Construction of Robot Intra-modal and Inter-modal Coordination Skills by Developmental Learning

Q. Meng and M. H. Lee, 'Construction of Robot Intra-modal and Inter-modal Coordination Skills by Developmental Learning', Journal of Intelligent and Robotic Systems, 48(1), pp 97-114, 2007.

Biologically inspired automatic construction of cross-modal mapping in robotic eye/hand systems

Q. Meng and M.H. Lee, 'Biologically inspired automatic construction of cross-modal mapping in robotic eye/hand systems', IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006,) ,4742-49, Beijing, 2006.

Modal Matching for Correspondence and Recognition

Modal matching is a new method for establishing correspondences and computing canonical descriptions. The method is based on the idea of describing objects in terms of generalized symmetries, as defined by each object's eigenmodes. The resulting modal description is used for object recognition and categorization, where shape similarities are expressed as the amounts of modal deformation energy needed to align the two objects. In general, modes provide a global-to-local ordering of shape deformation and thus allow for selecting which types of deformations are used in object alignment and comparison. In contrast to previous techniques, which required correspondence to be computed with an initial or prototype shape, modal matching utilizes a new type of finite element formulation that allows for an object's eigenmodes to be computed directly from available image information. This improved formulation provides greater generality and accuracy, and is applicable to data of any dimensionality. Correspondence results with 2-D contour and point feature data are shown, and recognition experiments with 2-D images of hand tools and airplanes are described.

Constraint-based Mining of Frequent Arrangements of Temporal Intervals

The problem of discovering frequent arrangements of temporal intervals is studied. It is assumed that the database consists of sequences of events, where an event occurs during a time-interval. The goal is to mine temporal arrangements of event intervals that appear frequently in the database. The motivation of this work is the observation that in practice most events are not instantaneous but occur over a period of time and different events may occur concurrently. Thus, there are many practical applications that require mining such temporal correlations between intervals including the linguistic analysis of annotated data from American Sign Language as well as network and biological data. Two efficient methods to find frequent arrangements of temporal intervals are described; the first one is tree-based and uses depth first search to mine the set of frequent arrangements, whereas the second one is prefix-based. The above methods apply efficient pruning techniques that include a set of constraints consisting of regular expressions and gap constraints that add user-controlled focus into the mining process. Moreover, based on the extracted patterns a standard method for mining association rules is employed that applies different interestingness measures to evaluate the significance of the discovered patterns and rules. The performance of the proposed algorithms is evaluated and compared with other approaches on real (American Sign Language annotations and network data) and large synthetic datasets.

Confidence intervals for half-life deviations from purchasing power parity

Existing point estimates of half-life deviations from purchasing power parity (PPP), around 3-5 years, suggest that the speed of convergence is extremely slow. This article assesses the degree of uncertainty around these point estimates by using local-to-unity asymptotic theory to construct confidence intervals that are robust to high persistence in small samples. The empirical evidence suggests that the lower bound of the confidence interval is between four and eight quarters for most currencies, which is not inconsistent with traditional price-stickiness explanations. However, the upper bounds are infinity for all currencies, so we cannot provide conclusive evidence in favor of PPP either. © 2005 American Statistical Association.

Addressing time intervals

One of the fundamental questions regarding the temporal ontology is what is time composed of. While the traditional time structure is based on a set of points, a notion that has been prevalently adopted in classical physics and mathematics, it has also been noticed that intervals have been widely adopted for expre~sion of common sense temporal knowledge, especially in the domain of artificial intelligence. However, there has been a longstanding debate on how intervals should be addressed, leading to two different approaches to the treatment of intervals. In the first, intervals are addressed as derived objects constructed from points, e.g., as sets of points, or as pairs of points. In the second, intervals are taken as primitive themselves. This article provides a critical examination of these two approaches. By means of proposing a definition of intervals in terms of points and types, we shall demonstrate that, while the two different approaches have been viewed as rivals in the literature, they are actually reducible to logically equivalent expressions under some requisite interpretations, and therefore they can also be viewed as allies.

Application of regularization methods to damage detection in large scale plane frame structures using incomplete noisy modal data

This paper presents an approach for detecting local damage in large scale frame structures by utilizing regularization methods for ill-posed problems. A direct relationship between the change in stiffness caused by local damage and the measured modal data for the damaged structure is developed, based on the perturbation method for structural dynamic systems. Thus, the measured incomplete modal data can be directly adopted in damage identification without requiring model reduction techniques, and common regularization methods could be effectively employed to solve the developed equations. Damage indicators are appropriately chosen to reflect both the location and severity of local damage in individual components of frame structures such as in brace members and at beam-column joints. The Truncated Singular Value Decomposition solution incorporating the Generalized Cross Validation method is introduced to evaluate the damage indicators for the cases when realistic errors exist in modal data measurements. Results for a 16-story building model structure show that structural damage can be correctly identified at detailed level using only limited information on the measured noisy modal data for the damaged structure.

A numerical approach to C-14 wiggle-match dating of organic deposits: best fits and confidence intervals

14C wiggle-match dating (WMD) of peat deposits uses the non-linear relationship between 14C age and calendar age to match the shape of a sequence of closely spaced peat 14C dates with the 14C calibration curve. A numerical approach to WMD enables the quantitative assessment of various possible wiggle-match solutions and of calendar year confidence intervals for sequences of 14C dates. We assess the assumptions, advantages, and limitations of the method. Several case-studies show that WMD results in more precise chronologies than when individual 14C dates are calibrated. WMD is most successful during periods with major excursions in the 14C calibration curve (e.g., in one case WMD could narrow down confidence intervals from 230 to 36 yr).

A Cross-modal Approach for Karaoke Artifacts Correction

Karaoke singing is a popular form of entertainment in several parts of the world. Since this genre of performance attracts amateurs, the singing often has artifacts related to scale, tempo, and synchrony. We have developed an approach to correct these artifacts using cross-modal multimedia streams information. We first perform adaptive sampling on the user's rendition and then use the original singer's rendition as well as the video caption highlighting information in order to correct the pitch, tempo and the loudness. A method of analogies has been employed to perform this correction. The basic idea is to manipulate the user's rendition in a manner to make it as similar as possible to the original singing. A pre-processing step of noise removal due to feedback and huffing also helps improve the quality of the user's audio. The results are described in the paper which shows the effectiveness of this multimedia approach.

Tracking leatherback turtles (Dermochelys coriacea) during consecutive inter-nesting intervals: Further support for direct transmitter attachment

Over recent years there have been substantial efforts to record and interpret the post-nesting movements of leatherback turtles (Dermochelys coriacea) breeding in tropical regions. Less well documented are the movements undertaken by individual turtles during the breeding season itself, or more specifically between sequential nesting events. Such movements are of interest for two reasons: (1) gravid female leatherbacks may range extensively into the territorial waters and nesting beaches of neighbouring countries, raising questions for conservationists and population ecologists; and (2) the magnitude of movements themselves help elucidate underlying reproductive strategies (e.g. whether to rest near to the nesting or forage extensively). Here, satellite relay data loggers are used (SRDLs) to detail the movements and behaviour of two female leatherback turtles throughout three consecutive inter-nesting intervals in the Commonwealth of Dominica, West Indies. Both near-shore residence and extensive inter-nesting movements were recorded, contrasting previous studies, with movements away from the nesting beach increasing towards the end of the nesting season. Using this behavioural study as a backdrop, the suitability of attaching satellite transmitters directly to the carapace was additionally explored as an alternative approach to conventional harness deployments. Specifically, the principal aims were to (1) gather empirical data on speed of travel and (2) assess dive performance (aerobic dive limit) to enable comparisons with turtles previously fitted with harnesses elsewhere in the Caribbean (n = 6 turtles; Grenada, WI). This produced mixed results with animals bearing directly attached transmitters travelling significantly faster (55.21 km day(-1): SD 6.68) than harnessed individuals (39.80 km day(-1); SD 6.19); whilst no discernable difference in dive performance could be found between the two groups of study animals. (C) 2009 Elsevier B.V. All rights reserved.