Towards building a team of intelligent robots

Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects)

Collision-free motion of two robot arms in a common workspace

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed

Feasibility study of a microprocessor based oculometer system

The elimination of redundancy in data to maximize processing speed and minimize storage requirements were objectives in a feasibility study of a microprocessor based oculometer system that would be portable in size and flexible in use. The appropriate architectural design of the signal processor, improved optics, and the reduction of size, weight, and power to the system were investigated. A flow chart is presented showing the strategy of the design. The simulation for developing microroutines for the high speed algorithmic processor subsystem is discussed as well as the Karhunen-Loeve transform technique for data compression

A Complex Number Notation of Nature of Time: An Ancient Indian Insight

The nature of time is perceived by intellectuals variedly. An attempt is made in this paper to reconcile such varied views in the light of the Upanishads and related Indian spiritual and philosophical texts. The complex analysis of modern mathematics is used to represent the nature and presentation physical and psychological times so differentiated. Also the relation between time and energy is probed using uncertainty relations, forms of energy and phases of matter

THE HARDWARE AND SOFTWARE OF HUMAN COGNITION AND COMMUNNICATION: A COGNITIVE SCIENCE PERSPECTIVE OF THE UPANISHADS AND INDIAN PHILOSOPHICAL SYSTEMS

The comprehensive nature of information and insight available in the Upanishads, the Indian philosophical systems like the Advaita Philosophy, Sabdabrahma Siddhanta, Sphota Vaada and the Shaddarsanas, in relation to the idea of human consciousness, mind and its functions, cognitive science and scheme of human cognition and communication are presented. All this is highlighted with vivid classification of conscious-, cognitive-, functional- states of mind; by differentiating cognition as a combination of cognitive agent, cognizing element, cognized element; formation; form and structure of cognition, instruments and means of cognition, validity of cognition and the nature of energy/matter which facilitates and also is the medium of cognition- cognizing process; and also as the container and content of cognition. The human communication process which is just the reverse of cognizing process is also presented with necessary description and detail. The sameness of cognitive / communicative process during language acquisition and communication processes and the modes of language acquisition and communication are also given. The hardware and software of human cognition, language acquisition and communication as envisaged in Indian spiritual and philosophical expressions are given. In the light of the information and insight obtained as above, the axioms for human cognition / communication are formed, framed and presented. A brain-wave frequency modulation / demodulation model of human cognition, communication and language acquisition and communication process based on Upanishadic expressions, Shaddarsanas and Sabdabrahma Siddhhanta is defined and discussed here. The use of these theories and models and axioms in mind-machine modelling and natural language comprehension branch of artificial intelligence will be put forward and highlighted

Surface feature detection and description with applications to mesh matching

In this paper we revisit local feature detectors/descriptors developed for 2D images and extend them to the more general framework of scalar fields defined on 2D manifolds. We provide methods and tools to detect and describe features on surfaces equiped with scalar functions, such as photometric information. This is motivated by the growing need for matching and tracking photometric surfaces over temporal sequences, due to recent advancements in multiple camera 3D reconstruction. We propose a 3D feature detector (MeshDOG) and a 3D feature descriptor (MeshHOG) for uniformly triangulated meshes, invariant to changes in rotation, translation, and scale. The descriptor is able to capture the local geometric and/or photometric properties in a succinct fashion. Moreover, the method is defined generically for any scalar function, e.g., local curvature. Results with matching rigid and non-rigid meshes demonstrate the interest of the proposed framework

Reliable, Semi-Automated Wound Healing Rate Determination in Muscle

In the field of Regenerative and Sport Medicine, there is great interest in the development and validation of compounds and devices with the potential to accelerate wound healing and muscle regeneration. In vitro, this effect can be evaluated in a scratch test model, in which a pipette removes a line of cells from a confluent monolayer of cells with high regenerative capacity and the time to close this injury measured. PURPOSE: To develop a reliable, dynamic, and quantitative process with a shorter duty cycle and semi-automatic operation for the determination of wound healing rate, as compared to fully manual operation. METHODS: C2C12 murine myoblasts were cultured to confluence under standard conditions. A 200 µL pipette tip was used to make a scratch across each well, and 0 and 0.5mM of pro-myogenic Si-ions were added to the media. A Keyence BZX-710 microscope was used to capture images every 183 seconds over 36 hours at 10x magnification with 0.7 pixels/μm and 4 µm pitch. An enclosed cell culture stage contained a cell incubator system keeping cells at 37°C with a 5% CO2 humidified air. For the manual operation, one image was randomly selected from the automated images every 12hr. ImageJ Macro WH_NJ was used to quantify the percent area of the field (scratched) of interest without cells and was normalized as needed per experimental conditions. RESULTS: The manual and automatic slopes for the 0 and 0.5mM Si-ion treatments were -4.87E-06, -4.84E-06, -6.01E-06, and -5.98E-06, respectively, for the full 0-36hr. There was a high degree of correlation between the manual and semi-automatic rates for both the 0 and 0.5mM Si-ions, at r=.84 and .98, respectively. There were no statistically significant differences between healing rates (i.e., closure times) for the automatic or manual 0 or 0.5mM Si-ions, or within either method, following a two-tailed student’s t-test with alpha level of p\u3c.05. Within 12hr periods, the semi-automatic method provided greater detail for the healing rate, such as the faster initial rate seen in 0.5mM Si-ion, not discernible in 12-hour increments for the manual method. CONCLUSION: These data support the functionality of our new methodology described here. The descriptive and inferential statistics shown here demonstrate agreement between the two analyses, while the semi-automated method presented additional dynamics and kinetics information beyond the manual method in early-test behavior that could not be measured manually. Further development in this area will focus on continuing to shorten duty cycles for higher fidelity and the quantitative analysis of dynamic behaviors. Potential clinical-translational applications of our new method are to screen libraries of compounds with putative muscle regeneration capacity using human muscle cells. We also plan to test basal differences in muscle cells from biopsies of sedentary and active individuals, as well as healthy individuals vs. those with various metabolic and musculoskeletal and cardiovascular disorders, and aging sarcopenia. Our new methodology coupled with these translational studies will help advance new compounds and devices with early promise for the field of Regenerative and Sport Medicine into the pre-clinical animal phases of validation

Estimation of additive and dominance effects of a mutant glutathione S-transferase gene on anthocyanin content in muscadine grape (Vitis rotundifolia)

The skin color of muscadine grapes (Vitis rotundifolia) is typically classified as black or bronze. A glutathione S-transferase, VrunGST4, has been identified as a candidate gene for berry skin color in muscadine grapes. A molecular marker was developed within VrunGST4 to distinguish between muscadine genotypes (cultivars and selections) with bronze (T:T), heterozygote black (C:T), and homozygote black (C:C) berries. The objectives of this study were to determine whether there was a correlation between berry skin color and total anthocyanin content and to calculate additive and dominance effects of VrunGST4 in determining total anthocyanins in the berries of two biparental F1 muscadine populations with the intragenic VrunGST4 marker. No correlation was found between the berry skin color measurements of hue and lightness and anthocyanin content of black-fruited genotypes in either population. However, there was a slight correlation (r = 0.64) between anthocyanin content and chroma in one of the populations. There was no difference in total anthocyanin content of homozygote black (C:C) and heterozygote black (C:T) genotypes in either population, indicating that VrunGST4 had completely dominant gene action. The total anthocyanin content of the berry skins from black-fruited genotypes in one population was approximately four times greater than black-fruited genotypes in our other population. This finding suggests that other genetic loci may contribute to variation in total anthocyanin content in black-fruited muscadine grapes