In order to improve the speed of executing PLC instructions, the high performance PLC processor is researched. The proposed high performance PLC dedicated processor consists of the general processor and the PLC applic...
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Machine learning predictive techniques have been shown to be useful in establishing cancer prognosis. However, no single machine learning technique provides the best results in all cases. This paper introduces an auto...
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ISBN:
(纸本)9789896740160
Machine learning predictive techniques have been shown to be useful in establishing cancer prognosis. However, no single machine learning technique provides the best results in all cases. This paper introduces an automated meta-learning technique that learns to predict the best performing machine learning technique for each patient. The individually selected machine learning technique is then used for prognosis for the given patient. The performance of the proposed approach is evaluated over a database of retrospective records of pancreatic cancer resections.
In this paper, an intrinsically parallel framework striving for increased flexibility in development of robotic, computer vision, and machine intelligence applications is introduced. The framework comprises a generic ...
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ISBN:
(纸本)9789898425010
In this paper, an intrinsically parallel framework striving for increased flexibility in development of robotic, computer vision, and machine intelligence applications is introduced. The framework comprises a generic set of tools for realtime data acquisition, robot control, integration of external software components and task automation. The primary goal is to provide a developer- and user-friendly, but yet efficient base architecture for complex AI system implementations, be it for research, educational, or industrial purposes. The system therefore combines promising ideas of recent neuroscientific research with a blackboard information storage mechanism, an implementation of the multi-agent paradigm, and graphical user interaction. Furthermore, the paper elaborates on how the framework's building blocks can be composed to applications of increasing complexity. The final target application includes parallel image processing, actuator control, and reasoning to handle limp objects and automate handling-tasks within dynamic scenarios.
This paper describes our efforts to develop a Digital Fish Simulator (DFS), particularly aiming at creating a controlled kinematic centered environment to further shed light on how to design and control artificial fis...
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ISBN:
(纸本)9781617387197
This paper describes our efforts to develop a Digital Fish Simulator (DFS), particularly aiming at creating a controlled kinematic centered environment to further shed light on how to design and control artificial fish robots. Compared to a 3D simulator for autonomous robotic fish by Liu and Hu, an improved body wave equation capable of multimodal swimming motions is adopted in our simulator and artificial swimming data can be further imported enabling various fictive swimming patterns. Furthermore, the swimming data generated from the simulator can directly be fed into the fish robots for verification, and vice versa. Finally, a series of fishlike robots with different mechanical design have been built to validate our well-formed ideas and to reach a new level of performance close to actual fish for real applications.
In the medical literature, the ultrasound diagnosis is a quite well user-friendly method due to its non-invasiveness, portability and real-time imaging capabilities. Recently, some fatigue issues (including musculoske...
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ISBN:
(纸本)9781424477098
In the medical literature, the ultrasound diagnosis is a quite well user-friendly method due to its non-invasiveness, portability and real-time imaging capabilities. Recently, some fatigue issues (including musculoskeletal injuries) with sonographers have been reported. Most of those issues are mainly due to the physical stress on the sonographers during their considerably long time task. During the diagnosis, the sonographers usually hold their wrist without touching the patients. Moreover, they are sometimes required to apply a force for the probe to push abdomen of the patients in order to obtain clearer ultrasound image. Therefore, our research aims in developing a probe supporting robot to reduce the fatigue of sonographers during the abdominal diagnosis. In this paper, we describe the design of the Waseda-Tokyo Women's Medical-Aloka System No. 2 (WTA-2) which is composed of an ultrasound diagnosis system, an actuated 3-DOFs robot arm with two different interchangeable end-effectors. One is for power assist of applied force, and the other is for supporting sonographer's wrist. The design of the robot, a force sensing method using photo sensors and the control of the robot are detailed. A set of experiments were carried out in order to verify the effectiveness of the proposed system to support sonographers while performing the diagnosis.
The contribution deals with design of continuous-time robustly stabilizing PI controllers for interval systems using the combination of Kronecker summation method, sixteen plant theorem and an algebraic approach to co...
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ISBN:
(纸本)9789604741991
The contribution deals with design of continuous-time robustly stabilizing PI controllers for interval systems using the combination of Kronecker summation method, sixteen plant theorem and an algebraic approach to controller tuning. The effectiveness and practical applicability of the proposed method is demonstrated in control of a 3rd order nonlinear electronic plant.
The Mechatronics research group of Simon Bolivar University has been designing and building a robotics platform, a lab prototype, intended for rescue labors, recovery issues, and mainly for ship and underwater pipelin...
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ISBN:
(纸本)9814291269
The Mechatronics research group of Simon Bolivar University has been designing and building a robotics platform, a lab prototype, intended for rescue labors, recovery issues, and mainly for ship and underwater pipelines inspection. In order to facilitate the operability of the platform some kind of autonomy or, at least, wireless connection is required for the robot control. Radiofrequency is not suitable for underwater applications and a buoy had to be developed in order to communicate with operation and control central panel. From the buoy, a wireless access point connects the robot electronics with the control laptop through an Ethernet Serial converter. A video system consisting of an IP camera and software has been developed in order to have visual information from the robot work environment. A lightning system has been added to improve underwater visibility. All the software and control system of the platform was developed and adapted for the new communication tools using LabView®. Data safety has been implemented using checksum verifications and the employed bandwidth has been optimized according to the signal boost. Some tests for the video system where developed and some image processing tasks were implemented in order to show the goodness and stability of the system. A multidisciplinary team has been working for several years to develop this robot.
Ultrasound imaging is used in a variety of medical areas. Although its image quality is inferior to that of CT or MR, it is widely used for its high speed and reasonable cost. However, it is difficult to visualize ult...
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ISBN:
(纸本)9789896740160
Ultrasound imaging is used in a variety of medical areas. Although its image quality is inferior to that of CT or MR, it is widely used for its high speed and reasonable cost. However, it is difficult to visualize ultrasound data because the quality of the data might be degraded due to artifact and speckle noise. Therefore, ultrasound data usually requires time-consuming filtering before rendering. We present a real-time 3D filtering method for ultrasound datasets. Since we use a CUDA (TM) technology for 3D filtering, we can interactively visualize a dataset. As a result, our approach enables interactive volume rendering for ultrasound datasets on a consumer-level PC.
The ionic polymer metal composite (IPMC) belongs to the category electroactive polymers (EAP), many potential applications for low-mass high-displacement actuators in biomedical and robotic systems have been shown. Bu...
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ISBN:
(纸本)9783642165832
The ionic polymer metal composite (IPMC) belongs to the category electroactive polymers (EAP), many potential applications for low-mass high-displacement actuators in biomedical and robotic systems have been shown. But identification of some physical parameters for nonlinear IPMC models is still a difficult issue. Moreover, hysteretic behavior exists in IPMCs and affects the performance of actuators, even makes the system with these actuators exhibit undesirable oscillations and instability. In this paper, a new nonlinear model of the IPMC with uncertainties and hysteresis is obtained. According to hysteresis and uncertainties for the proposed model, a nonlinear robust control using operator-based robust right coprime factorization is designed for the IPMC. The effectiveness of the proposed method is confirmed through simulation and experiment.
Instrumental activities of daily living (IADLs) involve physical interactions with diverse mechanical systems found within human environments. In this paper, we describe our efforts to capture the everyday mechanics o...
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