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A New Calibration Method for an Inertial and Visual Sensing system

International Journal of Automation and computing 2012年第3期9卷 299-305页

作者： Xu, De Wang, Hua-Wei Li, You-Fu Tan, Min State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China East China Research Institute of Electronic Engineering Hefei 230088 China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.

关键词： Inertial sensor visual sensor calibration motion estimation robot vision.

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A symbol identifier based recognition and relative positioning approach suitable for multi-robot systems 1

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5th International Conference on Intelligent Robotics and Applications, ICIRA 2012

作者： Qian, Hanbo Yuan, Wenbo Liu, Xilong Cao, Zhiqiang Zhou, Chao Tan, Min Center of Coordination and Support of SASTIND Beijing 100081 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

In this paper, a symbol identifier based recognition and relative positioning approach suitable for multi-robot systems is proposed. The symbol identifier is composed of central area and peripheral area, and there exists radial spokes in central area. The recognition approach utilizes some features including luminance feature of center point, luminance difference between center point and its ambient region, the number and distribution of spokes as well as the shape of peripheral area to filter the points in the image. Finally, the resulting pixel points set to characterize the center points of symbol identifiers is generated. On this basis, the positions of these center points relative to the camera are then calculated. The proposed approach is verified by the experiments. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Multipurpose robots

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A novel pipeline for motif discovery, pruning and validation in promoter sequences of human tissue specific genes

A novel pipeline for motif discovery, pruning and validation...

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2012 IEEE 6th International Conference on systems Biology, ISB 2012

作者： Gong, Xiu-Jun Yu, Hua Zhao, Fei-Fei School of Computer Science and Technology Tianjin University Tianjin China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Science Beijing China

ISBN: (纸本)9781467343985

Identification and analysis of tissue-specific (TS) genes and their regulatory activities play an important role in the understanding of mechanisms of organisms, disease diagnosis and drug design. In this paper, we designed a pipeline for the discovery of promoter motifs for tissue-specific genes. The pipeline consists of three phases: motif searching, motif merging and motif validation. The motif searching phase integrated three algorithms: MEME, AlignACE and Gibbs Sampling. In the second phase, we proposed a motif merging method, which is based on Bayesian probabilistic principles, to reduce redundancies of motifs from the first phase. Lastly, the motif validation phase verified the statistical significance of discovered motifs using a Bayesian Hypothesis Test approach. We performed the analysis on the sequences of promoter regions (-449bp-1000bp) of 4,552 human tissue-specific genes across 82 tissues and 924 housekeeping genes. The distributions of motifs in different promoter regions show that most motifs prefer to be in the proximal region (+500∼50bp, -50bp∼-500bp) of promoters. © 2012 IEEE.

关键词： Pipelines

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Multimodal swimming control of a robotic fish with pectoral fins using a CPG network

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Chinese Science Bulletin 2012年第10期57卷 1209-1216页

作者： WANG Ming YU JunZhi TAN Min ZHANG JianWei School oflnformation and Electrical Engineering Shandong Jianzhu University Jinan 250101 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department oflnformatics University of Hamburg Hamburg D-22527 Germany

The neural-based approaches inspired by biological neural mechanisms of locomotion are becoming increasingly popular in robot *** paper investigates a systematic method to formulate a Central Pattern Generator(CPG) based control model for mul-timodal swimming of a multi-articulated robotic fish with flexible pectoral fins.A CPG network is created to yield diverse swim-ming in three dimensions by coupling a set of nonlinear neural oscillators using nearest-neighbor *** particular,a sensitivity analysis of characteristic parameters and a stability proof of the CPG network are *** the coordinated con-trol of the joint CPG,caudal fin CPG,and pectoral fin CPG,a diversity of swimming modes are defined and successfully *** latest results obtained demonstrate the effectiveness of the proposed *** is also confirmed that the CPG-based swimming control exhibits better dynamic invariability in preserving rhythm than the conventional body wave method.

关键词：网络控制多式联运机器鱼中央游泳胸鳍人民政府神经机制

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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The key supporting technology and applications of smart cameras

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Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University 2012年第SUPPL. 1期46卷 171-173+176页

作者： Zhang, Qi Chen, Guo-Dong Xu, De State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing 100190 China Graduate University of the Chinese Academy of Sciences Beijing 100049 China

With the development of image sensors and embedded technology, smart cameras become one of the most important developing directions because of its advantages in small size, low power consumption, low cost and high reliability. In this paper, we present the development and current situation of smart cameras. Then the system structure and key technology of smart cameras are described in detail. In the end, we introduce the applications of smart cameras, and the development trend of smart cameras.

关键词： Cameras

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Correction to "Attitude coordination control for a group of spacecraft without velocity measurements" [Sep 12 1146-1159]

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IEEE Transactions on control systems Technology 2013年第3期21卷 1044-1044页

作者： An-Min Zou Krishna Dev Kumar Zeng-Guang Hou Department of Aerospace Engineering Ryerson University Toronto ON Canada Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Management of Complex Systems Beijing China

Some errors in the above titled paper (ibid., vol. 20, no. 5, Sep. 2012, pp. 1146-1159) are corrected here.

关键词： Attitude control Space vehicles Observers Neural networks Adaptive control Aerospace engineering

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Acquiring netizen group's opinions for modeling food safety events

Acquiring netizen group's opinions for modeling food safety ...

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2012 10th IEEE International Conference on Intelligence and Security Informatics, ISI 2012

作者： Tan, Zhangwen Mao, Wenji Zeng, Daniel Li, Xiaochen Bao, Xiuguo State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Management Information Systems University of Arizona Tucson AZ United States CNCERT/CC Beijing China

ISBN: (纸本)9781467321037

Food safety events are typical public security events that draw great public concern. In food safety events, millions of netizens pay close attention to the event, express their opinions online and thus influence the decisions of government or food producers. Modeling netizen groups, especially the dynamics of their opinions in these events, can help us understand the mechanism and evolvement of such events and provide valuable insights for social management. However, conventional computational models, such as agent-based models, are usually constructed manually. In this paper, we propose an approach to acquiring netizen group's opinions from online comments to facilitate the modeling of food safety events. We conduct experimental study on typical events happened in China and empirically evaluate the performance of our proposed approach. The results verify the effectiveness of the approach. © 2012 IEEE.

关键词： Computational methods

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Extracting opinion explanations from Chinese online reviews

Extracting opinion explanations from Chinese online reviews

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2012 10th IEEE International Conference on Intelligence and Security Informatics, ISI 2012

作者： Li, Yuequn Mao, Wenji Zeng, Daniel Huangfu, Luwen Liu, Chunyang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Management Information Systems University of Arizona Tucson AZ United States CNCERT/CC Beijing China

ISBN: (纸本)9781467321037

Opinion mining has gained increasing attention and shown great practical value in recent years. Existing research on opinion mining mainly focuses on the extraction of lexicon orientation and opinion targets. The explanations of opinions, which are potentially valuable for many applications, are totally ignored. To address this specific research challenge, in this paper, we propose an approach to extract the explanation of reason and/or consequence behind an opinion via learning word pairs and using causal indicators from Chinese online reviews. We also improve our word pair based method by constructing clusters of word paris. Experiments on a Chinese business review corpus show that our method is feasible and effective. © 2012 IEEE.

关键词： Sentiment analysis

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XXIV World Allergy Congress 2015 Seoul, Korea. 14-17 October 2015 Abstracts

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WORLD ALLERGY ORGANIZATION JOURNAL 2016年第1期9卷 1-206页

作者： [Anonymous] Korea University College of Medicine Guro Hospital Seoul South Korea College of Medicine Korea University Seoul South Korea Korea University Guro Hospital Seoul South Korea Seoul National University Boramae Hospital Seoul South Korea Division of Clinical Immunology Faculty of Medicine University of Debrecen Debrecen Hungary Meiji Pharmaceutical University Tokyo Japan Suri Medical Foundation Hospital Uttar Pradesh State India Shahid Beheshti University Tehran Iran Airlangga University Teaching Hospital Surabaya Indonesia Tokyo Metropolitan Police Hospital Tokyo Japan Shinichiro KogaSamsung Changwon Hospital Seoul South Korea Sapporo Tokushukai Hospital Sapporo Japan Department of Dermatology Yonsei University College of Medicine Seoul South Korea Brain Korea 21 PLUS Project for Medical Science Yonsei University College of Medicine Seoul South Korea Sureyyapasa Chest Diseases and Chest Surgery Training Hospital Istanbul Turkey Kangnam Sacred Heart Hospital Seoul South Korea Sakai City Medical Center Sakai Japan Osaka University Suita Japan Yonsei University College of Medicine Seoul South Korea Osaka-Minami Medical Center Kawachinagano Japan Inha University College of Medicine Incheon South Korea Inha University Hospital Incheon South Korea Center for Rhinology and Allergology Wiesbaden Wiesbaden Germany Leti Pharma Gmbh Witten Germany Postgraduate Institute of Medical Education and Research Chandigarh India West Bengal Technical University Kolkata India Institute of Microbiology Academy of Sciences of the Czech Republic Prague Czech Republic Seoul National University Hospital Seoul South Korea Ent and Allergy Centre(INDIA) Panchkula India University of Santo Tomas Hospital Manila Philippines University of Santo Tomas Faculty of Medicine Manila Philippines Kyung Hee University Hospital at Gang-Dong Seoul South Korea Sangji University Wonju South Korea Division of Allergy and Immunology Department of Internal Medicine Yonsei University Colle

A1 Pirfenidone inhibits TGF-b1-induced extracellular matrix production in nasal polyp-derived fibroblasts Jae-Min Shin, Heung-Man Lee, Il-Ho Park A2 The efficacy of a 2-week course of oral steroid in the treatment of chronic spontaneous urticaria refractory to antihistamines Hyun-Sun Yoon, Gyeong Yul Park A3 The altered distribution of follicular t helper cells may predict a more pronounced clinical course of primary sjögren’s syndrome Margit Zeher A4 Betamethasone suppresses Th2 cell development induced by langerhans cell like dendritic cells Katsuhiko Matsui, Saki Tamai, Reiko Ikeda A5 An evaluation of variousallergens in cases of allergic bronchial asthma at lucknow and neighbouring districts by intradermal skintest Drsushil Suri, Dranu Suri A6 Evaluation ferqency of ADHD in childhood asthma Marzieh Heidarzadeh Arani A7 Steven johnson syndrome caused by typhoid fever in a child Azwin Lubis, Anang Endaryanto A8 Chronic Bronchitis with Radio Contrast Media Hypersensitivity: A Case with Hypothesized GINA Step 1 Asthma Shinichiro Koga A9 The association between asthma and depression in Korean adult : An analysis of the fifth korea national health and nutrition examination survey (2010-2012) Lee Ju Suk A10 management of allergic disease exacerbations in pregnancy Yasunobu Tsuzuki A11 Subcutaneous immunotherapy mouse model for atopic dermatitis Seo Hyeong Kim, Jung U Shin, Ji Yeon Noh, Shan Jin, Shan Jin, Hemin Lee, Jungsoo Lee, Chang Ook Park, Kwang Hoon Lee, Kwang Hoon Lee A12 Atopic disease and/or atopy are risk factors for local anesthetic allergy in patients with history of hypersensitivity reactions to drugs? Fatma Merve Tepetam A13 Food hypersensitivity in patients with atopic dermatitis in Korea Chun Wook Park, Jee Hee Son, Soo Ick Cho, Yong Se Cho, Yun Sun Byun, Yoon Seok Yang, Bo Young Chung, Hye One Kim, Hee Jin Cho A14 Anaphylaxis caused by an ant (Brachyponera chinensis) in Japan Yoshinori Katada, Toshio Tanaka, Akihiko Nakabayashi, Koji Nishida, Kenichi A

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