Tri-pyramid Robot: Design and kinematic analysis of a 3-DOF translational parallel manipulator

3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator?s subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations.     

Kokkos: Enabling manycore performance portability through polymorphic memory access patterns

The manycore revolution can be characterized by increasing thread counts, decreasing memory per thread, and diversity of continually evolving manycore architectures. High performance computing (HPC) applications and libraries must exploit increasingly finer levels of parallelism within their codes to sustain scalability on these devices. A major obstacle to performance portability is the diverse and conflicting set of constraints on memory access patterns across devices. Contemporary portable programming models address manycore parallelism (e.g., OpenMP, OpenACC, OpenCL) but fail to address memory access patterns. The Kokkos C++ library enables applications and domain libraries to achieve performance portability on diverse manycore architectures by unifying abstractions for both fine-grain data parallelism and memory access patterns. In this paper we describe Kokkos’ abstractions, summarize its application programmer interface (API), present performance results for unit-test kernels and mini-applications, and outline an incremental strategy for migrating legacy C++ codes to Kokkos. The Kokkos library is under active research and development to incorporate capabilities from new generations of manycore architectures, and to address a growing list of applications and domain libraries.     

A parallel algorithm with enhancements via partial objective value cuts for cluster-based wireless sensor network design

In this paper, we develop a parallel algorithm for the solution of an integrated topology control and routing problem in Wireless Sensor Networks (WSNs). After presenting a mixed-integer linear optimization formulation for the problem, for its solution, we develop an effective parallel algorithm in a Master–Worker model that incorporates three parallelization strategies, namely low-level parallelism, domain decomposition, and multiple search (both cooperative and independent) in a single Master–Worker framework.     

Epileptic seizure classification in EEG signals using second-order difference plot of intrinsic mode functions

Epilepsy is a neurological disorder which is characterized by transient and unexpected electrical disturbance of the brain. The electroencephalogram (EEG) is a commonly used signal for detection of epileptic seizures. This paper presents a new method for classification of ictal and seizure-free EEG signals. The proposed method is based on the empirical mode decomposition (EMD) and the second-order difference plot (SODP). The EMD method decomposes an EEG signal into a set of symmetric and band-limited signals termed as intrinsic mode functions (IMFs). The SODP of IMFs provides elliptical structure. The 95% confidence ellipse area measured from the SODP of IMFs has been used as a feature in order to discriminate seizure-free EEG signals from the epileptic seizure EEG signals. The feature space obtained from the ellipse area parameters of two IMFs has been used for classification of ictal and seizure-free EEG signals using the artificial neural network (ANN) classifier. It has been shown that the feature space formed using ellipse area parameters of first and second IMFs has given good classification performance. Experimental results on EEG database available by the University of Bonn, Germany, are included to illustrate the effectiveness of the proposed method.     

Segmentation of abdominal organs from CT using a multi-level,hierarchical neural network strategy

Precise measurements on abdominal organs are vital prior to the important clinical procedures. Such measurements require accurate segmentation of these organs, which is a very challenging task due to countless anatomical variations and technical difficulties. Although, several features with various classifiers have been designed to overcome these challenges, abdominal organ segmentation via classification is still an emerging field in order to reach desired precision. Recent studies on multiple feature–classifier combinations show that hierarchical systems outperform composite feature–single classifier models. In this study, how hierarchical formations can translate to improved accuracy, when large size feature spaces are involved, is explored for the problem of abdominal organ segmentation. As a result, a semi-automatic, slice-by-slice segmentation method is developed using a novel multi-level and hierarchical neural network (MHNN). MHNN is designed to collect complementary information about organs at each level of the hierarchy via different feature–classifier combinations. Moreover, each level of MHNN receives residual data from the previous level. The residual data is constructed to preserve zero false positive error until the last level of the hierarchy, where only most challenging samples remain. The algorithm mimics analysis behaviour of a radiologist by using the slice-by-slice iteration, which is supported with adjacent slice similarity features. This enables adaptive determination of system parameters and turns into the advantage of online training, which is done in parallel to the segmentation process. Proposed design can perform robust and accurate segmentation of abdominal organs as validated by using diverse data sets with various challenges.     

HMM-based state classification of a user with a walking support system using visual PCA features

The improvement of safety and dependability in systems that physically interact with humans requires investigation with respect to the possible states of the user’s motion and an attempt to recognize these states. In this study, we propose a method for real-time visual state classification of a user with a walking support system. The visual features are extracted using principal component analysis and classification is performed by hidden Markov models, both for real-time fall detection (one-class classification) and real-time state recognition (multi-class classification). The algorithms are used in experiments with a passive-type walker robot called “RT Walker” equipped with servo brakes and a depth sensor (Microsoft Kinect). The experiments are performed with 10 subjects, including an experienced physiotherapist who can imitate the walking pattern of the elderly and people with disabilities. The results of the state classification can be used to improve fall-prevention control algorithms for walking support systems. The proposed method can also be used for other vision-based classification applications, which require real-time abnormality detection or state recognition.     

Personalized identification of abdominal wall hernia meshes on computed tomography

An abdominal wall hernia is a protrusion of the intestine through an opening or area of weakness in the abdominal wall. Correct pre-operative identification of abdominal wall hernia meshes could help surgeons adjust the surgical plan to meet the expected difficulty and morbidity of operating through or removing the previous mesh. First, we present herein for the first time the application of image analysis for automated identification of hernia meshes. Second, we discuss the novel development of a new entropy-based image texture feature using geostatistics and indicator kriging. Third, we seek to enhance the hernia mesh identification by combining the new texture feature with the gray-level co-occurrence matrix feature of the image. The two features can characterize complementary information of anatomic details of the abdominal hernia wall and its mesh on computed tomography. Experimental results have demonstrated the effectiveness of the proposed study. The new computational tool has potential for personalized mesh identification which can assist surgeons in the diagnosis and repair of complex abdominal wall hernias.     

Automatic annotation of tennis games: An integration of audio,vision, and learning

Fully automatic annotation of tennis game using broadcast video is a task with a great potential but with enormous challenges. In this paper we describe our approach to this task, which integrates computer vision, machine listening, and machine learning. At the low level processing, we improve upon our previously proposed state-of-the-art tennis ball tracking algorithm and employ audio signal processing techniques to detect key events and construct features for classifying the events. At high level analysis, we model event classification as a sequence labelling problem, and investigate four machine learning techniques using simulated event sequences. Finally, we evaluate our proposed approach on three real world tennis games, and discuss the interplay between audio, vision and learning. To the best of our knowledge, our system is the only one that can annotate tennis game at such a detailed level.     

Modeling and solving mixed-model assembly line balancing problem with setups. Part I: A mixed integer linear programming model

This paper is the first one of the two papers entitled “modeling and solving mixed-model assembly line balancing problem with setups”, which has the aim of developing the mathematical programming formulation of the problem and solving it with a hybrid meta-heuristic approach. In this current part, a mixed-integer linear mathematical programming (MILP) model for mixed-model assembly line balancing problem with setups is developed. The proposed MILP model considers some particular features of the real world problems such as parallel workstations, zoning constraints, and sequence dependent setup times between tasks, which is an actual framework in assembly line balancing problems. The main endeavor of Part-I is to formulate the sequence dependent setup times between tasks in type-I mixed-model assembly line balancing problem. The proposed model considers the setups between the tasks of the same model and the setups because of the model switches in any workstation. The capability of our MILP is tested through a set of computational experiments. Part-II tackles the problem with a multiple colony hybrid bees algorithm. A set of computational experiments is also carried out for the proposed approach in Part-II.     

Decision support in machine vision system for monitoring of TFT-LCD glass substrates manufacturing

This study addresses classification methodology for the automatic inspection of a range of defects on the surface of glass substrates in thin film transistor liquid crystal display glass substrate manufacturing. The proposed methodology consisted of four stages: (1) feature extraction by calculating the wavelet co-occurrence signature from the substrate images, (2) handling of imbalanced dataset using the Synthetic Minority Over-sampling TEchnique (SMOTE), (3) reduction of the feature's dimension by principal component analysis, and (4) finally choosing the best classifier between three different methods: Classification And Regression Tree (CART), Multi-Layer Perceptron (MLP) and Support Vector Machine (SVM). In training the SVM and MLP classifiers, the simulated annealing algorithm was used to obtain the optimal tuning parameters for the classifiers. From the industrial case study, the proposed feature extraction algorithm could remove the defect-irrelevant image features and SMOTE increased the accuracy of all three methods. Furthermore, the optimized SVM and MLP models were more accurate than the CART model whereas a higher accuracy of 89.5% was observed for the proposed SVM model.