检索结果-内蒙古大学图书馆

Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Yuya Matsumoto Masatoshi Seki Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Creative Science and Engineering Waseda University Tokyo 169-8555 Japan Graduate School of Advanced Science and Engineering Waseda University Japan Robotics Development Center Corporate Manufacturing Innovation Division Panasonic Corporation Osaka Japan and the Faculty of Science and Engineering Waseda University Japan Faculty of Science and Engineering Waseda University Japan Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Japan Department of Rehabilitation Medicine Juntendo University Graduate School Japan Faculty of Science and Engineering Waseda University Japan.

ISBN: (纸本)9781457717871

Essential tremor is a disorder that causes involuntary oscillations in patients while engaging in actions or while maintaining a posture. ET patients have serious difficulties in performing activities of daily living such as eating food, drinking water, and writing. We have thus been developing an EMG-controlled exoskeletal robot to suppress tremors. The EMG signal of ET patients involves a mix of voluntary movement and tremor signals. To control the exoskeletal robot accurately, tremor signals must be removed from the patient's EMG signal. To date, we have been developing a filter to remove tremor signals from the patient's EMG. The design of this filter was based on the hypothesis that the rectified tremor signals are able to be approximated by a powered sine wave. This filter was found to have a large effect on removing tremor signals. However, tremor signals are generated both while performing voluntary movement and while maintaining a posture, and the filter was attenuating both signals. To control this robot accurately, the signal generated while performing voluntary movement is expected not to be attenuated. To accomplish this, we try to use a parameter that reflects a state of the patient's movement, performing a voluntary movement or maintaining a posture, as a switch to activate the powered sine filter. This paper provides an analysis of the favorable parameters. We focus on two parameters: the peak-to-peak interval of the rectified EMG signal, and the interval of the flat and low amplitude area of the rectified EMG signal. Through evaluation, it is affirmed that both parameters change with the state of the patient's movement. However, the latter parameter is superior to the former in terms of variability, which indicates that the interval of the flat and low amplitude area of the rectified EMG signal is a more favorable parameter to promote control of the exoskeletal robot. As a future work, we will mount the parameter to the algorithm and evaluate the ro

关键词： involuntary oscillations algorithm

来源：评论

学校读者我要写书评

暂无评论

ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

引用

INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

来源：评论

学校读者我要写书评

暂无评论

Tremor Frequency Based Filter to Extract Voluntary Movement of Patients with Essential Tremor

Tremor Frequency Based Filter to Extract Voluntary Movement ...

引用

IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Yuya Matsumoto Masatoshi Seki Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Creative Science and Engineering Waseda University Graduate School of Advanced Science and Engineering Waseda University Robotics Development Center Cooperate Manufacturing Innovation Division Panasonic Cooperation Faculty of Science and Engineering Waseda University Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Department of Rehabilitation Medicine Juntendo University Graduate School

ISBN: (纸本)9781457711992

Essential Tremor (ET) refers to involuntary oscillations of a part of the body. ET patients face serious difficulties in performing daily living activities. Our motivation is to develop a system that can enable ET patients to perform their daily living activities;hence we have been developing a myoelectric controlled exoskeletal robot for ET patients. However, the EMG signal of ET patients contains not only voluntary movement signals but also tremor signals. Accordingly, to control this robot correctly, tremor signals must be removed from the EMG signal of ET patients. To date, we have been developing a filter to remove tremor signals, which has been largely effective in this. However, tremor signals are generated both while voluntary movement is being performed and while a posture is being maintained, and the filter ended up attenuating both these signals. But, to control this robot accurately, the signal generated during performance of voluntary movement is expected not to be attenuated. Therefore, in this paper, we propose a method that attenuates only tremor signals arising during maintenance of a posture. To accomplish this objective, we focus on the frequency of tremor signals. From the experiment, we confirmed the characteristic that the frequency of tremor signals changed depending on the state of the patient's movement. We then used frequency as a switch to activate the previously proposed filter by setting a threshold. As an evaluation, signals processed by the proposed method were input to a time delay neural network. The proposed method succeeded in partly improving recognition due to reduction of attenuation during performance of voluntary movement. However, the proposed method failed recognition in cases where the frequency of tremor signals varied widely. As a future work we will review the method to calculate the frequency of tremor signals and improve recognition.

关键词： Tremor voluntary movement signals Essential Tremor Filters Fault trees Patients Recognition (Psychology)

来源：评论

学校读者我要写书评

暂无评论

Polysaccharide functionalized magnetic nanoparticles for cell labeling and tracking: A new three-dimensional cell-array system for toxicity testing

Polysaccharide functionalized magnetic nanoparticles for cel...

引用

作者： Miyamoto, Y. Koshidaka, V.Y. Noguchi, H. Oishi, K. Saito, H. Yukawa, H. Kaji, N. Ikeya, T. Iwata, H. Baba, Y. Murase, K. Hayashi, S. Department of Advanced Medicine in Biotechnology and Robotics Nagoya University Graduate School of Medicine 65 Tsurumai-cho Showa-ku Nagoya 466-8550 Japan Department of Reproductive Biology National Research Institute for Child Health and Development 2-10-1 Okura Setagaya-ku Tokyo 157-8535 Japan Department of Gastroenterological Surgery Transplant and Surgical Oncology Okayama University Graduate School of Medicine Dentistry and Pharmaceutical 2-5-1 Shikata-cho Okayama 700-8558 Japan Nagoya Research Laboratory MEITO Sangyo Co. Ltd. 25-5 Kaechi Nishibiwajima Kiyosu 452-0067 Japan Department of Applied Chemistry Nagoya University' Graduate School of Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan Photosensitive Materials Research Center Toyo Gosei Co. LTD. 1603 Kamimyoden Ichikawa 272-0012 Japan Department of Orthopaedic Surgery Nagoya Kyoritsu Hospital 1-172 Hokke Nakagawa-ku Nagoya 454-0933 Japan

ISBN: (纸本)9780841227187

Magnetic resonance imaging (MRI) using contrast agents has been widely used to diagnose vascular diseases, to visualize the internal structure of organs, and to monitor transplanted cells and tissues. We recently developed a novel contrast agent for MRI using polysaccharide-modified magnetic iron oxide nanoparticles. The polysaccharide-magnetic particle complex has an advantage of low toxicity to cells and tissues and slow blood clearance over conventional contrast agents. However, because the surface charge of the particles is negative, transplanted cells such as pancreatic islet cells are less labeled. To overcome this problem, a complex of a polysaccharide and a positively charged magnetic metallic compound has been developed. These newly designed magnetic nanoparticles were efficiently transduced into various cells (for example pancreatic islet cells, MIN6 cells, HepG2 cells, hepatocytes, and somatic stem cells). The present chapter mainly describes the establishment of a cytotoxicity test system using our polysaccharide-based magnetic iron oxide nanoparticles. As a promising cell evaluation system, a new three-dimensional cell culture system "cell-array system" has been established. In the future, the system will be useful as a powerful tool for drug development. © 2012 American Chemical Society.

关键词： Stem cells

来源：评论

学校读者我要写书评

暂无评论

Study of classification of failure states for Small Unmanned Ground Vehicle by response surface methodology

Study of classification of failure states for Small Unmanned...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Young Kook Kim Dooyeol Koh Sang Hoon Lee Soohyun Kim Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Division of Mechanical Engineering School of Mechanical AeroSpace and Systems Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea 5th Research and Development Institute-2 Agency for Defense Development Daejeon South Korea

ISBN: (纸本)9781457707223

SUGV(Small Unmanned Ground Vehicle) used for human rescue and military operation is need to overcome the environment that tough terrains such as a hole or high obstacles. As far as the survival of the vehicle and the preserving ability of the information in the vehicle are concerned, it is essential to have an approach for recognizing unattainable driving states. However, despite the fact that the study of obstacle avoidance and stabilization of SUGV is focused on, it is hardly found out ways of classifying unattainable driving states with the sensors mounted on the SUGV unit. In order to overcome the problem, this paper proposes a practical way for classifying SUGV Failure State(SFS) with the meaningful parameters by statistical method, response surface methodology(RSM).

关键词： Response surface methodology Equations Vehicles Mathematical model Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

Robotic Force Control Assembly Parameter Optimization for Adaptive Production

Robotic Force Control Assembly Parameter Optimization for Ad...

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jianjun Wang Biao Zhang Dave Gravel George Zhang Arnold Bell Corporate Research Center of ABB Inc. WindsorCT 06095US Advanced Manufacturing Technology Development Ford Motor CompanyLivoniaMI US Powertrain Automation Department in Robotics Division in ABB Engineering ShanghaiChina ABB Robotics Auburn HillsMI US

This paper presents a study on the Design Of Experiments (DOE)-based parameter optimization technique to adapt to the manufacturing environment changes in robotic force control assembly. Based on a real-world transmission torque converter assembly production process, investigation and analysis are performed in production. An on-pendant robotic assembly parameter optimization tool is introduced. When manufacturing environment changes such as the changes of geometrical dimension of part and tool (the location of feature on part, the size of the feature, the dimension of the tool, etc.), the changes of position and orientation of part, fixture or robot;the changes of properties of part (weight, spring constant, etc.), the performance metrics such as mean of the cycle time, mean plus 3 sigma of the cycle time, first time through (FTT) rate are degraded. The on-pendant optimization tool applies full factorial experiments on the most influential parameters. Then the results are subjected to statistical analysis to find the optimal parameter set. Finally verifying the optimized parameter set through running a number of experiments and checking on performance of the force control assembly to adapt the changes. The efficiency of proposed method is proved in the Ford Powertrain assembly production. The program continues running in production and adjusting the process parameters to adapt the manufacturing variations. The real factory acceptance testing results are presented and analyzed. Finally, conclusions are drawn and discussion and further investigation is proposed.

关键词： Assembly Robots Optimization Production Force control Torque converters

来源：评论

学校读者我要写书评

暂无评论

Trajectory generation for operational task execution with manipulability analysis

Trajectory generation for operational task execution with ma...

引用

International Conference on advanced robotics (ICAR)

作者： Isma Akli Moussa Haddad Brahim Bouzouia Nouara Achour Manufacturing and Robotics Laboratory Advanced Technologies Development Center Algiers Algeria Laboratory of Structure Mechanics E.M.P Algiers Algeria Laboratory of Robotic Paralellism and ElectroMagnetic Université Houari Boumediène Algiers Algeria

The Robuter/ULM mobile manipulator is a system, including differential drive mobile robot, carrying an anthropomorphic manipulator. The mobility is insured by the platform, in order to make the articulated system able to act outside its workspace. Operational task execution (OTE) means in this article, imposing the initial situation of the whole system (joints angles of the articulated system, together with the position and the orientation of the mobile robot), and a point defined in the operational space (task point), as a target. This kind of tasks can be executed with several ways, because the addition of the mobile robot to the manipulator creates redundancy. This paper presents the simulation of the Random Profile Approach (R.P.A), on the RobuTER/ULM mobile manipulator, for OTE, with finding time optimal trajectory, considering kinematic constraints. The task point must also be reached with the end effector (EF) of the manipulator. We find thus, the adequate position of the mobile system, with maximizing the manipulability, and integrating this parameter on searching the time optimal trajectory process, with R.P.A.

关键词： Manipulators Mobile communication Trajectory Mobile robots Joints Robot kinematics

来源：评论

学校读者我要写书评

暂无评论

Ultrasound ‐Assisted Gene Transfer to Adipose Tissue‐Derived Stem/Progenitor Cells (ASCs)

引用

AIP Conference Proceedings 2011年第1期1359卷 377-382页

作者： Yoshitaka Miyamoto Hitomi Ueno Rei Hokari Wenji Yuan Shuichi Kuno Takashi Kakimoto Shin Enosawa Yoichi Negishi Kiyoshi Yoshinaka Yoichiro Matsumoto Toshio Chiba Shuji Hayashi aDepartment of Advanced Medicine in Biotechnology and Robotics Nagoya University Graduate School of Medicine Higashi‐ku Nagoya 461‐0047 Japan bDepartment of Clinical Research & Development National Center for Child Health and Development Tokyo Japan cDepartment of Innovative Surgery National Research Institute for Child Health and Development Tokyo Japan dDepartment of Drug and Gene Delivery System School of Pharmacy Tokyo University of Pharmacy and Life Science Hachioji Tokyo Japan eDepartment of Mechanical Engineering The University of Tokyo Tokyo Japan

In recent years, multilineage adipose tissue‐derived stem cells (ASCs) have become increasingly attractive as a promising source for cell transplantation and regenerative medicine. Particular interest has been expressed in the potential to make tissue stem cells, such as ASCs and marrow stromal cells (MSCs), differentiate by gene transfection. Gene transfection using highly efficient viral vectors such as adeno‐ and sendai viruses have been developed for this purpose. Sonoporation, or ultrasound (US)‐assisted gene transfer, is an alternative gene manipulation technique which employs the creation of a jet stream by ultrasonic microbubble cavitation. Sonoporation using non‐viral vectors is expected to be a much safer, although less efficient, tool for prospective clinical gene therapy. In this report, we assessed the efficacy of the sonoporation technique for gene transfer to ASCs. We isolated and cultured adipocyets from mouse adipose tissue. ASCs that have the potential to differentiate with transformation into adipocytes or osteoblasts were obtained. Using the US‐assisted system, plasmid DNA containing beta‐galactosidase (beta‐Gal) and green fluorescent protein (GFP) genes were transferred to the ASCs. For this purpose, a Sonopore 4000 (NEPAGENE Co.) and a Sonazoid (Daiichi Sankyo Co.) instrument were used in combination. ASCs were subjected to US (3.1 MHz, 50% duty cycle, burst rate 2.0 Hz, intensity 1.2 W/cm2, exposure time 30 sec). We observed that the gene was more efficiently transferred with increased concentrations of plasmid DNA (5–150 μg/mL). However, further optimization of the US parameters is required, as the gene transfer efficiency was still relatively low. In conclusion, we herein demonstrate that a gene can be transferred to ASCs using our US‐assisted system. In regenerative medicine, this system might resolve the current issues surrounding the use of viral vectors for gene transfer.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multi-agent Missions Planning for Mobile Manipulators

Multi-agent Missions Planning for Mobile Manipulators

引用

IEEE International Conference on robotics and Biomimetics

作者： A. Hentout B. Bouzouia R. Toumi Division of Computer-Integrated Manufacturing and Robotics (DPR) Centre for Development of Advanced Technologies (CDTA) Laboratory of Robotics Parallelism and Electro-energy University of Sciences and Technology Houari Boumediene (USTHB)

ISBN: (纸本)9781424493197

A mobile manipulator is composed of heterogeneous resources (mobile base, manipulator, etc.). Consequently, each resource can carry out a different set of operations. In the case where each resource is controlled by an agent (so a multi-agent control architecture), a multi-agent heterogeneous planning is required to generate the operations plan. When the operator of the robot introduces a mission, the various agents of the architecture elaborate, jointly, for each agent controlling a resource, a different operations plan. Operations plans are presented for different multi-agent missions implemented on RobuTER/ULM.

关键词： Multi-agent mission planning Heterogeneous planning Mobile Manipulators RobuTER/ULM

来源：评论

学校读者我要写书评

暂无评论

View planning for occluded region with active imaging system

View planning for occluded region with active imaging system

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyunki Lee Hyungsuck Cho Deokhwa Hong Research and Development Vision Team Kohyoung Technology Company Limited Seoul South Korea Robotics Engineering Department Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

Nowadays, a number of 3D shape measurement methods have been developed such as stereo vision, laser structured light, and Phase Measuring Profilometry (PMP). They have many problems such as correspondence problem, 2π-ambiguity and occlusion problem. Among them, occlusion problem is common problem for 3D shape measurement and well known as difficult to solve. To solve this problem, in our previous research, active imaging system is introduced, which can change the viewing angle without changing of field-of-view (FOV), and can do the FOV with maintaining the viewing angle. And to decide the viewing direction and position, view planning algorithm is developed. The performance of our system is checked by simulation and a series of real experiments.

关键词： Planning Mirrors Three dimensional displays Robot sensing systems Imaging Area measurement

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：