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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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Quantitative relationship modeling between Surface Electromyography and elbow joint angle

Quantitative relationship modeling between Surface Electromy...

引用

international conference on BioMedical Engineering and informatics (BMEI)

作者： Dongmei Wu Xin Sun Zhicheng Zhang Zhijiang Du Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Research based on Surface Electromyography (sEMG) has important significance in enlightening the control precision of artificial limb. sEMG and elbow joint angle from 4 muscles of human's upper limb is extracted in the process of elbow bending and stretching. The quantitative relationship model of sEMG and elbow joint angle is established through Nerve Network (sEMG feature as input set and elbow joint angle as output set) and the prediction effect is also estimated based on two methods (Mean value and RMS of the error between predicted joint angle and actual joint angle; linear regressive method). Prediction comparison between different feature extraction methods (RMS and Mean Power Frequency) is also analyzed. The experimental results show that the mean error between the prediction angle based on sEMG and the practical angle are all less than 1 degree which means good prediction effect.

关键词： Joints Elbow Muscles Hidden Markov models Rhythm Electromyography Feature extraction

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Robustness of ISS systems to inputs with limited moving average, with application to spacecraft formations

Robustness of ISS systems to inputs with limited moving aver...

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作者： Grøtli, Esten Ingar Chaillet, Antoine Panteley, Elena Gravdahl, Jan Tommy Dept. of Eng. Cybernetics NTNU O. S. Bragstads plass 2D 7491 Trondheim Norway Univ. Paris Sud 11 EECI Supélec 3 rue Joliot-Curie 91192 Gif Sur Yvette France CCNRS L2S Supélec 3 rue Joliot-Curie 91192 Gif Sur Yvette France

ISBN: (纸本)9789898425027

We provide a theoretical framework that fits realistic challenges related to spacecraft formation with disturbances. We show that the input-to-state stability of such systems guarantees some robustness with respect to a class of signals with bounded average-energy, which encompasses the typical disturbances acting on spacecraft formations. Solutions are shown to converge to the desired formation, up to an offset which is somewhat proportional to the considered moving average of disturbances. The approach provides a tighter evaluation of the disturbances' influence, which allows for the use of more parsimonious control gains.

关键词： Spacecraft

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Towards the development of a haptics guideline in human-robot systems

Towards the development of a haptics guideline in human-robo...

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conference on Human System Interactions, HSI

作者： Bojan Andonovski Pere Ponsa Alicia Casals Universitat Poliltècnica de Catalunya Spain

ISBN: (纸本)9781424475605;9781424475629

The main goal of this work is to propose a haptics guideline in human-robot systems focused on the relationship between the human and robot task, the use of a physical interface and the object to manipulate. With this aim, this guideline presents two main parts: a set of heuristic indicators and a qualitative evaluation. In order to assess its ergonomic validation, an application over a well known haptics interface is presented. The final goal of this work is the study of possible applications in regular laboratory conditions in order to improve the design and use of human-robot haptic interfaces in telerobotics applications.

关键词： Haptic interfaces Guidelines Ergonomics Surgery robotics and automation Human factors Biomedical engineering Automatic control Surges Force feedback

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Networks for Grid Applications - Third international ICST conference, GridNets 2009, Revised Selected Papers

Networks for Grid Applications - Third International ICST Co...

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3rd international ICST conference on Networks for Grid Applications, GridNets 2009

ISBN: (纸本)3642117325

The proceedings contain 16 papers. The topics discussed include: designing 21st century communications: architecture, services, technology, and facilities;authorization infrastructure for on-demand grid and network resource provisioning;on the definition of access control requirements for grid and cloud computing systems;business models, accounting and billing concepts in grid-aware networks;network centered multiple resource scheduling in e-science applications;percolation-based replica discovery in peer-to-peer grid infrastructures;an alarms service for monitoring multi-domain grid networks;grid anywhere: an architecture for grid computing able to explore the computational resources of the set-top boxes;the open cloud testbed: supporting open source cloud computing systems based on large scale high performance, dynamic network services;and architecture to integrate broadband access networks and wireless grids.

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Organization of behavioral knowledge from extraction of temporal-spatial features of human whole body motions

Organization of behavioral knowledge from extraction of temp...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Wataru Takano Hirotaka Imagawa Dana Kulić Yoshihiko Nakamura Mechano-Informatics University of Tokyo Japan Electrical and Computer Engineering University of Waterloo Canada Mechano-Informatics University of Tokyo Mechano Informatics University of Tokyo Japan Electrical and Computer Engineering University of Waterloo

This paper describes an approach to structuring behavioral knowledge based on classification of human whole body motions and extraction of the behavioral transitions. The motion patterns are learned by Hidden Markov Models (HMMs), which can be used for classification of the motion patterns. The HMMs are called “motion symbol” since They abstract their corresponding motion patterns. The motion patterns are organized into a hierarchical tree structure (“motion symbol tree”) representing the property of similarity among the motion patterns. The motion patterns are classified based on the motion symbol tree. Concatenated sequences of motion patterns are stochastically represented as transitions between the abstracted motion patterns by using an N-gram Model (“motion symbol graph”), and the transitional relationships of the human behaviors are extracted. The integration of the motion symbol tree and the motion symbol graph makes it possible to recognize motion patterns fast and predict human behavior during observation. The experiments on a large motion dataset validate the proposed framework.

关键词： Hidden Markov models Motion segmentation Humans Pattern recognition Training Training data

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Haptic training method for a therapy on upper limb

Haptic training method for a therapy on upper limb

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Alejandro Jarillo-Silva Omar A. Domínguez-Ramírez Vicente Parra-Vega Department of Informatic Technology University of the Sierra Sur Oaxaca México Research Center on Information Technologies and Systems Autonomous University of Hidalgo State Hidalgo Mexico Research Center on Information Technologies and Systems Autonomous University of Hidalgo State Hidalgo México Robotics and Advanced CINVESTAV Saltillo Coahuila México

There are many research works on robotic devices to assist in movement training following neurologic injuries such as stroke with effects on upper limbs. Conventional neurorehabilitation appears to have little impact on spontaneous biological recovery, to this end robotic neurorehabilitation has the potential for a greater impact. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. This paper consider the contribution on a haptic training method based on kinesthetic guidance scheme with a non linear control law (proxy-based second order sliding mode control) with the human in the loop, and with purpose to guide a human user's movement to move a tool (pen in this case) along a predetermined smooth trajectory with finite time tracking, the task is a real maze. The path planning can compensate for the inertial dynamics of changes in direction, minimizing the consumed energy and increasing the manipulability of the haptic device with the human in the loop. The Phantom haptic device is used as experimental platform, and the experimental results demonstrate the effectiveness of this application.

关键词： Haptic interfaces Robots Trajectory Joints Phantoms Humans Medical treatment

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Towards a MRI-compatible meso-scale SMA-actuated robot using PWM control

Towards a MRI-compatible meso-scale SMA-actuated robot using...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Mingyen Ho Jaydev P. Desai Robotics Automation and Medical Systems RAMS Laboratory Maryland Robotics Center Institute for Systems Research University of Maryland College Park MD USA

In this paper, we present our work towards the development of a SMA-actuated meso-scale robot for neurosurgery, which can be operated under MRI guidance. In this robot, we use two antagonistic SMA wires as actuators for each joint, so that each joint can be actuated independently. Due to the size scale of the robot, it is impossible to have individual position sensors at each joint and hence we rely primarily on temperature feedback to control the robot. We thus designed and developed an experimental setup to characterize the SMA wires. The goal of SMA characterization was to develop systematic experiments whereby the dependence of the joint motion on the temperature (and hence the SMA phase transition) can be experimentally determined. We also developed a theoretical model based on Tanaka's model and the geometry of the robot to characterize the joint motion with the change in SMA wire temperature. The results demonstrated that the SMA wire temperature can be used reliably to predict the joint motion of the robot. We then developed a Pulse Width Modulation (PWM) scheme to control the temperature of SMA wires (and hence the joint motion). By using PWM control and switching circuits, we can actuate multiple SMA wires simultaneously and independently using only one power supply. Experimental results from our current prototype of a 2-DOF robot show that we can actuate the SMA wires reliably and hence observe joint motion in a gelatin medium as well as in MRI.

关键词： Wires Joints Robots Temperature measurement Strain Temperature control Pulse width modulation

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3D reconstruction using projection of virtual height line based on dynamic programming

3D reconstruction using projection of virtual height line ba...

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international Asia conference on informatics in control, automation and robotics, CAR

作者： Huahua Chen Yifei Jiang Jianwu Zhang College of Communication Engineering Hangzhou Dianzi University Hangzhou China

ISBN: (纸本)9781424451920

3D reconstruction is the base of mobile robot navigation. And it is necessary to provide the environment information for robots effectively and rapidly. The traditional 3D reconstruction method relies on the dense disparity map which requires high computing ability, and there is large redundant data in the reconstructed 3D data. Unlike traditional methods, the proposed method needn't obtain the disparity map. We partitioned the scene scope uniformly into grids, and introduced virtual height lines(VHLs) which do not exist in the scene. Each VHL is projected in left image and right image. The intersection of VHL and the scene is only existent on projection line. So the point has maximum similarity metric. We used dynamic programming(DP) to find the matched lines in left image corresponding to the projections of VHLs(PVHLs) in right image. The intersection point of the matched line and the PVHL in left image is the answer. The experiments to reconstruct 3D scene are performed and the results show the proposed method is reliable and effective.

关键词： Dynamic programming Image reconstruction Layout Navigation Mobile robots Educational institutions Mobile communication Robot kinematics Reconstruction algorithms Stereo vision

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Registration of indoor 3D range images using virtual 2D scans

Registration of indoor 3D range images using virtual 2D scan...

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作者： Langerwisch, Marco Wagner, Bernardo Institute for Systems Engineering Real Time Systems Group Leibniz Universität Hannover Appelstraße 9A D-30167 Hannover Germany

ISBN: (纸本)9789898425010

For mapping purposes, autonomous robots have to be capable to register 3D range images taken by 3D laser sensors into a common coordinate system. One approach is the Iterative Closest Point (ICP) algorithm. Due to its high computational costs, the ICP algorithm is not suitable for registering 3D range images online. This paper presents a novel approach for registering indoor 3D range images using orthogonal virtual 2D scans, utilizing the typical structure of indoor environments. The 3D registration process is split into three 2D registration steps, and hence the computational effort is reduced. First experiments show that the approach is capable of registering 3D range images much more efficient than ICP algorithm and in real time.

关键词： Iterative methods

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Design and realization of an interactive medical images three dimension visualization system

Design and realization of an interactive medical images thre...

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Dongmei Wu Heqiang Tian Guangxin Hao Zhijiang Du Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, an interactive medical three-dimensional visualization system is realized based on VTK. This program is designed primarily for the CT images to realize such functions as reading and displaying of image files and interactive three-dimensional reconstruction. The threshold for three-dimensional reconstruction is interactively selected by marching squares algorithm (MS), which is more convenient and more interactive for three-dimensional reconstruction by marching cubes algorithm (MC) than the traditional method that the various reconstruction thresholds are simply entered based on experience. The functional stability and good human-computer interaction of this system greatly improve accuracy and scientificity of medical diagnosis and treatment planning. The system is designed based on modular, which is not only used as a separate visualization system for medical diagnosis, but also its functions will be further added and constantly improved aiming at the different surgical needs.

关键词： Image reconstruction Three dimensional displays Mice DICOM Pixel Data visualization

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