics University of Coimbra Coimbra3030-290 Portugal Department of Mathematics University of Coimbra Coimbra3001-501 Portugal Department of Electrical Engineering and Computers University of Coimbra Coimbra3030-290 Portugal Wydzial Matematyczno-Przyrodniczy Uniwersytet Kardynala Stefana Wyszyńskiego ul. Dewajtis 5 Warsaw01-815 Poland Department of Informatics Engineering University of Coimbra Coimbra3030-290 Portugal Department of Electrical Engineering and Computers University of Lisbon Lisboa1049-001 Portugal

ISBN: (纸本)9783319436708

Our objective is to design innovative robot wheels capable of rolling on staircases, without sliding and without bouncing. This is the first step to reach the ultimate goal of building wheelchairs capable to overcome the obstacles imposed by staircases on people with limited mobility. We show that, given a staircase with equal steps, there is an infinite number of wheels that roll over it, with the constraints of no-sliding and no-bouncing. Some of these wheels appear to be very interesting for real applications. We also present an algorithm for the construction of a wheel, which depends only on the measures of the tread (the part of the staircase that is stepped on) and the riser (the vertical portion between each tread) of the step. © Springer International Publishing Switzerland 2017.

关键词： Wheels

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A Vehicle Routing Problem with Time Windows Approach for Planning Service Operations in Gas Distribution Network of a Metropolitan Area

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IFAC-PapersOnLine 2016年第12期49卷 1365-1370页

作者： Anghinolfi, Davide Paolucci, Massimo Tonelli, Flavio Department of Informatics Bio engineering Robotics and Systems Engineering University of Genova Via Opera Pia 13 Genova16145 Italy Department of Mechanical Engineering Energy Management and Transports University of Genova Via Opera Pia 15 Genova16145 Italy

Service operations management of metropolitan gas networks at operational level implies the optimization of decisions related to logistic activities, taking into account multi-objectives and operational constraints. This paper proposes a metaheuristic approach for the operational planning of the daily logistic activities based on vehicle routing with time window model. Experimental results for a real planning case in a gas distribution network demonstrate the approach effectiveness. © 2016

关键词： Vehicle routing Gases Optimization Planning Vehicles Gas distribution network Meta heuristic approach Service operations Service operations management Time windows Vehicle routing problem with time windows Vehicle Routing Problems Vehicle routing with time windows

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Time-constrained detection of colored objects on raw Bayer data 5th

Time-constrained detection of colored objects on raw Bayer d...

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5th Eccomas Thematic Conference on Computational Vision and Medical Image Processing, VipIMAGE 2015

作者： Neves, António J. R. Trifan, Alina Azevedo, José Luís Department of Electronics and Telecommunications Engineering Intelligent Systems and Intelligent Robotics Laboratory Institute of Electronics and Informatics Engineering of Aveiro University of Aveiro Portugal

ISBN: (纸本)9781138029262

In most image processing applications, the raw data acquired by an image sensor passes through a demosaicing algorithm in order to obtain a full color image. The demosaicing step can take time and resources that are of great importance when developing real-time applications. Most of the times, this is done with single purpose of rendering the images into a viewable format for humans. However, most of nowadays sensors allow the retrieval of images in raw format and processing the data as is. In this paper we present a study on the direct usage of raw Bayer data for real-time color object detection, in the scenario of autonomous robot soccer. The experimental results that we provide prove that the efficiency of the chosen object detection algorithm is not lowered and that several improvements of the autonomous robotic vision system used in this study can be noted: the bandwidth needed to transmit the data between the digital camera and the PC is reduced, allowing, in some models, to increase the maximum frame rate. Moreover, a decrease in the delay between the perception and action of the autonomous robot was measured, when using raw image data for processing the environment. © 2016 Taylor & Francis Group, London.

关键词： Object detection

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Visuospatial skill learning for robots

arXiv

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arXiv 2017年

作者： Ahmadzadeh, S. Reza Mastrogiovanni, Fulvio Kormushev, Petar School of Interactive Computing Georgia Institute of Technology AtlantaGA United States Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova via Opera Pia 13 Genova16145 Italy Dyson School of Design Engineering Imperial College London LondonSW7 2AZ United Kingdom

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through demonstrations. The proposed Visuospatial Skill Learning (VSL) is a goal-based approach that focuses on achieving a desired goal configuration of objects relative to one another while maintaining the sequence of operations. VSL is capable of learning and generalizing multi-operation skills from a single demonstration, while requiring minimum prior knowledge about the objects and the environment. In contrast to many existing approaches, VSL offers simplicity, efficiency and user-friendly human-robot interaction. We also show that VSL can be easily extended towards 3D object manipulation tasks, simply by employing point cloud processing techniques. In addition, a robot learning framework, VSL-SP, is proposed by integrating VSL, Imitation Learning, and a conventional planning method. In VSL-SP, the sequence of performed actions are learned using VSL, while the sensorimotor skills are learned using a conventional trajectory-based learning approach. such integration easily extends robot capabilities to novel situations, even by users without programming ability. In VSL-SP the internal planner of VSL is integrated with an existing action-level symbolic planner. Using the underlying constraints of the task and extracted symbolic predicates, identified by VSL, symbolic representation of the task is updated. Therefore the planner maintains a generalized representation of each skill as a reusable action, which can be used in planning and performed independently during the learning phase. The proposed approach is validated through several real-world *** Codes 68T40 Copyright © 2017, The Authors. All rights reserved.

关键词： Demonstrations

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Image scanning techniques for speeded-up color object detection 5th

Image scanning techniques for speeded-up color object detect...

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5th Eccomas Thematic Conference on Computational Vision and Medical Image Processing, VipIMAGE 2015

作者： Trifan, Alina Neves, António J. R. Cunha, Bernardo Department of Electronics and Telecommunications Engineering Intelligent Systems and Intelligent Robotics Laboratory Institute of Electronics and Informatics Engineering of Aveiro University of Aveiro Portugal

ISBN: (纸本)9781138029262

Nowadays there are many computer vision algorithms dedicated to solve the problem of object detection, from many different perspectives. Many of these algorithms take a considerable processing time even for low resolution images. Research areas that are more concerned about real-time capabilities of a system, such as the case of robotics for example, are focusing on adapting the existing algorithms or developing new ones that cope with time constraints. Color object detection algorithms are often used in time-constrained application since the color of an object is an important clue for its detection. In addition, color segmentation algorithms have a smaller computational cost than generic object detection algorithms. Most of the color object detection algorithms include a step of image scanning in search of pixels of the color of interest. In this paper we present a study on the influence of an image scanning pattern while searching for pixels of a certain color versus the image resolution in the results of three color object detection algorithms. We present results comparing different scanning approaches versus different resolution images for color object detection algorithms based on blob formation, contours detection and region growing clustering. Our experiments show that using search lines for color segmentation, followed by blob formation provides faster and more accurate results. © 2016 Taylor & Francis Group, London.

关键词： Color

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An oculus rift based exergame to improve awareness in disabled people 11

An oculus rift based exergame to improve awareness in disabl...

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11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2016

作者： Chessa, Manuela Balocchi, Gabriele Busi, Michela Novellino, Antonio Solari, Fabio Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Viale Causa 13 Genoa Italy ETT SpA Via Sestri 37 Genoa16154 Italy

In this paper we present an exergame, based on the Oculus Rift head-mounted-display, with the aim of improving spatial awareness in young people with cognitive deficits. The scope is to create a virtual environment that should be immersive, and should allow a natural human-computer interaction, without creating discomfort to the users. The exergame is simple, since the aim of the present work is not to create a photo-realistic scenario, but a familiar environment in which to play and exercise cognitive abilities. To measure and track the movements of the users' legs, in order to simulate the walking in the environment in a safe way, an additional sensor, the Playstation Move, has been embedded into the system. Finally, the system has been tested with some disabled subjects, who confirmed the usability of the exergame and a general positive feeling with such an immersive virtual reality. Copyright © 2016 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved.

关键词： Virtual reality

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Author Correction: Genomic footprints of activated telomere maintenance mechanisms in cancer (Dec, 10.1038/s41467-019-13824-9, 2022)

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NATURE COMMUNICATIONS 2022年第1期13卷 1-1页

作者： Sieverling, Lina Hong, Chen Koser, Sandra D. Ginsbach, Philip Kleinheinz, Kortine Hutter, Barbara Braun, Delia M. Cortes-Ciriano, Isidro Xi, Ruibin Kabbe, Rolf Park, Peter J. Eils, Roland Schlesner, Matthias Brors, Benedikt Rippe, Karsten Jones, David T. W. Feuerbach, Lars Division of Applied Bioinformatics German Cancer Research Center (DKFZ) 69120 Heidelberg Germany Faculty of Biosciences Heidelberg University 69120 Heidelberg Germany Division of Applied Bioinformatics German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Biosciences Heidelberg University Heidelberg Germany Division of Theoretical Bioinformatics German Cancer Research Center (DKFZ) 69120 Heidelberg Germany Department for Bioinformatics and Functional Genomics Institute for Pharmacy and Molecular Biotechnology (IPMB) and BioQuant 69120 Heidelberg Germany Division of Theoretical Bioinformatics German Cancer Research Center (DKFZ) Heidelberg Germany Institute of Pharmacy and Molecular Biotechnology and BioQuant Heidelberg University Heidelberg Germany German Cancer Consortium (DKTK) Heidelberg Germany National Center for Tumor Diseases (NCT) Heidelberg Heidelberg Germany Heidelberg Center for Personalized Oncology (DKFZ-HIPO) German Cancer Research Center (DKFZ) Heidelberg Germany German Cancer Consortium (DKTK) German Cancer Research Center (DKFZ) Heidelberg Germany Division of Chromatin Networks German Cancer Research Center (DKFZ) and BioQuant 69120 Heidelberg Germany Department of Biomedical Informatics Harvard Medical School Boston Massachusetts 02115 USA Department of Chemistry Centre for Molecular Science Informatics University of Cambridge Cambridge CB2 1EW UK Ludwig Center at Harvard Medical School Boston Massachusetts 02115 USA Department of Biomedical Informatics Harvard Medical School Boston MA USA Department of Chemistry Centre for Molecular Science Informatics University of Cambridge Cambridge UK Ludwig Center at Harvard Medical School Boston MA USA School of Mathematical Sciences and Center for Statistical Science Peking University Beijing 100871 China Heidelberg University Heidelberg Germany New BIH Digital Health Center Berlin Institute of Health (BIH) and Charité - Universitätsmedizin Berlin Berlin Germany Bioi

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