Biomechanical modeling and simulation of the spider crab (maja brachydactyla)

Uma linha de pesquisa e desenvolvimento na área da robótica, que tem recebido atenção crescente nos últimos anos, é o desenvolvimento de robôs biologicamente inspirados. A ideia é adquirir conhecimento de seres biológicos, cuja evolução ocorreu ao longo de milhões de anos, e aproveitar o conhecimento assim adquirido para implementar a locomoção pelos mesmos métodos (ou pelo menos usar a inspiração biológica) nas máquinas que se constroem. Acredita-se que desta forma é possível desenvolver máquinas com capacidades semelhantes às dos seres biológicos em termos de capacidade e eficiência energética de locomoção. Uma forma de compreender melhor o funcionamento destes sistemas, sem a necessidade de desenvolver protótipos dispendiosos e com longos tempos de desenvolvimento é usar modelos de simulação. Com base nestas ideias, o objectivo deste trabalho passa por efectuar um estudo da biomecânica da santola (Maja brachydactyla), uma espécie de caranguejo comestível pertencente à família Majidae de artrópodes decápodes, usando a biblioteca de ferramentas SimMechanics da aplicação Matlab / Simulink. Esta tese descreve a anatomia e locomoção da santola, a sua modelação biomecânica e a simulação do seu movimento no ambiente Matlab / SimMechanics e SolidWorks.

Development of Biomimetic Robots in the EPS Engineering Programme Capstone Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

Bounds on edit metric codes with combinatorial DNA constraints

The design of a large and reliable DNA codeword library is a key problem in DNA based computing. DNA codes, namely sets of fixed length edit metric codewords over the alphabet {A, C, G, T}, satisfy certain combinatorial constraints with respect to biological and chemical restrictions of DNA strands. The primary constraints that we consider are the reverse--complement constraint and the fixed GC--content constraint, as well as the basic edit distance constraint between codewords. We focus on exploring the theory underlying DNA codes and discuss several approaches to searching for optimal DNA codes. We use Conway's lexicode algorithm and an exhaustive search algorithm to produce provably optimal DNA codes for codes with small parameter values. And a genetic algorithm is proposed to search for some sub--optimal DNA codes with relatively large parameter values, where we can consider their sizes as reasonable lower bounds of DNA codes. Furthermore, we provide tables of bounds on sizes of DNA codes with length from 1 to 9 and minimum distance from 1 to 9.

High performance, low latency double digit decimal multiplier on ASIC and FPGA

Decimal multiplication is an integral part of financial, commercial, and internet-based computations. This paper presents a novel double digit decimal multiplication (DDDM) technique that offers low latency and high throughput. This design performs two digit multiplications simultaneously in one clock cycle. Double digit fixed point decimal multipliers for 7digit, 16 digit and 34 digit are simulated using Leonardo Spectrum from Mentor Graphics Corporation using ASIC Library. The paper also presents area and delay comparisons for these fixed point multipliers on Xilinx, Altera, Actel and Quick logic FPGAs. This multiplier design can be extended to support decimal floating point multiplication for IEEE 754- 2008 standard.

Design and Development of a Frame Based MT System for English-to-ISL

This paper presents the design and development of a frame based approach for speech to sign language machine translation system in the domain of railways and banking. This work aims to utilize the capability of Artificial intelligence for the improvement of physically challenged, deaf-mute people. Our work concentrates on the sign language used by the deaf community of Indian subcontinent which is called Indian Sign Language (ISL). Input to the system is the clerk’s speech and the output of this system is a 3D virtual human character playing the signs for the uttered phrases. The system builds up 3D animation from pre-recorded motion capture data. Our work proposes to build a Malayalam to ISL

A model of Distributed Ayurvedic Diagnosis and Therapy System for Hridroga Using Agents

Diagnosis of Hridroga (cardiac disorders) in Ayurveda requires the combination of many different types of data, including personal details, patient symptoms, patient histories, general examination results, Ashtavidha pareeksha results etc. Computer-assisted decision support systems must be able to combine these data types into a seamless system. Intelligent agents, an approach that has been used chiefly in business applications, is used in medical diagnosis in this case. This paper is about a multi-agent system named “Distributed Ayurvedic Diagnosis and Therapy System for Hridroga using Agents” (DADTSHUA). It describes the architecture of the DADTSHUA model .This system is using mobile agents and ontology for passing data through the network. Due to this, transport delay can be minimized. It is a system which will be very helpful for the beginning physicians to eliminate his ambiguity in diagnosis and therapy. The system is implemented using Java Agent DEvelopment framework (JADE), which is a java-complaint mobile agent platform from TILab.

Face Recognition using Probabilistic Neural Networks

In this paper we address the problem of face detection and recognition of grey scale frontal view images. We propose a face recognition system based on probabilistic neural networks (PNN) architecture. The system is implemented using voronoi/ delaunay tessellations and template matching. Images are segmented successfully into homogeneous regions by virtue of voronoi diagram properties. Face verification is achieved using matching scores computed by correlating edge gradients of reference images. The advantage of classification using PNN models is its short training time. The correlation based template matching guarantees good classification results

Speech Recognition of Malayalam Numbers

Digit speech recognition is important in many applications such as automatic data entry, PIN entry, voice dialing telephone, automated banking system, etc. This paper presents speaker independent speech recognition system for Malayalam digits. The system employs Mel frequency cepstrum coefficient (MFCC) as feature for signal processing and Hidden Markov model (HMM) for recognition. The system is trained with 21 male and female voices in the age group of 20 to 40 years and there was 98.5% word recognition accuracy (94.8% sentence recognition accuracy) on a test set of continuous digit recognition task.

On-Line Handwritten Character Recognition using Kohonen Networks

This paper presents an efficient Online Handwritten character Recognition System for Malayalam Characters (OHR-M) using Kohonen network. It would help in recognizing Malayalam text entered using pen-like devices. It will be more natural and efficient way for users to enter text using a pen than keyboard and mouse. To identify the difference between similar characters in Malayalam a novel feature extraction method has been adopted-a combination of context bitmap and normalized (x, y) coordinates. The system reported an accuracy of 88.75% which is writer independent with a recognition time of 15-32 milliseconds

Peptide mediated formation of hierarchically organized solution and solid state polymer nanostructures

Biologically-inspired peptide sequences have been explored as auxiliaries to mediate self-assembly of synthetic macromolecules into hierarchically organized solution and solid state nanostructures. Peptide sequences inspired by the coiled coil motif and "switch" peptides, which can adopt both amphiphilic alpha-helical and beta-strand conformations, were conjugated to poly(ethylene glycol) (PEG). The solution and solid state self-assembly of these materials was investigated using a variety of spectroscopic, scattering and microscopic techniques. These experiments revealed that the folding and organization properties of the peptide sequences are retained upon conjugation of PEG and that they provide the driving force for the formation of the different nanoscale structures which were observed. The possibility of using defined peptide sequences to direct structure formation of synthetic polymers together with the potential of peptide sequences to induce a specific biological response offers interesting prospects for the development of novel self-assembled and biologically active materials.

Technology trajectories, innovation, and the growth of biomimetics

Publication rate of patents can be a useful measure of innovation and productivity in science and technology. Patenting activity in new technological fields follows a sigmoid (S-shaped) path. Qualitative and quantitative models in management and economics literature explain why such patterns of productivity may occur. TRIZ analysis suggests that patents are generated in bursts during the evolution of a product and that they are at different levels of inventiveness. The tendency is for the inventiveness to reduce as the product is more mature. This makes it possible to guess at the lifetime stage of a product and gauge its maturity and profitability. An analysis of patenting activity and other measures of inventiveness in the emerging field of biomimetics was presented, and future trends in biologically-inspired innovation was discussed.

Control of a compliant two-axis robotic arm

In order to ease control, the links between actuators and robotic limbs are generally made to be as stiff as possible. This is in contrast to natural limbs, where compliance is present. Springs have been added to the drive train between the actuator and load to imitate this natural compliance. The majority of these springs have been in series between the actuator and load. However, a more biologically inspired approach is taken, here springs have been used in parallel to oppose each other. The paper will describe the application of parallel extension springs in a robot arm in order to give it compliance. Advantages and disadvantages of this application are discussed along with various control strategies.

Synapsing variable length crossover: An algorithm for crossing and comparing variable length genomes

The Synapsing Variable Length Crossover (SVLC) algorithm provides a biologically inspired method for performing meaningful crossover between variable length genomes. In addition to providing a rationale for variable length crossover it also provides a genotypic similarity metric for variable length genomes enabling standard niche formation techniques to be used with variable length genomes. Unlike other variable length crossover techniques which consider genomes to be rigid inflexible arrays and where some or all of the crossover points are randomly selected, the SVLC algorithm considers genomes to be flexible and chooses non-random crossover points based on the common parental sequence similarity. The SVLC Algorithm recurrently "glues" or synapses homogenous genetic sub-sequences together. This is done in such a way that common parental sequences are automatically preserved in the offspring with only the genetic differences being exchanged or removed, independent of the length of such differences. In a variable length test problem the SVLC algorithm is shown to outperform current variable length crossover techniques. The SVLC algorithm is also shown to work in a more realistic robot neural network controller evolution application.

Synapsing variable-length crossover: Meaningful crossover for variable-length genomes

The synapsing variable-length crossover (SVLC algorithm provides a biologically inspired method for performing meaningful crossover between variable-length genomes. In addition to providing a rationale for variable-length crossover, it also provides a genotypic similarity metric for variable-length genomes, enabling standard niche formation techniques to be used with variable-length genomes. Unlike other variable-length crossover techniques which consider genomes to be rigid inflexible arrays and where some or all of the crossover points are randomly selected, the SVLC algorithm considers genomes to be flexible and chooses non-random crossover points based on the common parental sequence similarity. The SVLC algorithm recurrently "glues" or synapses homogenous genetic subsequences together. This is done in such a way that common parental sequences are automatically preserved in the offspring with only the genetic differences being exchanged or removed, independent of the length of such differences. In a variable-length test problem, the SVLC algorithm compares favorably with current variable-length crossover techniques. The variable-length approach is further advocated by demonstrating how a variable-length genetic algorithm (GA) can obtain a high fitness solution in fewer iterations than a traditional fixed-length GA in a two-dimensional vector approximation task.