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IEEE International Conference on robotics and Biomimetics

作者： Yanan Liu Rui Fan Bin Yu M. Junaid Bocus Ming Liu Hepeng Ni Jiahe Fan Shixin Mao Bristol Robotics Laboratory University of Bristol Bristol United Kingdom Hong Kong University of Science and Technology Kowloon HK Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong University of Bristol Bristol Bristol GB Department of Electrical and Electronic Engineering University of Bristol Bristol United Kingdom School of Mechanical Engineering Shandong University Jinan China School of Communication Engineering Jilin University Changchun China Shenzhen Sanhang Industrial Technology Research Institute Shenzhen China

ISBN: (纸本)9781728103785;9781728103778

Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to perform tasks autonomously can be expensive because of the need for various types of sensors and the high price of robot platforms. Hence, in this paper we present a mobile robot localisation and navigation system which uses a LEGO ultrasonic sensor in an indoor map based on the LEGO MINDSTORM NXT. This provides an affordable and ready-to-use option for most robot fans. In this paper, an effective method is proposed to extract useful information from the distorted readings collected by the ultrasonic sensor. Then, the particle filter is used to localise the robot. After robot's position is estimated, a sampling-based path planning method is proposed for the robot navigation. This method reduces the robot accumulative motion error by minimising robot turning times and covering distances. The robot localisation and navigation algorithms are implemented in MATLAB. Simulation results show an average accuracy between 1 and 3 cm for three different indoor map locations. Furthermore, experiments performed in a real setup show the effectiveness of the proposed methods.

关键词： Mobile robot LEGO NXT Localisation and navigation Particle filter Path plan

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Real-time optimization using gradient adaptive selection and classification from infrared sensors measurement for esterification oleic acid with glycerol

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International Journal of Intelligent Computing and Cybernetics 2017年第2期10卷 130-144页

作者： Iwan Aang Soenandi Taufik Djatna Ani Suryani Irzaman Post Graduate Program of Agro-industrial Technology Bogor Agricultural UniversityBogorIndonesia and Faculty of Engineering and Computer ScienceKrida Wacana Christian UniversityJakartaIndonesia Post Graduate Program of Agro-industrial Technology Bogor Agricultural UniversityBogorIndonesia Department of Physics Faculty of Mathematics and Natural SciencesBogor Agricultural UniversityBogorIndonesia

Purpose-The production of glycerol derivatives by the esterification process is subject to many constraints related to the yield of the production target and the lack of process *** accurate monitoring and controlling of the process can improve production yield and *** purpose of this paper is to propose a real-time optimization(RTO)using gradient adaptive selection and classification from infrared sensor measurement to cover various disturbances and uncertainties in the ***/methodology/approach-The integration of the esterification process optimization using self-optimization(SO)was developed with classification process was combined with necessary condition optimum(NCO)as gradient adaptive selection,supported with laboratory scaled medium wavelength infrared(mid-IR)sensors,and measured the proposed optimization system indicator in the batch *** Process Modeling and Notation(BPMN 2.0)was built to describe the tasks of SO workflow in collaboration with NCO as an abstraction for the conceptual ***,Stateflow modeling was deployed to simulate the three states of gradient-based adaptive control combined with support vector machine(SVM)classification and Arduino microcontroller for ***-This new method shows that the real-time optimization responsiveness of control increased product yield up to 13 percent,lower error measurement with percentage error 1.11 percent,reduced the process duration up to 22 minutes,with an effective range of stirrer rotation set between 300 and 400 rpm and final temperature between 200 and 210℃ which was more efficient,as it consumed less *** limitations/implications-In this research the authors just have an experiment for the esterification process using glycerol,but as a development concept of RTO,it would be possible to apply for another chemical reaction or *** implications-This research introduces new development of an RTO approach to optimal con

关键词： Gradient technique Infrared sensor Real-time optimization Simulation and modelling Support vector machine

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Implementing exchanged hypercube communication patterns on ring-connected WDM optical networks

Implementing exchanged hypercube communication patterns on r...

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作者： Liu, Yu-Liang Wu, Ruey-Chyi Department of Computer Science and Information Engineering Aletheia University New Taipei City25103 Taiwan Bachelor Degree Program of Digital Marketing National Taipei University Taipei10478 Taiwan

The exchanged hypercube, denoted by EH(s, t), is a graph obtained by systematically removing edges from the corresponding hypercube, while preserving many of the hypercube’s attractive properties. Moreover, ring-connected topology is one of the most promising topologies in Wavelength Division Multiplexing (WDM) optical networks. Let Rn denote a ring-connected topology. In this paper, we address the routing and wavelength assignment problem for implementing the EH(s, t) communication pattern on Rn, where n = s + t + 1. We design an embedding scheme. Based on the embedding scheme, a near-optimal wavelength assignment algorithm using 2s+t−2 + 2t/3 wavelengths is proposed. We also show that the wavelength assignment algorithm uses no more than an additional 25 percent of (or 2t−1/3) wavelengths, compared to the optimal wavelength assignment algorithm. Copyright © 2017 The Institute of Electronics, Information and Communication Engineers.

关键词： Topology

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Room-temperature lasing action in GaN quantum wells in the infrared 1.5 µm region

arXiv

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arXiv 2018年

作者： Ho, V.X. Al tahtamouni, T.M. Jiang, H.X. Lin, J.Y. Zavada, J.M. Vinh, N.Q. Department of Physics Center for Soft Matter and Biological Physics Virginia Tech BlacksburgVA24061 United States Materials Science & Technology Program College of Arts & Sciences Qatar University Doha2713 Qatar Department of Electrical and Computer Engineering Texas Tech University LubbockTX79409 United States Department of Electrical and Computer Engineering New York University BrooklynNY11201 United States

Large-scale optoelectronics integration is strongly limited by the lack of efficient light sources, which could be integrated with the silicon complementary metal-oxide-semiconductor (CMOS) technology. Persistent efforts continue to achieve efficient light emission from silicon in the extending the silicon technology into fully integrated optoelectronic circuits. Here, we report the realization of room-temperature stimulated emission in the technologically crucial 1.5 µm wavelength range from Er-doped GaN multiple-quantum wells on silicon and sapphire. Employing the well-acknowledged variable stripe technique, we have demonstrated an optical gain up to 170 cm-1 in the multiple-quantum well structures. The observation of the stimulated emission is accompanied by the characteristic threshold behavior of emission intensity as a function of pump fluence, spectral linewidth narrowing and excitation length. The demonstration of room-temperature lasing at the minimum loss window of optical fibers and in the eye-safe wavelength region of 1.5 µm are highly sought-after for use in many applications including defense, industrial processing, communication, medicine, spectroscopy and imaging. As the synthesis of Er-doped GaN epitaxial layers on silicon and sapphire has been successfully demonstrated, the results laid the foundation for achieving hybrid GaN-Si lasers providing a new pathway towards full photonic integration for silicon optoelectronics. Driven by the strong need for cheap and integrable Si-based optoelectronic devices for a wide range of applications, continuing endeavors have been made to develop structures for light emission, modulation, and detection in this material system. Recent breakthroughs including the demonstration of a high-speed optical modulator in Si,1-2 photodetectors3, and waveguides4 have brought the concept of transition from electrical to optical interconnects closer to realization. However, the base for silicon photonics, namely, a group IV la

关键词： Semiconductor quantum wells

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Role of Integrating Diffusion Mr Image-Markers with Clinical-Biomarkers For Early Assessment of Renal Transplants

Role of Integrating Diffusion Mr Image-Markers with Clinical...

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IEEE International Conference on Image Processing

作者： Mohammad Shehata Mohammed Ghazal Garth Beache Mohamed Abou EI-Ghar Amy Dwyer Hassan Hajjdiab Ashraf Khalil Ayman EI-Baz Bioengineering Department University of Louisville Louisville KY USA Radiology Department University of Louisville Louisville KY USA Radiolozy Department Mansoura University Mansoura Egypt Kidney Disease Program University of Louisville Louisville KY USA Electrical and Computer Engineering Department Abu Dhabi University Abu Dhabi UAE Computer Science and Information Technology Department Abu Dhabi University Abu Dhabi UAE

Recently, diffusion-weighted magnetic resonance imaging (DW-MRI) has been explored for non-invasive assessment of renal transplant functions. In this paper, a computer-aided diagnostic (CAD) system is developed to assess renal transplant functionality, which integrates both clinical and diffusion MRI -derived markers extracted from 4D DW-MRI (i.e. 3D + b-value). To extract the DW-MR image-markers, our framework performs multiple image processing steps, including kidney segmentation using a level-set approach and estimation of image-markers. To extract these image-markers, apparent diffusion coefficients (ADCs) are estimated from the segmented DW-MRIs and cumulative distribution functions (CDFs) of the ADCs are constructed at different b-values (i.e. gradient field strengths and duration). Finally, these markers (i.e. CDFs) are integrated with clinical biomarkers (e.g., creatinine clearance and serum plasma creatinine) to assess transplant status using stacked auto-encoders with non-negativity constraints based on deep learning classification approach. Our CAD system consists of two consecutive classification stages. The first stage classifier achieved a 96% accuracy, a 95% sensitivity, and a 100% specificity in distinguishing non-rejection (NR) from dysfunctional (DF) transplanted kidneys. Additionally, an overall accuracy of 94% has been obtained in the second stage in separating DF to acute rejection (AR) and different renal disease (DRD) transplants. Our preliminary results hold strong promise that the presented CAD system is of a high reliability to non-invasively diagnose renal transplant status.

关键词： Kidney Diseases Three-dimensional displays Image segmentation Magnetic resonance imaging Machine learning Radio frequency

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Geometric Methods for Robust Data Analysis in High Dimension

arXiv

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arXiv 2017年

作者： Anderson, Joseph Timothy Graduate Program in Department of Computer Science and Engineering The Ohio State University

Data-driven applications are growing. Machine learning and data analysis now finds both scientific and industrial application in biology, chemistry, geology, medicine, and physics. These applications rely on large quantities of data gathered from automated sensors and user input. Furthermore, the dimensionality of many datasets is extreme: more details are being gathered about single user interactions or sensor readings. All of these applications encounter problems with a common theme: use observed data to make inferences about the world. Our work obtains the first provably efficient algorithms for Independent Component Analysis (ICA) in the presence of heavy-tailed data. The main tool in this result is the centroid body (a well-known topic in convex geometry), along with optimization and random walks for sampling from a convex body. This is the first algorithmic use of the centroid body and it is of independent theoretical interest, since it effectively replaces the estimation of covariance from samples, and is more generally accessible. We demonstrate that ICA is itself a powerful geometric primitive. That is, having access to an efficient algorithm for ICA enables us to efficiently solve other important problems in machine learning. The first such reduction is a solution to the open problem of efficiently learning the intersection of n + 1 halfspaces in Rn, posed in [43]. This reduction relies on a non-linear transformation of samples from such an intersection of halfspaces (i.e. a simplex) to samples which are approximately from a linearly transformed product distribution. Through this transformation of samples, which can be done efficiently, one can then use an ICA algorithm to recover the vertices of the intersection of halfspaces. Finally, we again use ICA as an algorithmic primitive to construct an efficient solution to the widely-studied problem of learning the parameters of a Gaussian mixture model. Our algorithm again transforms samples from a Gaussian mi

关键词： Independent component analysis

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The structure of evolved representations across different substrates for artificial intelligence

arXiv

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arXiv 2018年

作者： Hintze, Arend Kirkpatrick, Douglas Adami, Christoph Department of Integrative Biology Michigan State University Department of Computer Science and Engineering Michigan State University BEACON Center for the Study of Evolution in Action Michigan State University Department of Microbiology and Molecular Genetics Michigan State University Program in Ecology Evolution and Behavior Biology Michigan State University

Artificial neural networks (ANNs), while exceptionally useful for classification, are vulnerable to misdirection. Small amounts of noise can significantly affect their ability to correctly complete a task. Instead of generalizing concepts, ANNs seem to focus on surface statistical regularities in a given task. Here we compare how recurrent artificial neural networks, long short-term memory units, and Markov Brains sense and remember their environments. We show that information in Markov Brains is localized and sparsely distributed, while the other neural network substrates "smear" information about the environment across all nodes, which makes them vulnerable to noise. Copyright © 2018, The Authors. All rights reserved.

关键词： Recurrent neural networks

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Broadband Cyclic-Symmetric Magnet-less Circulatorsand Theoretical Bounds on their Bandwidth

arXiv

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arXiv 2018年

作者： Kord, Ahmed Sounas, Dimitrios L. Xiao, Zhicheng Alù, Andrea Department of Electrical and Computer Engineering University of Texas at Austin AustinTX78712 United States Advanced Science Research Center Physics Program Graduate Center Photonics Initiative Department of Electrical Engineering City College of New York City University of New York New York NY10031 United States

In this paper, we explore theoretically and experimentally broadband spatiotemporally modulated (STM) magnet-less circulators realized by combining three-port non-reciprocal junctions with three identical bandpass filters. We develop a rigorous theory for the proposed circuit, which allows to optimize its design and to derive a global bound on the maximum possible bandwidth (BW). We verify our theory with simulations and measurements of a printed circuit board (PCB) prototype based on a differential wye junction and second-order Chebyshev bandpass filters, resulting in a measured fractional BW of 13.9% at a center frequency of 1 GHz. Copyright © 2018, The Authors. All rights reserved.

关键词： Bandwidth

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Tissue engineering: Controlled Apoptosis of Stromal Cells to Engineer Human Microlivers (Adv. Funct. Mater. 48/2020)

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Advanced Functional Materials 2020年第48期30卷

作者： Amanda X. Chen Arnav Chhabra Hyun‐Ho Greco Song Heather E. Fleming Christopher S. Chen Sangeeta N. Bhatia Department of Biological Engineering Massachusetts Institute of Technology Cambridge MA 02139 USA Koch Institute for Integrative Cancer Research Massachusetts Institute of Technology Cambridge MA 02139 USA Harvard–MIT Program in Health Sciences and Technology Institute for Medical Engineering and Science Massachusetts Institute of Technology Cambridge MA 02139 USA Biological Design Center Department of Biomedical Engineering Boston University Boston MA 02215 USA Wyss Institute for Biologically Inspired Engineering Boston MA 02115 USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA 02142 USA Department of Medicine Brigham and Women's Hospital and Harvard Medical School Boston MA 02115 USA Broad Institute of Massachusetts Institute of Technology and Harvard Cambridge MA 02139 USA Howard Hughes Medical Institute Chevy Chase MD 20815 USA

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On the effect of vibration on shape sensing of continuum manipulators using fiber bragg gratings

arXiv

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arXiv 2018年

作者： Sefati, Shahriar Alambeigi, Farshid Iordachita, Iulian Taylor, Russell H. Armand, Mehran Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD United States Department of Mechanical Engineering Johns Hopkins University BaltimoreMD United States Department of Computer Science Johns Hopkins University BaltimoreMD United States Johns Hopkins University Applied Physics Laboratory LaurelMD United States

Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of FBG-based force and shape sensors for medical applications. These studies mainly focus on obtaining shape and force information in a static (or quasi-static) environment. In this paper, however, we study and evaluate dynamic environments where the FBG data is affected by vibration caused by a harmonic force e.g. a rotational debriding tool harmonically exciting the CM and the FBG-based shape sensor. In such situations, appropriate pre-processing of the FBG signal is necessary in order to infer correct information from the raw signal. We look at an example of such dynamic environments in the less invasive treatment of osteolysis by studying the FBG data both in time- and frequency-domain in presence of vibration due to a debriding tool rotating inside the lumen of the CM. Copyright © 2018, The Authors. All rights reserved.

关键词： Fiber Bragg gratings

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