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IEEE International Conference on Robotics and Biomimetics

作者： Ningjia Yang Feng Duan Yudi Wei Chuang Liu Jeffrey Too Chuan Tan Binbin Xu Jin Zhang Department of Automation and Intelligence Science College of Computer and Control Engineering Nankai University Tianjin P.R.China Nankai University The Jiangnan Institute of Modern Industry Tokyo Daigaku Bunkyo-ku Tokyo JP

ISBN: (纸本)9781479927456

The purpose of this study is to develop a new system to synchronously control the simulated robot and humanoid robot based on the skeletal tracking technology. This system is a human-robot interaction system. Human can control the robot through the skeletal tracking technology without placing any marker on the subject's body. We use the Microsoft Kinect to get the skeleton framework information of the subject and input the data into the program. Therefore, the experiment has no demand on color to distinguish the subject's motions, and the subject can just perform in the front of the Kinect without wearing any control device. After processing the data, the computer controls the simulated robot to regenerate the subject's motions synchronously. In this study, we can control the simulated robot to do three different exercises. To verify the validity of the control system, we did a series of experiments to control a humanoid robot NAO. The experimental results show that the synchronous control system can distinguish the movements of human upper limb efficiently, and the cost is lower than that of the previous studies. This system controls both robot model and humanoid robot NAO based on human motion to achieve the human-machine interaction efficiently and the success rate is more than 90%.

关键词： Joints Robot sensing systems Elbow Tracking Filtering algorithms control systems

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Human genome meeting 2016 : Houston, TX, USA. 28 February - 2 March 2016

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Human genomics 2016年第1期10 Suppl 1卷 12页

作者： A. K. Srivastava Y. Wang R. Huang C. Skinner T. Thompson L. Pollard T. Wood F. Luo R. Stevenson R. Polimanti J. Gelernter X. Lin I. Y. Lim Y. Wu A. L. Teh L. Chen I. M. Aris S. E. Soh M. T. Tint J. L. MacIsaac F. Yap K. Kwek S. M. Saw M. S. Kobor M. J. Meaney K. M. Godfrey Y. S. Chong J. D. Holbrook Y. S. Lee P. D. Gluckman N. Karnani A. Kapoor D. Lee A. Chakravarti C. Maercker F. Graf M. Boutros G. Stamoulis F. Santoni P. Makrythanasis A. Letourneau M. Guipponi N. Panousis M. Garieri P. Ribaux E. Falconnet C. Borel S. E. Antonarakis S. Kumar J. Curran J. Blangero S. Chatterjee J. Akiyama D. Auer C. Berrios L. Pennacchio T. R. Donti G. Cappuccio M. Miller P. Atwal A. Kennedy A. Cardon C. Bacino L. Emrick J. Hertecant F. Baumer B. Porter M. Bainbridge P. Bonnen B. Graham R. Sutton Q. Sun S. Elsea Z. Hu P. Wang Y. Zhu J. Zhao M. Xiong David A. Bennett A. Hidalgo-Miranda S. Romero-Cordoba S. Rodriguez-Cuevas R. Rebollar-Vega E. Tagliabue M. Iorio E. D’Ippolito S. Baroni B. Kaczkowski Y. Tanaka H. Kawaji A. Sandelin R. Andersson M. Itoh T. Lassmann Y. Hayashizaki P. Carninci A. R. R. Forrest C. A. Semple E. A. Rosenthal B. Shirts L. Amendola C. Gallego M. Horike-Pyne A. Burt P. Robertson P. Beyers C. Nefcy D. Veenstra F. Hisama R. Bennett M. Dorschner D. Nickerson J. Smith K. Patterson D. Crosslin R. Nassir N. Zubair T. Harrison U. Peters G. Jarvik F. Menghi K. Inaki X. Woo P. Kumar K. Grzeda A. Malhotra H. Kim D. Ucar P. Shreckengast K. Karuturi J. Keck J. Chuang E. T. Liu B. Ji A. Tyler G. Ananda G. Carter H. Nikbakht M. Montagne M. Zeinieh A. Harutyunyan M. Mcconechy N. Jabado P. Lavigne J. Majewski J. B. Goldstein M. Overman G. Varadhachary R. Shroff R. Wolff M. Javle A. Futreal D. Fogelman L. Bravo W. Fajardo H. Gomez C. Castaneda C. Rolfo J. A. Pinto K. C. Akdemir L. Chin S. Patterson C. Statz S. Mockus S. N. Nikolaev X. I. Bonilla L. Parmentier B. King F. Bezrukov G. Kaya V. Zoete V. Seplyarskiy H. Sharpe T. McKee K. Popadin N. Basset-Seguin R. Ben Chaabene M. Andrianova C. Verdan K. Grosdemange O. Sumara M. E JCSRI Greenwood Genetic Center Greenwood USA School of Computing Clemson University Clemson USA Biochemical Genetics Laboratory Greenwood Genetic Center Greenwood USA Department Psychiatry Yale Sch Med and VA CT Healthcare Center West Haven USA Department Genetics Yale Sch Med and VA CT Healthcare Center West Haven USA Department Neurobiology Yale Sch Med and VA CT Healthcare Center West Haven USA Singapore Institute for Clinical Sciences Singapore Singapore National University of Singapore Singapore Singapore University of British Columbia Vancouver Canada KK Women’s and Children’s Hospital Singapore Singapore University of Southampton and University Hospital Southampton NHS Foundation Trust Southampton UK University of Auckland Auckland New Zealand McKusick-Nathans Institute of Genetic Medicine Johns Hopkins University School of Medicine Baltimore USA Esslingen University of Applied Sciences Esslingen Germany German Cancer Research Center Heidelberg Germany Department of Genetic Medicine and Development University of Geneva Medical School Geneva Switzerland Geneva University Hospitals-HUG Service of Genetic Medicine Geneva Switzerland GE3 Institute of Genetics and Genomics of Geneva University of Geneva Medical School Geneva Switzerland South Texas Diabetes and Obesity Institute School of Medicine University of Texas Rio-Grande Valley Edinburg USA South Texas Diabetes and Obesity Institute School of Medicine University of Texas Rio-Grande Valley Brownsville USA Institute of Genetic Medicine Johns Hopkins University Baltimore USA Genomics Division Lawrence Berkeley National Laboratory Berkeley USA Molecular and Human Genetics Baylor College of Medicine Houston USA Department of Translational Medical Sciences Federico II University Naples Italy Metabolon Inc Durham USA Section of Pediatric Neurology and Neuroscience Baylor College of Medicine Houston USA Tawam Hospital Abu Dhabi United Arab Emirates Stanford Medical School Stanford USA Sch

O1 The metabolomics approach to autism: identification of biomarkers for early detection of autism spectrum disorder A. K. Srivastava, Y. Wang, R. Huang, C. Skinner, T. Thompson, L. Pollard, T. Wood, F. Luo, R. Stevenson O2 Phenome-wide association study for smoking- and drinking-associated genes in 26,394 American women with African, Asian, European, and Hispanic descents R. Polimanti, J. Gelernter O3 Effects of prenatal environment, genotype and DNA methylation on birth weight and subsequent postnatal outcomes: findings from GUSTO, an Asian birth cohort X. Lin, I. Y. Lim, Y. Wu, A. L. Teh, L. Chen, I. M. Aris, S. E. Soh, M. T. Tint, J. L. MacIsaac, F. Yap, K. Kwek, S. M. Saw, M. S. Kobor, M. J. Meaney, K. M. Godfrey, Y. S. Chong, J. D. Holbrook, Y. S. Lee, P. D. Gluckman, N. Karnani, GUSTO study group O4 High-throughput identification of specific qt interval modulating enhancers at the SCN5A locus A. Kapoor, D. Lee, A. Chakravarti O5 Identification of extracellular matrix components inducing cancer cell migration in the supernatant of cultivated mesenchymal stem cells C. Maercker, F. Graf, M. Boutros O6 Single cell allele specific expression (ASE) IN T21 and common trisomies: a novel approach to understand DOWN syndrome and other aneuploidies G. Stamoulis, F. Santoni, P. Makrythanasis, A. Letourneau, M. Guipponi, N. Panousis, M. Garieri, P. Ribaux, E. Falconnet, C. Borel, S. E. Antonarakis O7 Role of microRNA in LCL to IPSC reprogramming S. Kumar, J. Curran, J. Blangero O8 Multiple enhancer variants disrupt gene regulatory network in Hirschsprung disease S. Chatterjee, A. Kapoor, J. Akiyama, D. Auer, C. Berrios, L. Pennacchio, A. Chakravarti O9 Metabolomic profiling for the diagnosis of neurometabolic disorders T. R. Donti, G. Cappuccio, M. Miller, P. Atwal, A. Kennedy, A. Cardon, C. Bacino, L. Emrick, J. Hertecant, F. Baumer, B. Porter, M. Bainbridge, P. Bonnen, B. Graham, R. Sutton, Q. Sun, S. Elsea O10 A novel causal methylation network approach to Alzheimer’s

关键词： Pulmonary Arterial Hypertension Oral Squamous Cell Carcinoma Deep Neural Network Autosomal Recessive Polycystic Kidney Disease Whole Genome Bisulfite Sequencing

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Research on Transient Electromagnetic Response of Magnetic Source in Borehole

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Chinese Journal of Geophysics 2013年第2期54卷 264-272页

作者： Xi-Jin SONG Rei-Rong DANG Bao-Long GUO Xue-Long WANG Institute of Intelligent Control and Image Engineering Xidian University Xi'an 710071 China Key Laboratory of Photoelectric Logging and Detecting of Oil and Gas Ministry of Education Xi'an Shiyou University Xi'an 710065 China College of Computer Science & Technology Xi'an University of Technology Xi'an 710048 China

The transient electromagnetic exploration in borehole is a full space geophysical problem. The Gaver-Stehfeest inverse Laplace transform is used to theoretically calculate the transient electromagnetic response in the receiver loop. And the effects of the parameters of the borehole mud, metal casing, the cement sheath and the formation on electromagnetic logging responses are analyzed. The response curves of different electrical conductivity of the borehole mud indicate that the borehole mud has little effect on the electromagnetic responses. The numerical results of different geometry of the casing pipe show that the inner radius and the thickness of casing have an obvious effect on the logging responses, moreover the abnormality of transient response appears where the casing thickness suddenly increases or decreases. The simulation results of different magnetic permeability of the casing pipe show that it has an important effect on transient response in borehole and the higher the magnetic permeability, the more difficult the electromagnetic signals transmitting through the casing. Results of different parameters of the cement sheath reflect that the high conductive cement sheath can generate large measurement error for low conductive formation. It is also found that the effect of the thickness of the cement sheath can be ignored for high conductive formation.

关键词： Borehole Transient electromagnetic method Magnetic dipole Transient response Electromagnetic Field

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Postprocessing for quantum random-number generators: Entropy evaluation and randomness extraction

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Physical Review A 2013年第6期87卷 062327-062327页

作者： Xiongfeng Ma Feihu Xu He Xu Xiaoqing Tan Bing Qi Hoi-Kwong Lo Center for Quantum Information Institute for Interdisciplinary Information Sciences Tsinghua University Beijing China Center for Quantum Information and Quantum Control Department of Physics and Department of Electrical and Computer Engineering University of Toronto Toronto Ontario Canada Department of Mathematics College of Information Science and Technology Jinan University Guangzhou Guangdong China

Quantum random-number generators (QRNGs) can offer a means to generate information-theoretically provable random numbers, in principle. In practice, unfortunately, the quantum randomness is inevitably mixed with classical randomness due to classical noises. To distill this quantum randomness, one needs to quantify the randomness of the source and apply a randomness extractor. Here, we propose a generic framework for evaluating quantum randomness of real-life QRNGs by min-entropy, and apply it to two different existing quantum random-number systems in the literature. Moreover, we provide a guideline of QRNG data postprocessing for which we implement two information-theoretically provable randomness extractors: Toeplitz-hashing extractor and Trevisan's extractor.

关键词： RANDOM numbers QUANTUM states RANDOM number generators CLASSICAL mechanics OPTICS RESEARCH

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Hierarchical fuzzy approaches for a piloted Quality Management System

Hierarchical fuzzy approaches for a piloted Quality Manageme...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： H. Ben Mahmoud R. Ketata T. Ben Romdhane S. Ben Ahmed Dept. of Physics and Instrumentation Engineering INSAT: National Institute of Applied Science and Technology Dept. of Physics and Instrumentation Engineering ICOS: Research Unit on Intelligent Control Tunis Tunisia Dept. of Physics and Instrumentation Engineering MOSIC Research Unit on Methods and Tools for Complex Computer Systems Tunis Tunisia

In this paper, two approaches, Hierarchical Fuzzy Signature (HFS) and Neuro-Fuzzy Hierarchical Hybrid (NFHH), have been proposed for piloting a Quality Management System (QMS). These approaches have been applied for real company which presents a major problem for controlling the quality level of production. HFS structure has reduced complexity in the number of input and output meta-levels of hierarchy. Also NFHH model has presented better performance in terms of precision and number of parameters without losing the universal approximation property of neural networks (NN) and fuzzy systems.

关键词： Companies IP networks Production Complexity theory Fuzzy logic Artificial neural networks Pragmatics

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Bilateral Teleoperation of Flexible-Joint Manipulators with Dynamic Gravity Compensation and Variable Time-Delays

Bilateral Teleoperation of Flexible-Joint Manipulators with ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Emmanuel Nuno Daniela Valle Ioannis Sarras Luis Basanez Department of Computer Science at the University of Guadalajara (UdG). Guadalajara Mexico Electronics Department at the University of Guadalajara (UdG). Guadalajara Mexico IFP Energies Nouvelles. Department of Control Signal & Systems. Paris France Institute of Industrial and Control Engineering (IOC) at the Technical University of Catalonia (UPC). Barcelona Spain

ISBN: (纸本)9781467363563

It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80's. However, the control of flexible joint manipulators in a bilateral teleoperation scenario, with dynamic gravity compensation, remains an open problem. This work aims at filling this gap by presenting a new controller for bilateral teleoperators composed of a rigid local manipulator and a flexible-joint remote manipulator with dynamic gravity compensation and asymmetric variable time-delays in the communication channel. In order to dynamically compensate the gravity term, in the flexible joint manipulator, a change of coordinates which accounts for the joint and link gravity position drift is used. The rest of the controller is a simple PD scheme. Assuming that the human operator and the environment define passive maps from velocity to force, it is proved that velocities and local and remote position errors are bounded. Additionally, if the human operator and remote environment forces are zero then velocities asymptotically converge to zero and position tracking is established. Some simulations are presented in order to show the performance of the proposed controllers.

关键词： remote operation Manipulators controllers compensated Flexible connections Change of coordinates location error Location tracking

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Silhouette based gait recognition based on the area features using both model free and model based approaches

Silhouette based gait recognition based on the area features...

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IEEE Conference on Technologies for Homeland Security

作者： Arihant Kochhar Divyesh Gupta Madasu Hanmandlu Shantaram Vasikarla Dept. of Computer Science Columbia University New York NY Dept. of Control and Inst. N. S. Institute of Technology New Delhi India Dept. of Electrical Engineering Indian Institute of Technology New Delhi India Dept. of Computer Science California State University Northridge CA

Gait recognition has lately attracted the attention of a plethora of computer vision and biometric systems researchers. It offers advantages like non-invasiveness, data acquisition from a distance and low resolution. The geometric area between the limbs derived from the spatial-temporal silhouettes serves as an effective feature that is capable of differentiating subjects. Both model-based and model-free approaches are tried while extracting features for the gait recognition. Support Vector Machine (SVM) classifier is used for training the features from silhouettes of the known gaits and identifying the unknown gaits based on the same features. Experimentation on the silhouette samples of publicly available CASIA database vindicates the supremacy of the model based approach over the model free approach.

关键词： Feature extraction Support vector machines Legged locomotion Gait recognition Biological system modeling Shape Analytical models

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Two Decades of Research on Linear Repetitive Processes Part I: Theory

Two Decades of Research on Linear Repetitive Processes Part ...

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nDS '13;Proceedings of the 8th International Workshop on Multidimensional Systems

作者： Eric Rogers Krzysztof Galkowski David H. Owens Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK Institute of Control and Computation Engineering University of Zielona Gora ul. Licealna 9 65-417 Zielona Gora Poland ‡Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

Multipass processes was the name used to describe the dynamics of longwall coal cutting in the early 1970's. Later the term 'repetitive process' was used and, using coal cutting as a motivating example, the development of a stability and control theory for these processes began. In the past two decades, this theory has been developed, motivated by the emergence of more physical examples and the recognition that repetitive process control theory can also be used to solve problems in other areas, to the stage where experimental verification is available to support the theory. This paper gives a reflective overview of the progress achieved in the underlying systems theory and in a companion paper the application of this theory is described together with a discussion of possible future developments.

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Application of PID retuning method for laboratory feedback control system incorporating FO dynamics

Application of PID retuning method for laboratory feedback c...

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International Carpathian control Conference (ICCC)

作者： L'ubomír Dorčák Emmanuel Gonzalez Ján Terpák Ivo Petráš Juraj Valsa Monika Žecová Institute of Control and Informatization of Production Processes Faculty BERG Technical University of Košice Kosice Slovakia Center for Automation Research College of Computer Studies De La Salle University Manila Philippines Faculty of Electrical Engineering and Computer Science Brno University of Technology Brno Czech Republic

Real objects in general are fractional-order (FO) systems, although in some types of systems the order is very close to integer order (IO). Since major advances have been made in the theory and practice of the identification of FO controlled objects and in the design of FO controllers, it is possible to consider also the real order of the dynamical systems and consider more quality criterion while designing the FO controllers with more degrees of freedom compared to their IO counterparts. In this paper, we present an application of the retuning method to design and apply new FO controller for the existing laboratory feedback control system with no modifications in the internal architecture of the original feedback control system. Along with the mathematical description, presented are also simulation results.

关键词： Closed loop systems Feedback control Mathematical model Laboratories Educational institutions PD control

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Decentralised Minimum-Time Average Consensus in Digraphs

Decentralised Minimum-Time Average Consensus in Digraphs

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IEEE Annual Conference on Decision and control

作者： Themistoklis Charalambous Ye Yuan Tao Yang Wei Pan Christoforos N. Hadjicostis Michael Johansson ACCESS Linnaeus Center School of Electrical Engineering KTH-Royal Institute of Technology SE-100 44 Stockholm Sweden Control Group Department of Engineering University of Cambridge Cambridge UK Department of Bioengineering Imperial College London London UK Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

ISBN: (纸本)9781467357159

Distributed algorithms for average consensus in directed graphs are typically asymptotic in the literature. In this work, we propose a protocol to distributively reach average consensus in a finite number of steps on interconnection topologies that form strongly connected directed graphs (digraphs). The average consensus value can be computed, based exclusively on local observations at each component, by running a protocol that requires each component to observe and store its own value over a finite and minimal number of steps, and to have knowledge of the number of its out-going links (i.e., the number of components to which it sends information). The proposed algorithm is demonstrated via illustrative examples.

关键词： directed graphs distributed algorithms Finite

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