A method for stereo-vision based tracking for robotic applications

Vision based tracking of an object using the ideas of perspective projection inherently consists of nonlinearly modelled measurements although the underlying dynamic system that encompasses the object and the vision sensors can be linear. Based on a necessary stereo vision setting, we introduce an appropriate measurement conversion techniques which subsequently facilitate using a linear filter. Linear filter together with the aforementioned measurement conversion approach conforms a robust linear filter that is based on the set values state estimation ideas; a particularly rich area in the robust control literature. We provide a rigorously theoretical analysis to ensure bounded state estimation errors formulated in terms of an ellipsoidal set in which the actual state is guaranteed to be included to an arbitrary high probability. Using computer simulations as well as a practical implementation consisting of a robotic manipulator, we demonstrate our linear robust filter significantly outperforms the traditionally used extended Kalman filter under this stereo vision scenario. © 2008 IEEE.

Mining allocating patterns in one-sum weighted items

An Association Rule (AR) is a common knowledge model in data mining that describes an implicative cooccurring relationship between two disjoint sets of binary-valued transaction database attributes (items), expressed in the form of an "antecedent⇒ consequent" rule. A variant of the AR is the Weighted Association Rule (WAR). With regard to a marketing context, this paper introduces a new knowledge model in data mining -ALlocating Pattern (ALP). An ALP is a special form of WAR, where each rule item is associated with a weighting score between 0 and 1, and the sum of all rule item scores is 1. It can not only indicate the implicative co-occurring relationship between two (disjoint) sets of items in a weighted setting, but also inform the "allocating" relationship among rule items. ALPs can be demonstrated to be applicable in marketing and possibly a surprising variety of other areas. We further propose an Apriori based algorithm to extract hidden and interesting ALPs from a "one-sum" weighted transaction database. The experimental results show the effectiveness of the proposed algorithm. © 2008 IEEE.

Facilitating effects of transcranial direct current stimulation on motor imagery brain-computer interface with robotic feedback for stroke rehabilitation

OBJECTIVE: To investigate the efficacy and effects of transcranial direct current stimulation (tDCS) on motor imagery brain-computer interface (MI-BCI) with robotic feedback for stroke rehabilitation. DESIGN: A sham-controlled, randomized controlled trial. SETTING: Patients recruited through a hospital stroke rehabilitation program. PARTICIPANTS: Subjects (N=19) who incurred a stroke 0.8 to 4.3 years prior, with moderate to severe upper extremity functional impairment, and passed BCI screening. INTERVENTIONS: Ten sessions of 20 minutes of tDCS or sham before 1 hour of MI-BCI with robotic feedback upper limb stroke rehabilitation for 2 weeks. Each rehabilitation session comprised 8 minutes of evaluation and 1 hour of therapy. MAIN OUTCOME MEASURES: Upper extremity Fugl-Meyer Motor Assessment (FMMA) scores measured end-intervention at week 2 and follow-up at week 4, online BCI accuracies from the evaluation part, and laterality coefficients of the electroencephalogram (EEG) from the therapy part of the 10 rehabilitation sessions. RESULTS: FMMA score improved in both groups at week 4, but no intergroup differences were found at any time points. Online accuracies of the evaluation part from the tDCS group were significantly higher than those from the sham group. The EEG laterality coefficients from the therapy part of the tDCS group were significantly higher than those of the sham group. CONCLUSIONS: The results suggest a role for tDCS in facilitating motor imagery in stroke.

Haptic virtual reality training environment for micro-robotic cell injection

Micro-robotic cell injection is typically performed manually by a trainedbio-operator, and success rates are often low. To enhance bio-operator performance during real-time cell injection, our earlier work introduced a haptically-enabled micro-robotic cell injection system. The system employed haptic virtual fixtures to provide haptic guidance according to articular performance metrics. This paper extends the work by replicating the system within a virtual reality (VR) environment for bio-operator training. Using the virtual environment, the bio-operator is able to control the virtual injection process in the same way they would with the physical haptic micro-robotic cell injection system, while benefiting from the enhanced visualisation capabilities offered by the 3D VR environment. The system is achieved using cost-effective components offering training at much lower cost than using the physical system.

Keyboard control method for virtual reality micro-robotic cell injection training

The rapid development of virtual reality offers significant potential for skills training applications. Our ongoing work proposes virtual reality operator training for the micro-robotic cell injection procedure. The interface between the operator and the system can be achieved in many different ways. The computer keyboard is ubiquitous in its use for everyday computing applications and also commonly utilized in virtual reality systems. Based on the premise that most people have experience in using a computer keyboard, as opposed to more sophisticated input devices, this paper considers the feasibility of using a keyboard to control the micro-robot for cell injection. In this study, thirteen participants underwent the experimental evaluation. The participants were asked to perform three simulated trial sessions in a virtual micro-robotic cell injection environment. Each session consisted of ten cell injection trials and relevant data for each trial were recorded and analyzed. Results showed participants' performance improvement after the three sessions. It was also observed that participants intuitively controlled multiple axes of the micro-robot simultaneously despite the absence of instruction on how to do so. This continued throughout the experiments and suggests skills transfer from other keyboard based interactions. Based on the results provided, it is suggested that keyboard control is a feasible, simple and low-cost control method for the virtual micro-robot.

Haptic technology for micro-robotic cell injection training systems — a review

Currently, the micro-robotic cell injection procedure is performed manually by expert human bio-operators. In order to be proficient at the task, lengthy and expensive dedicated training is required. As such, effective specialized training systems for this procedure can prove highly beneficial. This paper presents a comprehensive review of haptic technology relevant to cell injection training and discusses the feasibility of developing such training systems, providing researchers with an inclusive resource enabling the application of the presented approaches, or extension and advancement of the work. A brief explanation of cell injection and the challenges associated with the procedure are first presented. Important skills, such as accuracy, trajectory, speed and applied force, which need to be mastered by the bio-operator in order to achieve successful injection, are then discussed. Then an overview of various types of haptic feedback, devices and approaches is presented. This is followed by discussion on the approaches to cell modeling. Discussion of the application of haptics to skills training across various fields and haptically-enabled virtual training systems evaluation are then presented. Finally, given the findings of the review, this paper concludes that a haptically-enabled virtual cell injection training system is feasible and recommendations are made to developers of such systems.

Identifying emerging hotel preferences using emerging pattern mining technique

Hotel managers continue to find ways to understand traveler preferences, with the aim of improving their strategic planning, marketing, and product development. Traveler preference is unpredictable for example, hotel guests used to prefer having a telephone in the room, but now favor fast Internet connection. Changes in preference influence the performance of hotel businesses, thus creating the need to identify and address the demands of their guests. Most existing studies focus on current demand attributes and not on emerging ones. Thus, hotel managers may find it difficult to make appropriate decisions in response to changes in travelers' concerns. To address these challenges, this paper adopts Emerging Pattern Mining technique to identify emergent hotel features of interest to international travelers. Data are derived from 118,000 records of online reviews. The methods and findings can help hotel managers gain insights into travelers' interests, enabling the former to gain a better understanding of the rapid changes in tourist preferences.

Design of a virtual reality training system for micro-robotic cell injection

This paper discusses the design of a virtual reality (VR) training system for micro-robotic cell injection. A brief explanation of cell injection and the challenges associated with the procedure are first presented. This is followed by discussion of the skills required by the bio-operator to achieve successful injection, such as accuracy, trajectory and applied force. The design of the VR system which includes the visual display, input controllers, mapping strategies, haptic guidance and output data is then discussed. Initial evaluation of the VR system is presented including analysis and discussion based on conducted user evaluations. Finally, given the findings of the initial evaluation, this paper concludes that an effective haptically-enabled virtual cell injection training system is feasible, and recommendations for improvement and future work are given.

Understanding toxicities and complications of cancer treatment: a data mining approach

Cancer remains a major challenge in modern medicine. Increasing prevalence of cancer, particularly in developing countries, demands better understanding of the effectiveness and adverse consequences of different cancer treatment regimes in real patient population. Current understanding of cancer treatment toxicities is often derived from either “clean” patient cohorts or coarse population statistics. It is difficult to get up-to-date and local assessment of treatment toxicities for specific cancer centres. In this paper, we applied an Apriori-based method for discovering toxicity progression patterns in the form of temporal association rules. Our experiments show the effectiveness of the proposed method in discovering major toxicity patterns in comparison with the pairwise association analysis. Our method is applicable for most cancer centres with even rudimentary electronic medical records and has the potential to provide real-time surveillance and quality assurance in cancer care.

Predictive data mining for converged internet of things: a mobile health perspective

Mobile Health (mHealth) is now emerging with Internet of Things (IoT), Cloud and big data along with the prevalence of smart wearable devices and sensors. There is also the emergence of smart environments such as smart homes, cars, highways, cities, factories and grids. Presently, it is difficult to quickly forecast or prevent urgent health situations in real-time as health data are analyzed offline by a physician. Sensors are expected to be overloaded by demands of providing health data from IoT networks and smart environments. This paper proposes to resolve the problems by introducing an inference system so that life-threatening situations can be prevented in advance based on a short and long term health status prediction. This prediction is inferred from personal health information that is built by big data in Cloud. The inference system can also resolve the problem of data overload in sensor nodes by reducing data volume and frequency to reduce workload in sensor nodes. This paper presents a novel idea of tracking down and predicting a personal health status as well as intelligent functionality of inference in sensor nodes to interface IoT networks

Using data mining for digital ink recognition: dividing text and shapes in sketched diagrams

The low accuracy rates of textshape dividers for digital ink diagrams are hindering their use in real world applications. While recognition of handwriting is well advanced and there have been many recognition approaches proposed for hand drawn sketches, there has been less attention on the division of text and drawing ink. Feature based recognition is a common approach for textshape division. However, the choice of features and algorithms are critical to the success of the recognition. We propose the use of data mining techniques to build more accurate textshape dividers. A comparative study is used to systematically identify the algorithms best suited for the specific problem. We have generated dividers using data mining with diagrams from three domains and a comprehensive ink feature library. The extensive evaluation on diagrams from six different domains has shown that our resulting dividers, using LADTree and LogitBoost, are significantly more accurate than three existing dividers.

Fusing data mining, machine learning and traditional statistics to detect biomarkers associated with depression

BACKGROUND: Atheoretical large-scale data mining techniques using machine learning algorithms have promise in the analysis of large epidemiological datasets. This study illustrates the use of a hybrid methodology for variable selection that took account of missing data and complex survey design to identify key biomarkers associated with depression from a large epidemiological study.

METHODS: The study used a three-step methodology amalgamating multiple imputation, a machine learning boosted regression algorithm and logistic regression, to identify key biomarkers associated with depression in the National Health and Nutrition Examination Study (2009-2010). Depression was measured using the Patient Health Questionnaire-9 and 67 biomarkers were analysed. Covariates in this study included gender, age, race, smoking, food security, Poverty Income Ratio, Body Mass Index, physical activity, alcohol use, medical conditions and medications. The final imputed weighted multiple logistic regression model included possible confounders and moderators.

RESULTS: After the creation of 20 imputation data sets from multiple chained regression sequences, machine learning boosted regression initially identified 21 biomarkers associated with depression. Using traditional logistic regression methods, including controlling for possible confounders and moderators, a final set of three biomarkers were selected. The final three biomarkers from the novel hybrid variable selection methodology were red cell distribution width (OR 1.15; 95% CI 1.01, 1.30), serum glucose (OR 1.01; 95% CI 1.00, 1.01) and total bilirubin (OR 0.12; 95% CI 0.05, 0.28). Significant interactions were found between total bilirubin with Mexican American/Hispanic group (p = 0.016), and current smokers (p<0.001).

CONCLUSION: The systematic use of a hybrid methodology for variable selection, fusing data mining techniques using a machine learning algorithm with traditional statistical modelling, accounted for missing data and complex survey sampling methodology and was demonstrated to be a useful tool for detecting three biomarkers associated with depression for future hypothesis generation: red cell distribution width, serum glucose and total bilirubin.

Complex simulation of stockyard mining operations

Conflicts between resources in stockyards cause mining companies millions of dollars a year. An effective planning strategy needs to be established in order to reduce these operational conflicts. In this research a stockyard simulation model of a mining operation is proposed. The simulation uses discrete event and continuous strategies to create a high detail level of visualization and animation that closely resemble actual stockyard operation. The proposed simulation model is tightly integrated with a stockpile planner and it is used to evaluate the feasibility of a given production plan. The high detail visualization of the simulation model allows planner to determine the source of conflict, which can be used to guide the elimination of these conflicts.

Data mining analysis of an urban tunnel pressure drop based on CFD data

An accurate estimation of pressure drop due to vehicles inside an urban tunnel plays a pivotal role in tunnel ventilation issue. The main aim of the present study is to utilize computational intelligence technique for predicting pressure drop due to cars in traffic congestion in urban tunnels. A supervised feed forward back propagation neural network is utilized to estimate this pressure drop. The performance of the proposed network structure is examined on the dataset achieved from Computational Fluid Dynamic (CFD) simulation. The input data includes 2 variables, tunnel velocity and tunnel length, which are to be imported to the corresponding algorithm in order to predict presure drop. 10-fold Cross validation technique is utilized for three data mining methods, namely: multi-layer perceptron algorithm, support vector machine regression, and linear regression. A comparison is to be made to show the most accurate results. Simulation results illustrate that the Multi-layer perceptron algorithm is able to accurately estimate the pressure drop.

Musculoskeletal analysis of mining activities

This paper presents a framework for motion capture and musculoskeletal analysis of underground mining procedures. The framework discusses suitable motion capture solutions, musculoskeletal modelling and best practices. Preliminary analysis was conducted to assess quantitative musculoskeletal risks of rod handling and fitting with the drilling rig. The preliminary results of the analysis provide recommendations to minimise risks of potential muscular injuries.