127,530 research outputs found
A Distributed System for Robot Manipulator Control, NSF Grant ECS-11879 Fourth Report
This is the fourth annual report representing our last year\u27s work under the current grant. This work was directed to the development of a distributed computer architecture to function as a force and motion server to a robot system. In the course of this work we developed a compliant contact sensor to provide for transitions between position and force control; developed an end-effector capable of securing a stable grasp on an object and a theory of grasping; developed and built a controller which minimizes control delays; explored a parallel kinematics algorithms for the controller; developed a consistent approach to the definition of motion both in joint coordinates and in Cartesian coordinates; developed a symbolic simplification software package to generate the dynamics equations of a manipulator such that the calculations may be split between background and foreground
A Distributed System for Robot Manipulator Control
This is the final report representing three years of work under the current grant. This work was directed to the development of a distributed computer architecture to function as a force and motion server to a robot system. In the course of this work we developed a compliant contact sensor to provide for transitions between position and force control; we have developed an end-effector capable of securing a stable grasp on an object and a theory of grasping; we have built a controller which minimizes control delays, and are currently achieving delays of the order of five milliseconds, with sample rates of 200 hertz; we have developed parallel kinematics algorithms for the controller; we have developed a consistent approach to the definition of motion both in joint coordinates and in Cartesian coordinates; we have developed a symbolic simplification software package to generate the dynamics equations of a manipulator such that the calculations may be split between background and foreground
LDAExplore: Visualizing Topic Models Generated Using Latent Dirichlet Allocation
We present LDAExplore, a tool to visualize topic distributions in a given
document corpus that are generated using Topic Modeling methods. Latent
Dirichlet Allocation (LDA) is one of the basic methods that is predominantly
used to generate topics. One of the problems with methods like LDA is that
users who apply them may not understand the topics that are generated. Also,
users may find it difficult to search correlated topics and correlated
documents. LDAExplore, tries to alleviate these problems by visualizing topic
and word distributions generated from the document corpus and allowing the user
to interact with them. The system is designed for users, who have minimal
knowledge of LDA or Topic Modelling methods. To evaluate our design, we run a
pilot study which uses the abstracts of 322 Information Visualization papers,
where every abstract is considered a document. The topics generated are then
explored by users. The results show that users are able to find correlated
documents and group them based on topics that are similar
Information visualization for DNA microarray data analysis: A critical review
Graphical representation may provide effective means of making sense of the complexity and sheer volume of data produced by DNA microarray experiments that monitor the expression patterns of thousands of genes simultaneously. The ability to use ldquoabstractrdquo graphical representation to draw attention to areas of interest, and more in-depth visualizations to answer focused questions, would enable biologists to move from a large amount of data to particular records they are interested in, and therefore, gain deeper insights in understanding the microarray experiment results. This paper starts by providing some background knowledge of microarray experiments, and then, explains how graphical representation can be applied in general to this problem domain, followed by exploring the role of visualization in gene expression data analysis. Having set the problem scene, the paper then examines various multivariate data visualization techniques that have been applied to microarray data analysis. These techniques are critically reviewed so that the strengths and weaknesses of each technique can be tabulated. Finally, several key problem areas as well as possible solutions to them are discussed as being a source for future work
A Distributed Multilevel Force-directed Algorithm
The wide availability of powerful and inexpensive cloud computing services
naturally motivates the study of distributed graph layout algorithms, able to
scale to very large graphs. Nowadays, to process Big Data, companies are
increasingly relying on PaaS infrastructures rather than buying and maintaining
complex and expensive hardware. So far, only a few examples of basic
force-directed algorithms that work in a distributed environment have been
described. Instead, the design of a distributed multilevel force-directed
algorithm is a much more challenging task, not yet addressed. We present the
first multilevel force-directed algorithm based on a distributed vertex-centric
paradigm, and its implementation on Giraph, a popular platform for distributed
graph algorithms. Experiments show the effectiveness and the scalability of the
approach. Using an inexpensive cloud computing service of Amazon, we draw
graphs with ten million edges in about 60 minutes.Comment: Appears in the Proceedings of the 24th International Symposium on
Graph Drawing and Network Visualization (GD 2016
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