5,886 research outputs found
A^2-Net: Molecular Structure Estimation from Cryo-EM Density Volumes
Constructing of molecular structural models from Cryo-Electron Microscopy
(Cryo-EM) density volumes is the critical last step of structure determination
by Cryo-EM technologies. Methods have evolved from manual construction by
structural biologists to perform 6D translation-rotation searching, which is
extremely compute-intensive. In this paper, we propose a learning-based method
and formulate this problem as a vision-inspired 3D detection and pose
estimation task. We develop a deep learning framework for amino acid
determination in a 3D Cryo-EM density volume. We also design a sequence-guided
Monte Carlo Tree Search (MCTS) to thread over the candidate amino acids to form
the molecular structure. This framework achieves 91% coverage on our newly
proposed dataset and takes only a few minutes for a typical structure with a
thousand amino acids. Our method is hundreds of times faster and several times
more accurate than existing automated solutions without any human intervention.Comment: 8 pages, 5 figures, 4 table
Recurrent Neural Networks For Accurate RSSI Indoor Localization
This paper proposes recurrent neuron networks (RNNs) for a fingerprinting
indoor localization using WiFi. Instead of locating user's position one at a
time as in the cases of conventional algorithms, our RNN solution aims at
trajectory positioning and takes into account the relation among the received
signal strength indicator (RSSI) measurements in a trajectory. Furthermore, a
weighted average filter is proposed for both input RSSI data and sequential
output locations to enhance the accuracy among the temporal fluctuations of
RSSI. The results using different types of RNN including vanilla RNN, long
short-term memory (LSTM), gated recurrent unit (GRU) and bidirectional LSTM
(BiLSTM) are presented. On-site experiments demonstrate that the proposed
structure achieves an average localization error of m with of the
errors under m, which outperforms the conventional KNN algorithms and
probabilistic algorithms by approximately under the same test
environment.Comment: Received signal strength indicator (RSSI), WiFi indoor localization,
recurrent neuron network (RNN), long shortterm memory (LSTM),
fingerprint-based localizatio
On inferring intentions in shared tasks for industrial collaborative robots
Inferring human operators' actions in shared collaborative tasks, plays a crucial role in enhancing the cognitive capabilities of industrial robots. In all these incipient collaborative robotic applications, humans and robots not only should share space but also forces and the execution of a task. In this article, we present a robotic system which is able to identify different human's intentions and to adapt its behavior consequently, only by means of force data. In order to accomplish this aim, three major contributions are presented: (a) force-based operator's intent recognition, (b) force-based dataset of physical human-robot interaction and (c) validation of the whole system in a scenario inspired by a realistic industrial application. This work is an important step towards a more natural and user-friendly manner of physical human-robot interaction in scenarios where humans and robots collaborate in the accomplishment of a task.Peer ReviewedPostprint (published version
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