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Autonomous Geolocation of RF Emitters Using Small, Unmanned Platforms

JOHNS HOPKINS APL TECHNICAL DIGEST 2013年第3期32卷 636-646页

作者： Bamberger, Robert J. Moore, Jay G. Goonasekeram, Ravi P. Scheidt, David H. APL Robotics and Autonomous Systems Group Research and Exploratory Development Department (REDD) Advanced RF Capabilities Group Asym metric Operations Sector APL Electrical Engineering Systems Analysis and Design Group REDD RF & Optical Systems Se

Autonomous geolocation of RF emitters using small, unmanned systems is a game-changing technology for military, government, and commercial missions. This technique employs a novel application of a common RF direction-finding technique called pseudo-Doppler. Emergent autonomous control concepts are used to control the sensor platform and optimize flight trajectories for efficient and rapid geolocation of the target. The basic components of this concept, from sensor development to unmanned system autonomous behaviors, were tested in simulation and subsequently demonstrated in flight during the Tactical Network Topology experiment.

关键词： Network topology

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

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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

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development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor

Development of an Elbow-Forearm Interlock Joint Mechanism To...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yuya Matsumoto Motoyuki Amemiya Daisuke Kaneishi Yasutaka Nakashima 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 Tokyo Japan Graduate School of Creative Science and Engineering Waseda University Tokyo Japan Graduate School of Advanced Science and Engineering Waseda University Japan MONOZUKURI Mechatronics Laboratory KIKUCHI SEISAKUSHO Co. Ltd. Tokyo Japan Robotics Development Center Corporate Manufacturing Innovation Division Panasonic Corporation Osaka 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

ISBN: (纸本)9781479969357

An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism.

关键词： Essential Tremor Elbow Joint Movement of shoulder PROTOTYPE Wearable Robot Tremor compensated INTERLOCKS Patients

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Solving the Linearized Poisson-Boltzmann Equation on GPUs Using CUDA

Solving the Linearized Poisson-Boltzmann Equation on GPUs Us...

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Euromicro Conference on Parallel, Distributed and Network-Based Processing

作者： José Colmenares Jesús Ortiz Sergio Decherchi Amir Fijany Walter Rocchia Drug Discovery and Development Department Italian Institute of Technology Genova Italy Department of Advanced Robotics Italian Institute of Technology Genova Italy SAAE SysTech Inc. USA

In this work an implementation of a linearized Poisson-Boltzmann equation solver based on a Finite Differences scheme on the GPU architecture is presented. The algorithm exploits the checkerboard structure of the discretized Laplace operator and follows the footprints of a popular solver called DelPhi, which is widely used in the Computational Biology community. The algorithm has been implemented using CUDA. This implementation has then been integrated with the DelPhi solver and tested over a few representative cases of biological interest. Details of the implementation as well as performance test results are illustrated.

关键词： Graphics processing units Dielectrics Instruction sets Equations Mathematical model Electrostatics Convergence

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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...

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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

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Analysis of EMG signals of Patients with Essential Tremor Focusing on the Change of Tremor Frequency

Analysis of EMG signals of Patients with Essential Tremor Fo...

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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

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

Tremor Frequency Based Filter to Extract Voluntary Movement ...

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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)

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Robotic Force Control Assembly Parameter Optimization for Adaptive Production

Robotic Force Control Assembly Parameter Optimization for Ad...

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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

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View planning for occluded region with active imaging system

View planning for occluded region with active imaging system

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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

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors Computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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