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22nd IEEE International Symposium on Robot and Human Interactive Communication: "Living Together, Enjoying Together, and Working Together with Robots!", IEEE RO-MAN 2013

作者： Nakagawa, Shotaro Pei, D. Huang, Jian Sekiyama, Kosuke Fukuda, Toshio Department of Mechanical and Aerospace Engineering Nagoya University 464-0814 Aichi Nagoya Japan Department of Micro-Nano Systems Engineering Nagoya University 464-0814 Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Department of Mechatronics Engineering Meijo University 468-8503 Aichi Nagoya Japan

ISBN: (纸本)9781479905072

Intelligent cane is a robot developed for assisting the elderly or handicapped people in walking. As a nursing-care device, the cane robot is designed to assist the elderly or handicapped people not only in indoor environments but also in outdoor environments. Therefore the cane robot is required to be smaller and lighter. In addition, it is preferred that the cane robot is movable in omni-directions so that it can be used in various situations. A concept called 'intentional direction (ITD)' was proposed to estimate the user's walking intention by analyzing signals from a 6-axis force/torque sensor fixed to the handle of the aluminum stick. Admittance control method was applied to the motion control of the cane robot. In this paper, a new algorithm based on the usage and purpose of an ordinary cane is proposed. In the proposed algorithm, the cane robot is appropriately stopped to support the elderly more effectively. The effectiveness of the proposed method is verified through the experiments. © 2013 IEEE.

关键词： Intelligent robots

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On-machine measurement and characterization of V-groove structure pattern on precision rollers

On-machine measurement and characterization of V-groove stru...

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Asia Pacific Conference on Optics Manufacture 2012, APCOM 2012

作者： Cheung, Chi Fai Ren, Ming Jun Li, Da Kong, Ling Bao To, Suet Li, Jibin Partner State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

ISBN: (纸本)9783037856918

Rolling imprint lithography is an enabling technique for the mass production of ultra-precision micro-structured surfaces which are widely used in high value added optical products such as backlight guides for display devices. The accuracy of the produced micro-structured surfaces relies heavily on the master roller of which quality is difficult to be controlled by traditional off-line measurement process due to the large dimension and heavy weight of the workpiece. This paper presents a CCD based non-contact measurement system to perform the on-machine measurement of the structure pattern on machined rollers. Instead of measuring each single structure on the roller, the system is more focused on the characterization of the conformance of the structure pattern with the designer's requirement. Low angle monochromatic light is used to extract the structure pattern on the machined roller using a high magnification objective lens with a high resolution CCD sensor. The image processing techniques are then employed to characterize the captured image based on the designed pattern structure. The developed system has been mounted on a single-point diamond turning machine to measure the machined structured roller, and the results indicate that the developed measurement system is able to perform the on-machine measurement and characterization of the structure pattern of the machined roller with sub-micrometre accuracy. © (2013) Trans Tech Publications, Switzerland.

关键词： Optical data processing

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Results on Frequency Weighted Model Reduction Techniques of Activated Sludge Process

Results on Frequency Weighted Model Reduction Techniques of ...

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International Conference on Computer Modeling and Simulation, UKSIM

作者： Shafishuhaza Sahlan Norhaliza Abdul Wahab Intan Zaurah Mat Darus Control and Mechatronics Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Department of Dynamic Systems and Control FaculFaculty of Mechanical Engineering Universiti Teknologi Malaysia Johor Malaysia

ISBN: (纸本)9781467364211

In this paper, a 90th order activated sludge process system is explored. From the original high order system, a disturbance between 1rad/s to 10rad/s are observed, hence frequency weighted model reduction techniques (FWMRT) are applied with a low pass filter of break frequency 0.5rad/s. Three well-known techniques are utilized and compared to the original system on a sigma plot. The reduction techniques are Enn's, Wang et al's and Lin and Chiu's. Results show that the fourth order reduction yields good results whereby all techniques follow the original well, i.e. the characteristics performance of the original system is retained. Although Wang et al follow the original system very closely, Enn's technique is able to smooth out the disturbance and give good error approximation.

关键词： Reduced order systems Sludge treatment Mathematical model Equations Frequency control Biology Wastewater treatment

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control of Intelligent Cane Robot Considering Usage of Ordinary Cane

Control of Intelligent Cane Robot Considering Usage of Ordin...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Shotaro Nakagawa Pei, D. Jian Huang Kosuke Sekiyama Toshio Fukuda Department of Mechanical and Aerospace Engineering Nagoya University Department of Micro-Nano Systems Engineering Nagoya University Department of Control Science and Engineering Huazhong University of Science and Technology Department of Mechatronics Engineering Meijo University

ISBN: (纸本)9781479905089

Intelligent cane is a robot developed for assisting the elderly or handicapped people in walking. As a nursing-care device, the cane robot is designed to assist the elderly or handicapped people not only in indoor environments but also in outdoor environments. Therefore the cane robot is required to be smaller and lighter. In addition, it is preferred that the cane robot is movable in omni-directions so that it can be used in various situations. A concept called "intentional direction (ITD)" was proposed to estimate the user's walking intention by analyzing signals from a 6-axis force/torque sensor fixed to the handle of the aluminum stick. Admittance control method was applied to the motion control of the cane robot. In this paper, a new algorithm based on the usage and purpose of an ordinary cane is proposed. In the proposed algorithm, the cane robot is appropriately stopped to support the elderly more effectively. The effectiveness of the proposed method is verified through the experiments.

关键词： Legged locomotion Robot sensing systems Senior citizens Admittance Force Foot

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Observer-based postural balance control for humanoid robots

Observer-based postural balance control for humanoid robots

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IEEE International Conference on Robotics and Biomimetics

作者： M. Shahbazi G.A.D. Lopes R. Babuška Department of Mechatronics Engineering University of Tehran Iran Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

ISBN: (纸本)9781479927456

Maintaining postural balance is a fundamental requirement for humanoid robots faced with unknown terrain or external perturbations. In this paper we present an observer-based balancing control strategy that is robust to persistent perturbations on the ground slope which is based on the estimation of the disturbance without the need for an inertial measurement unit. We use the workspace control method in combination with an observer to perform specific maneuvers while maintaining postural balance. We employ a linear observer, a gain-scheduling observer and an extended Kalman filter and compare the results obtained. For the control task considered, while the linear observer falls short in this setting, both the gain-scheduling observer and the extended Kalman filter perform well, which is confirmed by experimental results on a planar biped robot.

关键词： Observers Mathematical model Joints Vectors Foot Robot kinematics

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PCA & HMM based arm gesture recognition using inertial measurement unit 13

PCA & HMM based arm gesture recognition using inertial measu...

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8th International Conference on Body Area Networks, BODYNETS 2013

作者： Zhang, Yinlong Li, Yang Liang, Wei Zeng, Ziming Tan, Jindong Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang110168 China Department of Mechanical Aerospace and Biomedical Engineering University of Tennessee Knoxville Tennessee United States

ISBN: (纸本)9781936968893

This paper presents a novel arm gesture recognition approach that is capable of recognizing seven commonly used sequential arm gestures based upon the outputs from Inertial Measurement Unit (IMU) integrated with 3-D accelerometer and 3-D gyroscope. Unlike the traditional gesture recognition methods where the states in the gesture sequence are irrelevant, our proposed recognition system is intentionally designed to recognize the meaningful gesture sequence where each gesture state relates to the contiguous states which is applicable in the specific occasions such as the police directing the traffic and the arm-injured patients performing a set of arm gestures for effective rehabilitation. In the proposed arm gesture recognition system, the waveforms of the inertial outputs, i.e., 3-D accelerations and 3-D angular rates are automatically segmented for each arm gesture trace at first. Then we employ the Principal Component Analysis (PCA) - A computationally efficient feature selection method characteristic of compressing the inertial data and minimizing the influences of gesture variations. These selected features from PCA are compared with those standard features stored in pattern templates to acquire the gesture observation sequence that satisfy the Markov property. Finally, the Hidden Markov Model is applied in deducing the most likely arm gesture sequence. The experimental results show that our arm gesture classifier achieves up to 93% accuracy. By comparing with the other published recognition methods, our approach verifies the robustness and feasibility in arm gesture recognition using wearable MEMS sensors. © 2013 ICST 978-1-936968-89-3.

关键词： Hidden Markov models

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Human genome meeting 2016 : Houston, TX, USA. 28 February - 2 March 2016

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Human genomics 2016年第1期10 Suppl 1卷 12页

作者： A. K. Srivastava Y. Wang R. Huang C. Skinner T. Thompson L. Pollard T. Wood F. Luo R. Stevenson R. Polimanti J. Gelernter X. Lin I. Y. Lim Y. Wu A. L. Teh L. Chen I. M. Aris S. E. Soh M. T. Tint J. L. MacIsaac F. Yap K. Kwek S. M. Saw M. S. Kobor M. J. Meaney K. M. Godfrey Y. S. Chong J. D. Holbrook Y. S. Lee P. D. Gluckman N. Karnani A. Kapoor D. Lee A. Chakravarti C. Maercker F. Graf M. Boutros G. Stamoulis F. Santoni P. Makrythanasis A. Letourneau M. Guipponi N. Panousis M. Garieri P. Ribaux E. Falconnet C. Borel S. E. Antonarakis S. Kumar J. Curran J. Blangero S. Chatterjee J. Akiyama D. Auer C. Berrios L. Pennacchio T. R. Donti G. Cappuccio M. Miller P. Atwal A. Kennedy A. Cardon C. Bacino L. Emrick J. Hertecant F. Baumer B. Porter M. Bainbridge P. Bonnen B. Graham R. Sutton Q. Sun S. Elsea Z. Hu P. Wang Y. Zhu J. Zhao M. Xiong David A. Bennett A. Hidalgo-Miranda S. Romero-Cordoba S. Rodriguez-Cuevas R. Rebollar-Vega E. Tagliabue M. Iorio E. D’Ippolito S. Baroni B. Kaczkowski Y. Tanaka H. Kawaji A. Sandelin R. Andersson M. Itoh T. Lassmann Y. Hayashizaki P. Carninci A. R. R. Forrest C. A. Semple E. A. Rosenthal B. Shirts L. Amendola C. Gallego M. Horike-Pyne A. Burt P. Robertson P. Beyers C. Nefcy D. Veenstra F. Hisama R. Bennett M. Dorschner D. Nickerson J. Smith K. Patterson D. Crosslin R. Nassir N. Zubair T. Harrison U. Peters G. Jarvik F. Menghi K. Inaki X. Woo P. Kumar K. Grzeda A. Malhotra H. Kim D. Ucar P. Shreckengast K. Karuturi J. Keck J. Chuang E. T. Liu B. Ji A. Tyler G. Ananda G. Carter H. Nikbakht M. Montagne M. Zeinieh A. Harutyunyan M. Mcconechy N. Jabado P. Lavigne J. Majewski J. B. Goldstein M. Overman G. Varadhachary R. Shroff R. Wolff M. Javle A. Futreal D. Fogelman L. Bravo W. Fajardo H. Gomez C. Castaneda C. Rolfo J. A. Pinto K. C. Akdemir L. Chin S. Patterson C. Statz S. Mockus S. N. Nikolaev X. I. Bonilla L. Parmentier B. King F. Bezrukov G. Kaya V. Zoete V. Seplyarskiy H. Sharpe T. McKee K. Popadin N. Basset-Seguin R. Ben Chaabene M. Andrianova C. Verdan K. Grosdemange O. Sumara M. E JCSRI Greenwood Genetic Center Greenwood USA School of Computing Clemson University Clemson USA Biochemical Genetics Laboratory Greenwood Genetic Center Greenwood USA Department Psychiatry Yale Sch Med and VA CT Healthcare Center West Haven USA Department Genetics Yale Sch Med and VA CT Healthcare Center West Haven USA Department Neurobiology Yale Sch Med and VA CT Healthcare Center West Haven USA Singapore Institute for Clinical Sciences Singapore Singapore National University of Singapore Singapore Singapore University of British Columbia Vancouver Canada KK Women’s and Children’s Hospital Singapore Singapore University of Southampton and University Hospital Southampton NHS Foundation Trust Southampton UK University of Auckland Auckland New Zealand McKusick-Nathans Institute of Genetic Medicine Johns Hopkins University School of Medicine Baltimore USA Esslingen University of Applied Sciences Esslingen Germany German Cancer Research Center Heidelberg Germany Department of Genetic Medicine and Development University of Geneva Medical School Geneva Switzerland Geneva University Hospitals-HUG Service of Genetic Medicine Geneva Switzerland GE3 Institute of Genetics and Genomics of Geneva University of Geneva Medical School Geneva Switzerland South Texas Diabetes and Obesity Institute School of Medicine University of Texas Rio-Grande Valley Edinburg USA South Texas Diabetes and Obesity Institute School of Medicine University of Texas Rio-Grande Valley Brownsville USA Institute of Genetic Medicine Johns Hopkins University Baltimore USA Genomics Division Lawrence Berkeley National Laboratory Berkeley USA Molecular and Human Genetics Baylor College of Medicine Houston USA Department of Translational Medical Sciences Federico II University Naples Italy Metabolon Inc Durham USA Section of Pediatric Neurology and Neuroscience Baylor College of Medicine Houston USA Tawam Hospital Abu Dhabi United Arab Emirates Stanford Medical School Stanford USA Sch

O1 The metabolomics approach to autism: identification of biomarkers for early detection of autism spectrum disorder A. K. Srivastava, Y. Wang, R. Huang, C. Skinner, T. Thompson, L. Pollard, T. Wood, F. Luo, R. Stevenson O2 Phenome-wide association study for smoking- and drinking-associated genes in 26,394 American women with African, Asian, European, and Hispanic descents R. Polimanti, J. Gelernter O3 Effects of prenatal environment, genotype and DNA methylation on birth weight and subsequent postnatal outcomes: findings from GUSTO, an Asian birth cohort X. Lin, I. Y. Lim, Y. Wu, A. L. Teh, L. Chen, I. M. Aris, S. E. Soh, M. T. Tint, J. L. MacIsaac, F. Yap, K. Kwek, S. M. Saw, M. S. Kobor, M. J. Meaney, K. M. Godfrey, Y. S. Chong, J. D. Holbrook, Y. S. Lee, P. D. Gluckman, N. Karnani, GUSTO study group O4 High-throughput identification of specific qt interval modulating enhancers at the SCN5A locus A. Kapoor, D. Lee, A. Chakravarti O5 Identification of extracellular matrix components inducing cancer cell migration in the supernatant of cultivated mesenchymal stem cells C. Maercker, F. Graf, M. Boutros O6 Single cell allele specific expression (ASE) IN T21 and common trisomies: a novel approach to understand DOWN syndrome and other aneuploidies G. Stamoulis, F. Santoni, P. Makrythanasis, A. Letourneau, M. Guipponi, N. Panousis, M. Garieri, P. Ribaux, E. Falconnet, C. Borel, S. E. Antonarakis O7 Role of microRNA in LCL to IPSC reprogramming S. Kumar, J. Curran, J. Blangero O8 Multiple enhancer variants disrupt gene regulatory network in Hirschsprung disease S. Chatterjee, A. Kapoor, J. Akiyama, D. Auer, C. Berrios, L. Pennacchio, A. Chakravarti O9 Metabolomic profiling for the diagnosis of neurometabolic disorders T. R. Donti, G. Cappuccio, M. Miller, P. Atwal, A. Kennedy, A. Cardon, C. Bacino, L. Emrick, J. Hertecant, F. Baumer, B. Porter, M. Bainbridge, P. Bonnen, B. Graham, R. Sutton, Q. Sun, S. Elsea O10 A novel causal methylation network approach to Alzheimer’s

关键词： Pulmonary Arterial Hypertension Oral Squamous Cell Carcinoma Deep Neural Network Autosomal Recessive Polycystic Kidney Disease Whole Genome Bisulfite Sequencing

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An active microscaffold for applications in tissue engineering

An active microscaffold for applications in tissue engineeri...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Puwanan Chumtong Masaru Kojima Kenichi Ohara Mitsuhiro Horade Yasushi Mae Yoshikatsu Akiyama Masayuki Yamato Tatsuo Arai Department of Systems Innovation Osaka University Toyonaka Osaka Japan Department of Mechatronics Engineering Meijo University Tempaku Nagoya Aichi Japan Institute of Advanced Biomedical Engineering and Science at TWIns Tokyo Women's Medical University Tokyo Japan

Assembling engineered tissues at the mesoscale into an engineered organ has specially attracted our attention since engineered organ usually has a very complex structure and cannot be fabricated simply by using a fixed scaffold. The fabrication of these composite tissues is, however, difficult since many different scaffolds are required. The flexible microsaffold, called “changeable cell culture (C 3 ) mold”, is therefore proposed to simplify this task. C 3 mold consists of 5×5 PDMS microactuator array with a diameter of 700 μm and spacing of 800 μm. The fabrication of cutout-shaped gel sheet is successfully carried out where mineral oil is used as the working fluid. This experiment indeed demonstrates the possibility of using C 3 mold in future tissue fabrication.

关键词： Actuators Fabrication Biological systems Fluids Arrays Minerals Biomembranes

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We now know what fly photoreceptors compute

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BMC Neuroscience 2013年第1期14卷 1-2页

作者： Uwe Friederich Stephen A Billings Daniel Coca Mikko Juusola Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK Department of Biomedical Science University of Sheffield Sheffield S10 2TN UK

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Multivariable PID controllers for dynamic process

Multivariable PID controllers for dynamic process

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Asian control Conference

作者： M.C. Razali N. A. Wahab P. Balaguer M. F. Rahmat S. I. Samsudin Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Department of Industrial Systems and Design Universitat Jaume I de Castello Spain Department of Industrial Electronic Faculty of Electronics and Computer Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Malaysia

ISBN: (纸本)9781467357661

This paper is concerned with the design of a dynamic multivariable PID control for multi input multi output (MIMO) process. Four multivariable PID control schemes using Davison, Penttinen-Koivo, Maciejowski and a combined method were applied. The controller parameters for all control strategies were designed based on dynamic condition using singularly perturbed system. The purpose of the study is to investigate the effectiveness in the performance of dynamic control based on different multivariable PID control strategies. To attain the best result, numerous tuning parameters were tested. The simulation results show the significance of the study whereby the proposed dynamic MPID control scheme shows better improvement in control tuning of nonlinear system.

关键词： Process control Substrates Tuning PD control MIMO Wastewater treatment

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