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IEEE International Conference on robotics and Biomimetics

作者： Karigiannis, John N. Rekatsinas, Theodoros I. Tzafestas, Costas S. School of Electrical and Computer Engineering Division of Signals Control and Robotics National Technical University of Athens Zographou Athens Greece School of Computer Science University of Maryland College Park MD 20742 United States

ISBN: (纸本)9781424493173

Biologically inspired architectures that mimic the organizational structure of living organisms and in general frameworks that will improve the design of intelligent robots attract significant attention from the research community. Self-organization problems, intrinsic behaviors as well as effective learning and skill transfer processes in the context of robotic systems have been significantly investigated by researchers. Our work presents a new framework of developmental skill learning process by introducing a hierarchical nested multi-agent architecture. A neuro-dynamic learning mechanism employing function approximators in a fuzzified state-space is utilized, leading to a collaborative control scheme among the distributed agents engaged in a continuous space, which enables the multi-agent system to learn, over a period of time, how to perform sequences of continuous actions in a cooperative manner without any prior task model. The agents comprising the system manage to gain experience over the task that they collaboratively perform by continuously exploring and exploiting their state-to-action mapping space. For the specific problem setting, the proposed theoretical framework is employed in the case of two simulated e-Puck robots performing a collaborative box-pushing task. This task involves active cooperation between the robots in order to jointly push an object on a plane to a specified goal location. We should note that 1) there are no contact points specified for the two e-Pucks and 2) the shape of the object is indifferent. The actuated wheels of the mobile robots are considered as the independent agents that have to build up cooperative skills over time, in order for the robot to demonstrate intelligent behavior. Our goal in this experimental study is to evaluate both the proposed hierarchical multi-agent architecture, as well as the methodological control framework. Such a hierarchical multi-agent approach is envisioned to be highly scalable for the contr

关键词： Memory architecture

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Combining wireless neural recording and video capture for the analysis of natural gait

Combining wireless neural recording and video capture for th...

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International IEEE/EMBS Conference on Neural engineering, CNE

作者： Justin D. Foster Oren Freifeld Paul Nuyujukian Stephen I. Ryu Michael J. Black Krishna V. Shenoy Department of Electrical Engineering University of Stanford Stanford CA USA Division of Applied Mathematics Brown University Providence RI USA Bioengineering and Stanford Medical School University of Stanford Stanford CA USA Department of Neurosurgery Palo Alto Medical Foundation Palo Alto CA USA Department of Computer Science Brown University Providence RI USA Max-Planck Institute Tubingen Germany Departments of Electrical Engineering Bioengineering and Neurobiology and the Neurosciences Program University of Stanford Stanford CA USA

Neural control of movement is typically studied in constrained environments where there is a reduced set of possible behaviors. This constraint may unintentionally limit the applicability of findings to the generalized case of unconstrained behavior. We hypothesize that examining the unconstrained state across multiple behavioral contexts will lead to new insights into the neural control of movement and help advance the design of neural prosthetic decode algorithms. However, to pursue electrophysiological studies in such a manner requires a more flexible framework for experimentation. We propose that head-mounted neural recording systems with wireless data transmission, combined with markerless computer-vision based motion tracking, will enable new, less constrained experiments. As a proof-of-concept, we recorded and wirelessly transmitted broadband neural data from 32 electrodes in premotor cortex while acquiring single-camera video of a rhesus macaque walking on a treadmill. We demonstrate the ability to extract behavioral kinematics using an automated computer vision algorithm without use of markers and to predict kinematics from the neural data. Together these advances suggest that a new class of “freely moving monkey” experiments should be possible and should help broaden our understanding of the neural control of movement.

关键词： Animals Kinematics Decoding Neuroscience Synchronization Image segmentation Wireless communication

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SURF and spatial association correspondence applied in extraction and matching of feature points from MR images of deformed tissues

SURF and spatial association correspondence applied in extra...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Zhang, Xubing Hirai, Shinichi Zhang, Penglin Dept. of Robotics Faculty of Science and Engineering Ritsumeikan University Kusatsu Shiga 525-8577 Japan School of Computer Science Wuhan Textile University Wuhan 430073 China School of Remote Sensing and Information Engineering Wuhan University Wuhan 430079 China

ISBN: (纸本)9781424493173

The extraction and matching of feature points is very important for measuring deformation fields of MR images. Current methods cannot extract and match enough feature points correctly when non-rigid soft biological tissues are deformed in MR images. The authors have therefore used SURF to extract feature points from initial MR images, utilizing every point in deformed MR images as feature points. Subsequently, SURF descriptors and Spatial Association Correspondence (SAC) of neighboring pixels are utilized to match the corresponding feature points of the initial and deformed MR images. Finally, by clustering the differences between deformed points matched by SURF-SAC with the corresponding points calculated by affine transformation, most incorrect match points can be eliminated. Our experimental results show that the proposed method can extract and match more correct corresponding feature point pairs than SURF and SIFT methods. © 2010 IEEE.

关键词： Extraction

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Magnetic resonance imaging of irreversible electroporation in tubers

Magnetic resonance imaging of irreversible electroporation i...

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12th Mediterranean Conference on Medical and Biological engineering and Computing, MEDICON 2010

作者： Hjouj, Mohammad Rubinsky, Boris Center for Bioengineering School of Computer Science Engineering Hebrew University of Jerusalem Israel Department of Mechanical Engineering Graduate Program in Biophysics University of California Berkeley United States

ISBN: (纸本)9783642130380

Purpose: A preliminary study on the magnetic resonance (MRI) characteristics of (vegetable) tissue NTIRE is an emerging minimally invasive surgery technique for tissue ablation in which, microsecond, high electrical field pulses form permanent nano-scale defects in the cell membrane. Materials and Methods: The potato is used as the simplest conceivable first order tissue model for studying the MRI characteristics of electroporation, because while made of structured cells it does not have blood flow, it is relatively homogeneous and cell damage is readily visible through a natural oxidation process of the intracellular enzymes.. Clinical NTIRE sequences were applied to potato tubers and MRI sequences of the treated area were compared with colorimetric photographs. Results: A comparison of T1 weighted, T2 weighted, fluid attenuation inversion recovery (FLAIR) and short TI inversion recovery (STIR) of NTIRE shows that T1 weighted signals, such as FLAIR, produce brighter images of the treated areas. In contrast the images of the treated areas are completely lost with liquids enhancing and fat eliminating sequences, such as STIR. Conclusion: MRI can image tissue treated by NTIRE. A possible explanation for the findings is that by producing nanoscale defects in the cell membrane lipid bilayer, NTIRE causes an enhanced signal from the cell membrane lipids that in the treated cells are not bound anymore in a restrictive liquidgel membrane structure and have more degrees of freedom. © 2010 International Federation for Medical and Biological engineering.

关键词： Magnetic resonance imaging

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High embedding reversible data hiding scheme for JPEG

High embedding reversible data hiding scheme for JPEG

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6th International Conference on Intelligent Information Hiding and Multimedia Signal Processing, IIHMSP 2010

作者： Kuo, Wen-Chung Kuo, Shao-Hung Wuu, Lih-Chyau Depart. of Computer Science and Information Engineering National Formusa University Yunlin 632 Taiwan Graduate School of Engineering Science Technology Doctoral Program National YunLin University of Science and Technology Yunlin 640 Taiwan

ISBN: (纸本)9780769542225

Both Data hiding and data compression are very important technologies in the field of image processing. It seems that there is no relationship between data hiding and data compression because most of the data hiding mechanisms focus on information security and the data compression mechanisms emphasize the compression ratio. In fact, they are closely related. Until now, there are many literatures to discuss the secret data how to be embedded into the media image. Unfortunately, the stego-image's size will be increased when the media image is hidden a lot of secret data. In order to overcome this disadvantage, a reversible data hiding scheme based on EMD data hiding and JPEG compression technology will be proposed in this paper. According to the experimental results, we can prove that our proposed scheme still keeps high embedding capacity, security and good compression ratio. © 2010 IEEE.

关键词： Steganography

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On challenges of robot assisted radiotherapy for lung tumors

On challenges of robot assisted radiotherapy for lung tumors

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Ma, Lei Herrmann, Christian Schilling, Klaus School of Electrical Engineering Southwest Jiaotong University Chengdu 610031 China University of Würzburg Department of Computer Science VII: Robotics and Telematics D-97074 Würzburg Germany

ISBN: (纸本)9781424493173

This paper is concerned with recent development in robot assisted radiotherapy for lung tumors. The paper first analyzes technical challenges regarding tumor position determination and prediction, by invasive and non-invasive methods, correlation models of the tumor motion and the respiratory signals, as well as modeling and control of the robot manipulator. Several currently available solutions and concepts are then briefly introduced. Emphasis is placed on the ATTS (adaptive tumor tracking system) system developed at the University of Würzburg. Within the ATTS, information of the tumor motion is used to control a robotic treatment couch HexaPOD, which moves in six degrees of freedom and maintains the tumor in a certain fixed spatial position. With this new technology it is possible to avoid gating during the radiotherapy as well as active breathing control, such that duration and cost of the therapy as well as trauma of the patient can be reduced. The tumor position is obtained by data fusion from two sensing system. Correlation methods for data fusion were extensively investigated and a prediction model for tumor motion is found that can forecast the tumor position for up to one respiratory period. Modeling of the HexaPOD treatment couch is addressed. The most suitable model is found to be a low-order linear dynamic equation together with a saturation component. Three different control methods and comparative test results are then presented to show feasibility of the proposed model and control schemes. © 2010 IEEE.

关键词： Radiotherapy

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AN EQUIVALENCY CONDITION OF NONSINGULARITY IN NONLINEAR SEMIDEFINITE programMING

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Journal of Systems science & Complexity 2010年第4期23卷 822-829页

作者： Chengjin LI Wenyu SUN Raimundo J. B. de SAMPAIO School of Mathematical Sciences Nanjing Normal and Computer Science Fujian Normal University Wenyu SUN University Nanjing 210046 China School of Mathematics Fuzhou 350007 China School of Mathematical Sciences Nanjing Normal University Nanjing 210046 China Pontifical Catholic University of Parana ( PUCPR) Graduate Program in Production and Systems Engineering (PPGEPS) CEP 81611-970 Curitiba Parana Brazil

In this paper,an equivalency condition of nonsingularity in nonlinear semidefinite programming,which can be viewed as a generalization of the equivalency condition of nonsingularity for linearsemidefinite programming,... 详细信息

关键词： Equivalency condition of nonsingularity nonlinear semidefinite programming semidefinite programming.

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3-3 Multimedia information hiding

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Journal of the National Institute of Information and Communications Technology 2011年第1-2期58卷 183-194页

作者： Takizawa, Osamu Sonoda, Kotaro Yoshioka, Katsunari Suzuki, Jouji Disaster Management and Mitigation Group Japan Security Fundamentals Group Information Security Research Center Japan Computer and Information Science Program Faculty of Engineering Nagasaki University Japan Disaster Management and Mitigation Group Information Security Research Center Japan Interdisciplinary Research Center Yokohama National University Japan Network Security Incident Response Group Information Security Research Center Japan Technology Transfer Promotion Office Outcome Promotion Department Japan Graduate School Research Institute of Environment and Information Sciences Yokohama National University Japan

We research the multimedia information hiding (MIH) which is a technology to overlay digital information on multimedia contents such as picture, sound, document, etc. As application to disaster management of MIH, we have developed a new technology called "PAIH" (Public Address Information Hiding) which is a technology to overlay information such as position or destination on siren sound of urgent vehicles. Siren sound is allowed to degrade of sound quality, but PAIH is required to decode correct information from siren sound with pitch shift (Doppler effect) or under noisy environment.

关键词： Disasters

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Application of neuro-fuzzy PID controller for post chlorine process

Application of neuro-fuzzy PID controller for post chlorine ...

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15th International Symposium on Artificial Life and robotics, AROB '10

作者： Lee, Ho-Hyun Oh, Chang-Mok Lee, Ju-Jang Lee, An-Kyu Lee, Dong-Hoon Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Cheoung-choung Regional Head Office Korea Water Resources Corporation Daejeon Korea Republic of

ISBN: (纸本)9784990288044

Drinking water can be contaminated by microorganisms which can be re-grown in case of not controlling chlorine concentration well in water treatment plant (hereafter WTP). It can be harmful to public health. Most WTPs have used chlorine as disinfectant. It can be used in pre-chlorination, post-chlorination and re-chlorination. In postchlorination, it is injected after filtration to keep residual chlorine from being contaminated by microorganisms. Postchlorine process without re-chlorination is directly serviced to citizens. If the concentration is low, drinking water can be contaminated by bacterial re-growth. On the other hand, the high chlorine can lead to customer complaints about taste and odor. Therefore, it is necessary to predict chlorine decay in clear well to maintain desired chlorine levels. In this paper, it is shown that artificial neuro-fuzzy inference system could be used to model chlorine decay in the process and control residual chlorine better than present controller, in which cascade control is considered to compensate the error in the output. © 2010 ISAROB.

关键词： Chlorination

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Reduced-order Dynamic Observer Error Linearization

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IFAC Proceedings Volumes 2010年第14期43卷 915-920页

作者： Jongwook Yang Juhoon Back Jin H. Seo Hyungbo Shim ASRI School of Electrical Engineering and Computer Science Seoul National University Seoul Korea School of Robotics Kwangwoon University Seoul Korea

For an unforced nonlinear single output system, we propose a new approach to observer error linearization called reduced-order dynamic observer error linearization (RDOEL), which is a modified version of dynamic observer error linearization (DOEL). While RDOEL also has an auxiliary dynamics and a generalized output injection like DOEL, it offers a lower dimensional observer than DOEL, and allows a complete constructive algorithm in contrast to DOEL when the auxiliary dynamics is a chain of integrators. For RDOEL whose auxiliary dynamics is a chain of integrators (RDOELI), we provide a complete constructive algorithm which presents not only a coordinate transformation between the original system and a nonlinear observer canonical form, but also the minimum number of integrators needed to perform RDOELI. Moreover, we show that if the original system is of dimension n , then the minimum number of integrators is less than or equal to n –- 2. In order to describe our algorithm well, we present an example that the auxiliary dynamics is a chain of two integrators.

关键词： Observer and Filter Design By Observer Error Linearization Observability and Observer Design

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