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Sonar-based obstacle avoidance using a path correction method for autonomous control of a biped robot for the learning stratification and performance

Sonar-based obstacle avoidance using a path correction metho...

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IEEE International Conference on Industrial Engineering and Engineering Management

作者： Cheng-Hsuan Tsai Po-Hsuan Huang Wei-Chung Chou Chia-Hung Shih Chen-Yuan Chen Bih-Yaw Shih Chin-Jui Chang Cheng-Wu Chen Tsung-Hao Chen Wan-I Lee Pei-Yin Chung Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Doctoral Program in Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Department of Information Management Transworld University Yunlin Taiwan Institute of Maritime Information and Technology National Kaohsiung Marine University Kaohsiung Taiwan Departments of Business Administration Shu Te University Kaohsiung Taiwan Marketing and Distribution Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Department of Information Management Meiho University Ping Tung Taiwan

In this paper, a simple path correction and obstacle avoidance method with a bipedal robot for the learning stratification and performance, using an ultrasonic sensor and electronic compass sensor, is proposed. This bipedal robot was comprised using the Lego NXT Intelligent Bricks. The proposed method is implemented on an autonomous humanoid robot (the ARSR). One ultrasonic sensor and one electronic compass sensor are installed on the ARSR to detect environmental information including obstacles, the distance to the obstacle, and the directional angle of the robot. Based on the obtained information, an obstacle avoidance and path correct method is proposed to decide the ARSR's behavior so that it can avoid obstacles and move effectively to the destination area. Obstacle avoidance experiments are carried out to confirm the effectiveness of the proposed method and confirm the learning stratification and performance.

关键词： Robot sensing systems Acoustics Mobile robots Servomotors Compass Service robots

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A preliminary study on design and development of template-based for license plate recognition system applying artificial coordinates auxiliary techniques

A preliminary study on design and development of template-ba...

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IEEE International Conference on Industrial Engineering and Engineering Management

作者： Bih-Yaw Shih Chen-Yuan Chen Jin-Wei Kuo Po-Wei Chen Tsung-Hao Chen Cheng-Wu Chen Pei-Yin Chung Wan-I Lee Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Doctoral Program in Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Departments of Business Administration Shu Te University Kaohsiung Taiwan Institute of Maritime Information and Technology National Kaohsiung Marine University Taiwan Department of Information Management Meiho University Ping Tung Taiwan Marketing and Distribution Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

With the rapid improvement of technology and economy, the percentage of transportation, like automobile, gradually increases. However, the number of cars increases, the methods of management stretches lots of problems, such as parking, traffic and thievery. Hence, Intelligent Transportation System (ITS) have been emphasized step by step and set up one after another around the world. In addition, ITS also established in Taiwan on July 20, 1998.

关键词： Licenses Image color analysis Image recognition Color Vehicles computer science

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An efficient ICA approach based on neural network framework for biomedical applications

An efficient ICA approach based on neural network framework ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Yue-Der Lin Chih-Yu Hsu Hung-Yun Chen Kuo-Kun Tseng Department of Automatic Control Engineering and Master Program of Biomedical Informatics and Biomedical Engineering Feng Chia University FCU Taichung Taiwan Department of Information and Communication Engineering Chao Yang University of Technology Taichung Taiwan Department of Automatic Control Engineering Feng Chia University FCU Taichung Taiwan Department of Computer Science and Engineering Hung Kuang University Taichung Taiwan

The paper developed a block-wise approach for ICA algorithms which can improve the computational efficiency of ICA without the degradation of performance for the separation of biomedical signals. Source signals including electrocardiogram (ECG), electromyogram (EMG) and 60-Hz sinusoid are linearly mixed for experimental tests. The mean-square errors (MSE) between the original sources and the separated signals are calculated for the evaluation of separation performance. These results demonstrated that the proposed block-wise approach can achieve the desired separation performance of signals in a more efficient way.

关键词： Equations Algorithm design and analysis Electrocardiography Electromyography Source separation Iterative algorithm Indexes

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Encoding intelligent agents for uncertain, unknown, and dynamic tasks: From programming to interactive artificial learning

Encoding intelligent agents for uncertain, unknown, and dyna...

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Agents that Learn from Human Teachers - Papers from the AAAI Spring Symposium

作者： Crandall, Jacob W. Goodrich, Michael A. Lin, Lanny Information Technology Program Masdar Institute of Science and Technology Abu Dhabi United Arab Emirates Computer Science Department Brigham Young University Provo UT 84602 United States

ISBN: (纸本)9781577354086

In this position paper, we analyze ways that a human can best be involved in interactive artificial learning against a backdrop of traditional AI programming and conventional artificial learning. Our primary claim is that interactive artificial learning can produce a higher return on human investment than conventional methods, meaning that performance of the agent exceeds performance of traditional agents at a lower cost to the human. This claim is clarified by identifying metrics that govern the effectiveness of interactive artificial learning. We then present a roadmap for achieving this claim, identifying ways in which interactive artificial learning can be used to improve each stage of training an artificial agent: configuring, planning, acting, observing, and updating. We conclude by presenting a case study that contrasts programming using conventional artificial learning to programming using interactive artificial learning. Copyright © 2009, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Intelligent agents

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An authenticated anonymous group key management with only one rekey message

An authenticated anonymous group key management with only on...

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5th IASTED European Conference on Internet and Multimedia Systems and Applications, EuroIMSA 2009

作者： Wuu, Lih-Chyau Hung, Chi-Hsiang Department of Computer Science and Information Engineering National Yunlin University of Science and Technology 123 University Road Touliu Yunlin Taiwan Graduate School of Engineering Science and Technology Doctoral Program National Yunlin University of Science and Technology 123 University Road Touliu Yunlin Taiwan

ISBN: (纸本)9780889868021

In Internet, IP multicast has been used successfully to provide an efficient, best-effort delivery service for group communication applications. However, applications such as multiparty private conference, distribution of stock market information, pay per view and other subscriber services require secure multicast to protect integrity and confidentiality of the group traffic, and validate group member's authenticity. Providing secure multicast for group communication is problematic without a robust group key management. In this paper, we propose an anonymous group key management with ID-based Signature and secret sharing technologies to distribute a new group key securely to each participant of a group with only one rekey message whenever the group membership changes. The key management guarantees that a legal user, without revealing his/her real identity, can join a group after finishing the mutual authentication with the group initiator, and enforces the forward secrecy and backward secrecy.

关键词： Multicasting

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Duplicate Record Detection for Database Cleansing

Duplicate Record Detection for Database Cleansing

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International Conference on Machine Vision (ICMV)

作者： Mariam Rehman Vatcharapon Esichaikul Computer Science and Information Management Program Asian Institute of Technology Pathum Thani Thailand

Many organizations collect large amounts of data to support their business and decision making processes. The data collected from various sources may have data quality problems in it. These kinds of issues become prominent when various databases are integrated. The integrated databases inherit the data quality problems that were present in the source database. The data in the integrated systems need to be cleaned for proper decision making. Cleansing of data is one of the most crucial steps. In this research, focus is on one of the major issue of data cleansing i.e. ¿duplicate record detection¿ which arises when the data is collected from various sources. As a result of this research study, comparison among standard duplicate elimination algorithm (SDE), sorted neighborhood algorithm (SNA), duplicate elimination sorted neighborhood algorithm (DE-SNA), and adaptive duplicate detection algorithm (ADD) is provided. A prototype is also developed which shows that adaptive duplicate detection algorithm is the optimal solution for the problem of duplicate record detection. For approximate matching of data records, string matching algorithms (recursive algorithm with word base and recursive algorithm with character base) have been implemented and it is concluded that the results are much better with recursive algorithm with word base.

关键词： Databases Detection algorithms computer science information management Decision making Machine vision Prototypes Customer satisfaction Government Protection

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Incorporation of interoperability in a robot-assisted orthopedic surgery system

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25th Southern Biomedical Engineering Conference 2009

作者： Vanicatte, M. Krishnan, S.M. Arney, D. Lee, I. Goldman, J.M. Department of Computer and Information Science University of Pennsylvania Philadelphia United States Biomedical Engineering Program Wentworth Institute of Technology Boston United States Department of Anesthesia and CIMIT Massachusetts General Hospital Boston United States

ISBN: (纸本)9783642016967

The current robot-assisted surgery has built in significant safety features, force feedback system, pre-operative planning software, but due to a lack of communication between the robot and the surrounding medical devices, undesirable and potentially unsafe actions could still occur, endangering the patient condition. To achieve major improvement of safety during an operation, an interoperability feature is implemented in a robot-assisted orthopedic surgery system coupled with smart interactions between medical devices. The proposed design consists of integrating an interoperable central decision-making unit (CDMU), wirelessly activating safety interlocks on the surgical robot and preventing surgical complications. Two different patient states, namely, normal and critical risk states, were simulated, and the reactions of the designed system were analyzed. In the interoperability-based design, the system is able to achieve appropriate reactions to various situations at risk in a timely manner, increasing the confidence of the clinical staff operating then in a safer robot-assisted surgery environment. © 2009 Springer Berlin Heidelberg.

关键词： Decision making

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Design of interoperability-coupled safe infusion therapy in a telemetry setting

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25th Southern Biomedical Engineering Conference 2009

作者： Krishnan, S.M. Vanicatte, M. Arney, D. Lee, I. Goldman, J.M. Biomedical Engineering Program Wentworth Institute of Technology Boston United States Department of Computer and Information Science University of Pennsylvania Philadelphia United States Department of Anesthesia CIMIT Massachusetts General Hospital Boston United States

ISBN: (纸本)9783642016967

Reliable wireless transmission of medical data is achievable in a modern telemetry setting and is put to good use. However, intercommunications among the different medical devices and initiation of controls to avoid unsafe incidents are generally not available. Interoperability among medical devices connected to a patient at a remote site is a challenging feature for practical realization that would increase safety. A new system is proposed to improve infusion therapy safety by implementing an interoperability feature coupled with a smart clinical decision support system. This system is designed to respond promptly to medication error alerts by the use of safety commands and interlocks. The design incorporates an innovative Intelligent Interoperability Supervisor (IIS) in the system which includes an infusion pump (or pumps) delivering drug therapy to a patient connected to relevant monitoring devices. A local decision support unit in IIS in the remote location analyzes the data transmitted by interface modules on the connected medical devices and verifies with preset patient-specific alarm criteria to detect presence of any crisis or to predict potential adverse episode. If the situation is assessed to be critical, IIS sends appropriate alert signals to a remote clinical care giver and control commands to the infusion pump to activate appropriate safety interlocks. Different critical situations of clinical cases are simulated in a conventional infusion therapy system (Configuration A), and in an IIS-implemented system (Configuration B). In Configuration A, there would be a significant delay between alarm occurrence and clinician intervention;such a time delay could lead to potential deterioration of patient condition. In Configuration B, clinically abnormal values are detected and the patient state is analyzed. If the situation demands, the system would promptly initiate the stop control command to the corresponding infusion pump ensuring safety and alerting the cl

关键词： Decision support systems

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Efficiently mining frequent subpaths 09

Efficiently mining frequent subpaths

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Proceedings of the Eighth Australasian Data Mining Conference - Volume 101

作者： Sumanta Guha Computer Science & Information Management Program Asian Institute of Technology Klong Luang Pathumthani Thailand

ISBN: (纸本)9781920682828

The problem considered is that of finding frequent subpaths of a database of paths in a fixed undirected graph. This problem arises in applications such as predicting congestion in network traffic. An algorithm based on Apriori, called AFS, is developed, but with significantly improved efficiency through exploiting the underlying graph structure, which makes AFS feasible for practical input path sizes. It is also proved that a natural generalization of the frequent subpaths problem is not amenable to any solution quicker than Apriori.

关键词： AFS data mining apriori frequent substructure frequent subpath graph mining

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Efficiently mining frequent subpaths

Conferences in Research and Practice in Information Technolo...

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Conferences in Research and Practice in information technology Series 2009年 101卷 11-15页

作者： Guha, Sumanta Computer Science and Information Management Program Asian Institute of Technology PO Box 4 Klong Luang Pathumthani 12120 Thailand

ISBN: (纸本)9781920682828

The problem considered is that of finding frequent subpaths of a database of paths in a fixed undirected graph. This problemarises in applications such as predicting congestion in network traffic. An algorithm based on Apriori, called AFS, is developed, but with significantly improved efficiency through exploiting the underlying graph structure, which makes AFS feasible for practical input path sizes. It is also proved that a natural generalization of the frequent subpaths problem is not amenable to any solution quicker than Apriori. © 2009, Australian computer Society, Inc.

关键词： Data mining

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