Acoustic Structure Interaction For Floating Structure Under Moving Load

The present thesis concentrates largely on sound radiation from floating structure due to moving load

RMAC-M: Extending the R-MAC Protocol for an Energy Efficient, Delay Tolerant Underwater Acoustic Sensor Network application with a mobile data mule node

One of the major applications of underwater acoustic sensor networks (UWASN) is ocean environment monitoring. Employing data mules is an energy efficient way of data collection from the underwater sensor nodes in such a network. A data mule node such as an autonomous underwater vehicle (AUV) periodically visits the stationary nodes to download data. By conserving the power required for data transmission over long distances to a remote data sink, this approach extends the network life time. In this paper we propose a new MAC protocol to support a single mobile data mule node to collect the data sensed by the sensor nodes in periodic runs through the network. In this approach, the nodes need to perform only short distance, single hop transmission to the data mule. The protocol design discussed in this paper is motivated to support such an application. The proposed protocol is a hybrid protocol, which employs a combination of schedule based access among the stationary nodes along with handshake based access to support mobile data mules. The new protocol, RMAC-M is developed as an extension to the energy efficient MAC protocol R-MAC by extending the slot time of R-MAC to include a contention part for a hand shake based data transfer. The mobile node makes use of a beacon to signal its presence to all the nearby nodes, which can then hand-shake with the mobile node for data transfer. Simulation results show that the new protocol provides efficient support for a mobile data mule node while preserving the advantages of R-MAC such as energy efficiency and fairness.

Development & evaluation of different acoustic models for Malayalam continuous speech recognition

Performance of any continuous speech recognition system is dependent on the accuracy of its acoustic model. Hence, preparation of a robust and accurate acoustic model lead to satisfactory recognition performance for a speech recognizer. In acoustic modeling of phonetic unit, context information is of prime importance as the phonemes are found to vary according to the place of occurrence in a word. In this paper we compare and evaluate the effect of context dependent tied (CD tied) models, context dependent (CD) and context independent (CI) models in the perspective of continuous speech recognition of Malayalam language. The database for the speech recognition system has utterance from 21 speakers including 11 female and 10 males. Our evaluation results show that CD tied models outperforms CI models over 21%.

Manipulation der Aktin-Hülle später Endosomen durch ektopisches Protein-Targeting und Etablierung einer in vivo-Hierarchie cytoplasmatischer Targeting-Signalstärken

Der Endocytoseweg in Dictyostelium verläuft über definierte endosomale Reifestadien. Dabei werden die reifenden Endosomen im letzten Stadium durch eine Schicht aus filamentösem Aktin umhüllt. Über die biologische Funktion dieser Aktin-Hülle ist derzeit wenig bekannt. Zum weiteren Erkenntnisgewinn sollten daher unterschiedliche Aktin-interagierende Proteine an die endosomale Aktin-Hülle dirigiert und die sich daraus ergebenden Folgen untersucht werden. Dabei wurde der in Drengk et al., 2003 beschriebene Ansatz aufgegriffen, in dem Proteine durch die Fusion an Vacuolin an die späte endosomale Membran transportiert wurden. Die endosomale Lokalisation von DAip1 bewirkte den vollständigen Verlust der endosomalen Aktin-Hülle, ohne dabei das restliche zelluläre Cytoskelett zu beeinträchtigen. Dabei wird die Depolymerisation vermutlich über die nachgewiesene Interaktion von DAip1 mit dem Aktin-depolymerisierenden Protein Cofilin bewirkt. Einhergehend damit trat eine Aggregation der betroffenen Kompartimente, eine Verzögerung des endocytotischen Transits, sowie eine verstärkte Retention lysosomaler Enzyme auf. Diese Ergebnisse ließen auf eine Funktion der endosomalen Aktin-Hülle als Fusionsinhibitor oder in der Regulation von Recycling-Prozessen an späten Endosomen schließen. Die Verlängerung der endosomalen Verweilzeit des den Arp2/3-Komplex negativ regulierenden Proteins Coronin bewirkte dagegen keine offensichtlichen Veränderungen in den betroffenen Zellen. Diese Beoachtung könnte ein Indiz dafür sein, dass nach der Ausbildung der Aktin-Hülle keine weiteren essentiellen Arp2/3-abhängigen mehr an der endosomalen Membran auftreten. Die endosomale Lokalisation des Aktin-Crosslinkers ABP34 induzierte ebenfalls keine Abweichungen vom Wildtyp-Verhalten. Hierbei besteht allerdings die Möglichkeit, dass die Aktivität des Proteins durch die bereits zuvor beschriebene Calcium-Sensitivität beeintächtigt vorliegt. Eine Verstärkung der endosomalen Hülle konnte trotz der Verwendung unterschiedlicher Ansätze nicht hervorgerufen werden. Offensichtlich wirkt die zusätzliche Expression zentraler Regulatoren der Aktin-Polymerisation in der Zelle cytotoxisch. Die Bindung von VASP an die endosomale Membran bewirkte in den Zellen die Ausbildung voluminöser, cytoplasmatischer „Aktin-Bälle“. Diese riefen in den betroffenen Zellen Defekte in unterschiedlichen Aktin-abhängigen Prozessen, wie der Phago- und Pinocytose, sowie der Cytokinese hervor. Dabei gehen die beobachteten Veränderungen vermutlich auf die nachgewiesene Störung im Gleichgewicht zwischen G- und F-Aktin zurück. Obwohl die Aktin-Bälle an der endosomalen Membran entstehen, weisen sie nach vollendeter Entstehung keine inneren oder äußeren Membranen mehr auf und nehmen nicht mehr aktiv am endocytotischen Geschehen teil. Die nähere Charakterisierung offenbarte große Ähnlichkeit zu den mit unterschiedlichen neurodegenerativen Erkrankungen assoziierten Hirano-Bodies. Über das beobachtbare Lokalisationsverhalten der unterschiedlichen im ersten Teil der Arbeit eingesetzten Vacuolin-Hybridproteine ließ sich die Stärke der Lokalisationsinformationen der fusionierten Aktin-interagierenden Proteine miteinander vergleichen. Dies wurde verwendet, um die einzelnen Proteine gemäß ihres Targeting-Potenzials hierarchisch anzuordnen. Im zweiten Teil der Arbeit wurden dieser Hierarchie die beiden cytoplasmatischen Targeting-Signale für Peroxisomen (PTS1) und den Zellkern (SV40-NLS) hinzugefügt. Der vorgenommene Vergleich dieser in vivo gewonnen Daten aus Dictyostelium mit unterschiedlichen in vitro-Bindungsstudien mit homologen Proteinen anderer Organismen zeigte eine erstaunlich gute Übereinstimmung. Diese Beobachtung lässt auf vergleichbare Targeting-Affinitäten innerhalb der Eukaryoten schließen und belegt, dass die zelluläre Lokalisation eines Proteins relativ sicher anhand der in ihm vorhandenen Bindungs-Affinitäten vorhergesagt werden kann. Durch die Kombination der in vivo- und in vitro-Daten war es auch ohne Kenntnis des Oligomerisierungsgrades und des Interaktionspartners erstmals möglich, die Bindungsstärke von Vacuolin an der endosomalen Membran auf einen definierten Bereich einzugrenzen.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact

This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.

Embodiment and Manipulation Learning Process for a Humanoid Hand

Babies are born with simple manipulation capabilities such as reflexes to perceived stimuli. Initial discoveries by babies are accidental until they become coordinated and curious enough to actively investigate their surroundings. This thesis explores the development of such primitive learning systems using an embodied light-weight hand with three fingers and a thumb. It is self-contained having four motors and 36 exteroceptor and proprioceptor sensors controlled by an on-palm microcontroller. Primitive manipulation is learned from sensory inputs using competitive learning, back-propagation algorithm and reinforcement learning strategies. This hand will be used for a humanoid being developed at the MIT Artificial Intelligence Laboratory.

Review of bio-particle manipulation using dielectrophoresis

During the last decade, large and costly instruments are being replaced by system based on microfluidic devices. Microfluidic devices hold the promise of combining a small analytical laboratory onto a chip-sized substrate to identify, immobilize, separate, and purify cells, bio-molecules, toxins, and other chemical and biological materials. Compared to conventional instruments, microfluidic devices would perform these tasks faster with higher sensitivity and efficiency, and greater affordability. Dielectrophoresis is one of the enabling technologies for these devices. It exploits the differences in particle dielectric properties to allow manipulation and characterization of particles suspended in a fluidic medium. Particles can be trapped or moved between regions of high or low electric fields due to the polarization effects in non-uniform electric fields. By varying the applied electric field frequency, the magnitude and direction of the dielectrophoretic force on the particle can be controlled. Dielectrophoresis has been successfully demonstrated in the separation, transportation, trapping, and sorting of various biological particles.

Scattering and absorption by acoustic resonators

by Karl Uno Ingard.

Data Manipulation.doc (9)

Notes on use of SPSS. Used in Research Skills for Biomedical Science

Nongenetic inheritance, linguistic competence, prenatal experience and behavior manipulation: recent contributions from behavioral neurobiology and neuropsychology to the explanation of behavior

This article gives an overview of presuppositions and explanations posed by behaviorist psychology (particularly its radical branch), cognitive–nativist sciences (i.e. psycholinguistics and a branch of cognitive psychology) and other disciplines regarding important psychological events such as anxiety, stress, fear, mood states and language. In relation to the discussion of environment versus genetics, contributions from behavioral neurobiology and neuropsychology are added, showing evidence of traits that can be multigenerationally inherited in a non-genetic way, which have an impact thought the life of organisms and on their way of interacting with the environment; ways in which behavior can be altered by recently unsuspected environmental agents or events, and the overlooked role of prenatal experiences in the explanation of behavior. The evidence calls into question presuppositions made by the academic disciplines listed above, and suggests alternative behavior reinterpretations and explanations

Toward an acoustic vowel metric: listener validation

This paper examines objective measures of speech production, specifically vowels. The relationship between the listener's perception of sections of the vowels with their perception of the entire vocalic utterance was examined.

Acoustic phonetics applied to auditory training and the teaching of speech to the hearing impaired

This paper is a review of acoustic phonetics as applied to auditory training for hearing impaired children.

Evaluating the directional effects of acoustic horn style hearing aids using the QuickSIN procedure

This paper evaluates the directional effects of two hearing devices – an antique London Dome horn style device and a constructed Cupped Hand. The comparisons were made using the Quick SIN (Speech in Noise) adaptive test which measures signal-to-noise ratio loss.