31618528
Efficient contact state graph generation for assembly applications
An important aspect in the design of many automated assembly strategies is the ability to automatically generate the set of contact states that may occur during an assembly task. In this paper, we present an efficient means of constructing the set of all geometrically feasible contact states that may occur within a bounded set of misalignments (bounds determined by robot inaccuracy). This set is stored as a graph, referred to as an Assembly Contact State Graph (ACSG), which indicates neighbor relationships between feasible states. An ACSG is constructed without user intervention in two stages. In the first stage, all hypothetical primitive principle contacts (PPCs; all contact states allowing 5 degrees of freedom) are evaluated for geometric feasibility with respect to part-imposed and robot-imposed restrictions on relative positioning (evaluated using optimization). In the second stage, the feasibility of each of the various combinations of PPCs is efficiently evaluated, first using topological existence and uniqueness criteria, then using part-imposed and robot-imposed geometric criteria.
16938513
Robust procedures for obtaining assembly contact state extremal configurations
Two important components in the selection of an admittance that facilitates force-guided assembly are the identification of: 1) the set of feasible contact states, and 2) the set of configurations that span each contact state, i.e., the extremal configurations. We present a procedure to automatically generate both sets from CAD models of the assembly parts. In the procedure, all possible combinations of principle contacts are considered when generating hypothesized contact states. The feasibility of each is then evaluated in a genetic algorithm based optimization procedure. The maximum and minimum value of each of the 6 configuration variables spanning each contact state are obtained by again using genetic algorithms. Together, the genetic algorithm approach, the hierarchical data structure containing the states, the relationships among the states, and the extremals within each state are used to provide a reliable means of identifying all feasible contact states and their associated extremal configurations.
20260133
Temporal aggregates for Web services on the semantic Web
In this paper we describe how we encode our temporal aggregates ontology in OWL for Web services on the semantic Web. We also present one example to show how to use the ontology to represent temporal aggregates information.
268487
Mining non-redundant high order correlations in binary data
Many approaches have been proposed to find correlations in binary data. Usually, these methods focus on pair-wise correlations. In biology applications, it is important to find correlations that involve more than just two features. Moreover, a set of strongly correlated features should be non-redundant in the sense that the correlation is strong only when all the interacting features are considered together. Removing any feature will greatly reduce the correlation.In this paper, we explore the problem of finding non-redundant high order correlations in binary data. The high order correlations are formalized using multi-information, a generalization of pairwise mutual information. To reduce the redundancy, we require any subset of a strongly correlated feature subset to be weakly correlated. Such feature subsets are referred to as Non-redundant Interacting Feature Subsets (NIFS). Finding all NIFSs is computationally challenging, because in addition to enumerating feature combinations, we also need to check all their subsets for redundancy. We study several properties of NIFSs and show that these properties are useful in developing efficient algorithms. We further develop two sets of upper and lower bounds on the correlations, which can be incorporated in the algorithm to prune the search space. A simple and effective pruning strategy based on pair-wise mutual information is also developed to further prune the search space. The efficiency and effectiveness of our approach are demonstrated through extensive experiments on synthetic and real-life datasets.
14993944
Problem difficulty analysis for particle swarm optimization: deception and modality
This paper studies the problem difficulty for a popular optimization method - particle swarm optimization (PSO), particularly for the PSO variant PSO-cf (PSO with constriction factor), and analyzes its predictive measures. Some previous measures and related issues about other optimizers, mainly including deception and modality, are checked for PSO. It is observed that deception is mainly the combination of three factors - the measure ratios of attraction basins, the relative distance of attractors and the relative difference of attractors' altitudes. Multimodality and multi-funnel are proved not to be the essential factors contributing to the problem difficulty for PSO. The counterexamples and comparative experiments in this paper can be taken as a reference for further researches on novel comprehensive predictive measures of problem difficulty for PSO.
11110859
A locally-adaptive algorithm for measuring blocking artifacts in images and videos
Block transform coding is the most popular approach for image and video compression. The objective measurement of blocking artifacts plays an important role in the design, optimization, and assessment of image and video coding systems. This paper presents a new algorithm for measuring blocking artifacts in images and videos. It exhibits unique and useful features: 1) it examines the blocks individually so that it can measure the severity of blocking artifacts locally; 2) it is a one-pass algorithm in the sense that the image needs to be accessed only once; 3) it takes into account the blocking artifacts for high bit rate images and the flatness for the very low bit rate images; 4) the blocking artifacts measure is well-defined in the range of 0-10. Experiments on various still images and videos show that this blockiness measure is very efficient in terms of computational complexity and memory usage, and can produce consistent blocking artifacts measurement.
2768791
Finding representative set from massive data
In the information age, data is pervasive. In some applications, data explosion is a significant phenomenon. The massive data volume poses challenges to both human users and computers. In this project, we propose a new model for identifying representative set from a large database. A representative set is a special subset of the original dataset, which has three main characteristics: It is significantly smaller in size compared to the original dataset. It captures the most information from the original dataset compared to other subsets of the same size. It has low redundancy among the representatives it contains. We use information-theoretic measures such as mutual information and relative entropy to measure the representativeness of the representative set. We first design a greedy algorithm and then present a heuristic algorithm that delivers much better performance. We run experiments on two real datasets and evaluate the effectiveness of our representative set in terms of coverage and accuracy. The experiments show that our representative set attains expected characteristics and captures information more efficiently.