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Non-Linear EEG Measures in Meditation

Journal of Biomedical Science and engineering 2014年第9期7卷 731-738页

作者： Oldrich Vysata Martin Schatz Jakub Kopal Jan Burian Ales Procházka Kuchynka Jiri Jakub Hort Martin Valis Department of Computing and Control Engineering Institute of Chemical TechnologyPragueCzech Republic Department of Neurology Faculty of Medicine in Hradec KraloveCharles UniversityHradec KraloveCzech Republic Faculty of Informatics and Statistics University of Economics PraguePragueCzech Republic Memory Disorders Clinic Department of NeurologyCharles University in Prague2nd Faculty of Medicine and University Hospital MotolPragueCzech Republic International Clinical Research Center St.Anne’s University Hospital BrnoBrnoCzech Republic

In this study, the performance of Sevcik’s algorithm that calculates the fractal dimension and permutation entropy as discriminants to detect calming and insight meditation in electroencephalo-graphic (EEG) signals was assessed. The proposed methods were applied to EEG recordings from meditators practicing insight meditation and calming meditation before as well as during both types of meditation. Analysis was conducted using statistical hypothesis testing to determine the validity of the proposed meditation-identifying techniques. For both types of meditation, there was a statistically significant reduction in the permutation entropy. This result can be explained by the increased EEG synchronization, which is repeatedly observed in the course of meditation. In contrast, the fractal dimension (FD) was significantly increased during calming meditation, but during insight meditation, no statistically significant change was detected. Increased FD during meditation can be interpreted as an increase in self-similarity of EEG signals during self-organisation of hierarchical structure oscillators in the brain. Our results indicate that fractal dimension and permutation entropy could be used as parameters to detect both types of meditation. The permutation entropy is advantageous compared with the fractal dimension because it does not require a stationary signal.

关键词： Permutation Entropy Fractal Dimension EEG Calming Meditation Insight Meditation

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Acceleration of DCT transformation in JPEG image conversion

Acceleration of DCT transformation in JPEG image conversion

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Proceedings of the International Convention MIPRO

作者： Nikolina Frid Hrvoje Mlinaric Josip Knezovic Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing Zagreb Croatia

This paper explores the alternatives to a standard software implementation of DCT transformation algorithm, an IEEE standard 1180 definition, and compares the obtained results on FPGA development boards such as Spartan-3E and Virtex-5 with 32-bit MicroBlaze™ soft-core processor. Three cases of implementation are presented: a software implementation of AAN algorithm, a special FPGA ip-core that accelerates the standard DCT algorithm and a special FPGA ip-core that implements the AAN algorithm. Both of the ip-cores work as coprocessor to a standard MicroBlaze processor.

关键词： Discrete cosine transforms Standards Field programmable gate arrays Transform coding Software algorithms Hardware Computers

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Development and Testing of Small Aerial Vehicles with Redundant Number of Rotors

Development and Testing of Small Aerial Vehicles with Redund...

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IEEE EUROCON

作者： Igor Cvisic Ivan Petrovic Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781467322331

Multiple rotor Unmanned Aerial Vehicles (UAVs) are becoming ubiquitous due to simplicity of their construction, implementation and maintenance. Such UAVs are able to hover, take off and land vertically. In addition, it is relatively straight-forward to design an on-board autopilot. In comparison with classical helicopters, multi-rotor aircrafts provide less dangerous testbed in urban and cluttered environments due to their small-size and light-weight blades. In this paper, we present two multi-rotor aircraft prototypes with payload up to one kilogram. In order to achieve greater payload capabilities and increase robustness due to motor failures, the presented prototypes have redundant number of rotors, one has six and other eight rotors. Furthermore, we propose algorithms for data fusion from gyroscopes, accelerometers, magnetometers and GPS for orientation and position estimation. Finally, control algorithms are designed in a multi-loop fashion and successfully tested on the prototypes. The developed UAVs are experimentally tested in real world outdoor environment conditions.

关键词： UAV Sensor fusion Multi-loop control Redundant number of rotors

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Robotic Nanowire Handling for Prototypic NEMS Switching and Resonator Devices

Robotic Nanowire Handling for Prototypic NEMS Switching and ...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems

作者： Malte Bartenwerfer Sergej Fatikow Division Microrobotics and Control Engineering Department of Computing Science University of Oldenburg

ISBN: (纸本)9781467363501

In this paper the usage of a nanorobotic handling technique is presented for the transfer of individual nanowires with diameters of several 100 nanometers and length of about 10 μm. Both, handling and assembly take place inside a SEM and use electron beam induced deposition (EBiD) as well as focused ion beam (FIB) milling. The handled nanowires are used to assembly a NEMS device, namely an electrostatic switch design and a resonator, where the nanowire acts as switching contact and resonant component, respectively. Feasibility, working principle, reproducibility and specific values of the switches are investigated, as well as the conductivity of the nanowires itself.

关键词： Nanowire Robotic handling NEMS Nanowire Nanoelectromechanical Systems Resonator Device Component Switches assemblies electron beam

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control Systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Nanorobotic AFM/SEM/FIB system for processing, manipulation and characterization of nanomaterials

Nanorobotic AFM/SEM/FIB system for processing, manipulation ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： S. Fatikow V. Eichhorn M. Bartenwerfer F. Krohs Division Microrobotics and Control Engineering Department of Computing Science University of Oldenburg Oldenburg Germany

In this paper, a nanorobotic system containing a custom-made nanohandling robot, atomic force microscope, scanning electron microscope and focused ion beam is presented. The nanorobotic atomic force microscope system facilitates the analysis of nanostructured surfaces as well as the handling of nanoobjects. Furthermore, a gas injection system is available that enables particle beam-based structuring and deposition of nanomaterials. This combination provides an enabling technology for the hybrid processing, manipulation and characterization of nanomaterials.

关键词： Scanning electron microscopy Nanoscale devices Grippers Substrates Atomic force microscopy Surface treatment

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2-DOF Barycenter Mechanism for Stabilization of Fish-Robots

2-DOF Barycenter Mechanism for Stabilization of Fish-Robots

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IEEE Conference on Industrial Electronics and Applications

作者： Pichet Suebsaiprom Chun-Liang Lin Bioinformatic Computing and Control Laboratory Department of Electrical Engineering National Chung Hsing University

ISBN: (纸本)9781467363204

Two-DOF barycenter mechanism and its control are proposed. The mechanism by means of the moved balancing masses along two axes changes the center of gravity of fish's body. The projected torques on x and y axes propel pitch and roll angles to the desired values. Merging the pitching and rolling models with fish-tail and rigid-body models, the fish robot motion and maneuverability can be achieved in three dimensions. The 3-D motion has been derived based on three basic behaviors as swimming, orientating, and stabilizing. Lastly, simulation results of the barycenter stabilization system and the robot motion are given and feasibility of the realization is discussed.

关键词： Fish-robot 2-DOF barycenter control Stabilization

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Robotic nanowire handling for prototypic NEMS devices

Robotic nanowire handling for prototypic NEMS devices

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Malte Bartenwerfer Sergej Fatikow Division Microrobotics and Control Engineering Department of Computing Science University of Oldenburg Oldenburg Germany

ISBN: (纸本)9781467356404

This paper presents the usage of a nanorobotic handling technique for the transfer of individual copper-nanowires with diameters between 150nm and 400nm and length of about 10 μm. Handling and assembly are inside the SEM and use electron beam induced deposition as well as focused ion beam milling. The handled nanowires are used to assembly a NEMS device, namely an electrostatic switch design, where the nanowire acts as switching contact. Working principle, reproducibility and specific values of the switches are investigated, as well as the conductivity of the nanowires themself.

关键词： Electrodes Nanoscale devices Assembly Switches Scanning electron microscopy Materials Robots

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