A robust motion estimation with center-biased diamond search and its parallel architecture for motion-compensated de-interlace

For motion compensated de-interlace, the accuracy and reliability of the motion vectors have a significant impact on the performance of the motion compensated interpolation. In order to improve the robustness of motion vector, a novel motion estimation algorithm with center-biased diamond search and its parallel VLSI architecture are proposed in this paper. Experiments show that it works better than conventional motion estimation algorithms in terms of motion compensation error and robustness, and its architecture overcomes the irregular data flow and achieves high efficiency. It also efficiently reuses data and reduces the control overhead. So, it is highly suitable for HDTV applications.     

Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

Autonomous topological modeling of a home environment and topological localization using a sonar grid map

This paper presents a method of autonomous topological modeling and localization in a home environment using only low-cost sonar sensors. The topological model is extracted from a grid map using cell decomposition and normalized graph cut. The autonomous topological modeling involves the incremental extraction of a subregion without predefining the number of subregions. A method of topological localization based on this topological model is proposed wherein a current local grid map is compared with the original grid map. The localization is accomplished by obtaining a node probability from a relative motion model and rotational invariant grid-map matching. The proposed method extracts a well-structured topological model of the environment, and the localization provides reliable node probability even when presented with sparse and uncertain sonar data. Experimental results demonstrate the performance of the proposed topological modeling and localization in a real home environment.     

Several multi-criteria programming methods for classification

In this paper, we propose a general optimization-based model for classification. Then we show that some well-known optimization-based methods for classification, which were developed by Shi et al. [Data mining in credit card portfolio management: a multiple criteria decision making approac. In: Koksalan M, Zionts S, editors. Multiple criteria decision making in the new millennium. Berlin: Springer; 2001. p. 427–36] and Freed and Glover [A linear programming approach to the discriminant problem. Decision Sciences 1981; 12: 68–79; Simple but powerful goal programming models for discriminant problems. European Journal of Operational Research 1981; 7: 44–60], are special cases of our model. Moreover, three new models, MCQP (multi-criteria indefinite quadratic programming), MCCQP (multi-criteria concave quadratic programming) and MCVQP (multi-criteria convex programming), are developed based on the general model. We also propose algorithms for MCQP and MCCQP, respectively. Then we apply these models to three real-life problems: credit card accounts, VIP mail-box and social endowment insurance classification. Extensive experiments are done to compare the efficiency of these methods.     

L1-norm based null space discriminant analysis

Multimedia Tools and Applications - Null space based linear discriminant analysis (NSLDA) is a well-known feature extraction method, which can make use of the most discriminant information in the...     

A MEMS Thermal Biosensor for Metabolic Monitoring Applications

This paper presents a microelectromechanical systems (MEMS) differential thermal biosensor integrated with microfluidics for metabolite measurements in either flow-injection or flow-through mode. The MEMS device consists of two identical freestanding polymer diaphragms, resistive heaters, and a thermopile between the diaphragms. Integrated with polymer-based microfluidic measurement chambers, the device allows sensitive measurement of small volumes of liquid samples. Enzymes specific to a metabolic analyte system are immobilized on microbeads packed in the chambers. When a sample solution containing the analyte is introduced to the device, the heat released from the enzymatic reactions of the analyte is detected by the thermopile. The device has been tested with glucose solutions at physiologically relevant concentrations. In flow-injection mode, the device demonstrates a sensitivity of approximately 2.1 muV/mM and a resolution of about 0.025 mM. In flow-through mode with a perfusion flow rate of 0.5 mL/h, the sensitivity and resolution of the device are determined to be approximately 0.24 muV/mM and 0.4 mM, respectively. These results illustrate that the device, when integrated with subcutaneous sampling methods, can potentially allow for continuous monitoring of glucose and other metabolites.     

Interfacing industrial R&A equipment using Matlab

We present a toolbox that enables access to real robotics and automation (R&A) equipment from the MATLAB shell. If used in conjunction with a robotics toolbox, it will extend significantly their application, i.e., besides robotic simulation and data analysis, the user can interact online with the equipment he or she is using. This article briefly presents the software architecture adopted and how it was used to generate the MATLAB MEX files presented. It then exemplifies application to two types of equipment, complemented with a generic manipulation example using a robotic gripper. The utilization of this tool with force control experiments is also briefly explored     

无线传感器网络中基于树的动态多路径容错路由协议

多路径路由对无线传感器网络的负载均衡和容错能力等方面都有一定改善作用。在研究一些多路径路由算法的基础上,对分层的无线传感器网络路由进行探索,提出了一种基于树的动态多路径路由的生成方法,快速获得当前节点的主路径与备用路径。仿真结果表明,该方法可有效地均衡网络负载、减少时延、提高网络的可靠性。     

宽频介电谱仪热激励去极化电流功能研究

利用宽频介电谱仪拓展热激励去极化电流模块测量介质材料的TSDC操作简单实用,它不仅容易把材料中的各种不同活化能或弛豫时间的荷电粒子区分开,并且能从TSDC谱中直接得出被测材料的介电性能以及相关微观参数,这为研究材料内部机理提供了一条捷径。     

The photodegradation of metronidazole in the presence of coexisting pharmaceuticals

The objective of this study was to investigate if coexisting compounds could affect the fate of pharmaceuticals in surface water under solar irradiation. The degradation of metronidazole (MET) in the presence of different coexisting pharmaceuticals was investigated in batch experiments with exposure to sunlight. Tinidazole, which has a similar structure to MET, was employed as an analogue. The results indicated that the presence of an analogue with a similar photosensitive group to MET could inhibit the photodegradation of MET. In addition, the effect of coexisting pharmaceuticals with different absorption spectra on the degradation of MET was investigated. The results showed that the effect depended on the degree of overlapping absorption spectra between MET and the coexisting pharmaceuticals. The relationship between the degree of the influence and the ultraviolet absorption spectra of coexisting pharmaceuticals found in this study could give guidance in assessing the fate of pharmaceuticals in environmental water.