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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： James McLurkin Erik D. Demaine Computer Science Rice University Houston TX USA Electrical Engineering Computer Science MIT CSAIL Cambridge MA USA

We describe a distributed boundary detection algorithm suitable for use on multi-robot systems with dynamic network topologies. We assume that each robot has access to its local network geometry, which is the combination of a robot's network connectivity and the positions of its neighbors measured relative to itself. Our algorithm uses this information to classify robots as boundary or interior in one communications round, which is fast enough for rapidly changing networks. We use the local boundary classifications to create a robust boundary subgraph, and to determine if the boundary is an interior void or the exterior boundary. A proof of the key property of the boundary detection algorithm is provided, and all the algorithms are extensively tested on a swarm of 25-35 robots in rapidly changing network topologies.

关键词： Detection algorithms Multirobot systems Robot kinematics Robot sensing systems Computational geometry Distributed algorithms Position measurement Routing Network topology Solid modeling

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Arrayed Si/SiGe nanowire heterostructure formation via Au-catalyzed wet chemical etching method

Arrayed Si/SiGe nanowire heterostructure formation via Au-ca...

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Nanotechnology - General - 214th ECS Meeting/PRiME 2008

作者： Wang, X. Pey, K.L. Choi, W.K. Ho, C.K.F. Fitzgerald, E. Antoniadis, D. Advanced Materials for Micro- and Nano-Systems Programme Singapore-MIT Alliance 4 Engineering Drive 3 Singapore 117576 Singapore School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore 639798 Singapore Department of Electrical and Computer Engineering National University of Singapore 4 Engineering Drive 3 Singapore 117576 Singapore Department of Materials Science and Engineering Massachusetts Institute of Technology Cambridge MA 02139 United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA 02139 United States

ISBN: (纸本)9781615672998

Aligned Si/SiGe nanowire heterostructures have been formed using Au-assisted top-down chemical etching method combined with nanosphere lithography. Since the nanowires are formed from the as-grown films, the heterostructures along the axial axis of the formed nanowires, i.e. axial heterostructures, are replica of the grown layered film structure. Thus SiGe nanowire heterostructures can be readily formed along the axis using an as-grown heterostructured film. By applying a nanosphere lithography technique, the space, diameter, and density of the nanowires can be controlled and readily formed at specifically defined area. Because of the flexibility and simplicity of this method, nanowires with embedded junctions of different doping characteristics and Si/Ge concentrations can be fabricated easily. Si and its Ge alloy nanowires and one dimensional heterostructures formed using this method may have great potential for vertical logic, photovoltaic and memory device applications. ©The Electrochemical Society.

关键词： Nanowires

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Enhancing the surgeons reality: Smart visualization of bolus time of arrival and blood flow anomalies from time lapse series for safety and speed of cerebrovascular surgery

Enhancing the surgeons reality: Smart visualization of bolus...

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38th Applied Imagery Pattern Recognition Workshop: Vision: Humans, Animals, and Machines, AIPRW 2009

作者： Copeland, Andrew Mangoubi, Rami Desai, Mukund mitter, Sanjoy Malek, Adel C.S. Draper Laboratory Cambridge MA United States Department of Electrical Engineering and Computer Science MIT Cambridge MA United States Department of Neurosurgery Tufts-New England Medical Center Boston MA United States

ISBN: (纸本)9781424451463

A noise adaptive Cusum-based algorithm for determining the arrival times of contrast at each spatial location in a 2D time sequence of angiographic images is presented. We employ a new group-wise registration algorithm to remove the effect of patient motions during the acquisition process. By using the registered image the proposed arrival time provides accurate results without relying on a priori knowledge of the shape of the time series at each location or even on the time series at each location having the same shape under translation.

关键词： Time series

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Identifying components in 3D density maps of protein nanomachines by multi-scale segmentation

Identifying components in 3D density maps of protein nanomac...

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IEEE/NLM Life science Systems and Applications Workshop

作者： Grigore Pintilie Junjie Zhang Wah Chiu David Gossard Electrical Engineering and Computer Science MIT USA Structural & Computational Biology and Molecular Biophysics Baylor University College of Medicine USA Department of Mechanical Engineering MIT USA

Segmentation of density maps obtained using cryo-electron microscopy (cryo-EM) is a challenging task, and is typically accomplished by time-intensive interactive methods. The goal of segmentation is to identify the regions inside the density map that correspond to individual components. We present a multi-scale segmentation method for accomplishing this task that requires very little user interaction. The method uses the concept of scale space, which is created by convolution of the input density map with a Gaussian filter. The latter process smoothes the density map. The standard deviation of the Gaussian filter is varied, with smaller values corresponding to finer scales and larger values to coarser scales. Each of the maps at different scales is segmented using the watershed method, which is very efficient, completely automatic, and does not require the specification of seed points. Some detail is lost in the smoothing process. A sharpening process reintroduces detail into the segmentation at the coarsest scale by using the segmentations at the finer scales. We apply the method to simulated density maps, where the exact segmentation (or ground truth) is known, and rigorously evaluate the accuracy of the resulting segmentations.

关键词： Proteins Image segmentation Nanobioscience Filters Object detection Computational biology Molecular biophysics Educational institutions Microscopy Convolution

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Distributed coverage control for mobile sensors with location-dependent sensing models

Distributed coverage control for mobile sensors with locatio...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Ajay Deshpande Sameera Poduri Daniela Rus Gaurav S. Sukhatme Laboratory for Manufacturing and Productivity Massachusetts Institute of Technology USA Computer Science Department University of Southern California USA Faculty of Electrical Engineering and Computer Science MIT USA Faculty of Computer Science Department USC USA

This paper addresses the problem of coverage control of a network of mobile sensors. In the current literature, this is commonly formulated as a locational optimization problem under the assumption that sensing performance is independent of the locations of sensors. We extend this work to a more general framework where the sensor model is location-dependent. We propose a distributed control law and coordination algorithm. If the global sensing performance function is known a priori, we prove that the algorithm is guaranteed to converge. To validate this algorithm, we conduct experiments with indoor and outdoor deployments of Cyclops cameras and model its sensing performance. This model is used to simulate deployments on 1D pathways and study the coverage obtained. We also examine the coverage in the case when the global sensing function is not known and is estimated in an online fashion.

关键词： Distributed control Cameras Partitioning algorithms computer science Automatic control Optimal control Acoustic sensors Communication system control Robotics and automation Quality of service

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Recent advances in Cr: Colquiriite laser technology

Recent advances in Cr: Colquiriite laser technology

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IEEE Photonics Conference (IPC)

作者： Umit Demirbas Sava Sakadžić Kyung-Han Hong Jonathan R. Birge Duo Li Hyunil Byun Peter Fendel Gale S. Petrich Leslie A. Kolodziejski David A. Boas Alphan Sennaroglu Franz X. Kćrtner James G. Fujimoto Department of Electrical Engineering and Computer Science MIT Cambridge MA USA MGH/MIT/HMS Athinuola A. Martinos Center for Biomedical Imaging Harvard Medical School Charlestown MA USA Laser Research Laboratory Department of Physics Koç University Istanbul Turkey Department of Electrical Engineering and Computer Science MIT 77 Massachusetts Avenue Cambridge 02139 USA

ISBN: (纸本)9781424436804

We summarize recent progress in low-cost and highly-efficient Cr:Colquiriite laser technology. Pumping with inexpensive single-mode diodes, 270-mW of output power and a total tunability from 754 to 1042 nm were demonstrated in continuous-wave operation. In mode-locked operation, 100-fs pulses with 50-nJ pulse energy were demonstrated.

关键词： Chromium Pump lasers Laser mode locking Diodes Power generation Laser excitation Laser tuning Mirrors Laser theory Costs

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A comparative code study for quantum fault tolerance

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Quantum Information and Computation 2009年第7-8期9卷 0541-0572页

作者： Cross, Andrew W. Divincenzo, David P. Terhal, Barbara M. Department of Electrical Engineering and Computer Science MIT Cambridge MA 02139 United States IBM Research P.O. Box 218 Yorktown Heights NY 10570 United States

We study a comprehensive list of quantum codes as candidates for codes used at the physical level in a fault-tolerant code architecture. Using the Aliferis-Gottesman-Preskill (AGP) ex-Rec method we calculate the pseudo-threshold for these codes against depolarizing noise at various levels of overhead. We estimate the logical noise rate as a function of overhead at a physical error rate of p0 = 1 × 10-4. The Bacon-Shor codes and the Golay code are the best performers in our study.

关键词： Fault tolerance

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Retraction: “Growth of single crystal ZnO nanorods on GaN using an aqueous solution method” [Appl. Phys. Lett. 87, 101908 (2005)]

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Applied Physics Letters 2010年第23期97卷

作者： H. Q. Le S. J. Chua Y. W. Koh K. P. Loh Z. Chen C. V. Thompson E. A. Fitzgerald 1Singapore-MIT-Alliance E4-04-10 4 Engineering Drive 3 Singapore 117576 and Institute of Materials Research and Engineering 3 Research Link Singapore 117602 and Center for Optoelectronics National University of Singapore Singapore 117576 2Chemistry Department National University of Singapore Singapore 117576 3Institute of Materials Research and Engineering 3 Research Link Singapore 117602 4Department of Electrical and Computer Science Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA

The above article, published in Applied Physics Letters, has originally reported the growth of ZnO nanorods on GaN using hydrothermal synthesis without any cata

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Developments and directions in speech recognition and understanding, Part 1 [DSP Education]

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IEEE Signal Processing Magazine 2009年第3期26卷 75-80页

作者： Janet M. Baker Li Deng James Glass Sanjeev Khudanpur Chin-hui Lee Nelson Morgan Douglas O'Shaughnessy Dragon Systems and founder of Saras Institute Massachusetts USA University of Washington USA Microsoft Research Redmond Washington Health Sciences and Technology USA MIT Computer Science and Artificial Intelligence Laboratory Electrical and computer engineering in the GWC Johns Hopkins University Baltimore Maryland USA School of Electrical and Computer Engineering Georgia Institute of Technology USA ICSI University of California USA INRS-EMT University of Quebec

To advance research, it is important to identify promising future research directions, especially those that have not been adequately pursued or funded in the past. The working group producing this article was charged to elicit from the human language technology (HLT) community a set of well-considered directions or rich areas for future research that could lead to major paradigm shifts in the field of automatic speech recognition (ASR) and understanding. ASR has been an area of great interest and activity to the signal processing and HLT communities over the past several decades. As a first step, this group reviewed major developments in the field and the circumstances that led to their success and then focused on areas it deemed especially fertile for future research. Part 1 of this article will focus on historically significant developments in the ASR area, including several major research efforts that were guided by different funding agencies, and suggest general areas in which to focus research.

关键词： Speech recognition Digital signal processing Automatic speech recognition Power system modeling Hidden Markov models Natural languages Knowledge representation History Speech synthesis Costs

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A biomimetic adaptive algorithm and low-power architecture for implantable neural decoders

A biomimetic adaptive algorithm and low-power architecture f...

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

作者： Benjamin I. Rapoport Woradorn Wattanapanitch Hector L. Penagos Sam Musallam Richard A. Andersen Rahul Sarpeshkar Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA Harvard-MIT Division of Health Sciences and Technology Harvard Medical School Cambridge MA USA MIT Department of Brain and Cognitive Sciences and the Harvard-MIT Division Health Sciences and Technology USA Department of Electrical and Computer Engineering McGill University Montreal QUE Canada Division of Biology California Institute of Technology Pasadena CA USA

Algorithmically and energetically efficient computational architectures that operate in real time are essential for clinically useful neural prosthetic devices. Such devices decode raw neural data to obtain direct control signals for external devices. They can also perform data compression and vastly reduce the bandwidth and consequently power expended in wireless transmission of raw data from implantable brain-machine interfaces. We describe a biomimetic algorithm and micropower analog circuit architecture for decoding neural cell ensemble signals. The decoding algorithm implements a continuous-time artificial neural network, using a bank of adaptive linear filters with kernels that emulate synaptic dynamics. The filters transform neural signal inputs into control-parameter outputs, and can be tuned automatically in an on-line learning process. We provide experimental validation of our system using neural data from thalamic head-direction cells in an awake behaving rat.

关键词： Biomimetics Adaptive algorithm Decoding computer architecture Nonlinear filters Prosthetics Data compression Bandwidth Analog circuits Artificial neural networks

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