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The faster detection of the step initiation and the prediction of the first step's heel strike time with the vertical GRF

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3rd international conference on Biomechanics, Neurorehabilitation, Mechanical engineering, Manufacturing Systems, robotics and Aerospace, ICMERA 2012

作者： Cha, Dowan Oh, Keonyoung Kim, Kab Il Park, Sukyung Kim, Kyung-Soo Kim, Soo Hyun Yuseong-gu Daejoen 305-701 Korea Republic of Department of Electrical Engineering Myong Ji University San 38-2 Nam-Dong Yongin Kyunggi-Do 449-728 Korea Republic of

ISBN: (纸本)9783037855546

A new approach for the detection of the step initiation in the lower extremity exoskeleton is presented. As the detection of the step initiation is the important factor for the lower extremity exoskeleton to shadow the operator's movement as soon as possible, many studies have been done to detect it faster by using heel-off time or toe-off time. We detect the step initiation faster than other approaches with the vertical ground reaction forces. Also, we predict the first step's heel strike time with the regression equations based on the vertical ground reaction forces as soon as we detect the step initiation. It could enable the lower extremity exoskeleton to shadow the operator's movement much faster. © (2013) Trans Tech Publications, Switzerland.

关键词： Biophysics

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Research on key technologies in multi-robotic spread spectrum communication system

Research on key technologies in multi-robotic spread spectru...

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3rd international conference on Materials Science and Information Technology, MSIT 2013

作者： Zhu, Yun Hang Cai, Qiong Huang, Xiu Liang Dept. of Information Engineering Hunan College of Information and Engineering Changsha Hunan China

ISBN: (纸本)9783037857700

It has become a hot research topic that to improve the coordination performance of multirobotic system by communication. With rapid development of wireless communication and robot technologies, multi-robotic system based on spread-spectrum technology has become product of combining two technologies. Code Division Multiple Access (CDMA) technology is applied in multi-robotic communication system here. According to the modified m-Walsh sequence got by the way of analyzing the relation characteristic of Walsh-code and m-sequence, the best direct sequence spread spectrum (DSSS) PN code and the improved RAKE receiver scheme are proposed, which satisfied the requirements of real-time performance, reliability and confidentiality in multi-robotic communication system, and have great significance for the research of multi-robotic communication system. © (2013) Trans Tech Publications, Switzerland.

关键词： robotics

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Tribological properties of PVD CrALN coating tools

Tribological properties of PVD CrALN coating tools

引用

2013 3rd international conference on mechatronics and Intelligent Materials, MIM 2013

作者： Liu, Ai Hua Deng, Jian Xin Peng, Zhang Department of Mechanical Engineering Shandong Jiaotong University Jinan 250023 China Department of Mechanical Engineering Shandong University Jinan 250061 China

ISBN: (纸本)9783037857106

The paper reports the tribological properties of the CrAlN coating tools at different speeds and loads. The coating was deposited on cemented carbide by cathodic arc physical vapour deposition technique. Ball-on-disc wear tests were performed on the CETR UMT-2 test system against SiC balls. The coating character and test results were obtained through SEM, Xrd and Wyko surface profilometer. The results are as follows: The value of friction of coefficients decreased and depth of wear tracks became sallower as speeds increased and the coating presented adhesion phenomenon under low load. CrAlN coating showed excellent anti-wear properties at high speed and low load, and was more suitable for these similar working conditions. © (2013) Trans Tech Publications, Switzerland.

关键词： Physical vapor deposition

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Research on pH value for city sewage optimized control based on HDP

Research on pH value for city sewage optimized control based...

引用

2013 3rd international conference on mechatronics and Intelligent Materials, MIM 2013

作者： Lei, Sheng Yong Department of Electronic Engineering Liuzhou Railway Vocational Technical College Liuzhou 545007 China

ISBN: (纸本)9783037857106

During the city sewage treatment process, pH value has the nonlinear control characteristics of pure lag, large inertia and so on. This paper presents the adaptive system control method based on HDP (heuristic dynamic programming) in view of the above features. Three neural networks which are action, model and critic constitute a self-learning system for the approximate dynamic program the optimal performance index function to realize the optimized control on pH value. The emulation experiments show that this method has better control effects comparing with the traditional method PID on steady-state error, overshoot, response speed and anti-jamming ability. © (2013) Trans Tech Publications, Switzerland.

关键词： Dynamic programming

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Human action recognition using depth images

Human action recognition using depth images

引用

5th FTRA international conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd international conference on Intelligent robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2013

作者： Hsieh, Chaur-Heh Huang, Chin-Pan Hung, Jian Ming Department of Computer and Communication Engineering Ming Chuan University 5 Der Ming Road Gwei Shan Taoyuan 333 Taiwan

ISBN: (纸本)9789400769953

This paper presents a human action recognition algorithm using a depth image. First, 3D coordinates of the body's joints of each frame are generated from the depth image. Then, the proposed method applies normalization and quantization processes to the body joints of all frames of the action video to obtain a 3D histogram. The histogram is projected onto xy, xz, and yz plans sequentially and combined into a one-dimensional feature vector. For dimension reduction, the principal component analysis (PCA) technique is applied to the feature vector to generate an action descriptor. To further improve the recognition performance, a decision tree method is developed to divide input actions into four main categories. The action description vectors of each category are used to design its respective support vector machine (SVM) classifier. Each SVM classifies the actions of a category into one type of actions. Experimental results verify that our approach effectively rules out the interference of background and improves the recognition rate. © 2013 Springer Science+Business Media Dordrecht.

关键词： Principal component analysis

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Micro-crack propagation in particulate composite with different types of matrix

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3rd international conference on Biomechanics, Neurorehabilitation, Mechanical engineering, Manufacturing Systems, robotics and Aerospace, ICMERA 2012

作者： Majer, Zdeněk Náhlík, Luboš Faculty of Mechanical Engineering Brno University of Technology Technická 2 616 69 Brno Czech Republic Institute of Physics of materials AS CR Dep. CEITEC IPM Žižkova 22 616 62 Brno Czech Republic

ISBN: (纸本)9783037855546

Particulate composites with polymer matrix and solid fillers are one of important types of materials. Generally, these materials are usually used as construction materials, high-performance engineering materials or protective organic coatings. The main aim of a present paper is an estimation of the micro-crack behavior in the particulate composite with non-linear polymer matrix. The polymer matrix filled by magnesia-based mineral filler is investigated by means of the finite element method. A non-linear material behavior of the matrix was obtained from experiment as well as properties of mineral filler. Numerical model on the base of representative plane element (RPE) was developed. The results show that the presence of interphase between particle and matrix can improve fracture toughness of polymer particle composite through debonding process. The conclusions of this paper can contribute to a better understanding of the behavior of micro-crack in particulate composites with respect to interphase. © (2013) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Variable quantile level based noise suppression for robust speech recognition

Variable quantile level based noise suppression for robust s...

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作者： Lee, Kangyeoul Jang, Gil-Jin Park, Jeong-Sik Kim, Ji-Hwan School of Electrical and Computer Engineering Ulsan National Institute of Science and Technology Ulsan Korea Republic of Department of Intelligent Robot Engineering Mokwon University Taejon Korea Republic of Department of Computer Science and Engineering Sogang University Seoul Korea Republic of

ISBN: (纸本)9789400769953

This paper addresses the issues of single microphone based noise estimation technique for speech recognition in noisy environments. Many researches have been performed on the environmental noise estimation;however, most of them require voice activity detection (VAD) for accurate estimation of noise characteristics. We propose an approach for efficient noise estimation without VAD, aiming at improving the conventional quantile-based noise estimation (QBNE). We fostered the QBNE by adjusting the quantile level according to the relative amount of added noise to the target speech. From the observation that the power spectral density (PSD) of noise is close to the Gaussian distribution, while that of speech is more narrowly populated, the level of additive noise is measured by the selected Gaussianity functions. We compared the proposed method with the conventional QBNE and minimum statistics based method on a simple speech recognition task in various SNR levels. The experimental results show that the proposed method is superior to the conventional methods. © 2013 Springer Science+Business Media Dordrecht.

关键词： Speech recognition

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Relationship analysis of three parallel codes

Relationship analysis of three parallel codes

引用

international conference on Computer Science and Network Technology (ICCSNT)

作者： Yue Hu Wei-qin Tong Department of Information Technology and Mechatronics Engineering Shang Hai XingJian College Shanghai China School of Computer Engineering and Science Shanghai University Shanghai China

ISBN: (纸本)9781479905607

The increasing demand for computing capability is driving the appearance of diverse parallel paradigms. Recently, MPI+OpenMP hybrid paradigm codes have been proved high performance efficiency in many applications and have been widely studied. But its relationship with MPI and OpenMP paradigm codes still need further study. In this paper, we focus on two aspects, the overhead and the number of processors definition methodology, to discuss the relationship between MPI, OpenMP and MPI+OpenMP paradigm codes. This paper provides a collection of experimental results of these three paradigm codes. The experimental results demonstrate that the parallel efficiency of MPI+OpenMP hybrid paradigm code can be more properly figured out but its performance would not always be the best on SMPs, which means the application situation should be pre-studied.

关键词： Parallel processing Mathematical model Equations Instruction sets Programming Educational institutions

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WMN-GA system for node placement in WMNs: Effect of grid shape

WMN-GA system for node placement in WMNs: Effect of grid sha...

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作者： Oda, Tetsuya Spaho, Evjola Barolli, Admir Barolli, Leonard Xhafa, Fatos Takizawa, Makoto 3-30-1 Wajiro-Higashi Higashi-Ku Fukuoka 811-0295 Japan Canadian Institute of Technology Zayed Center Rr. Sulejman Delvina Tirana Albania 3-30-1 Wajiro-Higashi Higashi-Ku Fukuoka 811-0295 Japan Department of Languages and Informatics Systems Technical University of Catalonia C/Jordi Girona 1-3 08034 Barcelona Spain Department of Computers and Information Science Seikei University 3-3-1 Kichijoji-Kitamachi Musashino-Shi Tokyo 180-8633 Japan

ISBN: (纸本)9789400769953

In WMNs mesh routers provide network connectivity services to mesh client nodes. The good performance and operability of WMNs largely depends on placement of mesh routers nodes in the geographical deployment area to achieve network connectivity, stability and user coverage. In this paper, we evaluate the performance of WMN-GA system for node placement problem in WMNs. For evaluation, we consider Normal, Exponential and Weibull Distribution of mesh clients and different grid size. The simulation results show that the grid size effects in the performance of WMN-GA. The system performs better for Normal distribution. © 2013 Springer Science+Business Media Dordrecht.

关键词： Normal distribution

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Speed control using a pid algorithm for an educational mobile robot

Speed control using a pid algorithm for an educational mobil...

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作者： Jung, Se-Young Park, Se-Jun Seo, Yong-Ho Yang, Tae-Kyu Department of Intelligent Robot Engineering Mokwon University Mokwon Gil 21 Seo-gu Daejeon Korea Republic of

ISBN: (纸本)9789400769953

In this paper, we propose a new mothod using the PID controller gain value from rotatation of wheels according to rotation momentum characteristics for an educational mobile robot. P-Gain, I-gain and D-gain have been changed from the mobile robot via wireless remote control in a real-time basis. The transmitted gain value is calculated by real-time operation of embedded software in the robot. Experiments are carried out to find the optimized gain value of two conditions, maximum speed and minimum speed. The gain of intermediate velocity region is calculated from this gain value using primary curve fitting. The intermediate region gain value is calculated by real-time transmission of the mobile robot. Successful results are demonstrated with PID control using the calculated intermediate region gain value. © 2013 Springer Science+Business Media Dordrecht.

关键词： Mobile robots

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