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113th Annual ASEE Conference and Exposition, 2006

作者： Nagchaudhuri, Abhijit Smith, Whitney Poddalgoda, Uditha Jarrett, Amy Omar, Omar A. Redden, Aaron Seaton, Daniel Johnson, Robert University of Maryland Eastern Shore United States Department of Engineering and Aviation Sciences University of Maryland Eastern Shore United States UMES/Rutgers University United States Rutgers University Biomedical Engineering Department United States United States University of Minnesota Mechanical Engineering Program United States United States Department of Mathematics and Computer Science University of Maryland Eastern Shore United States UMES France Department of Mathematics and Computer Sciences

With support from HBCU-UP (Historically Black College and University - Undergraduate program) at National science Foundation (NSF), the ACTION (Advanced Curriculum and Technology-Based Instructional Opportunities Network) program at University of Maryland Eastern Shore (UMES) is promoting inquiry based active learning and research projects among undergraduate STEM (science, Technology, Engineering and mathematics) majors. This paper highlights efforts of selected freshman and sophomore engineering majors while performing ACTION projects at UMES. Integration of Lego-Mindstorm Robotic Invention System as well as ProEngineer and ProMechanica software for solid modeling and analysis are the focus of the reported endeavors. Involvement in ACTION projects have not only reinforced concepts introduced in classroom setting but have inspired students to be engaged in the process of learning and discovery well beyond expectations of the course syllabi, format, and structure. © American Society for Engineering Education, 2006.

关键词： Engineering education

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An information theoretic framework for eukaryotic gradient sensing 06

An information theoretic framework for eukaryotic gradient s...

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Proceedings of the 20th International Conference on Neural Information Processing Systems

作者： Joseph M. Kimmel Richard M. Salter Peter J. Thomas Computer Science Program Oberlin College Oberlin Ohio and Computational Neuroscience Graduate Program The University of Chicago Computer Science Program Oberlin College Oberlin Ohio and Oberlin Center for Computation and Modeling Departments of Mathematics Biology and Cognitive Science Case Western Reserve University Cleveland Ohio and Oberlin College Research Associate

Chemical reaction networks by which individual cells gather and process information about their chemical environments have been dubbed "signal transduction" networks. Despite this suggestive terminology, there have been few attempts to analyze chemical signaling systems with the quantitative tools of information theory. Gradient sensing in the social amoeba Dictyostelium discoideum is a well characterized signal transduction system in which a cell estimates the direction of a source of diffusing chemoattractant molecules based on the spatiotemporal sequence of ligand-receptor binding events at the cell membrane. Using Monte Carlo techniques (MCell) we construct a simulation in which a collection of individual ligand particles undergoing Brownian diffusion in a three-dimensional volume interact with receptors on the surface of a static amoeboid cell. Adapting a method for estimation of spike train entropies described by Victor (originally due to Kozachenko and Leonenko), we estimate lower bounds on the mutual information between the transmitted signal (direction of ligand source) and the received signal (spatiotemporal pattern of receptor binding/unbinding events). Hence we provide a quantitative framework for addressing the question: how much could the cell know, and when could it know it? We show that the time course of the mutual information between the cell's surface receptors and the (unknown) gradient direction is consistent with experimentally measured cellular response times. We find that the acquisition of directional information depends strongly on the time constant at which the intracellular response is filtered.

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Instantaneous Radar Polarimetry with Multiple Dually-polarized Antennas

Instantaneous Radar Polarimetry with Multiple Dually-polariz...

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Asilomar Conference on Signals, Systems & computers

作者： A. R. Calderbank S. D. Howard W. Moran A. Pezeshki M. Zoltowski Program Applied and Computational Mathematics Princeton University Princeton NJ USA Defence Science and Technology Organization Edinburgh Australia Electrical Engineering and Computer Science University of Melbourne Melbourne Australia Electrical and Computer Engineering Purdue University West Lafayette IN USA

Fully polarimetric radar systems are capable of simultaneously transmitting and receiving in two orthogonal polarizations. Instantaneous radar polarimetry exploits both polarization modes of a dually-polarized radar transmitter and receiver on a pulse by pulse basis, and can improve the radar detection performance and suppress range sidelobes . In this paper, we extend the use of instantaneous radar polarimetry for radar systems with multiple dually-polarized transmit and receive antennas. Alamouti signal processing is used to coordinate transmission of Golay pairs of phase codes waveforms across polarizations and multiple antennas. The integration of multi- antenna signal processing with instantaneous radar polarimetry can further improve the detection performance, at a computational cost comparable to single channel matched filtering.

关键词： Radar polarimetry Radar antennas Polarization Radar detection Radar signal processing Transmitters Receiving antennas Transmitting antennas Computational efficiency Matched filters

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QCC techascend: nsf-sponsored after-school program aimed at potential technicians

QCC techascend: nsf-sponsored after-school program aimed at ...

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113th Annual ASEE Conference and Exposition, 2006

作者： Engelberg, Don Bluestone, Cheryl Bieber, Amy Valentino, James Wallach, Patrick Goldenberg, Joseph Wajngurt, Clara Marchese, Paul Queensborough Community College United States Social Sciences Department Laser and Fiber Optics Technology AAS Degree Program Queensborough Norway Department of Physics Department of Mechanical Engineering Technology/Design Drafting Queensborough Mathematics and Computer Science Department Queensborough Manufacturing Processes Laboratory Queensborough Korea Republic of Department of Mechanical Engineering Technology and Design Drafting Department of Physics Queensborough

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Quadruped robot obstacle negotiation via reinforcement learning

Quadruped robot obstacle negotiation via reinforcement learn...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Honglak Lee Yirong Shen Chih-Han Yu G. Singh A.Y. Ng Stanford University Stanford CA US Department of Electrical Engineering University of Stanford Stanford CA USA Scientific Computing and Computational Mathematics Program University of Stanford Stanford CA USA Computer Science Department University of Stanford Stanford CA USA

Legged robots can, in principle, traverse a large variety of obstacles and terrains. In this paper, we describe a successful application of reinforcement learning to the problem of negotiating obstacles with a quadruped robot. Our algorithm is based on a two-level hierarchical decomposition of the task, in which the high-level controller selects the sequence of foot-placement positions, and the low-level controller generates the continuous motions to move each foot to the specified positions. The high-level controller uses an estimate of the value function to guide its search; this estimate is learned partially from supervised data. The low-level controller is obtained via policy search. We demonstrate that our robot can successfully climb over a variety of obstacles which were not seen at training time

关键词： Learning Robot kinematics Legged locomotion Foot Mobile robots Leg Motion control Robotics and automation Path planning computer science

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Formalizing concurrent common knowledge as product of modal logics

Formalizing concurrent common knowledge as product of modal ...

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作者： Costa, Vania Benevides, Mario System Engineering and Computer Science Program UFRJ Mailbox 68511 21945-970 Rio de Janeiro Brazil System Engineering and Computer Science Program Institute of Mathematics UFRJ Mailbox 68511 21945-970 Rio de Janeiro Brazil

This work introduces a two-dimensional modal logic to represent agents' Concurrent Common Knowledge in distributed systems. Unlike Common Knowledge, Concurrent Common Knowledge is a kind of agreement reachable in asynchronous environments. The formalization of such type of knowledge is based on a model for asynchronous systems and on the definition of Concurrent Knowledge introduced before in paper [5]. As a proper semantics, we review our concept of closed sub-product of modal logics which is based on the product of modal logics. The key idea is to reason about Concurrent Knowledge under a two-dimensional approach, regarding asynchronous runs and consistent global states as dimensions. We present an axiomatic system for the logic and issue the corresponding soundness and completeness proofs. © 2005 Oxford University Press.

关键词： Semantics

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Value function approximation with diffusion wavelets and Laplacian eigenfunctions

Value function approximation with diffusion wavelets and Lap...

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2005 Annual Conference on Neural Information Processing Systems, NIPS 2005

作者： Mahadevan, Sridhar Maggioni, Mauro Department of Computer Science University of Massachusetts Amherst MA 01003 United States Program in Applied Mathematics Department of Mathematics Yale University New Haven CT 06511 United States

ISBN: (纸本)9780262232531

We investigate the problem of automatically constructing efficient representations or basis functions for approximating value functions based on analyzing the structure and topology of the state space. In particular, two novel approaches to value function approximation are explored based on automatically constructing basis functions on state spaces that can be represented as graphs or manifolds: one approach uses the eigenfunctions of the Laplacian, in effect performing a global Fourier analysis on the graph;the second approach is based on diffusion wavelets, which generalize classical wavelets to graphs using multiscale dilations induced by powers of a diffusion operator or random walk on the graph. Together, these approaches form the foundation of a new generation of methods for solving large Markov decision processes, in which the underlying representation and policies are simultaneously learned.

关键词： Diffusion

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Numerical solution of saddle point problems

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Acta Numerica 2005年 14卷 1-137页

作者： Benzi, Michele Golubt, Gene H. Liesen, Jörg Department of Mathematics and Computer Science Emory University Atlanta GA 30322 United States Scientific Computing and Computational Mathematics Program Stanford University Stanford CA 94305-9025 United States Institut für Mathematik Technische Universität Berlin D-10623 Berlin Germany

Large linear systems of saddle point type arise in a wide variety of applications throughout computational science and engineering. Due to their indefiniteness and often poor spectral properties, such linear systems represent a significant challenge for solver developers. In recent years there has been a surge of interest in saddle point problems, and numerous solution techniques have been proposed for this type of system. The aim of this paper is to present and discuss a large selection of solution methods for linear systems in saddle point form, with an emphasis on iterative methods for large and sparse problems. © Cambridge University Press, 2005.

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The bias of the MVDR beamformer outputs under diagonal loading

The bias of the MVDR beamformer outputs under diagonal loadi...

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2005 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP '05

作者： Nadakuditi, Raj Rao Edelman, Alan Massachusetts Institute of Technology Department of Electrical Engineering and Computer Science MIT/WHOI Joint Program Cambridge MA 02139 United States Massachusetts Institute of Technology Department of Mathematics Cambridge MA 02139 United States

ISBN: (纸本)0780388747

The MVDR beamformer is the most extensively used array processing algorithm and involves inverting the sample covariance matrix. In the snapshot deficient scenario, when the number of sensors is greater than or approximately equal to the number of snapshots, the eigenvalues of the resulting sample covariance matrix are poorly conditioned. Diagonal loading is then applied to the sample covariance matrix. Expressions for the bias of the resulting MVDR beamformer outputs in the sidelobe region are presented that are exact for asymptotically large arrays. Numerical simulations confirm the accuracy of these asymptotic expressions when predicting the bias of the outputs of moderately large arrays. © 2005 IEEE.

关键词： Signal processing

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Value function approximation with diffusion wavelets and Laplacian eigenfunctions 05

Value function approximation with diffusion wavelets and Lap...

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Proceedings of the 19th International Conference on Neural Information Processing Systems

作者： Sridhar Mahadevan Mauro Maggioni Department of Computer Science University of Massachusetts Amherst MA Program in Applied Mathematics Department of Mathematics Yale University New Haven CT

We investigate the problem of automatically constructing efficient representations or basis functions for approximating value functions based on analyzing the structure and topology of the state space. In particular, two novel approaches to value function approximation are explored based on automatically constructing basis functions on state spaces that can be represented as graphs or manifolds: one approach uses the eigenfunctions of the Laplacian, in effect performing a global Fourier analysis on the graph; the second approach is based on diffusion wavelets, which generalize classical wavelets to graphs using multiscale dilations induced by powers of a diffusion operator or random walk on the graph. Together, these approaches form the foundation of a new generation of methods for solving large Markov decision processes, in which the underlying representation and policies are simultaneously learned.

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