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Understanding the bacterial stringent response using reachability analysis of hybrid systems

7th International Workshop on Hybrid Systems: Computation and Control, HSCC 2004

作者： Belta, Câlin Finin, Peter Habets, Luc C. G. J. M. Halász, Ádám M. Imieliński, Marcin Vijay Kumar, R. Rubin, Harvey Department of Mechanical Engineering Drexel University PhiladelphiaPA19101 United States General Robotics Automation Sensing and Perception Laboratory PhiladelphiaPA19101 United States Graduate Group in Computational Biology and Genomics University of Pennsylvania PhiladelphiaPA19101 United States Department of Medicine University of Pennsylvania PhiladelphiaPA19101 United States Department of Mathematics and Computer Science Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)3540212590

In this paper we model coupled genetic and metabolic networks as hybrid systems. The vector fields are multi affine, i.e., have only product type nonlinearities to accommodate chemical reactions, and are defined in rectangular invariants, whose facets correspond to changes in the behavior of a gene or enzyme. For such systems, we showed that reachability and safety verification problems can be formulated and solved (conservatively) in an elegant and computationally inexpensive way, based on the fact that multi-affine functions on rectangular regions of the space are determined at the vertices. Using these techniques, we study the stringent response system, which is the transition of bacterial organisms from growth phase to a metabolically suppressed phase when subjected to an environment with limited nutrients. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Hybrid systems

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Evaluation of protein crystallization states based on texture information

Evaluation of protein crystallization states based on textur...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Saitoh K. Kawabata S. Kunimitsu H. Asama T. Mishima Department of Information & Computer Science Saitama University Sakura Saitama Japan Distributed Adaptive Robotics Research Unit RIKEN Saitama Japan Distributed Adaptive Robotics Research Unit RIKEN Wako Saitama Japan Research into Artifacts Center for Engineering University of Tokyo Meguro Tokyo Japan

In recent years, several projects have advanced the research and development related to the automation of the protein crystallization process. However, the evaluation of crystallization states has not been completely automated yet. In the usual crystallization process, the researchers evaluate the crystallization growth states of the protein solution samples based on one's visual impressions and assign them a score over and over again. Then it is required to make the work more efficient. The method presented here automates such evaluations. This method attempts to categorize the individual crystallization droplet images into five classes from A to E, based on their crystallization states. The algorithm is comprised of pre-processing, feature extraction from images using texture analysis and a categorization process utilizing linear discriminant analysis. The performance of this method has been tested on our experiments using actual protein solution images.

关键词： Crystallization Research and development Automation Protein engineering Feature extraction Image analysis Image texture analysis Algorithm design and analysis Linear discriminant analysis Testing

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Using a non-prior training active feature model

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3333卷 69-78页

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul 156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN 27996-2100 United States

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag 2004.

关键词： Optical flows

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Cooperative embodied communication emerged by interactive humanoid robots

Cooperative embodied communication emerged by interactive hu...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： D. Sakamoto T. Kanda T. Ono M. Kamashima M. Imai H. Ishiguro ATR Intelligent Robotics and Communication Laboratories Soraku-gun Kyoto Japan Department of Media Architecture Future University-Hakodate Hakodate Hokkaido Japan Department of Computer Science Graduate School of Science and Technology Keio University Yokohama Kanagawa Japan Department Adaptive Machine Systems Graduate School of Engineering Osaka University Osaka Japan

Research on humanoid robots has produced various uses for their body properties in communication. In particular, mutual relationships of body movements between a robot and a human are considered to be important for smooth and natural communication, as they are in human-human communication. We have developed a semi-autonomous humanoid robot system that is capable of cooperative body movements with humans using environment-based sensors and switching communicative units. And we conducted an experiment using this robot system and verified the importance of cooperative behaviors in a route-guidance situation where a human gives directions to the robot. This result indicates that the cooperative body movements greatly enhance the emotional impressions of human in a route-guidance situation. We believe these results allow us to develop interactive humanoid robots that sociably communicate with humans.

关键词： Humanoid robots Robot sensing systems Intelligent robots Human robot interaction Laboratories Sensor systems Communication switching computer science Adaptive systems Educational institutions

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Optimizing Supervision and Control for Industrial Furnaces: Predictive Control Based Design

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IFAC Proceedings Volumes 2004年第19期37卷 17-28页

作者： Georgi M. Dimirovski A. Talha Dinibütün Miomir K. Vukobratovic J. Zhao SS Cyril and Methodius University Faculty of Electrical Engineering MK-1000 Skopje Republic of Macedonia Dogus University Computer Engineering Department Faculty of Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey Institute “Mihailo Pupin” Centre of Robotics and Flexible Automation 11000 Belgrade Serbia and Montenegro Northeastern University School of Information Science and Engineering Institute of Control Theory Shenyang Liaoning 110004 P.R. of China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons.

关键词： Complex time-delay processes generalized predictive control integrated control and supervision optimization set-point control

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Many is more, but not too many: Dimensions of cooperation of agents with and without predictive capabilities

Many is more, but not too many: Dimensions of cooperation of...

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作者： Scheutz, Matthias Schermerhorn, Paul Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

ISBN: (纸本)0769519318

This paper examines the tradeoffs between agents that can predict (and, therefore, take into account) other agent's actions and agents that act on their own without taking other agents' actions into account. A simple prediction mechanism allows agents to make reasonably accurate guesses about other agents' future actions, thereby making better decisions about their own actions. Our experimental findings from a multiagent object collection task suggest that not only do predictive agents perform better than non-predictive agents, but there are circumstances in which simple reactive prediction mechanisms perform as well as complex deliberative prediction mechanisms. © 2003 IEEE.

关键词： Forecasting

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A robot-assisted system for long bone intramedullary distal locking: Concept and preliminary results

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International Congress Series 2003年第C期1256卷 485-491页

作者： Joskowicz, L. Milgrom, C. Shoham, M. Yaniv, Z. Simkin, A. School of Computer Science Engineering Hebrew University of Jerusalem Givat Ram 91904 Jerusalem Israel Department of Orthopaedic Surgery Hadassah University Hospital Jerusalem Israel Faculty of Mechanical Engineering Masor Robotics Ltd. Haifa Israel

This paper presents a new robot-based system to assist orthopaedic surgeons in performing distal intramedullary locking in femoral and tibial fracture reduction. The system consists of a miniature bone-mounted robot fitted with a drill guide that provides mechanical guidance for manual drilling of the distal screws' pilot holes. The drill guide and the nail's distal locking holes axes are automatically aligned with a few X-ray fluoroscopic images. The goal is to eliminate the guesswork from drill positioning, thus reducing surgery time and surgeon's cumulative radiation exposure, and to ensure drill and hole's axis alignment during drilling, thus eliminating geometric errors and their complications. We describe the system's rationale and concept, its architecture and usage protocol, the image processing and registration algorithms, and preliminary experimental results. © 2003, Elsevier science B.V. and CARS. All rights reserved.

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Appearance-based minimalistic metric SLAM

Appearance-based minimalistic metric SLAM

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： P.E. Rybski S.T. Roumeliotis M. Gini N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

This paper addresses the problem of simultaneous localization and mapping (SLAM) for the case of very small, resource-limited robots which have poor odometry and can typically only carry a single monocular camera. We propose a modification to the standard SLAM algorithm in which the assumption that the robots can obtain metric distance/bearing information to landmarks is relaxed. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. In our formulation of this non-linear estimation problem, we infer implicit position measurements from an image recognition algorithm. The iterated form of the extended Kalman filter (IEKF) is employed to process all measurements.

关键词： Simultaneous localization and mapping Robot kinematics Robot sensing systems Robot vision systems Mobile robots Cameras Position measurement Motion estimation Machine vision computer science

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A method for transporting a team of miniature robots

A method for transporting a team of miniature robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： E. Kadioglu N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

The Scouts, developed at the University of Minnesota, are miniature robots designed mainly for reconnaissance and surveillance tasks. The Scout's small size and multiple mobility and sensing modes allow it to efficiently navigate and carry out certain missions in indoor environments and on relatively smooth surfaces. However, like many other small-sized robots, its miniature size and limited battery life become a bottleneck when it comes to cover long distances, particularly on rough, outdoor surfaces. In order to address this issue, we present a method to carry the Scouts to and from their main mission locations by adding a larger robot, a Pioneer 2-AT, to the team. The Pioneer carries a team of Scouts in a color marked box that it holds with its grippers. The Scouts jump out of the box, carry out their mission, and autonomously find the box and jump back in.

关键词： Robot kinematics Robot sensing systems Rough surfaces Surface roughness Surveillance Grippers Mobile robots Silver computer science Design engineering

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Heterogeneous implementation of an adaptive robotic sensing team

Heterogeneous implementation of an adaptive robotic sensing ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Kratochvil I.T. Burt A. Drenner D. Goerke B. Jackson C. McMillen C. Olson N. Papanikolopoulos A. Pfeifer S.A. Stoeter K. Stubbs D. Waletzko Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

When designing a mobile robotic team, an engineer is faced with many design choices. This paper discusses the design of a team consisting of two different models of robots with significantly different sensing and control capabilities intended to accomplish a similar task. Two new robotic platforms, the COTS Scout and the MegaScout are described along with their respective design considerations.

关键词： Robot sensing systems Mobile robots Humans computer science Design engineering Materials science and technology Contracts Distributed computing Mechanical engineering Costs

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