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

作者： O. Christ J. Wojtusch P. Beckerle K. Wolff J. Vogt O. von Stryk S. Rinderknecht Department of Human Science Work and Engineering Psychology Research Group Technische Universit?t Darmstadt 64283 Darmstadt Germany Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universit?t Darmstadt 64289 Darmstadt Germany Department of Mechanical Engineering Institute for Mechatronic Systems in Mechanical Engineering Technische Universit?t Darmstadt 64287 Darmstadt Germany

ISBN: (纸本)9781424441198

After an amputation, processes of change in the body image as well as a change in body scheme have direct influences on the quality of living in every patient. Within this paper, a paradigm of experimental induced body illusion (the Rubber Hand Illusion, RHI) is integrated in a prosthetic hardware simulator concept. This concept combines biodynamical and visual feedback to enhance the quality of rehabilitation and to integrate patients' needs into the development of prostheses aiming on user-centered solutions. Therefore, user-centered design parameters are deducted. Furthermore, the basic concept of the visual simulation is presented and a possibility for its implementation is given. Finally, issues and conclusions for future work are described.

关键词： amputation processes conclusions

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Scheduling measurements and controls over networks — Part II: Rollout strategies for simultaneous protocol and controller design

Scheduling measurements and controls over networks — Part I...

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American Control Conference (ACC)

作者： D. J. Antunes W. P. M. H. Heemels J. P. Hespanha C. J. Silvestre Hybrid and Networked Systems Group Department of Mechanical Engineering Eindhovan University of Technology Netherlands Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Faculty of Science and Technology University of Macau Taipa Macao China

ISBN: (纸本)9781457710957

We consider a networked control system where a plant is connected to a remote controller via a shared network that allows only one user to transmit at a given time. At each transmission time, the controller decides between sampling one of the plant's sensors or transmitting control data to the plant. We tackle the problem of simultaneously designing a policy for scheduling decisions and a policy for control inputs so as to optimize a quadratic objective. Using the framework of dynamic programming, we propose a rollout strategy by which the scheduling and control decisions are determined at each transmission time as the ones that lead to optimal performance over a given horizon assuming that from then on controller and sensors transmit in a periodic order and the control law is a standard optimal law for periodic systems. We show that this rollout strategy results in a protocol where scheduling decisions are based on the state estimate and error covariance matrix of a Kalman estimator, and must be determined on-line. We contrast the solution to this problem with the solution to the seemingly similar sensor scheduling problem where optimal scheduling decisions can be determined off-line. We highlight how the protocol obtained from the rollout algorithm can be implemented in a distributed way in broadcast networks. Moreover, it follows by construction of rollout algorithms that our proposed scheduling method can outperform any periodic scheduling of transmissions.

关键词： Sensors Protocols Scheduling Optimal scheduling Covariance matrix Processor scheduling Networked control systems

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Laser-based mosquito repelling module

Laser-based mosquito repelling module

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IEEE PhotonicsGlobal@Singapore, IPGC

作者： Chantira Boonsri Sarun Sumriddetchkajorn Prathan Buranasiri Department of Applied Physics Faculty of Science King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Intelligent Devices and Systems Research Unit National Electronics and Computer Technology Center Khlong Luang Pathum Thani Thailand

This article proposes and shows that a low-optical-power laser when arranged in a zigzag fashion in a free space can create strong air thermal stress and form a chemical-free optical net that is capable of repelling adult mosquitoes away. Experimental proof of concept using a pointer-like diode-pump solid-state laser (447 nm wavelength and 500 mW maximum) and reflective sheets shows that all 80 adult Aedes albopictus mosquitoes are completely trapped inside the open glass chamber. Most of the adult mosquitoes prefer to stay near the bottom of the open glass chamber as it is cooler than the top part that contains several zigzagging laser beams. Reducing air thermal stress via increasing the spacing between the two adjacent laser beams allows the adult mosquitoes to easily escape out of the zone of the laser beams.

关键词： Glass Power lasers Semiconductor lasers Biomedical optical imaging Optical imaging Optical reflection

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An Embedded Co-AdaBoost and Its Application in Classification of Software Document Relation

An Embedded Co-AdaBoost and Its Application in Classificatio...

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International Conference on Semantics, Knowledge and Grid (SKG)

作者： Jin Liu Juan Li Yuan Xie Jeff Lei Qiping Hu State Key Laboratory of Software Engineering Computer School Wuhan University China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation CAS China Department of Computer Science and Engineering University of Texas Arlington USA International School of Software Wuhan University China

To enhance classification performance by making use of easily available unlabelled data to overcome the scarcity of labelled data, this paper proposes an Embedded Co-Adaboost algorithm that integrates multi-view learning into the Adaboost learning framework and at the same time leverages the advantages of Co-training algorithm for performance enhancement. Experimental results demonstrate the effectiveness of the proposed algorithm in terms of the convergence rate, the accuracy, and the steady performance as compared to the original AdaBoost algorithm, without relying on redundant and sufficient feature sets. As a algorithm application in software engineering, the Embedded Co-AdaBoost has been applied to the classification of software document relations to improve the quality of the architecture design documents and the reusability of design knowledge.

关键词： Classification algorithms Training Software Accuracy Partitioning algorithms Software algorithms Convergence

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Multi-Stage Multi-Task Feature Learning* 12

Multi-Stage Multi-Task Feature Learning*

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Annual Conference on Neural Information Processing systems

作者： Pinghua Gong Jieping Ye Changshui Zhang State Key Laboratory on Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology (TNList) Department of Automation Tsinghua University Beijing 100084 China Computer Science and Engineering Center for Evolutionary Medicine and Informatics The Biodesign Institute Arizona State University Tempe AZ 85287 USA

ISBN: (纸本)9781627480031

Multi-task sparse feature learning aims to improve the generalization performance by exploiting the shared features among tasks. It has been successfully applied to many applications including computer vision and biomedical informatics. Most of the existing multi-task sparse feature learning algorithms are formulated as a convex sparse regularization problem, which is usually suboptimal, due to its looseness for approximating an ?_0o-type regularizer. In this paper, we propose a non-convex formulation for multi-task sparse feature learning based on a novel regularizer. To solve the non-convex optimization problem, we propose a Multistage Multi-Task Feature Learning (MSMTFL) algorithm. Moreover, we present a detailed theoretical analysis showing that MSMTFL achieves a better parameter estimation error bound than the convex formulation. Empirical studies on both synthetic and real-world data sets demonstrate the effectiveness of MSMTFL in comparison with the state of the art multi-task sparse feature learning algorithms.

关键词： Learning learning algorithms Non-Convex Biomedical informatics Theoretical analysis Parameter estimation images computer vision state of the art Dataset Convexity Religious Missions SYNTHETICS

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Cortex Inspired Model for Inverse Kinematics Computation for a Humanoid Robotic Finger

Cortex Inspired Model for Inverse Kinematics Computation for...

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

作者： Rodolphe J. Gentili Hyuk Oh Javier Molina James A. Reggia José L. Contreras- Vidal Department of Kinesiology School of Public Health Maryland Robotics Center Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Department of Systems Engineering and Automation Technical University of Cartagena 30202 Cartagena Spain Department of Computer Science University of Maryland Institute for Advanced Computer Studies University of Maryland College Park MD 20742 USA Department of Electrical and Computer Engineering University of Houston Houston TX 77004 USA

ISBN: (纸本)9781424441198

In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multijointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands.

关键词： reaching prosthetic providing

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Automated speech act classification for online chat

Automated speech act classification for online chat

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22nd Midwest Artificial Intelligence and Cognitive science Conference, MAICS 2011

作者： Moldovan, Cristian Rus, Vasile Graesser, Arthur C. Department of Computer Science Institute for Intelligent Systems University of Memphis Memphis TN 38152 United States Department of Psychology Institute for Intelligent Systems University of Memphis United States

In this paper, we present our investigation on using supervised machine learning methods to automatically classify online chat posts into speech act categories, which are semantic categories indicating speakers' intentions. Supervised machine learning methods presuppose the existence of annotated training data based on which machine learning algorithms can be used to learn the parameters of some model that was proposed to solve the task at hand. In our case, we used the annotated Linguistic Data Consortium chat corpus to tune our model which is based on the assumption that the first few tokens/words in each chat post are very predictive of the post's speech act category. We present results for predicting the speech act category of chat posts that were obtained using two machine learning algorithms, Näive Bayes and Decision Trees, in conjunction with several variants of the basic model that include the first 2 to 6 words and their part-of-speech tags as features. The results support the validity of our initial assumption that the first words in an utterance can be used to predict its speech act category with very good accuracy.

关键词： Decision trees

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Accurate Evaluation of a Distance Function for Optimization-based Motion Planning

Accurate Evaluation of a Distance Function for Optimization-...

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IEEE/RSJ International Conference on intelligent robotics and systems

作者： Youngeun Lee Sébastien Lengagne Abderrahmane Kheddar Young J. Kim Department of Computer Science and Engineering at Ewha Womans University in Seoul Korea Karlsruhe Institute of Technology Institute for Anthropomatics Humanoids and Intelligence Systems Lab Adenauerring 2 76131 Karlsruhe Germany CNRS-AIST Joint Robotics Laboratory (JRL) UMI3218/CRT Tsukuba Japan and also with the CNRS-UM2 LIRMM Interactive Digital Human group Montpellier France.

ISBN: (纸本)9781467317375

We propose three novel methods to evaluate a distance function for robotic motion planning based on semi-infinite programming (SIP) framework;these methods include golden section search (GSS), conservative advancement (CA) and a hybrid of GSS and CA. The distance function can have a positive and a negative value, each of which corresponds to the Euclidean distance and penetration depth, respectively. In our approach, each robot's link is approximated and bounded by a capsule shape, and the distance between some selected link pairs is continuously evaluated along the joint's trajectory, provided by the SIP solver, and the global minimum distance is found. This distance is fed into the SIP solver, which subsequently suggests a new trajectory. This process is iterated until no negative distance is found anywhere in the links of the robot. We have implemented the three distance evaluation methods, and experimentally validated that the proposed methods effectively and accurately find the global minimum distances to generate a self-collision-free motion for the HRP-2 humanoid robot. Moreover, we demonstrate that the hybrid method outperforms other two methods in terms of computational speed and reliability.

关键词： Motion Planning GSS SIP motion planning distance function Aerospace ground services PRNP gene STATE IMPLEMENTATION PLANS TSACC gene Global Minimum Robot Euclidean distance

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Reports of the AAAI 2012 conference workshops

Reports of the AAAI 2012 conference workshops

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作者： Agrawal, Vikas Baier, Jorge Bekris, Kostas Chen, Yiling D'Avila Garcez, Artur S. Hitzler, Pascal Haslum, Patrik Jannach, Dietmar Law, Edith Lecue, Freddy Lamb, Luis C. Matuszek, Cynthia Palacios, Hector Srivastava, Biplav Shastri, Lokendra Sturtevant, Nathan Stern, Roni Tellex, Stefanie Vassos, Stavros Center for Knowledge Driven Intelligent Systems Enterprise Technology Research Labs Infosys Limited India Pontificia Universidad Católica de Chile Chile Rutgers University NJ United States Harvard University United States City University London United Kingdom Wright State University Dayton OH United States Australian National University Australia TU Dortmund Germany Machine Learning Department Carnegie Mellon University United States IBM Research - Smarter Cities Technology Centre Dublin Ireland Federal University of Rio Grande do Sul Porto Alegre Brazil Computer Science and Engineering Department University of Washington United States Universidad Carlos III de Madrid Spain IBM Research - India India University of Denver United States Ben Gurion University Negev Israel Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Department of Informatics and Telecommunications National and Kapodistrian University of Athens Athens Greece

The AAAI-12 Workshop program was held Sunday and Monday, July 22-23, 2012, at the Sheraton Centre Toronto Hotel in Toronto, Ontario, Canada. The AAAI-12 workshop program included nine workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages, Cognitive robotics, Grounding Language for Physical systems, Human Computation, intelligent Techniques for Web Personalization and Recommendation systems, Multiagent Pathfinding, Neural-Symbolic Learning and Reasoning, Problem Solving Using Classical Planners, and Semantic Cities. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence.

关键词： Problem solving

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Attitude change induced by different appearances of interaction agents

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International Journal of Machine Consciousness 2011年第1期3卷 115-126页

作者： Nishio, Shuichi Ishiguro, Hiroshi Intelligent Robotics and Communication Laboratories Advanced Telecommunications Institute International Keihanna Science City Kyoto 619-0288 Japan Department of Systems Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka 560-8531 Japan

Human-robot interaction studies up to now have been limited to simple tasks such as route guidance or playing simple games. With the advance in robotic technologies, we are now at the stage to explore requirements for highly complicated tasks such as having human-like conversations. When robots start to play advanced roles in our lives such as in health care, attributes such as trust, reliance and persuasiveness will also be important. In this paper, we examine how the appearance of robots affects people's attitudes toward them. Past studies have shown that the appearance of robots is one of the elements that influences people's behavior. However, it is still unknown what effect appearance has when having serious conversations that require high-level activity. Participants were asked to have a discussion with tele-operated robots of various appearances such as an android with high similarity to a human or a humanoid robot that has human-like body parts. Through the discussion, the tele-operator tried to persuade the participants. We examined how appearance affects robots' persuasiveness as well as people's behavior and impression of robots. A possible contribution to machine consciousness research is also discussed. © 2011 World Scientific Publishing Company.

关键词： Anthropomorphic robots

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