1821709
A Hand-Eye Robotic Model for Total Knee Replacement Surgery
This paper presents a hand-eye robotic model for total knee replacement (TKR) surgery. Unlike existent robot assisted TKR surgery, the proposed model is a surgical robot that combines with a movable hand-eye navigation system, which would use the full potential of both computer-assisted systems. Without using CT images and landmark pins in the patient's bones, it can directly measure the mechanical axis with high precision. This system provides a new approach of the minimally invasive surgery. Experiment results show that the proposed model is promising in the future application.
32758032
Adaptive motion selection for online hand-eye calibration
While a robot moves, online hand–eye calibration to determine the relative pose between the robot gripper/end-effector and the sensors mounted on it is very important in a vision-guided robot system. During online hand–eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand–eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand–eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.
47115701
An Adaptive Selection of Motion for Online Hand-Eye Calibration
As the robot makes unplanned movement, online hand-eye calibration determines the relative pose between the robot gripper/end-effector and the sensors mounted on it. With noisy measurements, hand-eye calibration is sensitive to small rotations in real applications. Moreover, degenerate cases such as pure translations have no effect in hand-eye calibration. This paper proposes an adaptive motion selection algorithm for online hand-eye calibration, which can adaptively set the thresholds of motion selection according to the characteristics of the unplanned motion sequence. It is achieved by using polynomial-regression to predict the relationship between RMS of calibration error and thresholds. Thus, this procedure leads to an adaptive method of motion selection. It can adapt itself to online hand-eye calibration in various applications. Experiments using simulated data are conducted and present good results. Experiments using real scenes also show that the method is promising.
15124700
Motion segmentation of multiple translating objects using line correspondences
We present an algebraic approach to multibody motion segmentation from line correspondences. Given three perspective views containing multiple linearly moving objects, we demonstrate that after applying a polynomial embedding to the line correspondences, they became related by the so-called multibody line constraint of translational motions. We show how to linearly estimate the multibody trifocal epipole from line-line-line correspondences. The individual trifocal epipoles are then obtained from the derivatives of the multibody line constraint (up to an unknown factor). Given normalized trifocal epipoles, we can use any special clustering technique to obtain the clustering of the motions and the correspondences. The limitations of the proposed algorithm are also discussed. Experimental results on synthetic and real dynamic scenes are presented.
35849251
Motion Segmentation by Multibody Trifocal Tensor Using Line Correspondence
We present a geometric approach to multibody motion segmentation from line correspondences. Given three perspective views containing multiple moving objects, we demonstrate that after applying a polynomial embedding to the line correspondences, they became related by the so-called multibody trilinear constrain and its associated multibody trifocal tensor. We show how to obtain the individual trifocal tensor from the second order derivatives of the multibody trilinear constraint. Given trifocal tensors, we obtain the clustering of the motions and correspondences. Experimental results on synthetic and real dynamic scenes are presented
25014721
Motion segmentation of multiple translating objects from line correspondences
This paper presents an analytic approach to motion segmentation of multiple translating objects from line correspondences in three perspective views. The basic idea of our algorithm is to view the estimation of multiple translational motions as the estimation of a single, though more complex, multibody motion model that is then factored into the original models by polynomial differentiation. Experimental results on synthetic and real scenes are presented.
62575212
Discover gene specific local co-regulations from time-course gene expression data
Discovering gene co-regulatory relationships is one of most important research in DNA microarray data analysis. The problem of gene specific co-regulation discovery is to, for a particular gene of interest called target gene, identify the condition subsets where strong gene co-regulations of the target gene are observed and its co-regulated genes in these condition subsets. The co-regulations are local in the sense that they occur in some subsets of full experimental conditions. The study on this problem can contribute to better understanding and characterizing the target gene during the biological activity involved. In this paper, we propose an innovative method for finding gene specific co-regulations using genetic algorithm GA. A sliding window is used to delimit the allowed length of conditions in which gene co-regulations occur and an ad hoc GA, called the progressive GA, is performed in each window position to find those condition subsets having high fitness. It is called progressive because the initial population for the GA in a window position inherits the top-ranked individuals obtained in its preceding window position, enabling the GA to achieve a better accuracy than the non-progressive algorithm. kNN Lookup Table is utilized to substantially speed up fitness evaluation in the GA. Experimental results with a real-life gene expression data demonstrate the efficiency and effectiveness of our technique in discovering gene specific co-regulations.
24869938
Network Intrusion Active Defense Model Based on Artificial Immune System
Based on artificial immune theory, a new model of active defense for analyzing the network intrusion is presented. Dynamically evaluative equations for self, antigen, immune tolerance, mature-lymphocyte lifecycle and immune memory are presented. The concepts and formal definitions of immune cells are given, the hierarchical and distributed management framework of the proposed model are built. Furthermore, the idea of biology immunity is applied for enhancing the self-adapting and self-learning ability to adapt continuously variety environments. The experimental results show that the proposed model has the features of real-time processing, self-adaptively, and diversity, thus providing a good solution for network surveillance.
37283725
Business Process-Oriented Software Architecture for Supporting Business Process Change
As a business process is essential in running an enterprise, this paper aims toward improving software architecture by extracting business-relevant semantics from business logic and transforming them as important elements that need to be molded and represented in software architecture. This allows for the development of a business process-oriented software architecture (BPOSA) that can support smoother business process change. The paper introduces the structure of BPOSA and its work mode. Then it describes the steps involved in designing a process-oriented software system, and provides analysis and design methods of extending process-relevant attributes for application in business operations.
845200
The F-R Model of Teaching in Chinese Universities
In view of the teaching characteristics of the full-time universities in China, the paper probes into the application of web-based teaching platform and the new model of teaching---the F-R model of teaching that integrates the rigid teaching management with the flexible curricula teaching to make full use of the teaching resources and enhance the teaching efficiency. The new model of teaching not only assures the integrity of the students' knowledge system but also emphasizes the individual difference. It provides a way to cultivate students' personality and develop the students' ability to analyze and solve the actual problems that are necessary for the full-development and innovative person in modern society.
3732345
Name Disambiguation Using Atomic Clusters
Name ambiguity is a critical problem in many applications, in particular in the online bibliography systems, such as DBLP and CiteSeer. Previously, several clustering based methods have been proposed although, the problem still presents to be a big challenge for both research and industry communities. In this paper, we present a complementary study to the problem from another point of view. We propose an approach of finding atomic clusters to improve the performance of existing clustering-based methods. We conducted experiments on a dataset from a real-world system: Arnetminer.org. Experiments results show that significant improvements can be obtained by using the proposed atomic clusters finding approach (about +8% and +27% improvements depending on different clustering methods).