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Real time gait planning for a mobile medical exoskeleton with crutche

Real time gait planning for a mobile medical exoskeleton wit...

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IEEE International Conference on robotics and Biomimetics

作者： Shaomin Zhang Can Wang Xinyu Wu Yongqiang Liao Xinpeng Hu Can Wu Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Department of Mechanical and Automation The Chinese University of Hong Kong

ISBN: (纸本)9781467396769

An exoskeleton with actuators at the hip and knee joints has been developed for spinal cord injury patients. And a pair of crutches is utilized to help paraplegic patients maintain balance during walking. A real time gait planning strategy has been implemented to allow the users to walk stable and natural. This strategy models the human-machine coupling system as a quadruped robot, adjusts and corrects gait before each step according to real time responses of multiple sensors. Taking into account the kinematic model of people wielding crutches, this gait planning strategy provides a larger stability margin for the system. Finally, experiments are performed on the SIAT exoskeleton in order to verify the effectiveness of the proposed method.

关键词： Legged locomotion Exoskeletons Robot kinematics Stability analysis Foot Software

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Mixed expression recognition & analysis based on compressed sense and subjection degree

Mixed expression recognition & analysis based on compressed ...

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3rd International Conference on Manufacturing Engineering and Process, ICMEP 2014

作者： Cai, Jun Li, Yang Yang Zhang, Yi Department of Automation Chongqing university of posts and telecommunications China Laboratory of Intelligent System and Robotics Chongqing university of posts and telecommunications China

ISBN: (纸本)9783038350842

Mixed expression is more in line with people's daily perfromance than basic *** paper proposed a facial expression recognition method that recognizes and analyze mixed expressions. In this method, Gabor phase and local binary patterns were combined into GPLBP model to obtain the expression features and the model contained good robustness of light. Compressed sense and subjection degree function were adopted to identify the ingredients of main basic expressions in the mixed expression the ratio of each kind of basic expression. Experimental results of comparison respectively to Gabor-SVM and AAM-SVM verified that the proposed method could not only identify and analyze the mixed expression effectively but also recognize the basic expression precisely. © (2014) Trans Tech Publications, Switzerland.

关键词： Local binary pattern

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Four-legged gait planning method for a mobile medical exoskeleton with a pair of crutches

Four-legged gait planning method for a mobile medical exoske...

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International Conference on Information and automation (ICIA)

作者： Shaomin Zhang Can Wang Xinyu Wu Yongqiang Liao Pingan Wang Shibo Cai Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Department of Mechanical and Automation The Chinese University of Hong Kong Ministry of Education & Zhejiang Province Zhejiang University of Technology

In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The robot has an under-drive control structure. The wearer can maintain balance and shift his (her) body weight with the aid of a pair of crutches. On this robot we have implemented a four-legged gait planning method. Through analysis of normal gait, modifications have been made so that the gait of the robot can serve a SCI patient well. A paraplegic patient acted as a volunteer has involved in the experiments. The results of experiments illustrated the effectiveness of the proposed gait planning method.

关键词： Legged locomotion Exoskeletons Joints Hip Robot kinematics Knee

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Multi-scale analysis of contextual information within spatio-temporal video volumes for anomaly detection

Multi-scale analysis of contextual information within spatio...

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作者： Li, Nannan Guo, Huiwen Xu, Dan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781479957514

In this paper, we present a novel approach for video anomaly detection in crowded scenes. The proposed approach detects anomalies based on the contextual information analysis within spatio-temporal video volume. Around each pixel, spatio-temporal volumes are built and clustered to construct the activity pattern codebook. Then, the composition information of the volumes within a large spatiotemporal window is described via a dictionary learned by sparse representation. Furthermore, multi-scale analysis is employed to adapt the size change of abnormal events. Finally, the sparse reconstruction cost is designed to evaluate the abnormal level of an input motion pattern. We demonstrate the efficiency of the proposed method on the existing public available anomaly-detection datasets and the performance comparasion with three existing methods validates that the proposed method detects anomalies more accurately. © 2014 IEEE.

关键词： Statistics

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Multi-scale analysis of contextual information within spatio-temporal video volumes for anomaly detection

Multi-scale analysis of contextual information within spatio...

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IEEE International Conference on Image Processing

作者： Nannan Li Huiwen Guo Dan Xu Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

ISBN: (纸本)9781479957521

关键词： Vectors Dictionaries Hidden Markov models Computer vision Trajectory Cameras Feature extraction

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Optimized methodologies for augmented reality markers based localization

Optimized methodologies for augmented reality markers based ...

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IEEE International Conference on robotics and Biomimetics

作者： Wing Kwong Chung Ning Cui Xu Chen Tin Lun Lam Yangsheng Xu Yongsheng Ou Intelligent Robotics Research Centre Smart China Holdings Limited Hong Kong Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

ISBN: (纸本)9781479973989

Localization is one of the key research topics in robotics. Although computer vision based methodologies such as Augmented Markers provides a realtime localization approach, the sensing range and localization accuracy are the main limitations for applications. In this paper, we proposed the use of a problem solving tool, TRIZ to overcome these limitations. Among the tools provided by TRIZ, we illustrated the selection of principles for problem solving. To enhance the sensing range, a novel AR marker is presented. To improve the localization accuracy, we presented the use of an AR polyhedron for system localization. With the use of an AR cube for illustration, we further developed a new optimization strategy. It is a weighted sum method which aims to optimize the position of the AR cube by considering the orientation of different AR markers captured by a camera. To evaluate the proposed methods, different experiments have been conducted including static and dynamic localizations. Results show that the proposed solutions and strategy can significantly improve the sensing range and accuracy of the conventional AR localization system.

关键词： Cameras Accuracy Optimization Robot sensing systems Problem-solving

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Anomaly Detection in Crowds Assisted by Scene Perspective Projection Correction

Anomaly Detection in Crowds Assisted by Scene Perspective Pr...

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2014 4th IEEE International Conference on Information Science and Technology

作者： Huan Wang Ruiqing Fu Nannan Li Guoyuan Liang Xinyu Wu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we propose a novel approach based on compensating for the perspective projection effect for anomaly detection in crowds. Video frames obtained by a camera have a common rule of perspective projection effect. The law of perspective projection makes anomaly detection a challenge task because of no consistency in each video frame. For the sake of overcoming the drawback caused by perspective projection, we innovatively design an approach based on compensating for images under perspective projection to eliminate the influence of perspective projection. Then a space Markov Random Field(MRF) is modeled to build normal behavior patterns considering both single node behavior and the correlation of adjacent nodes. An energy function is formulated as the evaluation criterion to detect anomaly. Experiments prove that our approach can detect abnormal events effectively and robustly.

关键词： frame MRF image red Anomaly Detection in Crowds Assisted by Scene Perspective Projection Correction

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A novel nuclear station inspection robot

A novel nuclear station inspection robot

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International Conference on Information Science and Technology (ICIST)

作者： Qingsong Liu Guohe Wang Yachao Dong Pengfei Liu Jianquan Sun Xinyu Wu Yangsheng Xu China Nuclear Power Technology Research Institute(CNPRI) China Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences China Department of Mechanical and Automation Engineering The Chinese University Hong Kong

As a key device in nuclear station, the steam generator is vulnerable to certain kinds of damages, which make it necessary to check the generator annually. However, it is impossible for human to finish the examine because of that the tremendous tubes inside the generator makes its inner space too crowded. In this paper, we introduced a novel designed climbing robot system which is competent to the work. The main part of the robot system is a vehicle which can moves inside the steam generator carrying a PT Arm. Four cameras are installed in the vehicle and PT Arm to send the real time video back for analysis. We built a control panel as the interface for users to control the vehicle and a cabinet as the container of all the processors int the control system. Experiments show that our system works stably inside the steam generator.

关键词： Vehicles Generators Inspection Climbing robots Service robots Electron tubes

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Control of a Two-Wheeled Self-Balancing Robot with Support Vector Regression Method

Control of a Two-Wheeled Self-Balancing Robot with Support V...

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2014 4th IEEE International Conference on Information Science and Technology

作者： Liangliang Cui Yongsheng Ou Junbo Xin Dawei Dai Xiang Gao Guangdong Provincial Key Labortory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Science the School of Mechanical and Automotive Engineering sSouth China University of Technology the Department of Mechanical and Automation Engineering The Chinese University of Hongkong

Recently, learning based control is a popular topic on robotic applications. This paper presents a novel learning based intelligent control method which realizes the balance control of a statically unstable and dynamically stable robota two-wheeled self-balancing robot. The control strategy could be segmented into two levels: a learning based controller using Support Vector Regression approach as a high level and a traditional PD controller as a low level. Support Vector Regression is utilized to learn the mapping between robot's state data and corresponding actions from experiments by using the inclined angle and its angular speed as inputs and the wheels velocity of the robot needed to keep balance as outputs. And the low level PD controller makes sure the motors achieve the velocity value gained before. Experiments are taken to show that the control method is useful and efficient. Additionally, this paper presents a practice of learning based control.

关键词： learning based control two-wheeled self-balancing robot Kalman filter support vector regression

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A Novel Nuclear Station Inspection Robot

A Novel Nuclear Station Inspection Robot

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2014 4th IEEE International Conference on Information Science and Technology

作者： Qingsong Liu Guohe Wang Yachao Dong Pengfei Liu Jianquan Sun Xinyu Wu Yangsheng Xu China Nuclear Power Technology Research Institute(CNPRI) Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

关键词： Arm A Novel Nuclear Station Inspection Robot

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