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European Signal Processing Conference

作者： Sabina Zejnilovic Joao Gomes Bruno Sinopoli Carnegie Mellon University Department of Electrical and Computer Engineering Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) University of Lisbon

ISBN: (纸本)9781479946037

In order to quickly curb infections or prevent spreading of rumors, first the source of diffusion needs to be localized. We analyze the problem of source localization, based on infection times of a subset of nodes in incompletely observed tree networks, under a simple propagation model. Our scenario reflects the assumption that having access to all the nodes and full network topology is often not feasible. We evaluate the number of possible topologies that are consistent with the observed incomplete tree. We provide a sufficient condition for the selection of observed nodes, such that correct localization is possible, i.e. the network is observable. Finally, we formulate the source localization problem under these assumptions as a binary linear integer program. We then provide a small simulation example to illustrate the effect of the number of observed nodes on the problem complexity and on the number of possible solutions for the source.

关键词： Network observability Source localization Tree graphs Missing edges

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Corneal nerve morphometry for diabetic peripheral neuropathy assessment

Corneal nerve morphometry for diabetic peripheral neuropathy...

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International Conference on Health Informatics, ICHI 2013

作者： Silva, Susana Figueiredo. Otel, Iulian Gouveia, Sofia Gomes, Leonor Negrão, Luís Quadrado, Maria João Gonçalves, Nuno Barreto, João Pedro Morgado, António Miguel IBILI - Institute for Biomedical Imaging and Life Sciences University of Coimbra Coimbra Portugal Department of Endocrinology Diabetes and Metabolism Portugal Department of Neurology Portugal Department of Ophthalmology Coimbra Hospital University Center Coimbra Portugal ISR - Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Physics University of Coimbra Coimbra Portugal

ISBN: (纸本)9783319030043

Diabetic peripheral neuropathy (DPN) is one of the more common complications of diabetes, being associated to 50-75% of non-traumatic amputations. Early diagnosis of DPN often fails or occurs only when patients became symptomatic due to the non-availability of a simple, reliable, noninvasive method. We present the results of a pilot study where we used peripheral nerves morphometric information, retrieved from images of the corneal sub-basal nerve plexus, obtained in vivo by corneal confocal microscopy, to identify and stage patients with DPN. Nerve segmentation was done manually and using an automatic algorithm. Both standard statistical techniques and classification techniques were used for DPN identification. With manual segmentation, differences were found between controls and patients with mild and moderate DPN, for the nerve fiber length and density parameters. A simple comparison between individuals with and without DPN results in significant differences for those parameters, as well as for branching pattern and density. No differences were found with automatic segmentation. Simple classification techniques based on manually extracted parameters were tested for identification of DPN patients. The best results were obtained with a binary tree classifier, using PCA transformed data, for a pruning level 9. The classifier accuracy was 87%. The results confirm that morphometric analysis of corneal nerves images may be used as a complementing technique for DPN diagnosis. A fully automatic tool for identifying and staging DPN patients requires additional work on the nerve segmentation algorithm and the use of more robust classifiers with additional reliance on image features other than the tested morphometric parameters. © 2014, Springer International Publishing Switzerland.

关键词： Confocal microscopy

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Opening remarks

2016 International Conference on Advances in Human Machine I...

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2016 International Conference on Advances in Human Machine Interaction, HMI 2016 2016年

作者： Nagaraja, Ch. Swamy, J. Nagendra Rajendra, J. Khan, M.S. Vishwanath Reddy, D.S. Manjunath, N. Dillmann, Ruediger Tarn, Tzyh Jong Zhao, Qianchuan Ammi, Mehdi Zuberek, Wlodek M. Sandhu, P.S. Patthira Newman, K. De Silva Liyanage, Chandratilak Hassan, Sohair Aly Aly Sun, Kien Wen Rahman, Md. Moshiur Ordoño, E. Evangelista Sharma, R.K. Mishra, Preeti Chandel, B.S. Singla, Ekta Petric, Tadej Zhong, Yu Jiglar, Janson Alemzadeh, Kazem Asokan, T. Tripathi, Animesh Tripathi, Manoj Ram, Swaminath Shrma, M.K. Panday, P.N. Kumar, Devendra Hinchey, Mike Stilman, Boris Suraj, Zbigniew Pal, Sankar K. Sasi, Sreela Rajan, Deepu Marshall, Roger G. Abraham, Ajith Peter S, David Paul, Vargheese Gopakumar, V. Dustdar, Schahram Soto, Sebastián Ventura Rausch, Andreas Angelis, Lefteris Nelson, Andrew L. Botzheim, Janos Bernardino, Heder Soares Zboril, Frantisek Ane, Bernadetta Kwintiana Maeda, Toshiyuki Sakalauskas, Virgilijus Hann, Garenth Lim King Samek, Jan Romero Salguero, José Raúl Varghese, Kuruvilla Kriksciuniene, Dalia Mathew, Jimson Reif, Wolfgang Mauri, Giancarlo Cabrerizo Lorite, Francisco Javier Özcan, Ender Cho, Sung-Bae Paily, Roy P. Rezankova, Hana Tudjarov, Boris Hong, Wei-Chiang De Oliveira, José Valente Flores Romero, Juan Jose Oskouei, Rozita Jamili Cicchetti, Antonio Roy, Chanchal Segura, Sergio Samuel, C. Mallet, Frédéric Mernik, Marjan Punnekkat, Sasikumar Waseemulla, A. Sri Devaraj Urs Educational Trust Bangalore India R. L. Jalappa Institute of Technology Doddaballapur Bangalore India Humanoids and Intelligence Systems Lab Kalsruhe Germany Electrical and Systems Engineering Washington University in St. Louis United States Deputy Director of Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing China Department of Computer Science CNRS/LIMSI Lab AMI Group France Memorial University St. John'sNL Canada RBIT and Bio-Technology India LR University Thailand University of Colorado at Boulder Boulder United States Faculty of Science University of Brunei Brunei University of Kuala Lumpur Malaysia National Chiao Tung University Taiwan EPR Centre Bangladesh Mapua Institute of Technology Philippines ARO CWC Lucknow India Mpec Kanpur India DSC DBS Kanpu India Indian Institute of Technology Ropar India Jozaf Stefan Institute Department of Automation Biocyernetics and Robotics Ljubljana Slovenia Robotics Institute Carnegie Mellon University Pittsburgh United States Faculty of Engineering University of Bristol United Kingdom Department of Engineering Design Indian Institute of Technology Madras India Lucknow Uni Lucknow India CSJM Uni Kanpur India UPPCB Lucknow India PCB Roorkee India Awadh Uni Faijabad India Agra Uni Agra India Lero University of Limerick Ireland University of Colorado Denver United States University of Rzeszow Poland Indian Statistical Institute Kolkata India Gannon University PA United States Nanyang Technical University Singapore Singapore Plymouth State University NH United States MIR Labs United States Cochin University of Science and Technology India State Project Facilitation Unit TEQIP Kerala India Technical University of Vienna Austria University of Cordoba Spain Clausthal University of Technology Germany Aristotle University of Thessaloniki Greece Androtics LLC TucsonAZ United States Tokyo Metropolitan University Japan Federal Unive

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Role of Network Topology in Cybersecurity

Role of Network Topology in Cybersecurity

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IEEE Annual Conference on Decision and Control

作者： Richard J. La Department of Electrical & Computer Engineering (ECE) and the Institute for Systems Research (ISR) at the University of Maryland College Park

ISBN: (纸本)9781467360890

We study how an underlying network property affects network security when nodes are rational and have four choices - i) invest in protection, ii) purchase (incomplete coverage) insurance, iii) invest in protection and purchase insurance, or iv) do nothing. More specifically, using a population game model, we examine how the degree distribution of nodes influences their choices at Nash equilibria (NEs) and overall security level. We first show that there exists a degree threshold at NEs so that only the populations with degrees greater than or equal to the threshold invest in protection. Second, as the weighted degree distribution of nodes becomes stochastically larger, the risk or threat posed by a neighbor decreases, even though the aforementioned degree threshold tends to rise, hence only nodes with increasingly higher degrees invest in protection, at the same time. Third, we show that the social optimum also possesses similar properties. Finally, we derive an upper bound on the price of anarchy, which is an affine function of the average degree of nodes. This upper bound is tight in that it is achieved in some scenarios.

关键词： Network security Ganglia Network topology Security level Anarchy Greater than or equal to Neighbor Upper bound population model

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A p300 model for cerebot - A mind-controlled humanoid robot 2

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2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Game-theoretic learning in a distributed-information setting: Distributed convergence to mean-centric equilibria

Game-theoretic learning in a distributed-information setting...

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Asilomar Conference on Signals, systems & computers

作者： Brian Swenson Soummya Kar João Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) University of Lisbon Portugal

ISBN: (纸本)9781479982981

The paper considers distributed learning in large-scale games via fictitious-play type algorithms. Given a preassigned communication graph structure for information exchange among the players, this paper studies a distributed implementation of the Empirical Centroid Fictitious Play (ECFP) algorithm that is well-suited to large-scale games in terms of complexity and memory requirements. It is shown that the distributed algorithm converges to an equilibrium set denoted as the mean-centric equilibria (MCE) for a reasonably large class of games.

关键词： Games Convergence Joints History Cognition Economics Protocols

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A Single DOF arm for transition of climbing robots between perpendicular planes

A Single DOF arm for transition of climbing robots between p...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Carlos Viegas Mahmoud Tavakoli Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781479969357

This paper introduces a novel single DOF plane transition mechanism, designed to enable wheel based climbing robots to transit between perpendicular planes. The developed mechanism is composed of an arm with two revolute joints derived by a single motor. An innovative transmission mechanism is designed based on the required trajectory and relative position for each arm link, enabling individual or simultaneous rotation of the two joints during the transition movement. An electromagnetic unit which adapts to both flat and curved structures is also designed and integrated in the arm. This solution was installed on the omnidirectional climbing robot, OmniClimber. The mechanism was successfully tested on a curved structure with a diameter of 220mm.

关键词： Joints Climbing robots Torque Adhesives Force

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Adaptive under-actuated anthropomorphic hand: isr-SoftHand

Adaptive under-actuated anthropomorphic hand: ISR-SoftHand

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmoud Tavakoli Anibal T. de Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781479969357

isr-Softhand is a novel under-actuated self contained anthropomorphic robotic hand which takes advantage of elastic joints and soft pads. The integrated compliance in the hand's joint allows for a very good adaptability to a wide range of objects. It can achieve the top ten grasps with highest frequency of usage by humans, with only three actuators.

关键词： Self tuning Hand robotic hand Grasp elastic joint wide-range actuators Human

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Pedestrian Detection Combining RGB and Dense LIDAR Data

Pedestrian Detection Combining RGB and Dense LIDAR Data

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Cristiano Premebida Joao Carreira Jorge Batista Urbano Nunes Institute of Systems and Robotics Electrical and Computer Engineering Department University of Coimbra Portugal EECS Department at UC Berkeley

ISBN: (纸本)9781479969357

Why is pedestrian detection still very challenging in realistic scenes? How much would a successful solution to monocular depth inference aid pedestrian detection? In order to answer these questions we trained a state-of-the-art deformable parts detector using different configurations of optical images and their associated 3D point clouds, in conjunction and independently, leveraging upon the recently released KITTI dataset. We propose novel strategies for depth upsampling and contextual fusion that together lead to detection performance which exceeds that of the RGB-only systems. Our results suggest depth cues as a very promising mid-level target for future pedestrian detection approaches.

关键词： Pedestrians Optical Imaging Lidar

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Filter design for localization aided by direction and Doppler measurements

Filter design for localization aided by direction and Dopple...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joel Reis Paulo Oliveira Pedro Batista Carlos Silvestre Institute for Systems and Robotics Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering University of Macau

This paper presents a localization solution for the study of tagged marine animals (sources) based on direction and Doppler measurements. The source localization, in 3-D, is supported by a Portable Underwater Robotic Tool (PURT), comprising a Ultra-Short Baseline (USBL) aided INS navigation system, carried by a diver (agent). Furthermore, a Surface Robotic Tool (SRT) provides the agent with its absolute position expressed in inertial coordinates. The observability of the system is studied and realistic simulation results are presented, in the presence of measurement noise.

关键词： Vectors Observability Noise Robots Acoustics Navigation Doppler effect

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