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Dynamic Positioning System for Nonlinear MIMO Plants and Surface Robotic Vessel

IFAC Proceedings Volumes 2013年第9期46卷 1867-1872页

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Maxim O. Surov Alexey A. Vedyakov Alexey D. Feskov Sergey M. Vlasov Alexandr Y. Krasnov Oleg I. Borisov Vladislav S. Gromov Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics St. Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St.Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

In this paper the new control approach for a class of nonlinear MIMO systems with unknowns is proposed. The mathematical model is divided on two parts: static MIMO transformation and a few SISO channels that allows to design the control law in two steps. At the first step we design the virtual controls for each SISO channel and then after the inverse MIMO transformation we propose the control law for considered system. In the paper the recent advantages in the development of adaptive output control approach using high-gain principle named by the authors as “consecutive compensator” is applied for SISO channels. We present the robotic research setup designed for analysis of control algorithms oriented to complex technical objects. This setup is a model of real plant with similar constraints for developers: parametric uncertainty, delay, disturbances, and bounded control.

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controllability of a class of networked passive linear systems

Controllability of a class of networked passive linear syste...

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IEEE Annual Conference on Decision and control

作者： Bart Besselink Henrik Sandberg Karl Henrik Johansson Jun-ichi Imura ACCESS Linnaeus Centre and the Automatic Control Laboratory Department of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781467357159

In this paper, controllability properties of networks of diffusively coupled linear systems are considered through the controllability Gramian. For a class of passive linear systems, it is shown that the controllability Gramian can be decomposed into two parts. The first part is related to the dynamics of the individual systems whereas the second part is dependent only on the interconnection topology, allowing for a clear interpretation and efficient computation of controllability properties for a class of networked systems. Moreover, a relation between symmetries in the interconnection topology and controllability is given. The results are illustrated by an example.

关键词： controllability Linear system

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Motion control of the six-legged walking robot with unknown inertia matrix *

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IFAC Proceedings Volumes 2013年第9期46卷 234-238页

作者： Maksim O. Surov Anton A. Pyrkin Alexey A. Bobtsov Department of Control Systems and Informatics Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St.Petersburg Russia

We propose a new control approach to solve the problem of motion control of six-legged walking robot. Obtained control law does not require knowledge of inertia matrix of the robot. A proof of the asymptotic stability of the robot motion has been provided. To illustrate the effectiveness of the controller a numerical example is shown.

关键词： six-legged robot attitude control velocity control

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control Approaches for Complicated Self-Unstable Plants with Applications for Two-Wheel Mobile System

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IFAC Proceedings Volumes 2013年第9期46卷 609-613页

作者： Alexey A. Bobtsov Alexandr S. Borgul Konstantin A. Zimenko Anton A. Pyrkin Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

In this paper a model of autonomous mobile robot “Motobot” is described. There is the model of two-wheeled motorbike. The mathematical model of motion of two-wheeled single-track robot on the horizontal flat is analyzed and the automatic control algorithms are designed. Problem can be solved by controlling the steering wheel and the speed of the driving wheel.

关键词： Mobile robots autonomous bike unstable systems output control educational robots

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An Automatic Electroencephalography Blinking Artefact Detection and Removal Method Based on Template Matching and Ensemble Empirical Mode Decomposition

An Automatic Electroencephalography Blinking Artefact Detect...

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

作者： Paschalis A. Bizopoulos Tarik Al-Ani Dimitrios G. Tsalikakis Alexandros T. Tzallas Dimitrios D. Koutsouris Dimitrios I. Fotiadis Department Informatique et Telecommunication ESIEE-Paris LISV-Universite de Versailles Saint-Quentin-en-Yvelines Department of Informatics and Telecommunications Engineering University of Western Macedonia Unit of Medical Technology and Intelligent Information Systems Biomedical Engineering Laboratory School of Electrical and Computer Engineering National Technical University of Athens (NTUA) Unit of Medical Technology and Intelligent Information Systems Faculty of Material Science and Engineering University of Ioannina

ISBN: (纸本)9781457702150

Electrooculographic (EOG) artefacts are one of the most common causes of Electroencephalogram (EEG) distortion. In this paper, we propose a method for EOG Blinking Artefacts (BAs) detection and removal from EEG. Normalized Correlation Coefficient (NCC), based on a predetermined BA template library was used for detecting the BA. Ensemble Empirical Mode Decomposition (EEMD) was applied to the contaminated region and a statistical algorithm determined which Intrinsic Mode Functions (IMFs) correspond to the BA. The proposed method was applied in simulated EEG signals, which were contaminated with artificially created EOG BAs, increasing the Signal-to-Error Ratio (SER) of the EEG Contaminated Region (CR) by 35dB on average.

关键词： TEMPLATE MATCHING Empirical mode decomposition Artifacts Blinking handicrafts

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EEG epileptic seizure detection using k-means clustering and marginal spectrum based on ensemble empirical mode decomposition

EEG epileptic seizure detection using k-means clustering and...

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IEEE Symposium on Bioinformatics and Bioengineering (BIBE)

作者： Paschalis A. Bizopoulos Dimitrios G. Tsalikakis Alexandros T. Tzallas Dimitrios D. Koutsouris Dimitrios I. Fotiadis Biomedical Engineering Laboratory National Technical University of Athens (NTUA) Zografou Athens Greece Department of Informatics and Telecommunications Engineering University of Western Macedonia Kozani Greece Department of Informatics & Telecommunications Technology Technological Educational Institute of Epirus Arta Greece Biomedical Engineering Laboratory National Technical University of Athens (NTUA) Athens Greece Unit of Medical Technology and Intelligent Information Systems University of Ioannina Ioannina GR Greece

The detection of epileptic seizures is of primary interest for the diagnosis of patients with epilepsy. Epileptic seizure is a phenomenon of rhythmicity discharge for either a focal area or the entire brain and this individual behavior usually lasts from seconds to minutes. The unpredictable and rare occurrences of epileptic seizures make the automated detection of them highly recommended especially in long term EEG recordings. The present work proposes an automated method to detect the epileptic seizures by using an unsupervised method based on k-means clustering end Ensemble Empirical Decomposition (EEMD). EEG segments are obtained from a publicly available dataset and are classified in two categories “seizure” and “non-seizure”. Using EEMD the Marginal Spectrum (MS) of each one of the EEG segments is calculated. The MS is then divided into equal intervals and the averages of these intervals are used as input features for k-Means clustering. The evaluation results are very promising indicating overall accuracy 98% and is comparable with other related studies. An advantage of this method that no training data are used due to the unsupervised nature of k-Means clustering.

关键词： Electroencephalography Transforms Accuracy Educational institutions Feature extraction Time-frequency analysis Artificial neural networks

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Multi kinect people detection for intuitive and safe human robot cooperation in the operating room

Multi kinect people detection for intuitive and safe human r...

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International Conference on Advanced Robotics (ICAR)

作者： Tim Beyl Philip Nicolai Jörg Raczkowsky Heinz Wörn Mirko D. Comparetti Elena De Momi Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Karlsruher Institut fur Technologie Karlsruhe Baden-WÃ¼rttemberg DE Department of Electronics Information and Bioengineering Neuro Engineering and medicAl Robotics Laboratory Milan Italy Politecnico di Milano Milano Lombardia IT

Microsoft Kinect cameras are widely used in robotics. The cameras can be mounted either to the robot itself (in case of mobile robotics) or can be placed where they have a good view on robots and/or humans. The use of cameras in the surgical operating room adds additional complexity in placing the cameras and adds the necessity of coping with a highly uncontrolled environment with occlusions and unknown objects. In this paper we present an approach that accurately detects humans using multiple Kinect cameras. Experiments were performed to show that our approach is robust to interference, noise and occlusions. It provides a good detection and identification rate of the user which is crucial for safe human robot cooperation.

关键词： Cameras Robot vision systems Collision avoidance Noise Surgery Accuracy

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Clinical implications of hippocampal vulnerability patterns in tauopathies

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Journal of the Neurological Sciences 2013年 333卷 e316-e316页

作者： I. Milenkovic T. Petrov G.G. Kovacs Institute of Neurology Medical University of Vienna Vienna Austria Automatic Control Laboratory Department of Information Technology and Electrical Engineering Swiss Federal Institute of Technology Zurich Switzerland

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ANKRD7 and CYTL1 are novel risk genes for alcohol drinking behavior

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Chinese medical Journal 2012年第6期125卷 1127-1134页

作者： CHEN Xiang-ding XIONG Dong-hai YANG Tie-lin PEI Yu-fang GUO Yan-fang LI Jian YANG Fang PAN Feng TAN Li-jun YAN Han LIU Xiao-gang LEI Shu-feng LI Xi NING Ling-ling ZHU Xue-zhen Shawn Levy Henry R. Kranzler Lindsay A. Farrer Joel Gelernter Robert R. Recker DENG Hong-wen Laboratory of Molecular and Statistical Genetics Key Laboratory of Protein Chemistry and Developmental Biology of Ministry of Education College of Life Sciences Hunan Institute of Biology Hunan Normal University Changsha Hunan 410081 China Departments of Orthopedic Surgery and Basic Medical Sciences University of Missouri-Kansas City Kansas City MO 64108 USA Key Laboratory of Biomedical Information Engineering of Ministry of Education and Institute of Molecular Genetics School of Life Science and Technology Xi＇an Jiaotong University Xi＇an Shannxi 710049 China Department of Biomedical Informatics Vanderbilt University Medical Center Nashville TN 37232 USA University of Connecticut Health Center Farmington CT 06030 USA Boston University School of Medicine Boston MA 02118 USA Department of Psychiatry Yale University School of Medicine West Haven CT 06516 USA Osteoporosis research Center Creighton University Omaha NE 68131 USA Systematic Biomedicine Research Center University of Shanghai for Science and Technology Shanghai 200093 China

Background Alcohol dependence （AD） is a complex disorder characterized by impaired control over drinking. It is determined by both genetic and environmental factors. The recent approach of genome-wide association study （GWAS） is a powerful tool for identifying complex disease-associated susceptibility alleles, however, a few GWASs have been conducted for AD, and their results are largely inconsistent. The present study aimed to screen the loci associated with alcohol-related phenotypes using GWAS technology. Methods A genome-wide association study with the behavior of regular alcohol drinking and alcohol consumption was performed to identify susceptibility genes associated with AD, using the Affymetrix 500K SNP array in an initial sample consisting of 904 unrelated Caucasian subjects. Then, the initial results in GWAS were replicated in three independent samples： 1972 Caucasians in 593 nuclear families, 761 unrelated Caucasian subjects, and 2955 unrelated Chinese Hans. Results Several genes were associated with the alcohol-related phenotypes at the genome-wide significance level, with the ankyrin repeat domain 7 gene （ANKRDT） showing the strongest statistical evidence for regular alcohol drinking and suggestive statistical evidence for alcohol consumption. In addition, certain haplotypes within the ANKRD7 and cytokine-likel （CYTL 1） genes were significantly associated with regular drinking behavior, such as one ANKRD7 block composed of the SNPs rs6466686-rs4295599-rs12531066 （P = 6.51×10^-8）. The association of alcohol consumption was successfully replicated with rs4295599 in ANKRD7 gene in independent Caucasian nuclear families and independent unrelated Chinese Hans, and with rs16836497 in CYTL1 gene in independent unrelated Caucasians. Meta-analyses based on both the GWAS and replication samples further supported the observed significant associations between the ANKRDTor CYTL1 gene and alcohol consumption. Conclusion The evidence suggests that ANKRD7 and CYTL 1 ge

关键词： alcohol dependence ANKRD7 CYTL1 genome-wide association study

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Guest editorial introduction to the special issue on citizen centered e-health systems in a global healthcare environment: Selected papers from ITAB 2009

Guest editorial introduction to the special issue on citizen...

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作者： Pattichis, Constantinos S. Schizas, Christos N. Kyriakou, Efthyvoulos C. Fotiadis, Dimitris I. Pattichis, Marios S. Bamidis, Panagiotis D. Department of Computer Science University of Cyprus 1678 Nicosia Cyprus Department of Computer Science and Engineering Frederick University Lemesos 3080 Cyprus Unit of Medical Technology and Intelligent Information Systems Department of Materials Science and Engineering University of Ioannina 45110 Ioannina Greece Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 United States Laboratory of Medical Informatics Medical School Aristotle University of Thessaloniki Thessaloniki 54636 Greece

The January 2011 Special Issue of IEEE Transactions on information technology in Biomedicine includes selected papers from information technology in Biomedicine (ITAB 2009), held in the month of October in Cyprus. The overall objective of ITAB 2009 was to cover the state of the art in information technology Applications in Biomedicine, under the theme 'Citizen centered e-health systems in a global healthcare environment'. The Issue contains paper by Karagiannis and colleagues that investigates the performance of empirical mode decomposition (EMD) on ECGs. The paper by Stylianides introduces a novel, open source middleware framework for communication with medical devices and an application using the middleware named intensive care window (ICW). Cunningham and colleagues propose a home-based tool designed to monitor and assess peripheral motor symptoms. Loizou and colleagues introduce the use of multiscale AM FM texture analysis of multiple sclerosis (MS) using MR images from the brain.

关键词： Middleware

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