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作者： Wentz, Christian T. Bernstein, Jacob G. Monahan, Patrick Guerra, Alexander Rodriguez, Alex Boyden, Edward S. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States McGovern Institute for Brain Research Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States Media Lab. Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States Department of Brain and Cognitive Sciences Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States Department of Biological Engineering Massachusetts Institute of Technology 77 Massachusetts Ave Cambridge MA 02139 United States

Optogenetics, the ability to use light to activate and silence specific neuron types within neural networks in vivo and in vitro, is revolutionizing neuroscientists' capacity to understand how defined neural circuit elements contribute to normal and pathological brain functions. Typically, awake behaving experiments are conducted by inserting an optical fiber into the brain, tethered to a remote laser, or by utilizing an implanted light-emitting diode (LED), tethered to a remote power source. A fully wireless system would enable chronic or longitudinal experiments where long duration tethering is impractical, and would also support high-throughput experimentation. However, the high power requirements of light sources (LEDs, lasers), especially in the context of the extended illumination periods often desired in experiments, precludes battery-powered approaches from being widely applicable. We have developed a headborne device weighing 2 g capable of wirelessly receiving power using a resonant RF power link and storing the energy in an adaptive supercapacitor circuit, which can algorithmically control one or more headborne LEDs via a microcontroller. The device can deliver approximately 2 W of power to the LEDs in steady state, and 4.3 W in bursts. We also present an optional radio transceiver module (1 g) which, when added to the base headborne device, enables real-time updating of light delivery protocols;dozens of devices can be controlled simultaneously from one computer. We demonstrate use of the technology to wirelessly drive cortical control of movement in mice. These devices may serve as prototypes for clinical ultra-precise neural prosthetics that use light as the modality of biological control. © 2011 IOP Publishing Ltd.

关键词： Light emitting diodes

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Chronic pain rehabilitation with a serious game using multimodal input

Chronic pain rehabilitation with a serious game using multim...

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International Workshop on Virtual Rehabilitation

作者： Christian Schönauer Thomas Pintaric Hannes Kaufmann Stephanie Jansen - Kosterink Miriam Vollenbroek-Hutten Interactive Media Systems Group Institute of Software Technology and Interactive Systems University of Technology Vienna Austria Roessingh Research and Development Enschede Netherlands Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede Netherlands

Rehabilitation for chronic pain follows a multidisciplinary approach, which despite the effort, often lacks the long term success and patients often fail to translate the skills learned in therapy to every day life. Serious games are hypothesized to support patients to self manage their complaints and keep training their physical functions by themselves, especially, when the game is controlled by the patient's own body performance. In this paper we present the implementation of a system providing multimodal input, including our own full body motion capture system, a low cost motion capture system (Microsoft Kinect) and biosignal acquisition devices to a game engine. In addition, a workflow has been established, that enables the use of the acquired multimodal data for serious games in a medical environment. Finally, a serious game has been implemented, targeting rehabilitation of patients with chronic pain of the lower back and neck. The focus of this work is on the multimodal input and how it is used in a game to support rehabilitation of chronic pain patients. A brief comparison of a marker-based full body MoCap system and Microsoft's Kinect is included. Preliminary results of tests currently underway are provided.

关键词： Games Skeleton Pain Cameras Muscles Tracking Calibration

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A compensation paired net-based refinement method for web services composition

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Advances in Information Sciences and Service Sciences 2011年第4期3卷 169-181页

作者： Mei, Xiaoyong Jiang, Aijun Li, Shixian Huang, Changqin Zheng, Xiaolin Fan, Yiyan School of Information Science and Technology Sun Yat-sen University Guangzhou 510006 China Department of Electrical Engineering and Computer Science University of California Irvine CA 92697 United States College of Computer Science and Technology Zhejiang University Hangzhou 310027 China School of Computer Science Hunan University of Arts and Science Changde 415000 China

With the development of advanced Internet technology, business applications across multiple enterprises based on Web Services Composition (WSC) paradigm are widely used. When system failure occurs, some tasks of the flow may be committed while others unscheduled, in this situation, it is important to accurately analyze execution log of composition business process. In this paper, we formally defines Web services composition compensation based on paired net, and analyze execution logs, dataflow dependency and behavior dependency between tasks in composition process, and discuss the refinement for Web services composition compensation process and the abstract replacement of complex compensation process. The classical composition transaction application Trip Reservation Process (TRP) shows the feasibility of ensuring consistent execution of reliable composition.

关键词： Systems engineering

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Formal modeling execution semantic of control and data flow for the composition web services

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content technology and its Applications 2011年第5期5卷 101-114页

Web Services Composition (WSC)-based applications are widely used in the heterogeneous environment, which has inevitably led to the need for reliable mechanisms for the WSC paradigm that can provide sustainable execution semantic. This paper focuses on constructing data flow and control flow for the composition Web services execution. A flexible compensation semantic of control flow and data flow for the long running process is proposed, which can implement composition compensation dynamically and abstract hierarchy modeling of complicated multi-partners business process. When failure occurs, compensation handler will be triggered and compensation is executed automatically in scope. A case study shows the feasibility of our approach.

关键词： Petri nets

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Autonomous stair climbing for mobile tracked robot

Autonomous stair climbing for mobile tracked robot

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Qun Zhang Shuzhi Sam Ge Pey Yuen Tao NUS Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Interactive & Digital Media Institute (IDMI) Department of Electrical & Computer Engineering National University of Singapore Singapore Agency for Science Technology & Research Singapore Institute of Manufacturing Technology Singapore

ISBN: (纸本)9781612847702

In this paper, we consider the problem of overcoming a flight of stairs in an uncertain environment with an autonomous tracked robot. A complete autonomous stair climbing module is developed which handles a number of tasks involved in stair climbing and a divide and conquer approach is adopted where the stair climbing challenge is further divided into several individual tasks such as stairs detection in an uncertain environment, intelligent climbing control to overcome the stairs, detection of the end of the stairs and the subsequent landing procedure to prevent damage to the onboard devices. A fuzzy control is developed and experimental results obtained have clearly illustrated the effectiveness of the proposed approach.

关键词： Robot sensing systems Lasers Gravity Laser beams Fuzzy control Detection algorithms

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Mechanical design of social robot Nancy

Mechanical design of social robot Nancy

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IEEE/SICE International Symposium on System Integration

作者： S. S. Ge M. R. Safizadeh Y. Li Social Robotics Laboratory Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and the NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents the mechanical design of a social robot, Nancy, developed by Social Robotics Laboratory, Interactive and Digital media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module structure and 32 degrees of freedom (DOFs), including 24 and 8 DOFs in upper-body and lower-body, respectively. 8 DOFs are considered in each arm to make Nancy able to imitate human limbs' motion. Nancy's head involves eye and eyelid motions with 3 DOFs which is on top of a 2-DOFs neck. The wheeled-base is designed in such a way to facilitate the multi-directional movements for Nancy. One of our main objectives in Nancy's mechanical design is to obtain powerful and smooth motion, light-weight joints and simple kinematics. They are achieved by Bowden cable-pulley mechanism driven by actuators located in lower-body. Accordingly, all joints are designed to have intersected axes. Most joints are driven by brushless D.C. motors embedded with electrical brake system to stabilize the robot, especially in case of power loss.

关键词： Robots Joints Shoulder Pulleys Neck Wrist Mechanical cables

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Hand-grip and body-loss impact on RSS measurements for localization of mass market devices

Hand-grip and body-loss impact on RSS measurements for local...

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International Conference on Localization and GNSS (ICL-GNSS)

作者： Francescantonio Della Rosa Li Xu Jari Nurmi Christos Laoudias Mauro Pelosi Amerigo Terrezza Tampere University of Technology Department of Computer Systems Tampere Finland Section of Antennas Propagation and Radio Networking (APNet) Department of Electronic Systems University of Aalborg Aalborg Denmark Department of Electrical and Computer Engineering University of Cyprus Department of Electrical and Computer Engineering University of Cyprus Italy Section of Antennas Aalborg University Aalborg Denmark Interactive Media S.p.A. Rome Italy

In this paper we present the effect of the hand-grip and the presence of the human body on received signal strength measurements when performing positioning of mass market devices in indoor environments. We demonstrate that the mitigation of both human body and hand-grip influence can enhance the positioning accuracy and that the human factor cannot be neglected in experimental activities with real mobile devices.

关键词： Position measurement Loss measurement Measurement uncertainty Coordinate measuring machines Estimation Mobile handsets Accuracy

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Improved phase parameter analysis and synthesis for parametric stereo audio coding

Improved phase parameter analysis and synthesis for parametr...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Dong-il Hyun Jeongil Seo Young-cheol Park Dae Hee Youn Department of Electrical and Electronics Engineering Yonsei University Seoul South Korea Broadcasting Media Technology Department Electronics and Telecommunications Research Institute Daejeon South Korea Computer & Telecommunications Engineering Division Yonsei University Wonju Gangwon South Korea

This paper proposes an improved phase parameter analysis and synthesis method for parametric stereo audio coding. For stereo signal with low interchannel coherence (IC), conventional phase parameter analysis and synthesis methods show poor quality, since they overlook the effect of IC to the phase parameters defined. The proposed system defines new phase parameters reflecting IC information, so that we can alleviate the deterioration of audio quality due to the synthesis of excessive phase difference, especially when IC is low. Subjective listening test results are presented to show that the proposed method provides always better audio quality than the conventional methods.

关键词： Decision support systems

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Monitoring burst (M-burst) — A novel framework of failure localization in all-optical mesh networks

Monitoring burst (M-burst) — A novel framework of failure l...

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International Workshop on Design of Reliable Communication Networks (DRCN)

作者： Mohammed L. Ali Pin-Han Ho Bin Wu Janos Tapolcai Basem Shihada David R. Cheriton School of Computer Science University of Waterloo Canada Department of Electrical and Computer Engineering University of Waterloo Canada Department of Telecommunications and Media Informatics Budapest University슠of슠Technology슠and슠Economics Hungary Division of Mathematical and Computer Science King Abdullah University for Science and Technology Saudi Arabia

Achieving instantaneous and precise failure localization in all-optical wavelength division multiplexing (WDM) networks has been an attractive feature of network fault management systems, and is particularly important when failure-dependent protection is employed. The paper introduces a novel framework of real-time failure localization in all-optical WDM mesh networks, called monitoring-burst (m-burst), which aims to initiate a graceful compromise between consumed monitoring resources and monitoring delay. Different from any previously reported solution, the proposed m-burst framework has a single monitoring node (MN) which launches optical bursts along a set of pre-defined close-loop routes, called monitoring cycles (m-cycles), to probe the links along the m-cycles. Bursts along different m-cycles are kept non-overlapping through any link of the network. By identifying the lost bursts due to single link failure events only, the MN can unambiguously localize the failed link in at least 3-connected networks. We will justify the feasibility and applicability of the proposed m-burst framework in the scenario of interest. To avoid possible collision among optical bursts launched by the MN, we define the problem of collision-free scheduling and formulate it into an integer linear program (ILP) in order to minimize the monitoring delay. Numerical results demonstrate the effectiveness of the proposed framework and the proposed solution.

关键词： Monitoring Manganese Delay Optical receivers Optical buffering Propagation delay

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Fusion of CSP-derived features and Time-Domain Parameters for mind robotics control

Fusion of CSP-derived features and Time-Domain Parameters fo...

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Asian Control Conference

作者： Shuzhi Sam Ge Xinyang Li Yaozhang Pan Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore Institute for Infocomm Research Agency for Science Technology and Research Singapore

In this paper, fusion of Common Spatial Pattern (CSP) analysis derived features and Time-Domain Parameters (TDP) is investigated for two-class motion imagery classification: left hand movement and right hand movement imagery. This fusion method is aiming at improving the performance of Brain-computer Interface (BCI) systems in translating human thoughts into command to control certain robots, e.g. rehabilitation robots. In the BCI system applied in this paper, a Human-Friendly Interactive Bear Robot is implemented, whose bear-like appearance and interactive actions can alleviate the frustration and anxiety on the part of the user in the experiment. Moreover, off-line experiments are conducted to demonstrate the efficiency of the fusion method using both well-known open-source data and data obtained by the BCI system mentioned before.

关键词： Robots Electroencephalography Accuracy Feature extraction Brain modeling Covariance matrix Algorithm design and analysis

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