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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

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Noise and the detection of coronary artery disease with an electronic stethoscope

Noise and the detection of coronary artery disease with an e...

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Cairo international Biomedical Engineering conference, CIBEC

作者： Samuel E. Schmidt Egon Toft Claus Holst-Hansen Johannes J. Struijk Medical Informatics Group Department of Health Science and Technology University of Aalborg Aalborg Denmark Department of Health Science and Technology University of Aalborg Aalborg Denmark Department of Cardiology Center for Cardiovascular Research Aalborg Hospital Århus University Hospitals Denmark

Recent studies demonstrated that diastolic heart sounds, recorded with an electronic stethoscope, contain markers of coronary artery disease (CAD). A difficult is that the CAD-related sound is very weak and recordings are often contaminated by noise. the current study analyses the noise contamination of 633 stethoscope recordings from a clinical environment. Respiration noise, ambient noise, recording noise and abdominal noise were identified in the recordings and were classified according to duration and intensity. To monitor how noise influences the classification performance AR-pole magnitudes were extracted from both the 25-250 Hz frequency band and the 250-1000 Hz frequency band. the classification performance was quantified by the Area Under the receiver operating Characteristic (AUC). Ambient noise was present in 39.9% of the recordings and was the most common noise source. Abdominal noise was the least common noise source, present in 10.8% of the recordings. the best pole, with respect to detection of CAD, extracted from the 250-1000 Hz frequency band was sensitive to noise, since the AUC dropped from 0.70 in to 0.57 when noisy recordings were included. Contrary the best pole from the 25-250 Hz frequency band was relatively robust against noise, since the AUC dropped from 0.73 to only 0.70 when noisy recordings were included. the study demonstrated that noise contamination is a frequent problem and that features from lower frequency bands are more robust against noise than features from higher frequency bands.

关键词： Noise Design automation Stethoscope Heart Arteries Contamination Noise measurement

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Olivia 2.0 @ TechFest 09: Receptionist robot impressed visitors with lively interactions

Olivia 2.0 @ TechFest 09: Receptionist robot impressed visit...

引用

ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Lawrence T. C. Por Adrian Tay Dilip Kumar Limbu Institute of Infocomm Research Agency for Science Technology and Research Singapore

ISBN: (纸本)9781424448920;9781424448937

Olivia 2.0 is a Social Robot designed to interact and serve in office environment as a Robotic Receptionist. this is the forth model of Service Robot developed by A*STAR robotics Team in Singapore. For a start, the occupation & background story of Olivia as a receptionist has set a common ground between human and robot for interaction around topics fitting to the job. the use of vision technology enabled Olivia to detect the presence of a visitor standing in front of her so that she will initiate a dialogue. through speech recognition technology and careful designed dialogue management system, visitors are able to converse with Olivia to know more about the amenities in Fusionopolis building as well as to engage in small talk. Taking the persona of a 5 years old kid, with a cute face and child voice, coupled with nice decorations has set the stage for a fun interaction time, as Olivia proceeds to engage the visitor to play a simple game that showcased object recognition and tracking capability. Olivia is built with advanced Mechatronics design with 13 degree of freedom for head, body and hands motions. the advance motion control algorithm and imitation learning software trained her well to display humanlike hand gestures and upper body movements. We noticed the lively gestures coupled with expressive robotic voice are very crucial to draw attention from human for the continuous engagement with Social Robot. We knew that this would be a valuable field trial opportunity whereby many visitors were having first encountering with service robot. We took advantage to study social acceptance by taking video recording for every human-robot interactions, follow by inviting visitors to participate in on-site feedback gathering with questionnaires. Of more than 100 questionnaires completed, 62% gave an overall rating of good and above, several expressed that the response of the robot is slow and 75.5% found that the robot is able to recognize their speech without any difficulti

关键词： Social robotics Receptionist robot Service robot Human-robot interaction Service robots Human machine interaction hotel personnel Robot Speech recognition

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Feature extraction and selection for automatic sleep staging using EEG

Feature extraction and selection for automatic sleep staging...

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作者： Simões, Hugo Pires, Gabriel Nunes, Urbano Silva, Vitor Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical Engineering University of Coimbra - Polo II Coimbra Portugal

ISBN: (纸本)9789898425027

Sleep disorders affect a great percentage of the population. the diagnostic of these disorders is usually made by a polysomnography, requiring patient's hospitalization. Low cost ambulatory diagnostic devices can in certain cases be used, especially when there is no need of a full or rigorous sleep staging. In this paper, several methods to extract features from 6 EEG channels are described in order to evaluate their performance. the features are selected using the R-square Pearson correlation coefficient (Guyon and Elisseeff, 2003), providing this way a Bayesian classifier with the most discriminative features. the results demonstrate the effectiveness of the methods to discriminate several sleep stages, and ranks the several feature extraction methods. the best discrimination was achieved for relative spectral power, slow wave index, harmonic parameters and Hjorth parameters.

关键词： Correlation methods

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A SYSTEM-ARCHITECTURE FOR ROBOTIC MOVEMENTS OF GOODS Approaches Towards a Cognitive Material Flow System

A SYSTEM-ARCHITECTURE FOR ROBOTIC MOVEMENTS OF GOODS <i>Appr...

引用

6th international conference on informatics in control, automation and robotics

作者： Ommen, Dennis Beth, Carsten Kamenik, Jens Hahn, Axel OFFIS Inst Informat Technol Escherweg 2 Oldenburg Germany

ISBN: (纸本)9789896740009

Flexibility, throughput, maintainability, scalability, reliability and low cost: that are the main optimization criteria of material flow systems (MFS). the most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their static control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. this approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.

关键词： Network robotics Mobile Robots and Autonomous Systems Robot Design Development and control Intelligent transportation technologies and systems

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HIERARCHICAL PROBABILISTIC ESTIMATION OF ROBOT REACHABLE WORKSPACE

HIERARCHICAL PROBABILISTIC ESTIMATION OF ROBOT REACHABLE WOR...

引用

6th international conference on informatics in control, automation and robotics

作者： Yang, Jing Dymond, Patrick Jenkin, Michael York Univ Dept Comp Sci & Engn Toronto ON M3J 2R7 Canada

ISBN: (纸本)9789896740009

Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic structures and cluttered environments, the problem becomes more challenging. An efficient probabilistic method for workspace estimation is developed by applying a hierarchical strategy and developing extensions to a probabilistic motion planner. Rather than treating each of the degrees of freedom (DOFs) 'equally', a hierarchical representation is used to maximize the volume of the robot's workspace that is identified as reachable for each probe of the environment. Experiments with a simulated mobile manipulator demonstrate that the hierarchical approach is an effective alternative to the use of an estimation process based on the use of a traditional probabilistic planner.

关键词： Reachable workspace Probabilistic motion planning Mobile robotics

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INTERFERENCE REDUCTION thROUGH TASK PARTITIONING IN A ROBOTIC SWARM Or: "Don't you Step on My Blue Suede Shoes!"

INTERFERENCE REDUCTION THROUGH TASK PARTITIONING IN A ROBOTI...

引用

6th international conference on informatics in control, automation and robotics

作者： Pini, Giovanni Brutschy, Arne Birattari, Mauro Dorigo, Marco Univ Libre Bruxelles CoDE IRIDIA Brussels Belgium

ISBN: (纸本)9789896740009

this article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple method to allocate individuals of a robotic swarm to a partitioned task, and show that task partitioning can increase system performance by reducing sources of interference. the method is experimentally studied, both in an environment with a narrow area and an environment without this constraint. the results are analyzed and compared to the case in which task partitioning is not employed.

关键词： Swarm robotics Foraging Self-organized task allocation Task partitioning Swarm intelligence

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A Research Roadmap for Model-Driven Design of Embedded Systems for automation Components

A Research Roadmap for Model-Driven Design of Embedded Syste...

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7th IEEE international conference on Industrial informatics

作者： Strasser, T. Rooker, M. Hegny, I. Wenger, M. Zoitl, A. Ferrarini, L. Dede, A. Colla, M. Robotics and Adaptive Systems PROFACTOR GmbH Austria Automation and Control Institute Vienna University of Technology Austria Dipartimento di Elettronica e Informazione of Politecnico di Milano Italy Institute of Computer Integrated Manufacturing for Sustainable Innovation University of Applied Sciences of Southern Switzerland Switzerland

ISBN: (纸本)9781424437597

the aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial automation and control Systems (IACS). the special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. this approach is currently being developed in the Framework Seven (FP7) Embedded Systems Design project MEDEIA funded by the European Commission.

关键词： Embedded systems

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Robotic wheelchair trajectory control considering user comfort

Robotic wheelchair trajectory control considering user comfo...

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5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： Solea, Razvan Nunes, Urbano Department of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Coimbra 3030-290 Portugal Department of Automation and Industrial Informatics Dunarea de Jos University of Galati Galati 800-008 Romania

ISBN: (纸本)9783642002700

this paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. the transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. the user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Degrees of freedom (mechanics)

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TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

引用

6th international conference on informatics in control, automation and robotics

作者： Zeiger, Florian Sauer, Markus Stolz, Lothar Schilling, Klaus Zentrum Telemat eV Allesgrundweg 12 Gerbrunn Germany

ISBN: (纸本)9789896740009

Nowadays available broadband wireless communication technologies offer a broad spectrum of applications and the todays availability of UMTS technology has a great potential in the area of networked robotics. this work investigates teleoperation of mobile robots via UMTS communication links. First, several scenarios with artificially generated command traffic between mobile robot and operator are analyzed in order to gain knowledge of the link behavior. In a next step real mobile robot hardware is remote controlled via UMTS. thereby, the robot transmits sensor data and a video stream of its onboard camera while receiving commands from the operator. the focus of this work is set on the measurement and analysis of the round trip time and the packet inter-arrival time of data in different scenarios like the connection of two UMTS nodes, the connection of an Internet PC and an UMTS node, or the behavior of several UMTS nodes generating a large amount of data. the results clearly show how applications for mobile robot teleoperation can efficiently use UMTS communication in order to allow seamless teleoperation between operator and hardware in distant locations.

关键词： Networked robotics Teleoperation UMTS Wireless teleoperation Wireless networks of robots

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Computational algorithm for nonparametric modelling of nonlinearities in hammerstein systems

Computational algorithm for nonparametric modelling of nonli...

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ICINCO 2009 - 6th international conference on informatics in control, automation and robotics

作者： Śliwiński, Przemyslaw Hasiewicz, Zygmunt Institute of Computer Engineering Control and Robotics Wroclaw University of Technology W. Wyspiańskiego 27 Wroclaw Poland

ISBN: (纸本)9789898111999

In the paper a fast computational routines for identification algorithms for recovering nonlinearities in Hammerstein systems based on orthogonal series expansions of functions are proposed. It is ascertained that both, convergence conditions and convergence rates of the computational algorithms are the same as their much less computationaly attractive 'theoretic' counterparts. the generic computational algorithm is derived and illustrated by three examples based on standard orthogonal series on interval, viz. Fourier, Legendre, and Haar systems. the exemplary algorithms are presented in a detailed, ready-to-implement, form and examined by means of computer simulations.

关键词： Nonlinear systems

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