1537043
Topological Map Merging
When multiple robots cooperatively explore an environment, maps from individual robots must be merged to produce a single globally consistent map. This is a challenging problem when the robots do not have a common reference frame or global positioning. In this paper, we describe an algorithm for merging embedded topological maps. Topological maps provide a concise description of the navigability of an environment, and, with measurements easily collected during exploration, the vertices of the map can be embedded in a metric space. Our algorithm uses both the structure and the geometry of topological maps to determine the best correspondence between maps with single or multiple overlapping regions. Experiments with simulated and real-world data demonstrate the efficacy of our algorithm.
2142354
Mechanics, Planning, and Control for Tapping
We present analysis and experimental demonstration of manipulation by tapping. Our problem domain is positioning planar parts on a support surface by a sequence of taps; each tap imparts some initial velocities to the object, which then slides until it comes to rest due to friction. We formulate the mechanics of tapping for circular axisymmetric objects, show how to plan a single tap and a sequence of taps to reach a goal configuration, and present feedback control methods to robustly accomplish positioning tasks. With these methods, we have experimentally demonstrated positioning tasks using tapping, including high-precision positioning tasks in which the object is positioned more precisely than the tapping actuator. We show stability and sensitivity analysis in support of these results.
10270257
Layout Effects on Sociogram Perception
This paper describes a within-subjects experiment in which we compare the relative effectiveness of five sociogram drawing conventions in communicating underlying network substance, based on user task performance and usability preference, in order to examine effects of different spatial layout formats on human sociogram perception. We also explore the impact of edge crossings, a widely accepted readability aesthetic. Subjective data were gathered based on the methodology of Purchase et al.[14] Objective data were collected through an online system. 
 
We found that both edge crossings and conventions pose significant affects on user preference and task performance of finding groups, but either has little impact on the perception of actor status. On the other hand, the node positioning and angular resolution might be more important in perceiving actor status. In visualizing social networks, it is important to note that the techniques that are highly preferred by users do not necessarily lead to best task performance.
13283914
ConKMeL: a contextual knowledge management framework to support multimedia e-Learning
As the latest stage of learning and training evolution, e-Learning is supposed to provide intelligent functionalities not only in processing multi-media education resources but also in supporting context-sensitive pedagogical education processes. Towards providing an integrated solution for intelligent multimedia e-Learning, this paper presents a context-aware knowledge management framework named ConKMeL. Proposed framework features a semantic context-based approach for representing and integrating information and knowledge in e-Learning. Requirement analysis in university e-Learning environments shows that knowledge communications are usually in a hybrid mode across different conceptual levels. Based on the fact, a multi-layer contextual knowledge representation model called KG (knowledge graph) is presented. Corresponding key issues in development such as context-based knowledge retrieval and logical knowledge interpretation are discussed. On the application side, a scenario-based learning case study is shown to demonstrate the concepts and techniques developed in the ConKMeL framework.
18025478
Facilitate knowledge communications
With current multimedia information management techniques, the knowledge communications among users in multimedia e-Learning environments are still limited at a relative low single type media servicing level. New developments in multimedia knowledge discovery, representation and integration are needed to improve the intelligence of the knowledge management and communications at the semantic level. This paper proposes a novel contextual knowledge management framework to improve the current isolated learning information retrieval and communication status, by enabling flexible knowledge representation beyond heterogeneous multimedia learning resources and facilitating multilevel knowledge communications between instructors and learners. Based on knowledge communication model analysis in university e-Learning environments, a contextual knowledge representation model is presented. Corresponding knowledge retrieval techniques are discussed afterwards. To demonstrate the proposed concepts and techniques, a case study in a virtual scenario-based learning environment shows how the presented framework works with existing e-Learning content description standards and multimedia information retrieval techniques, and consequently enables a semantic-based interactive learning environment.
1603873
Application-Transparent Checkpoint/Restart for MPI Programs over InfiniBand
Ultra-scale computer clusters with high speed interconnects, such as InfiniBand, are being widely deployed for their excellent performance and cost effectiveness. However, the failure rate on these clusters also increases along with their augmented number of components. Thus, it becomes critical for such systems to be equipped with fault tolerance support. In this paper, we present our design and implementation of checkpoint/restart framework for MPI programs running over InfiniBand clusters. Our design enables low-overhead, application-transparent checkpointing. It uses coordinated protocol to save the current state of the whole MPI job to reliable storage, which allows users to perform rollback recovery if the system runs into faulty states later. Our solution has been incorporated into MVAPICH2, an open-source high performance MPI-2 implementation over InfiniBand. Performance evaluation of this implementation has been carried out using NAS benchmarks, HPL benchmark, and a real-world application called GROMACS. Experimental results indicate that in our design, the overhead to take checkpoints is low, and the performance impact for checkpointing applications periodically is insignificant. For example, time for checkpointing GROMACS is less than 0.3% of the execution time, and its performance only decreases by 4% with checkpoints taken every minute. To the best of our knowledge, this work is the first report of checkpoint/restart support for MPI over InfiniBand clusters in the literature
17604511
POINT: a database for the prediction of protein-protein interactions based on the orthologous interactome
One possible path towards understanding the biological function of a target protein is through the discovery of how it interfaces within protein-protein interaction networks. The goal of this study was to create a virtual protein-protein interaction model using the concepts of orthologous conservation (or interologs) to elucidate the interacting networks of a particular target protein. POINT (the prediction of interactome database) is a functional database for the prediction of the human protein-protein interactome based on available orthologous interactome datasets. POINT integrates several publicly accessible databases, with emphasis placed on the extraction of a large quantity of mouse, fruit fly, worm and yeast protein-protein interactions datasets from the Database of Interacting Proteins (DIP), followed by conversion of them into a predicted human interactome. In addition, protein-protein interactions require both temporal synchronicity and precise spatial proximity. POINT therefore also incorporates correlated mRNA expression clusters obtained from cell cycle microarray databases and subcellular localization from Gene Ontology to further pinpoint the likelihood of biological relevance of each predicted interacting sets of protein partners.