Electronic properties located on the atoms of a molecule such as partial atomic charges as well as electronegativity and polarizability values are encoded by an autocorrelation vector accounting for the constitution of a molecule. This encoding procedure is able to distinguish between compounds being dopamine agonists and those being benzodiazepine receptor agonists even after projection into a two-dimensional self-organizing network. The two types of compounds can still be distinguished if they are buried in a dataset of 8323 compounds of a chemical supplier catalog comprising a wide structural variety. The maps obtained by this sequence of events, calculation of empirical physicochemical effects, encoding in a topological autocorrelation vector, and projection by a self-organizing neural network, can thus be used for searching for structural similarity, and, in particular, for finding new lead structures with biological activity.
This paper explores a view-based approach to recognize free-form objects in range images. We are using a set of local features that are easy to calculate and robust to partial occlusions. By combining those features in a multidimensional histogram, we can obtain highly discriminant classifiers without the need for segmentation. Recognition is pegomzed using either histogram matching or a probabilistic recognition algorithm. We compare the pelfonnance of both methods in the presence of occlusions and test the system on a database of almost 2000full-sphere views of 30free-fom objects. The system achieves a recognition accuracy above 93% on ideal images, and of 89% with 20% occlusion.
Combined efforts in the fields of neuroscience, computer science, and biology allowed to design biologically realistic models of the brain based on spiking neural networks. For a proper validation of these models, an embodiment in a dynamic and rich sensory environment, where the model is exposed to a realistic sensory-motor task, is needed. Due to the complexity of these brain models that, at the current stage, cannot deal with real-time constraints, it is not possible to embed them into a real-world task. Rather, the embodiment has to be simulated as well. While adequate tools exist to simulate either complex neural networks or robots and their environments, there is so far no tool that allows to easily establish a communication between brain and body models. The Neurorobotics Platform is a new web-based environment that aims to fill this gap by offering scientists and technology developers a software infrastructure allowing them to connect brain models to detailed simulations of robot bodies and environments and to use the resulting neurorobotic systems for in silico experimentation. In order to simplify the workflow and reduce the level of the required programming skills, the platform provides editors for the specification of experimental sequences and conditions, environments, robots, and brain–body connectors. In addition to that, a variety of existing robots and environments are provided. This work presents the architecture of the first release of the Neurorobotics Platform developed in subproject 10 “Neurorobotics” of the Human Brain Project (HBP).1 At the current state, the Neurorobotics Platform allows researchers to design and run basic experiments in neurorobotics using simulated robots and simulated environments linked to simplified versions of brain models. We illustrate the capabilities of the platform with three example experiments: a Braitenberg task implemented on a mobile robot, a sensory-motor learning task based on a robotic controller, and a visual tracking embedding a retina model on the iCub humanoid robot. These use-cases allow to assess the applicability of the Neurorobotics Platform for robotic tasks as well as in neuroscientific experiments.
1 An efficient search algorithm is very crucial in robotic area, especially for exploration missions, where the target availability is unknown and the condition of the environment is highly unpredictable. In a very large environment, it is not sufficient to scan an area or volume by a single robot, multiple robots should be involved to perform the collective exploration. In this paper, we propose to combine bio-inspired search algorithm called Levy flight and artificial potential field method to perform an efficient searching algorithm for multi-robot applications. The main focus of this work is not only to prove the concept or to measure the efficiency of the algorithm by experiments, but also to develop an appropriate generic framework to be implemented both in simulation and on real robotic platforms. Several experiments, which compare different search algorithms, are also performed.
Categorizing a patient by severity may be beneficial in the management of the periodontal patient. The disease score can be used to establish a criterion and target for care. For example, treatment can result in nearly no lost teeth when the severity is low, and this benefit is lost when the severity is high. The disease score provides an objective means to quickly determine severity. An increase in the disease score provides evidence that a new treatment plan is needed. Therefore, the effect of the routine use of the disease score could result in fewer patients with severe disease and reduce the number of teeth lost.
Abstract-This work is primarily devoted to specific communication and sensing approaches applied for large microrobotic swarms. We investigate the minimal capabilities of a microrobot which still enable the whole robotic group to perform collective activities. These minimal capabilities are implemented in the hardware which allows exploring a phenomenon of swarm intelligence in real experiments. The components of the developed system consume energy provided by microcontroller's I/O ports, are cheap and available on micro-component market.
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