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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Michael J. Gielniak Andrea L. Thomaz C. Karen Liu Department of Electrical & Computer Engineering Georgia Institute of Technology777 Atlantic Dr. NW School of Interactive Computing Georgia Institute of Technology85 5th St. NETSRB 317AtlantaGA30

Social robots can benefit from motion variance because non-repetitive gestures will be more natural and intuitive for human partners. We introduce a new approach for synthesizing variance, both with and without constraints, using a stochastic process. Based on optimal control theory and operational space control, our method can generate an infinite number of variations in real-time that resemble the kinematic and dynamic characteristics from the single input motion sequence. We also introduce a stochastic method to generate smooth but nondeterministic transitions between arbitrary motion variants. Furthermore, we quantitatively evaluate taskaware variance against random white torque noise, operational space control, style-based inverse kinematics, and retargeted human motion to prove that task-aware variance generates human-like motion. Finally, we demonstrate the ability of task-aware variance to maintain velocity and time-dependent features that exist in the input motion.

关键词： Robots Joints Trajectory Kinematics Torque Wrist Noise

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Visualization of the mining models on a data mining and integration platform

Visualization of the mining models on a data mining and inte...

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Proceedings of the International Convention MIPRO

作者： Ivan Janciak Marek Lenart Peter Brezany Lenka Novakova Ondrej Habala Research Group of Scientific Computing Faculty of Computer Science University of Technology Vienna Austria Department of Cybernetics Faculty of Electrical Engineering Czech Technical University Czech Republic Institute of Informatics Slovak Academy of Sciences Slovakia

An appropriate and understandable data visualization is a key feature for the usability of a data mining system. The proper visualization methods for data exploration increase the whole acceptability of the system and proper selection of the further data processing tasks. This paper introduces a framework for visualization of results as it is being implemented in the European project ADMIRE (Advanced Data Mining and Integration Research for Europe). The feasibility of the framework for distributed systems is presented on a real data mining and integration scenario. We describe two visualization components fully implemented and deployed in the distributed environment. The first one is implemented on the ADMIRE Gateway and is processing input data and producing information required by the second component residing on the ADMIRE Workbench, which provides the actual graphical visualization. The ADMIRE Gateway and Workbench are two basic components of the distributed ADMIRE Platform.

关键词： Data mining Data visualization Data models Computational modeling Biological system modeling Reservoirs Temperature measurement

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain

作者： Bos, Danny Plass-Oude Duvinage, Matthieu Oktay, Oytun Saa, Jaime Delgado Guruler, Huseyin Istanbullu, Ayhan Van Vliet, Marijn Van De Laar, Bram Poel, Mannes Roijendijk, Linsey Tonin, Luca Bahramisharif, Ali Reuderink, Boris HMI Group Faculty of EEMCS University of Twente Netherlands TCTS Lab Electrical Engineering University Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal University Turkey Faculty of Engineering and Natural Sciences VPA Lab Sabanci University Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Radboud University Nijmegen Donders Institute for Brain Cognition and Behaviour Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Radboud University Nijmegen Institute for Computing and Information Sciences Nijmegen Netherlands

ISBN: (纸本)9781424498918

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment. © 2011 IEEE.

关键词： Virtual reality

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A toolkit for forward/inverse problems in electrocardiography within the SCIRun problem solving environment

A toolkit for forward/inverse problems in electrocardiograph...

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

作者： Brett M Burton Jess D Tate Burak Erem Darrell J Swenson Dafang F Wang Michael Steffen Dana H Brooks Peter M van Dam Rob S Macleod Department of Bioengineering University of Utah Salt Lake UT USA Department of Electrical & Computer Engineering Northeastern University Boston MA USA Scientific Computing and Imaging Institute University of Utah USA Radboud University Medical Center Nijmegen Netherlands

Computational modeling in electrocardiography often requires the examination of cardiac forward and inverse problems in order to non-invasively analyze physiological events that are otherwise inaccessible or unethical to explore. The study of these models can be performed in the open-source SCIRun problem solving environment developed at the Center for Integrative Biomedical computing (CIBC). A new toolkit within SCIRun provides researchers with essential frameworks for constructing and manipulating electrocardiographic forward and inverse models in a highly efficient and interactive way. The toolkit contains sample networks, tutorials and documentation which direct users through SCIRun-specific approaches in the assembly and execution of these specific problems.

关键词： Computational modeling Torso Electric potential Inverse problems Electrocardiography Heart Finite element methods

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Extracting all minimal siphons from maximal unmarked siphons in manufacturing-oriented Petri nets

Extracting all minimal siphons from maximal unmarked siphons...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： ShouGuang Wang MengChu Zhou ChengYing Wang College of Information & Electronic Engineering Zhejiang Gongshang University Hangzhou China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA MoE Key Laboratory of Embedded System and Service Computing Tongji University Shanghai China

Deadlock control is an important research issue in automated manufacturing systems that have a high degree of resource sharing and concurrency. Since minimal siphons are closely tied with deadlocks in Petri net models, their efficient extraction is fundamentally important. The existing methods can rapidly extract one minimal siphon given a maximal unmarked siphon that is obtained by using a mixed integer programming approach. This paper for the first time presents an extraction algorithm that can efficiently extract all minimal ones. The idea is based on the generation and use of a subnet tree structure given the places in a maximal unmarked siphon. Several Petri net models of automated manufacturing systems are used to illustrate the proposed concepts and methods.

关键词： System recovery Algorithm design and analysis Petri nets Educational institutions Manufacturing systems Software algorithms Image edge detection

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Memory Efficient On-Line Streaming for Multichannel Spike Train Analysis

Memory Efficient On-Line Streaming for Multichannel Spike Tr...

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

作者： Bo Yu Terrence Mak Leslie Smith Yihe Sun Alex Yakovlev Chi-Sang Poon Tsinghua National Laboratory for Information Science and Technology Institute of Microelectronics Tsinghua University School of Electrical Electronic and Computer Engineering Department of Computing Science and Mathematics University of Stirling Harvard-MIT Division of Health Sciences and Technology MIT

ISBN: (纸本)9781424441211

Rapid advances in multichannel neural signal recording technologies in recent years have spawned broad applications in neuro-prostheses and neuro-rehabilitation. The dramatic increase in data bandwidth and volume associated with multichannel recording requires a significant computational effort which presents major design challenges for brain-machine interface (BMI) system in terms of power dissipation and hardware area. In this paper, we present a streaming method for implementing real-time memory efficient neural signal processing hardware. This method exploits the pseudo-stationary property of neural signals and, thus, eliminates the need of temporal storage in batch-based processing. The proposed technique can significantly reduce memory size and dynamic power while effectively maintaining the accuracy of algorithms. The streaming kernel is robust when compared to the batch processing over a range of BMI benchmark algorithms. The advantages of the streaming kernel when implemented on field-programmable gate array (FPGA) devices are also demonstrated.

关键词： Streaming Batch processing Field programmable gate arrays Power dissipation signal processing

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Demonstration of QoS-aware video streaming over a metro-scale optical network using a cross-layer architectural design

Demonstration of QoS-aware video streaming over a metro-scal...

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作者： Wang, Michael S. Wang, Anjing Bathula, Balagangadhar G. Lai, Caroline P. Baldine, Ilia Chen, Cathy Majumder, Debjyoti Gurkan, Deniz Rouskas, George N. Dutta, Rudra Bergman, Keren Department of Electrical Engineering Columbia University 500 W. 120th St. New York NY 10027 United States Department of Computer Science North Carolina State University 890 Oval Drive Raleigh NC 27606 United States Renaissance Computing Institute 100 Europa Dr. Chapel Hill NC 27517 United States Department of Engineering Technology University of Houston 230D Technology Bldg. Houston TX 77204 United States

QoS-aware video streaming is demonstrated on an optical network using a service-oriented architecture and a NetFPGA-based optical control plane. Dynamic optical power fluctuations are either compensated or the lightpa... 详细信息

ISBN: (纸本)9781457702136

关键词： Video streaming

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Superconducting Qubit with Purcell Protection and Tunable Coupling

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Physical Review Letters 2011年第3期106卷 030502-030502页

作者： J. M. Gambetta A. A. Houck Alexandre Blais Institute for Quantum Computing and Department of Applied Mathematics University of Waterloo Waterloo Ontario Canada N2L 3G1 Department of Electrical Engineering Princeton University Princeton New Jersey 08544 USA Département de Physique Université de Sherbrooke Sherbrooke Québec Canada J1K 2R1

We present a superconducting qubit for the circuit quantum electrodynamics architecture that has a tunable qubit-resonator coupling strength g. This coupling can be tuned from zero to values that are comparable with other superconducting qubits. At g=0, the qubit is in a decoherence-free subspace with respect to spontaneous emission induced by the Purcell effect. Furthermore, we show that in this decoherence-free subspace, the state of the qubit can still be measured by either a dispersive shift on the resonance frequency of the resonator or by a cycling-type measurement.

关键词： Electrodynamics

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Promoting Harmonization of BME Education in Europe: The CRH-BME Tempus Project

Promoting Harmonization of BME Education in Europe: The CRH-...

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

作者： Nicolas Pallikarakis Zhivko Bliznakov Damijan Miklavcic Tomaz Jarm Ratko Magjarevic Igor Lackovic Leandro Pecchia Rita Stagni Akos Jobaggy Joseph Barbenel University of Patras School of Health Sciences Department of Medical Physics Biomedical Technology Unit Institute of Biomedical Technology University of Ljubljana Faculty of Electrical Engineering University of Zagreb Faculty of Electrical Engineering and Computing University of Naples - Federico II Department of Biomedical Electronic and Telecommunication Engineering University of Bologna Department of Electronics Computer Science and Systems Budapest University of Technology and Economics Department of Measurement and Information Systems University of Strathclyde

ISBN: (纸本)9781424441211

Biomedical Engineers should be prepared to adapt to existing or forecasted needs. There is a strong pressure on education, training and life long learning programs to continuously adapt their objectives in order to face new requirements and challenges. The main objective of the TEMPUS IV, CRH-BME project is to update existing curricula in the field of Biomedical engineering (BME) in order to meet recent and future developments in the area, address new emerging inter-disciplinary domains that appear as a result of the R&D progress and respond to the BME job market demands. The first step is to extensively review the curricula in the BME education field. In this paper, a proposal for a generic curriculum in the BME education is presented, in order to meet recent and future developments and respond to the demands of the BME job market. Adoption of the core program structure will facilitate harmonization of studies as well as student and staff exchange across Europe, thus promoting the European Higher Education Area.

关键词： Biology Europe Biomedical engineering Educational institutions Knowledge engineering Mathematics

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Trace driven registration of neuron confocal microscopy stacks

Trace driven registration of neuron confocal microscopy stac...

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IEEE International Symposium on Biomedical Imaging

作者： Luke Hogrebe Antonio R. C. Paiva Elizabeth Jurrus Cameron Christensen Michael Bridge J.R. Korenberg Tolga Tasdizen Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA Scientific Computing and Imaging Institute University of Utah Salt Lake UT USA University of Utah Salt Lake City UT US Brain Institute University of Utah Salt Lake UT USA

ISBN: (纸本)9781424441273

Active research in the area of 3-D neurite tracing has predominantly focused on single sections. Ultimately, however, neurobiologists desire to study the long range connectivity of the brain, which requires tracing axons across multiple serially-cut sections. Registration of axonal sections is challenging due to several factors, such as sparseness of the axons and complications of the sectioning process, including tissue deformation and loss. This paper investigates a method for registering sections using centerline traces which provide the locations of axons at section boundaries and the angles at which the axons approach the boundaries. This information is used to determine correspondences between two serial sections. Both global and local differences are accounted for using rigid and non-rigid transforms. Results show that utilizing information from traced axons allows axon continuity across sections to be restored.

关键词： Nerve fibers Microscopy Transforms Accuracy Optical microscopy Biomedical imaging

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