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2012 IEEE Avionics, Fiber- Optics and Photonics Technology Conference, AVFOP 2012

作者： Wang, Alan X. Chen, Ray T. Fan, Donglei Lin, Che-Yun Xu, Xiaobin Wang, Lei School of Electrical Engineering and Computer Science Oregon State University Corvallis OR 97331 United States Microelectronic Research Center University of Texas Austin TX United States Department of Mechanical Engineering University of Texas Austin TX United States Materials Science and Engineering Program University of Texas Austin TX United States

We investigated ultra-efficient nano-photonic modulators based on silicon photonic crystal slot waveguides infiltrated with electro-optic polymers. The integration of Si3N4 guided mode resonance grating with plasmonic... 详细信息

ISBN: (纸本)9781457707575

关键词： Photonic devices

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Validation of an odor source identification algorithm via an underwater vehicle

Validation of an odor source identification algorithm via an...

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2nd International Conference on Intelligent Systems Design and engineering Applications, ISDEA 2012

作者： Kang, Xiaodong Li, Wei Xu, Hongli Feng, Xisheng Li, Yiping State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province 110016 China Graduate School of the Chinese Academy of Sciences Beijing 100049 China Department of Computer Engineering and Science California State University Bakersfield CA 93311 United States

ISBN: (纸本)9780769546087

This paper systemically discusses a procedure for evaluating and validating an odor source identification algorithm derived from moth-inspired plume tracing strategies. We evaluate and validate the proposed source identification algorithm as follows. First, we identify the source of a virtual chemical plume with significant filament intermittency and meander via a simulated underwater vehicle. Second, we validate the source identification algorithm using the virtual chemical plume and a real underwater vehicle in a swimming pool. Finally, we run in-water tests to trace a Rhoda mine dye plume developed in near-shore ocean environments characterized by turbulence, tides and waves, and to identify its source via the underwater vehicle at Da Lian Bay in China. © 2012 IEEE.

关键词： Vehicles

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Reversible JPEG Data Hiding Based on EMD

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通讯和计算机（中英文版） 2012年第10期9卷 1135-1141页

作者： Wen-Chung Kuo Shao-Hung Kuo Department of Computer Science and Information Engineering National Yunlin University of Science & Technology Yunlin 672 Taiwan Graduate School of Engineering Science and Technology Doctoral Program National Yunlin University of Science and Technology Yunlin 640 Taiwan

As the rapid growth of smart phone technology, people have a lot of digital image information such as digital photos or videos. Both data hiding and data compression are very important technologies in image processing field. On the overview, it seems that there is no relationship between data hiding and data compression because data hiding mechanisms focus on information security and data compression mechanisms emphasize the compression ratio. However, the more secret data is embedded, the more capacity the stego image increases. Actually, they are closely related. Until now, there are many literatures to discuss the secret data how to be embedded into the media image and keeps the original capacity as soon as possible. In this paper, a reversible data hiding scheme based on EMD data hiding and JPEG (Joint Picture Experts Group) compression technology will be proposed. According to experimental results, the authors can prove that our proposed scheme maintains high embedding capacity, security and good compression ratio.

关键词：数据隐藏 JPEG EMD 可逆数字图像信息数据嵌入压缩技术数据压缩

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Fabrication of optical and graphical codes contained microdisk for multiplexed bioassay

Fabrication of optical and graphical codes contained microdi...

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16th International Conference on Miniaturized Systems for Chemistry and Life sciences, MicroTAS 2012

作者： Koh, Yul Kang, Homan Jeong, Sinyoung Lee, Yoon-Sik Jeong, Dae Hong Lee, Seung Hyun Seo, Young-Tai Kim, Yong-Kweon School of Electrical Engineering and Computer Science Seoul National University Seoul 151-742 Korea Republic of Interdisciplinary Program in Nano-Science and Technology Seoul National University Seoul 151-742 Korea Republic of School of Chemistry Education Seoul National University Seoul 151-742 Korea Republic of School of Chemical and Biological Engineering Seoul National University Seoul 151-742 Korea Republic of

ISBN: (纸本)9780979806452

In this paper, we proposed optically and graphically coded microdisks that have large coding capacity and small particle size for bioassay. Graphically coded particles generally have large particle size compared with the conventionally used microbeads. But the large particle size is not suitable for multiplexed bioassay due to a large amount of sample consumption and vigorous mixing. The proposed dual coding method uses optical and graphical codes for minimizing the particle size without reducing the coding capacity. The microdisk has dot patterns for graphical coding and gold layer on the microdisk for optical coding.

关键词： Bioassay

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Towards automated task planning for service robots using semantic knowledge representation

Towards automated task planning for service robots using sem...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Ze Ji Renxi Qiu Alex Noyvirt Anthony Soroka Michael Packianather Rossi Setchi Dayou Li Shuo Xu School of Engineering Cardiff University UK School of Computer Science Bedfordshire University UK Shanghai Key Laboratory of Manufacturing Automation and Robotics School of Mechatronic Engineering and Automation Shanghai University China

ISBN: (纸本)9781467303125

Automated task planning for service robots faces great challenges in handling dynamic domestic environments. Classical methods in the Artificial Intelligence (AI) area mostly focus on relatively structured environments with fewer uncertainties. This work proposes a method to combine semantic knowledge representation with classical approaches in AI to build a flexible framework that can assist service robots in task planning at the high symbolic level. A semantic knowledge ontology is constructed for representing two main types of information: environmental description and robot primitive actions. Environmental knowledge is used to handle spatial uncertainties of particular objects. Primitive actions, which the robot can execute, are constructed based on a STRIPS-style structure, allowing a feasible solution (an action sequence) for a particular task to be created. With the Care-O-Bot (CoB) robot as the platform, we explain this work with a simple, but still challenging, scenario named “get a milk box”. A recursive back-trace search algorithm is introduced for task planning, where three main components are involved, namely primitive actions, world states, and mental actions. The feasibility of the work is demonstrated with the CoB in a simulated environment.

关键词： Planning Robot kinematics Ontologies Robot sensing systems Semantics Dairy products

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Stability and transparency improvement in haptic device employing both MR-brake and active actuator

Stability and transparency improvement in haptic device empl...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Baser, Ozgur Konukseven, E. Ilhan Gurocak, Hakan Mechanical Engineering Department Middle East Technical University Universiteler Mah. Dumlupinar Blv. No:1 06800 Çankaya Ankara Turkey Robotics and Automation Laboratory Washington State University Vancouver WA United States School of Engineering and Computer Science Washington State University Vancouver WA 98686 United States

ISBN: (纸本)9781467346054

An ideal haptic device should transmit a wide range of stable virtual model impedances (Z-width) with high transparency. Magneto-rheological fluid (MR) brakes are advantageous in haptic devices since they are passive actuators. However, they cannot provide high transparency and smooth interaction due to high viscous friction, residual torque, slow response, sticking and hysteresis effects. On the other hand, active actuators cannot simulate high virtual impedances stably, but provide high transparency with a closed loop control algorithm. In the proposed hybrid actuation a task divider control (TDC) algorithm was developed for torque sharing between two actuators to provide a large Z-width and improve both transparency and smoothness. The algorithm employs two parameters which were estimated experimentally and extended to entire achievable impedance range by artificial neural network (ANN) and curve fitting techniques. A 1-DOF device having an excitation motor at the user side and brushless DC motor and MR-brake in the haptic side was used in the experiments. The excitation motor is used to generate a white noise torque input to simulate a user for frequency domain transparency tests. Results of the proposed and conventional closed loop impedance control (CLIC) algorithms were compared. The proposed algorithm improves the transparency of MR-brake by eliminating its drawbacks and presents a larger Z-width than the active actuator alone. © 2012 IEEE.

关键词： Hysteresis

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Conversational gaze mechanisms for humanlike robots

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ACM Transactions on Interactive Intelligent Systems 2012年第2期1卷 1–33页

作者： Mutlu, Bilge Kanda, Takayuki Forlizzi, Jodi Hodgins, Jessica Ishiguro, Hiroshi Department of Computer Sciences University of Wisconsin-Madison 1210W. Dayton St. Madison WI 53706 United States Intelligent Robotics and Communication Laboratories ATR 2-2-2 Hikaridai Soraku-gun Seika-cho Kyoto 619-0224 Japan Human-Computer Interaction Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States Department of System Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan

During conversations, speakers employ a number of verbal and nonverbal mechanisms to establish who participates in the conversation, when, and in what capacity. Gaze cues and mechanisms are particularly instrumental in establishing the participant roles of interlocutors, managing speaker turns, and signaling discourse structure. If humanlike robots are to have fluent conversations with people, they will need to use these gaze mechanisms effectively. The current work investigates people's use of key conversational gaze mechanisms, how they might be designed for and implemented in humanlike robots, and whether these signals effectively shape human-robot conversations. We focus particularly on whether humanlike gaze mechanisms might help robots signal different participant roles, manage turn-exchanges, and shape how interlocutors perceive the robot and the conversation. The evaluation of these mechanisms involved 36 trials of three-party human-robot conversations. In these trials, the robot used gaze mechanisms to signal to its conversational partners their roles either of two addressees, an addressee and a bystander, or an addressee and a nonparticipant. Results showed that participants conformed to these intended roles 97% of the time. Their conversational roles affected their rapport with the robot, feelings of groupness with their conversational partners, and attention to the task. © 2012 ACM.

关键词： Human robot interaction

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Towards AER VITE: building spike gate signal

Towards AER VITE: building spike gate signal

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IEEE International Conference on Electronics, Circuits and Systems

作者： Fernando Perez-Pena Arturo Morgado-Estevez Carlos Rioja-Del-Rio Alejandro Linares-Barranco Angel Jimenez-Fernandez Juan Lopez-Coronado Jose Luis Munoz-Lozano Applied Robotics Lab High School of Engineering University of Cadiz Department of Computer Architecture and Technology ETSI Computer Science University of Seville Automatic and System Engineering Department University Polytechnics of Cartagena

ISBN: (纸本)9781467312615

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative-Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes.

关键词： spike spikes spikes Road gates Hardware Test Information representation Processing information ANION EXCHANGE RESIN Proportional Integral Derivative Control Activation Pelvic Inflammatory Disease RAMP Ramps Multiplying circuits

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On region-based fault tolerant design of distributed file storage in networks

On region-based fault tolerant design of distributed file st...

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IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： Sujogya Banerjee Shahrzad Shirazipourazad Arunabha Sen Computer Science and Engineering Program School of Computing Informatics and Decision System Engineering Arizona State University Tempe AZ USA

ISBN: (纸本)9781467307734;9781467307758

Distributed storage of data files in different nodes of a network enhances the reliability of the data by offering protection against node failure. In the (N,K),N ≥ K file distribution scheme, from a file F of size |F|, N segments of size |F|/K are created in such a way that it is possible to reconstruct the entire file, just by accessing any K segments. For the reconstruction scheme to work it is essential that the K segments of the file are stored in nodes that are connected in the network. However in case of node failures the network might become disconnected (i.e., split into several connected components). We focus on node failures that are spatially-correlated or region-based. Such failures are often encountered in disaster situations or natural calamities where only the nodes in the disaster zone are affected. The goal of this research is to devise a file segment distribution scheme so that, even if the network becomes disconnected due to any region fault, at least one of the largest connected components will have at least K distinct file segments with which to reconstruct the entire file. The distribution scheme will also ensure that the total storage requirement is minimized. We provide an optimal solution through Integer Linear programming and an approximation solution with a guaranteed performance bound of O(ln n) to solve the problem for any arbitrary network. The performance of the approximation algorithm is evaluated by simulation on two real networks.

关键词： Image color analysis Color Approximation algorithms Robustness Approximation methods Layout Encoding

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Modified RELT for Display and Navigation of Large Hierarchy on Handheld Touch-Screen Devices

Modified RELT for Display and Navigation of Large Hierarchy ...

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International Conference on computer and Information science (ACIS)

作者： Abhishek Chhetri Kang Zhang Computer Engineering Program University of Texas Dallas USA Department of Computer Science University of Texas Dallas USA School of Software Engineering Tianjin University China

Visualizing and exploring a hierarchical structure on a smartphone screen is challenging. On larger screens of PCs and laptops these types of structures are often shown in a tabular view. Due to the width restriction, tabular view is not feasible on smaller screens. This paper presents a visualization technique that displays multiple levels of a hierarchical structure on a single view for small screens and allows users to explore the structure rapidly through touch input. The visualization technique makes full use of the available space and distributes the space fairly among nodes. The system allows selection and display of relevant information based on user query or user habit, while hiding less important items from the view.

关键词： Visualization Layout Vegetation Navigation Shape Androids Humanoid robots

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