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检索条件"任意字段=IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003"

共 557 条记录，以下是91-100 订阅

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Toroidal information fusion based on the bivariate von Mises distribution

Toroidal information fusion based on the bivariate von Mises...

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international conference on Multisensor Fusion and Integration for intelligent systems (MFI)

作者： Gerhard Kurz Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Karlsruhe Institute of Technology (KIT) Germany

Fusion of toroidal information, such as correlated angles, is a problem that arises in many fields ranging from robotics and signal processing to meteorology and bioinformatics. For this purpose, we propose a novel fusion method based on the bivariate von Mises distribution. Unlike most literature on the bivariate von Mises distribution, we consider the full version with matrix-valued parameter rather than a simplified version. By doing so. we are able to derive the exact analytical computation of the fusion operation. We also propose an efficient approximation of the normalization constant including an error bound and present a parameter estimation algorithm based on a maximum likelihood approach. The presented algorithms are illustrated through examples.

关键词： Approximation methods Maximum likelihood estimation Parameter estimation Gaussian distribution Optimization Robots Approximation algorithms

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Fine-grained acoustic positioning with compensation of CDMA interference

Fine-grained acoustic positioning with compensation of CDMA ...

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ieee international conference on Industrial Technology (ICIT)

作者： Fernando Seco Antonio R. Jiménez Francisco Zampella Localization and Exploration for Intelligent Systems (LOPSI) group Center for Automation and Robotics (CSIC-UPM) Arganda del Rey Madrid Spain

ISBN: (纸本)9781479978014

In this communication we study the accuracy of an acoustic positioning system operating in a robotic cell, and working in sequential (Time-Division Multiple Access, TDMA) and simultaneous (Code-Division Multiple Access, CDMA) operations. In normal room conditions, and operating in TDMA mode with 7 acoustic beacons and 32 bits long binary phase modulated signals, the system achieves a location accuracy (reproducibility) of 2 mm for 90% of measurements in the complete work area, and 1 mm repeatability over small areas and short periods of time. This performance is degraded in CDMA mode, as the interference between the emitted signals causes outliers in the times-of-flight (TOF) of the weaker signals, and, consequently, large positioning errors. We demonstrate that the application of signal processing algorithms that cancel Multiple Access (MAI) and Intersymbol (ISI) Interference effects manages to eliminate most of the TOF outliers, and, as a consequence, the system can nearly replicate the TDMA positioning accuracy in CDMA operation, with the advantage of higher position update rates.

关键词： Temperature measurement Accuracy Acoustics Robots Time division multiple access Dispersion

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Analysis of Bearing Outer Race Defects in Induction Motors

Analysis of Bearing Outer Race Defects in Induction Motors

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5th international conference on intelligent and Advanced systems (ICIAS)

作者： Irfan, Muhammad Saad, Nordin Ibrahim, Rosdiazli Asirvadam, Vijanth S. Hung, N. T. Univ Teknol PETRONAS Dept Elect & Elect Engn Bander Seri Iskander 31750 Perak Malaysia

ISBN: (纸本)9781479946532

The literature review presents the various kind of existing condition monitoring methods and highlights the need for an economical intelligent fault diagnosis system. This paper demonstrates the procedures taken in developing a condition monitoring system for the motor bearing fault identification, utilizing the commonly available motor stator current and voltage A novel intelligent diagnostic condition monitoring system has been proposed which provide continuous real time tracking of the bearing outer race defects and determines severity of the defects which can be adopted for automatic decision making. The proposed method is validated through experiments at four different defect levels under no load and full load conditions of the motor.

关键词： Condition Monitoring Fault Analysis Bearings Electric Motor signal processing intelligent Diagnostic

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An Efficient Method for Subcutaneous Veins Localization Using Near Infrared Imaging

An Efficient Method for Subcutaneous Veins Localization Usin...

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5th international conference on intelligent and Advanced systems (ICIAS)

作者： Shahzad, A. Saad, N. M. Walter, N. Malik, Aamir Saeed Meriaudeau, F. Univ Teknol PETRONAS Ctr Intelligent Signal & Imaging Res Perak Malaysia Univ Burgundy Le2i Le Creusot France

ISBN: (纸本)9781479946532

In the majority of the medical treatments, intravenous catheterization is the most important phase in which skilled medical practitioners locate the best vein and perform catheterization process for medication or blood sampling. Due to the different physiological characteristics, mainly darker skin tone, scars or dehydrated condition of patients, medical staff stumbles in localization of veins. This paper proposes an enhanced method which intends to overcome the difficulty faced by medical staff in veins localization for intravenous catheterization. Using the Near Infrared imaging and image processing algorithms a novel approach for veins visualization is proposed. In order to have complete insight of veins location in the subcutaneous layer of skin a method to estimate the depth of veins using Monte Carlo simulations is presented. The complete system will increase guidance towards medical practitioners to facilitate the insertion of catheter or syringe into the veins.

关键词： Intravenous catheterization multispectral NIR PCA

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Predicting traffic speed in urban transportation subnetworks for multiple horizons 13

Predicting traffic speed in urban transportation subnetworks...

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2014 13th international conference on Control Automation robotics and Vision, ICARCV 2014

作者： Dauwels, Justin Aslam, Aamer Asif, Muhammad Tayyab Zhao, Xinyue Vie, Nikola Mitro Cichocki, Andrzej Jaillet, Patrick School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore Laboratory for Advanced Brain Signal Processing Brain Science Institute RIKEN Saitama Japan Laboratory for Information and Decision Systems MIT CambridgeMA United States Center for Future Urban Mobility Singapore-MIT Alliance for Research and Technology Singapore Singapore

ISBN: (纸本)9781479951994

Traffic forecasting is increasingly taking on an important role in many intelligent transportation systems (ITS) applications. However, prediction is typically performed for individual road segments and prediction horizons. In this study, we focus on the problem of collective prediction for multiple road segments and prediction-horizons. To this end, we develop various matrix and tensor based models by applying partial least squares (PLS), higher order partial least squares (HO-PLS) and N-way partial least squares (N-PLS). These models can simultaneously forecast traffic conditions for multiple road segments and prediction-horizons. Moreover, they can also perform the task of feature selection efficiently. We analyze the performance of these models by performing multi-horizon prediction for an urban subnetwork in Singapore. © 2014 ieee.

关键词： Forecasting

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State Recognition of Bone Drilling With Audio signal in Robotic Orthopedics Surgery System

State Recognition of Bone Drilling With Audio Signal in Robo...

引用

ieee/RSJ international conference on intelligent Robots and systems

作者： Yu Sun Haiyang Jin Ying Hu Peng Zhang Jianwei Zhang Harbin Institutes of Technology Shenzhen Graduate School. Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences. The Chinese University of Hong Kong Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences. The Chinese University of Hong Kong University of Hamburg Germany

ISBN: (纸本)9781479969357

Bone drilling is an important and difficult process in orthopedic surgeries. To detect the drilling state of a Robotic Orthopedic Surgery System (ROSS) in real-time, a state recognition method based on audio signals, the Acoustic Emission (AE) signals generated in drilling process, is proposed in this paper. By an analysis via power spectral density of the AE signals, an appropriate frequency band is selected for state recognition. The Exponential Mean Amplitude (EMA) and the Hurst Exponent (HE) are used to illustrate the energy characteristics and stability of the AE signals in the chosen frequency band, respectively. The recognition algorithm combines the two different features is performed on a embedded device in the experiments. Finally, the experiments are carried out to demonstrate the effectiveness of the proposed drilling state recognition method.

关键词： surgical robot AE signal signal processing state recognition surgical robots signal processing seed drills Frequency bands audio signals energy characteristics Embedded device Orthopedic Surgery

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Cross-sectional imaging of C. elegans by SEM-CT using environmental SEM for nanomanipulation 14

Cross-sectional imaging of C. elegans by SEM-CT using enviro...

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2014 14th ieee international conference on Nanotechnology, ieee-NANO 2014

作者： Nakajima, Masahiro Takeuchi, Masaru Hisamoto, Naoki Fukuda, Toshio Hasegawa, Yasuhisa Huang, Qiang Center For SEM-Nano Mechatronics Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 Japan Department of Micro- Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Graduate School of Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China

ISBN: (纸本)9781479956227

A novel technique was presented for a cross-sectional imaging of Caenorhabditis elegans (C. elegans) by Scanning Electron Microscope - Computed Tomography (SEM-CT) using Environmental-SEM (E-SEM) for nanomanipulation applications. In our previous works, a nanorobotic manipulation system was established inside the E-SEM for water-contained samples including biological organism with a real-time high resolution observation. However, the SEM image is two dimensional (2D) and surficial information from the secondly electrons. Hence, it is not able to evaluate the targeted structure inside the sample. In this research, we presented the cross-sectional observation of the sample by SEM-CT system which is used the X-ray generated by the electron beam of SEM. To improve the signal-to-noise ratio of CT imaging, we evaluated the following ways, 1) apertures for X-ray before/after irradiating the sample, 2) adjustment of emission currents of the electron beam, 3) iteration processing of captured images. To reduce the damage of C. elegans during observation, a method was used to immerse the C. elegans by a liquid oil. The proposed 3D imaging technique is useful to evaluate the 3D manipulation of the C. elegans, such as nano-injection application with functional micro-nano beads inside the C. elegans. © 2014 ieee.

关键词： Electron beams

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Geometry-aided inversion of manipulator telescopic link length from MEMS accelerometer and rate gyro readings

Geometry-aided inversion of manipulator telescopic link leng...

引用

ieee international conference on robotics and Automation (ICRA)

作者： Juho Vihonen Janne Honkakorpi Jouni Mattila Ari Visa Department of Signal Processing Tampere University of Technology Finland Department of Intelligent Hydraulics and Automation Tampere University of Technology Finland

We consider solving telescopic manipulator link length using rate gyros and linear accelerometers. The research is built upon micro-electro-mechanical systems (MEMS) components for low-cost “strap-down” implementation. By formulating a standard inversion problem, the telescopic manipulator's link length is solved with the well-known Levenberg-Marquard algorithm in real-time. The inversion is based on linear accelerations of angular motion sensed by a triaxial MEMS accelerometer, which is attached to the tip of the telescopic extension. By fusing the operator control commands for the link extension actuator with the inverted length estimate of the telescopic link, experiments on a hydraulic heavy-duty manipulator demonstrate feasibility of our novel approach.

关键词： Accelerometers Micromechanical devices Sensors Manipulators Joints Acceleration Real-time systems

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Classification of left/right hand movement from EEG signal by intelligent algorithms

Classification of left/right hand movement from EEG signal b...

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international conference on Computer Applications and Industrial Electronics (ICCAIE)

作者： Muhammad Zeeshan Baig Ehtasham Javed Yasar Ayaz Waseem Afzal Syed Omer Gillani Muhammad Naveed Mohsin Jamil Department of Robotics and Artificial Intelligence Robotics and Intelligent Systems Engineering (RISE) Lab Islamabad Pakistan Centre for Intelligent Signal and Imaging Research (CISIR) Universiti Teknologi PETRONAS Malaysia Department of Electronic Engineering Mohammad Ali Jinnah University Islamabad Pakistan

Brain Computer interface (BCI) shown enormous ability to advance the human way of life. Furthermore its application is also targeting the disabled ones. In this research, we have implemented a new approach to classify EEG signals more efficiently. The dataset used for this purpose is from BCI competition-II 2003 named Graz database. Initial processing of the EEG signals has been carried out on 2 electrodes named C3 & C4; after that the bi-orthogonal wavelet coefficients, Welench Power Spectral Density estimates and the average power were used as a feature set for classification. We have given a relative study of currently used classification algorithms along with a new approach for classification i.e. Self-organizing maps (SOM) based neural network technique. It is used to classify the feature vector obtain from the EEG dataset, into their corresponding classes belong to left/right hand movements. Algorithms have been implemented on both unprocessed features and processed reduced feature sets. Principal component Analysis (PCA) has been used for feature reduction. Measured data revealed that the maximum classification accuracy of 84.17% on PCA implemented reduce feature set has been achieved using SOM based classifier. Furthermore, the classification accuracy has been increased about 2% by simply using bi-orthogonal Wavelet transform rather than Daubechies wavelet transform.

关键词： Feature extraction Electroencephalography Wavelet transforms Classification algorithms Support vector machine classification Electrodes

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An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps

An Extended Probabilistic Self-Localization Algorithm Using ...

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17th international ieee conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering conference 2014

作者： Tianyi Li Ming Yang Liuyuan Deng Yong He Chunxiang Wang Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education of China Research Institute of Robotics Shanghai Jiao Tong University

Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-free map-matching algorithm with a probabilistic model as well as an efficient approximate inference *** that algorithm is computationally efficient,it still puts high demands on the computation and driving *** paper adopts the model and presents an extended probabilistic self-localization algorithm using hybrid maps which include terrain maps and road network *** show that the extended probabilistic algorithm enhances the real-time performance and relaxes the requirement of the shape of the *** proposed vehicle self-localization algorithm meets positioning requirements of ITS and it can provide references for actual use of map-matching algorithm in ITS.

关键词： GPS Map An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps Hybrid

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