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Fish-Inspired Swimming Simulation and Robotic Implementation

Fish-Inspired Swimming Simulation and Robotic Implementation

引用

Joint international symposium on robotics

作者： Junzhi Yu Min Tan Jianwei Zhang Lab of COMPSYS Institute of Automation Chinese Academy of Sciences Group TAMS Dept of Informatics University of Hamburg

ISBN: (纸本)9783800732739

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.

关键词： simulator Swimming Level of Performance Robot Fishes Verification

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Analysis of lower-limb muscle activities during whole body vibration with different standing postures

Analysis of lower-limb muscle activities during whole body v...

引用

international conference on BioMedical Engineering and informatics (BMEI)

作者： Chao Ma Ming Zhang Cheng Tan Chunlin Zhang Wei Su Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing China Department of Health Technology and Informatics Hong Kong Polytechnic University Hong Kong China China Astronaut Research and Training Center Beijing China School of Mechanics Beijing Institute of Technology Beijing China

Based on inverse dynamics, the muscle activities and joint forces of the subject lower limb with knee normal and knee lock postures under vertical whole body vibration with the frequency of 30Hz and the acceleration of about 0.5g were analyzed using AnyBody Modeling System. Using the Motion Capture System displacements of the marked points on the lower limb were monitored during vibrating process with two different standing postures. At the same time the sEMG signals were recorded. In AnyBody Modeling System, the simplified Model of the lower limb were driven by the marked point displacements to calculate the muscle activities such as rectus femoris, gastrocnemius, etc and knee and ankle joint forces. The comparison between the experimental sEMG signals and the calculated results indicated that the model prediction is coupled with the experiments. The results also show that the vibration countermeasure could be as a physical training method to affect the musculoskeletal system and standing posture causes changes in muscle activities and joint forces during the vibrating. So when the vertical whole body vibration is used for subjects with musculoskeletal disorder, the standing posture should be considered according to the individual cases.

关键词： Muscles Knee Joints Vibrations Force Hip

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Functional neuroimaging studies of Chinese character and pure tone processing for language education

Functional neuroimaging studies of Chinese character and pur...

引用

international conference on BioMedical Engineering and informatics (BMEI)

作者： Xiujun Li Qiyong Guo Jinglong Wu Biomedical Engineering Laboratory Graduate School of Natural Science and Technology Okayama University Okayama Japan International WIC Institute Beijing University of Technology Beijing China Changchun University of Science and Technology Changchun China Graduate School of Natural Science and Technology Okayama University Okayama Japan Department of Radiology Shengjing Hospital of China Medical University Liaoning China

Functional magnetic resonance imaging (fMRI) was used to map brain activation during visual language task. As the result, educations have implications for other cognitive ability as well as language skill. There have no data related to different during Chinese auditory word processing in literate and illiterate subject. In this study, we analyzed data based on fMRI experimental to examine the effects of education on brain activation associated with language and control tasks in 26 healthy right-handed Chinese subjects (13 literates and 13 illiterates).There were 36 pairs of Chinese auditory word in the language task and 36 pairs of pure tone in the control task. When we compared literate and illiterate subjects, we observed education-related differences in activation patterns. As the result, we discovered bilateral different brain activations in the bilateral middle frontal gyrus (BA6), the right middle occipital gyrus (BA32), the right inferior frontal gyrus (BA47), the right middle temporal gyrus (BA21), the right superior temporal gyrus (BA22), the bilateral middle frontal gyrus (BA9) and cerebellum. Conclusion that education have implications for other cognitive ability as well as language processing, literate might respond in these task more accuracy and quickly than illiterate.

关键词： Education Image color analysis Visualization Accuracy Humans Magnetic resonance imaging Neuroimaging

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Development of a hospital-acquired infection surveillance information system by using service-oriented architecture technology

Development of a hospital-acquired infection surveillance in...

引用

international conference on Computer Science and Information Technology (CSIT)

作者： Yu-Sheng Lo Chien-Tsai Liu Institute of Biomedical Informatics Taipei Medical University Taipei Taiwan

The guidelines for hospital-acquired infections (HAI) published by the Centers for Disease control and Prevention (CDC) is most comprehensive and detailed. However, it requires a large amount of resources to implement the guidelines in hospital settings, particularly for data collection and analysis. HAI surveillance is time-consuming and costly, and hence HAI surveillance in many hospitals couldn't regularly be performed. Nowadays, most hospitals in Taiwan have adopted electronic medical record systems to support day-to-day clinical practice. As the result of popularity of EMRs, the daily HAI surveillance tasks can be eased and automated. According to that, we have established a HAI surveillance information system (HASIS) based on a service-oriented architecture (SOA) technology for integration of surveillance data, distributed in different hospital information systems. We also have developed the detection algorithms for detection suspicious cases. Thus, the HASIS can provide both abstract and complete electronic surveillance information, and detect suspected infection cases. Consequently, it can support infection control professionals' daily surveillance tasks more responsively and efficiently.

关键词： Variable speed drives Guidelines Semiconductor optical amplifiers

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Non-invasive steatosis assessment in NASH through the computerized processing of ultrasound images: Attenuation versus textural parameters

Non-invasive steatosis assessment in NASH through the comput...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： M. Lupşor R. Badea C. Vicaş S Nedevschi M. Grigorescu C. Radu H Stefanescu D. Crisan 3rd Medical Clinic University of Medicine and Pharmacy Cluj Napoca Cluj-Napoca Romania Technical University of Cluj-Napoca Romania

ISBN: (纸本)9781424467242;9781424467228

Ultrasonography is a simple method in diagnosing nonalcoholic steatohepatitis (NASH), providing useful information, but it is subjective and does not accurately differentiate between steatosis grades. The computerized processing of the data that comprises the ultrasonic image (CPU) might transform ultra-sonography into an objective examination. CPU can be achieved either by methods based on the study of parenchymal echogenicity and on the attenuation of the ultrasounds (attenuation and back-scattering coefficients), or by methods based on the quantification of some textural parameters. In the present paper we set out to compare the performance of the attenuation coefficient (AC) and the textural parameters derived from the GLCM matrix. 96 NASH patients and 24 healthy subjects were prospectively included in this study. We found a strong correlation between the AC and steatosis and a weak, but statistically significant one, with balooning and lobular inflammation, but not with fibrosis. The multivariate analysis showed, however, that only steatosis influences independently the AC. Of the analyzed textural parameters, only the GLCM entropy correlated weakly, but significantly, with the steatosis degree. Our study proves that the use of the attentuation coefficient computed on the ultrasonographic image can help differentiate healthy from NASH patients, as well as discriminate between various degrees of fatty load. The attenuation coefficient performs better than the textural parameters derived from the GLCM matrix. However, only GLCM entropy, of all textural parameters tested, correlates with steatosis, and even then, only for the differentiation normal vs NASH, not between steatosis grades.

关键词： Ultrasonic imaging Attenuation Liver diseases Ultrasonography Biomedical imaging Medical diagnostic imaging Biopsy Image texture analysis Entropy Alcoholism

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Sliding mode agent-based control of parallel buck converters

Sliding mode agent-based control of parallel buck converters

引用

international (EPE-PEMC) Power Electronics and Motion control conference

作者： D. T. Sepsi J. Hamar R.K. Járdán Department of Automation and Applied Informatics Budapest University of Technology and Economics Gyorgy ter 3 Hungary Invention and Research Center Services Co. Ltd Budapest Hungary

The paper describes a new sliding mode agent-based, decentralized architecture and control for parallel DC-DC converters, supplying low power consumers in the range of 0-250 W. The system provides increased flexibility with autonomic system reconstruction capability in the case of malfunction or fault, significantly increasing the reliability. The distributed intelligence facilitates the optimization of the converters' operation according to predefined criteria.

关键词： Converters Inductors Voltage control Switches Voltage measurement Current measurement

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Bionic control of Robotic Fish:A Case Study

Bionic Control of Robotic Fish:A Case Study

引用

The 3rd international conference of Bionic Engineering(ICBE’10)

作者： Tianjiang Hu Jing Chen Wanpeng Zhang Biomimetcis & Intelligent robotics Center College of Mechatronic Engineering and automation National University of Defense Technology Changsha 410073 P. R. China

Bionic learning control is proposed and developed for biologically inspired underwater robots, namely robotic fish. This study focuses on learning natural fish’s adaptability to complex and dynamic environment to some extent, rather than mimicking streamlined shapes or specific actuators to develop more mechanical prototypes. After explanations on its inherence and principles in the viewpoint of bionics, a case study on robotic undulating fins is suggested and explored to exhibit this proposed control, from biological inspirations to practical control algorithms. In detail, an iterative learning scheme based control is studied combined with a filter to reduce the measurement noise and a curve fitting component, to keep the necessary phase difference between neighboring fin raysis proposed. Moreover, the iterative learning based control algorithm is designed and implemented for practical applications. The experimental results validate that the proposed learning motion control can effectively improve the propulsion of RoboGnilos. For instance, the steady propulsion velocity may be enhanced by over 40% with some specified parameters.

关键词： Bionic learning control Robotic fish Bionic undulating fins Iterative learning RoboGnilos Flow adaptability.

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Effects of whole body vibration on prevention of bone loss in 8-week tail-suspended male rats

Effects of whole body vibration on prevention of bone loss i...

引用

international conference on BioMedical Engineering and informatics (BMEI)

作者： Cheng Tan Wei Su Chao Ma Zhili Li Huijuan Wang Wenjuan Chen Zheng Ke Ming Zhang Biomechanical Laboratory Beijing Institute of Technology Beijing China Department of Gravity Physiology China Astronaut Training and Research Center Beijing China Department of Health Technology and Informatics Hong Kong Polytechnic University Hong Kong China

Objective: To investigate the effects of low frequency whole body vibration on preventing the bone loss of rats' lower limbs induced by tail suspended. Method: 40 male rats were divided randomly into 4 groups, including tail suspended group(sus, n=10), tail suspended + ground stimulus group (s+g, ground stimulus: 30min/d, 5d/w, n=10), tail suspended + vibration group (s+v, vibration stimulus: 45Hz, 0.2-0.5g, 30min/d, 5d/w, n=10), and control group (con, n=10). Bone mineral density (BMD) of femur, trabecular structure in femur head, and the concentration of bone formation and resorption markers (Ca, P, ALP, BALP, PICP-1, TRACP ) in serum were tested after 8 weeks experiment. The tibias were taken to experiencing the 3-point bending test to explore the anti-load ability changes. Result: After 8 weeks tail suspended, the BMD of femur head (mainly trabecular bone) in s+v group were significantly higher than that in sus and s+g group, but lower than con group(P0.05). The max load and stiffness of tibia in con group were higher than that in sus, s+g and s+v group, but it had no statistical difference among the latter three groups (P>0.05). There were no changes of the concentration of bone formation and resorption markers in serum between groups. Conclusion: 45Hz whole body vibration could prevent the trabecular bone loss induced by tail suspended, but not the cortical bone. It seems that the benefit of whole body vibration to totally prevent the bone loss during long-duration space flight is limited.

关键词： Bones Vibrations Muscles Minerals Rats Blood

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Development of a Hospital-Acquired Infection Surveillance Information System by Using Service-Oriented Architecture Technology

Development of a Hospital-Acquired Infection Surveillance In...

引用

2010 3rd IEEE international conference on Computer Science and Information Technology—ICCSIT 2010

作者： Yu-Sheng Lo Chien-Tsai Liu Institute of Biomedical Informatics Taipei Medical University Taipe Institute of Biomedical Informatics Taipei Medical University Taipei

＜正＞The guidelines for hospital-acquired infections（HAI） published by the Centers for Disease control and Prevention （CDC） is most comprehensive and ***,it requires a large amount of resources to implement the guidelines in hospital settings,particularly for data collection and *** surveillance is time-consuming and costly, and hence HAI surveillance in many hospitals couldn’t regularly be ***,most hospitals in Taiwan have adopted electronic medical record systems to support day-to-day clinical *** the result of popularity of EMRs,the daily HAI surveillance tasks can be eased and *** to that,we have established a HAI surveillance information system（HASIS） based on a service- oriented architecture（SOA） technology for integration of surveillance data,distributed in different hospital information *** also have developed the detection algorithms for detection suspicious ***,the HASIS can provide both and complete electronic surveillance information,and detect suspected infection ***,it can support infection control professionals’ daily surveillance tasks more responsively and efficiently.

关键词： Hospital-acquired infections Service-Oriented Architecture（SOA） Electronic medical records Surveillance information systems

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A Novel Modelica Signal Analysis Tool towards Design of More Electric Aircraft

A Novel Modelica Signal Analysis Tool towards Design of More...

引用

2010 3rd IEEE international conference on Computer Science and Information Technology—ICCSIT 2010

作者： J. Bals Deportment of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

The development of future more electric aircraft systems is a challenging process: The respective subsystems are highly integrated to achieve an optimum efficiency and performance both at aircraft and at systems level. For master this multi-disciplinary challenge, the use of powerful modeling and simulation technologies such as Modelica in all phases of the system development process is a key success factor. In this paper, a novel Modelica signal analysis tool-Modelica Scope that is suitable for the virtual testing activities in the verification and validation phase is presented. The Modelica Scope tool is implemented in the Modelica language incorporating diverse signal measurement and analysis capabilities and can be easily integrated in all simulation environments supporting Modelica such as Dymola, SimulationX etc. The motivation, design concept as well as implementation and distinct features of the tool are discussed and illustrated.

关键词： Signal analysis More Electric Aircraft

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