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Computational methods to locate and reconstruct genes for complexity reduction in comparative genomics

Computational methods to locate and reconstruct genes for co...

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5th International Conference on Information Processing, ICIP 2011

作者： Vidya, A. Usha, D. Rashma, B.M. Deepa Shenoy, P. Raja, K.B. Venugopal, K.R. Iyengar, S.S. Patnaik, L.M. Department of Computer Science and Engineering University Visvesvaraya College of Engineering Bangalore University Bangalore India Robotics Research Laboratory Department of Computer Science Louisiana State University Baton Rouge LA United States Defence Institute of Advanced Technology Pune India

ISBN: (纸本)9783642227851

Discovering the functions of proteins in living organisms is an important tool for understanding cellular processes. The source data for such analysis are commonly the peptide sequences. Most common algorithms used to compare a pair of nucleotide sequence are Global alignment algorithm (Needleman-Wunch algorithm) or local alignment algorithm (Smith-Waterman algorithm). Analysis of these algorithms show that time complexity required to the above mentioned algorithms is O(mn) and space complexity required is O(mn), where m is size of one sequence and n is size of the other sequence. This is one of the major bottlenecks as most of the sequences are very large. The proposed Coding Region Sequence Analysis(CRSA) algorithm presents a method to reduce both time and space complexity by meaningfully reducing the size of sequences by removing not so significant exons using wavelet transforms. DSP techniques supply a strong basis for regions identification with three-base periodicity. © Springer-Verlag 2011.

关键词： Wavelet transforms

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Human pose estimation in surveillance videos using temporal continuity on static pose

Human pose estimation in surveillance videos using temporal ...

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2011 International Conference on Image Information Processing, ICIIP 2011

作者： Sharma, Anima Mishra Venkatesh, K.S. Mukerjee, Amitabha Center for AI and Robotics DRDO Complex Bangalore India Department of Electrical Engineering Indian Institute of Technology Kanpur India Department of Computer Science and Engineering Indian Institute of Technology Kanpur India

ISBN: (纸本)9781612848617

Human pose estimation from monocular image sequences is attracting increasing attention, and 2D (image-based) as well as 3D (joint-motion based) approaches have been proposed. The former is computationally fast, and works also for less frequent poses, but reliability is low. The latter is computationally expensive owing to the high-dimensionality of the problem, despite attempts at dimensionality-reduction. We propose to impose temporal continuity constraints on the 2D approaches in order to improve reliability and obtain spatio-temporal descriptions of the action in the image plane. In the first stage, at each frame-level spatial localisation will be done by applying background subtraction, after that static image pose estimation is performed using CRF-based probabilistic assembly of parts, based on the approach by Ramanan [1]. Next, pose continuity is imposed via first-order Markovian constraints on the CRF search. This results in improved spatial accuracy as well as significantly reduced search. We present results from the Weizmann video dataset to demonstrate how such an approach can serve as an image-plane based alternative to full 3D modeling or manifold search. © 2011 IEEE.

关键词： Security systems

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Exploiting foveation in user-centred image fusion

Exploiting foveation in user-centred image fusion

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IEEE GCC Conference and Exhibition

作者： Basaeed, E. Al-Mualla, M. Vernon, D. Department of Computer Engineering Khalifa University of Science Technology and Research Sharjah United Arab Emirates Department of Robotics Brain and Cognitive Sciences Italian Institute of Technology Genoa Italy

ISBN: (纸本)9781612841199

The selection of image fusion techniques has always been a compromise between effectiveness and efficiency. In this paper, foveation (using log-polar transformation) is introduced to satisfy the real-time requirement of applications where the fused image is eventually presented to a human to interpret. Log-polar transformation achieves a data reduction without a subsequent loss in perceptual information. Thus, it can be used to reduce the execution time of any existing image fusion technique without modifying the technique itself. In this paper, the log-polar transformation is integrated with three widely-used image fusion techniques: image averaging, the Laplacian pyramid, and the Discrete Wavelet Transform. Then, the proposed fusion process is objectively evaluated using a set of established metrics;they are Mutual Information (MI), Xydas & Petrovic (QAB/F), and Piella & Heijmans (Qw). © 2011 IEEE.

关键词： Image fusion

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Safe automotive software

Safe automotive software

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Lecture Notes in computer science

作者： Heckemann, Karl Gesell, Manuel Pfister, Thomas Berns, Karsten Schneider, Klaus Trapp, Mario Fraunhofer Institute for Experimental Software Engineering Fraunhofer-Platz 1 67663 Kaiserslautern Germany Embedded Systems Group Department of Computer Science University of Kaiserslautern Germany Robotics Research Lab. Department of Computer Science University of Kaiserslautern Germany

ISBN: (纸本)9783642238659

For automotive manufacturers and tier-1 suppliers, the upcoming safety standard ISO 26262 results in new requirements for the development of embedded electronics and software. In particular, the variety of driver assistance systems that autonomously influence the driving dynamics of a vehicle may have a high risk potential and require development in accordance with the normative guidelines. But especially for those systems whose function is typically not based solely on hardware but on complex software algorithms, safety certification can be very complex or even impossible. In this paper the problems of development of vehicle systems according to ISO 26262 are described. Finally an approach for a safety-oriented reference architecture is presented that introduces adaptive software safety cages. This architecture enables application of formal verification methods. Supported by multisensor data fusion this allows to reduce safety requirements for vehicle control systems. © 2011 Springer-Verlag.

关键词： Control system synthesis

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Adaptive boundary control of a flexible marine installation system

Adaptive boundary control of a flexible marine installation ...

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作者： He, Wei Ge, Shuzhi Sam Zhang, Shuang Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Centre for Offshore Research and Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611813 China

In this paper, boundary control of a marine installation system is developed to position the subsea payload to the desired set-point and suppress the cable's vibration. Using Hamilton's principle, the flexible cable coupled with vessel and payload dynamics is described as a distributed parameter system with one partial differential equation (PDE) and two ordinary differential equations (ODEs). Adaptive boundary control is proposed at the top and bottom boundaries of the cable, based on Lyapunov's direct method. Considering the system parametric uncertainty, the boundary control schemes developed achieve uniform boundedness of the steady state error between the boundary payload and the desired position. The control performance of the closed-loop system is guaranteed by suitably choosing the design parameters. Simulations are provided to illustrate the applicability and effectiveness of the proposed control. © 2011 Elsevier Ltd. All rights reserved.

关键词： Partial differential equations

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Retinal vessel tortuosity evaluation via circular hough transform

Retinal vessel tortuosity evaluation via circular hough tran...

引用

2011 18th Iranian Conference of Biomedical engineering, ICBME 2011

作者： Ghadiri, Farnoosh Pourreza, Hamidreza Banaee, Touka Delgir, Morteza Computer Engineering Department Machine Vision Lab Ferdowsi University Mashhad Iran Ophthalmic Research Center Khatam-Al-Anbia Hospital Medical Science University Mashhad Iran Computer Science Department Robotics Lab Northeastern University United States

ISBN: (纸本)9781467310055

Retinal vessel tortuosity has shown to be significantly associated with cardiovascular diseases such as hypertension and diabetes. Despite importance of this field a few techniques have been proposed yet. All previous methods rely on a vessel extraction phase, which its accuracy affects final output and also time consuming. Nobility of presented algorithm is to introduce a method for evaluating retinal vessel tortuosity without any explicit vessel detection. We use the Circular Hough Transform (CHT) based on gradient field of the retinal image. Each vessel curve is detected as a semi-circle by Hough transform and tortuosity of the curve is determined with the help of accumulated value of circle center and its radius. As there are no any specific database for tortuosity evaluation, the algorithm was tasted on database consisting of 40 images, mixture of DRIVE database and images from Khatam-Al-Anbia Hospital consisting of 40 retinal images, of which 20 were tortuous and 20 were non-tortuous. The proposed algorithm can achieve classification rate of 92% along with less computation time in compare of previous methods. © 2011 IEEE.

关键词： Database systems

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Robotic covert path planning: A survey

Robotic covert path planning: A survey

引用

2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Al Marzouqi, Mohamed Jarvis, Ray A. Computer Engineering Department Khalifa University of Science Technology and Research Sharjah United Arab Emirates Intelligent Robotics Research Centre Monash University Melbourne VIC Australia

ISBN: (纸本)9781612842509

Covert robotics refers to the use of mobile robots with navigation abilities to carry out missions with stealth. Such robots would be useful in various high risk situations where safety and security are required. Yet, this research field is still immature. As presented in this paper, the little research conducted to date has produced some potential outcomes, but the field is still open for more research as many problems still need to be solved. The survey covers various works that directly and indirectly related to covert robot navigation. The paper aims to encourage more research towards this field. © 2011 IEEE.

关键词： Motion planning

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Neural-network-based human intention estimation for physical human-robot interaction

Neural-network-based human intention estimation for physical...

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Ge, Shuzhi Sam Li, Yanan He, Hongsheng Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9781457707223

To realize physical human-robot interaction, it is essential for the robot to understand the motion intention of its human partner. In this paper, human motion intention is defined as the desired trajectory in human limb model, of which the estimation is obtained based on neural network. The proposed method employs measured interaction force, position and velocity at the interaction point. The estimated human motion intention is integrated to the control design of the robot arm. The validity of the proposed method is verified through simulation. © 2011 IEEE.

关键词： Human robot interaction

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System design and hardware integration of social robot Nancy

System design and hardware integration of social robot Nancy

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Yang, Jiaqiang Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore College of Electrical Engineering Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781457715235

This paper gives insight into the system design and hardware architecture of Nancy, which is a social robot in humanoid form that is currently being developed in Social robotics Lab (SRL), Interactive and Digital Media Institute, National University of Singapore. In contrast to industrial robots, the design of Nancy focuses on safety issue, social interaction and attractive appearance. In order to achieve these objectives, Nancy is designed to be user-friendly and approachable. The mechanical structure of Nancy is presented in the beginning. After that, the hardware architecture which includes processor system, vision system, audio system, communication system, power system, and motion system, is described systematically. Finally, the roles of integrated sensors are described and implemented works are summarized. © 2011 IEEE.

关键词： Digital storage

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A potential field method-based extension of the dynamic movement primitive algorithm for imitation learning with obstacle avoidance

A potential field method-based extension of the dynamic move...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Tan, Huan Erdemir, Erdem Kawamura, Kazuhiko Du, Qian Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN 37212 United States Institute of Robotics and Automatic Information System Nankai University Tianjin 300071 China

ISBN: (纸本)9781424481149

This paper proposes an extension of the original Dynamic Movement Primitive (DMP) algorithm proposed by S. Schaal to imitation learning for object avoidance in a dynamic environment. A potential field was incorporated into the original DMP algorithm by using a virtual goal position which is calculated using a potential field. A humanoid robot ISAC was trained in simulation to learn how to generate movements similar to the demonstrated movements when an obstacle is placed in the environment. This proposed extension provides robots more robust and flexible movement generation when an obstacle exists. Simulations were performed to verify the effectiveness of the method. © 2011 IEEE.

关键词： Anthropomorphic robots

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