10389145
Reactive mobile manipulation using dynamic trajectory tracking
A solution to the trajectory tracking problem for mobile manipulators is proposed, that allows for the base to be influenced by a reactive, obstacle avoidance behavior. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, and at the same time the base motions are generated in such a way that the base is coordinated with the gripper. Furthermore, it is shown that the method allows arbitrary upper and lower bounds on the gripper-base distance to be set and this can be achieved without introducing deadlocks into the system. The solution also ensures that the control effort, spent on slow base motions, is kept small.
269762
Formation constrained multi-agent control
We propose a model independent coordination strategy for multi-agent formation control. The main theorem states that under a bounded tracking error assumption our method stabilizes the formation error. We illustrate the usefulness of the method by applying it to rigid body constrained motions, as well as to mobile manipulation.
9758881
Integration of semantic-based bipartite graph representation and mutual refinement strategy for biomedical literature clustering
We introduce a novel document clustering approach that overcomes those problems by combining a semantic-based bipartite graph representation and a mutual refinement strategy. The primary contributions of this paper are the following. First, we introduce a new representation of documents using a bipartite graph between documents and co-occurrence concepts in the documents. Second, we show how to enhance clustering quality by applying the mutual refinement strategy to the initial clustering results. Third, through the experiments on MEDLINE documents, we show that our integrated method significantly enhances cluster quality and clustering reliability compared to existing clustering methods. Our approach improves on the average 29.5 cluster quality and 26.3 clustering reliability, in terms of misclassification index, over Bisecting K-means with the best parameters.
10956379
DraXRouter: global routing in X-architecture with dynamic resource assignment
In recent years, the X-architecture is introduced to obtain better performance for integrated circuit physical design. This paper reformulates the global routing problem in X-architecture under the liquid routing model. Then, a dynamic resource assignment (Dra) method is presented to reduce potential vias. At last, a global router called DraXRouter, is designed, in which we adopt a dynamic-tabulist-based tree construction algorithm and a stochastic optimization strategy to gain high quality routing solution. Tested on ISPD'98 benchmarks, DraXRouter achieves better routing performance compared with two recent global routers.
11903789
A semantic-based approach for mining undiscovered public knowledge from biomedical literature
The problem of mining undiscovered public knowledge from biomedical literature was exemplified by Swanson's pioneering work on Raynaud disease/fish-oil discovery in 1986. Since then, there have been many approaches to mine undiscovered public knowledge from biomedical literature. This paper presents a semantic-based approach for mining undiscovered public knowledge from biomedical literature. The method takes advantages of the biomedical ontologies, MeSH and UMLS, as the source of semantic knowledge. A prototype system Biomedical Semantic-based Knowledge Discovery System (Bio-SbKDS) is designed to uncover novel hypothesis/connections hidden in the biomedical literature. Using the semantic types and semantic relations of the biomedical concepts, Bio-SbKDS can identify the relevant concepts collected from Medline and generate the novel hypothesis between these concepts. Bio-SbKDS successfully replicates Dr. Swanson's two famous discoveries: Raynaud disease/fish oil and migraine/magnesium. Compared with previous approaches, our method searches much less articles, generates much less but more relevant novel hypotheses, requires much less human intervention in the discovery procedure.
22875771
ACO-Steiner: Ant Colony Optimization Based Rectilinear Steiner Minimal Tree Algorithm
The rectilinear Steiner minimal tree (RSMT) problem is one of the fundamental problems in physical design, especially in routing, which is known to be NP-complete. This paper presents an algorithm, called ACO-Steiner, for RSMT construction based on ant colony optimization (ACO). An RSMT is constructed with ants' movements in Hanan grid, and then the constraint of Hanan grid is broken to accelerate ants' movements to improve the performance of the algorithm. This algorithm has been implemented on a Sun workstation with Unix operating system and the results have been compared with the fastest exact RSMT algorithm, GeoSteiner 3.1 and a recent heuristic using batched greedy triple construction (BGTC). Experimental results show that ACO-Steiner can get a short running time and keep the high performance. Furthermore, it is also found that the ACO-Steiner can be easily extended to be used to some other problems, such as rectilinear Steiner minimal tree avoiding obstacles, and congestion reduction in global routing.
12307619
The use of visual search for knowledge gathering in image decision support
This paper presents a new method of knowledge gathering for decision support in image understanding based on information extracted from the dynamics of saccadic eye movements. The framework involves the construction of a generic image feature extraction library, from which the feature extractors that are most relevant to the visual assessment by domain experts are determined automatically through factor analysis. The dynamics of the visual search are analyzed by using the Markov model for providing training information to novices on how and where to look for image features. The validity of the framework has been evaluated in a clinical scenario whereby the pulmonary vascular distribution on Computed Tomography images was assessed by experienced radiologists as a potential indicator of heart failure. The performance of the system has been demonstrated by training four novices to follow the visual assessment behavior of two experienced observers. In all cases, the accuracy of the students improved from near random decision making (33%) to accuracies ranging from 50% to 68%.