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2008 IEEE International Conference on Robotics, Automation and mechatronics, RAM 2008

作者： Yang, Hongqiao Shuai, Mei Zhen, Q.I.U. Hui, W.E.I. Zheng, Qi Information Center Second Affiliated Hospital of PLA General Hospital Beijing P. R China Department of Mechatronics Engineering Beihang University Beijing P. R China Department of Biomedical Engineering University of California Davis Davis CA United States Department of Measuring and Control Technology and Instrument Beihang University Beijing P. R China School of Automation Science and Electrical Engineering Beihang University Beijing P. R China

ISBN: (纸本)9781424416769

The Large-scale uneven ground is mostly unsmooth and in the irregular state in which the irregularity is usually unknown (such as footway, carriageway, unexplored desert, mountainous area, surface of the Mars). In order to walk steadily and rapidly on such ground, a chief problem to overcome is that the humanoid robot's foot is not matching with the unknown model of the ground. Therefore, the humanoid robot's foot should have the flexibility mimic the human's foot, and can adapt to and steadily interacted with any unsmooth ground. Also interferences and disjoints between soles and irregular unsmooth ground should be avoided. Aiming at solving the key problem for humanoid robot to steadily and rapidly walk on the large-scale and three- dimension uneven ground, we've set up a new multi-degree-of-freedom flexible foot mechanism which can make the humanoid robot's walking gesture and gait automatically adapt to the terrain, and then carry out the research of the globally stable control of the gait. The flexibility can obviously improve the humanoid robot's walking stability and speediness on the large-scale uneven ground. © 2008 IEEE.

关键词： Anthropomorphic robots

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Prediction of protein secondary structures with a novel kernel density estimation based classifier

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BMC Research Notes 2008年第1期1卷 1-6页

作者： Chang, Darby Tien-Hao Ou, Yu-Yen Hung, Hao-Geng Yang, Meng-Han Chen, Chien-Yu Oyang, Yen-Jen Department of Electrical Engineering National Cheng Kung University Tainan 70101 Taiwan Graduate School of Biotechnology and Bioinformatics Yuan Ze University Chung-Li 320 Taiwan Department of Computer Science and Engineering Yuan Ze University Chung-Li 320 Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei 106 Taiwan Department of Bio-Industrial Mechatronics Engineering National Taiwan University Taipei 106 Taiwan Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei 106 Taiwan Graduate Institute of Networking and Multimedia National Taiwan University Taipei 106 Taiwan Center for Systems Biology and Bioinformatics National Taiwan University Taipei 106 Taiwan

Background: Though prediction of protein secondary structures has been an active research issue in bioinformatics for quite a few years and many approaches have been proposed, a new challenge emerges as the sizes of contemporary protein structure databases continue to grow rapidly. The new challenge concerns how we can effectively exploit all the information implicitly deposited in the protein structure databases and deliver ever-improving prediction accuracy as the databases expand rapidly. Findings: The new challenge is addressed in this article by proposing a predictor designed with a novel kernel density estimation algorithm. One main distinctive feature of the kernel density estimation based approach is that the average execution time taken by the training process is in the order of O(nlogn), where n is the number of instances in the training dataset. In the experiments reported in this article, the proposed predictor delivered an average Q3(three-state prediction accuracy) score of 80.3% and an average SOV (segment overlap) score of 76.9% for a set of 27 benchmark protein chains extracted from the EVA server that are longer than 100 residues. Conclusion: The experimental results reported in this article reveal that we can continue to achieve higher prediction accuracy of protein secondary structures by effectively exploiting the structural information deposited in fast-growing protein structure databases. In this respect, the kernel density estimation based approach enjoys a distinctive advantage with its low time complexity for carrying out the training process. © 2008 Chang et al;licensee BioMed Central Ltd.

关键词： Training Dataset Kernel Density Testing Dataset Kernel Density Estimation Protein Chain

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Prostate cancer: a systems approach overview

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Diagnostic Histopathology 2008年第3期14卷 122-133页

作者： Cross, Simon S. Hamdy, Freddie.C. Goepel, John.R. Harrison, Robert.F. Simon S Cross MD FRCPath is at the Academic Unit of Pathology School of Medicine and Biomedical Sciences University of Sheffield United Kingdom Freddie C Hamdy FRCS is at the Academic Unit of Urology School of Medicine and Biomedical Sciences University of Sheffield United Kingdom John R Goepel FRCPath is at the Department of Histopathology Royal Hallamshire Hospital Sheffield Teaching Hospitals NHS Foundation Trust Sheffield United Kingdom Robert F Harrison Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

systems thinking is a set of methodologies that facilitate analysis and predictions for a complex system in a holistic way. Prostate cancer has precursor stages that are difficult to detect and a number of different therapy options for different stages, so it is a complex disease to manage within healthcare systems. In this review we show how systems thinking, especially causal loop diagrams, can be a very valuable tool for gaining greater insight into the pathogenesis and diagnosis of prostate cancer and to predict the consequences in major changes in the pattern of healthcare for this disease, e.g. introduction of national screening programmes using serum prostate specific antigen. The systems thinking approach can be used to predict changes in histopathology workflow when other parts of the system are changed. © 2008 Elsevier Ltd. All rights reserved.

关键词： causal loop diagrams influence diagrams prostate cancer prostate cancer screening prostate specific antigen prostatic intra-epithelial neoplasia state diagrams systems thinking

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Exquisite textiles sensors and wireless sensor network device for home health care

Exquisite textiles sensors and wireless sensor network devic...

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

作者： Wen-Tzeng Huang Chin-Hsing Chen Yuan-Jen Chang You-Yin Chen Jung-Lin Huang Chang Ming Yang Tzu Lin Yang Department of Computer Science and Information Engineering MingShin University of Science and Technology Taiwan Department of Management Information Systems Central Taiwan University of Science and Technology Taiwan Department of Management Information Systems 3Institute of Biomedical Engineering and Material Science Central Taiwan University of Science and Technology Taiwan Department of Electrical and Control Engineering National Chiao Tung University Taiwan Department of Electronic Engineering National Taipei University of Technology Taiwan Ming Young Biomedical Corporation Miaoli Taiwan

In this study, we propose a wearing system with four sensors, ECG (electrocardiogram), three-axis accelerometer, temperature, and tight-switch, applied for remote monitoring system in home-care. The sensors ECG, measured with wearable electrodes made of the steel textile to generate the real-time heart-rate estimator, tight-switch, made of the steel textile to check whether wearing person dresses properly, accelerometer, and temperature parameters are received via the ZigBee receiver within an exquisite belt. Since the movable textile electrodes will cause of unfixed contacts when the wearing person is in motion, making the heart-rate estimation much a sophisticated work, the tight-switch sensor and FIR (Filter Impulse Response) filter technology are applied here to get the more satisfiable heart-rate. The other two bio-sensors can detect the whether fall-down or not and normal body-temperature of this wearing person. Moreover, the ZigBee device with small size, low-power consumption, and high-reliability characteristics is designed to transmit the detected bio-information from these four sensors. Therefore, the vital system embedded with the capability of real-time heart-rate estimation and transmission makes it highly suitable for applications of remote healthcare and wellness.

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Fabrication of Bucky Gel Actuator/Sensor Devices Based on Printing Method

Fabrication of Bucky Gel Actuator/Sensor Devices Based on Pr...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 526-1042

作者： Norihiro Kamamichi Toshiharu Maeba Masaki Yamakita Toshiharu Mukai Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Chiyoda Tokyo Japan Institute of Physical and Chemical Research Bio-mimetic Control Research Center Nagoya Japan Department of Control and Systems Engineering School of Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Riken Japan BMC Riken Japan

ISBN: (纸本)9781424420575

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In this paper, we demonstrate an automatic fabrication method of the bucky gel devices based on a printing method. By using a dispensing machine, we construct the printing system, and manual forming process is replaced with automatic printing. We investigate the printing of complicated shapes and 3D electrode pattern through experiments.

关键词： Printing Gels Printing process Printing system fabrication FORMING PROCESSES electromotive forces Low voltage

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A novel design of flexible foot system for humanoid robot

A novel design of flexible foot system for humanoid robot

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IEEE Conference on Robotics, Automation and mechatronics

作者： Hongqiao Yang Mei Shuai Zhen Qiu Hui Wei Qi Zheng Information Center Second Affiliated Hospital of PLA General Hospital Beijing China Department of Mechatronics Engineering Beihang University Beijing China Department of Biomedical Engineering University of California슠Davis Davis CA USA Department of Measuring and Control Technology & Instrument Beihang University Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

The Large-scale uneven ground is mostly unsmooth and in the irregular state in which the irregularity is usually unknown (such as footway, carriageway, unexplored desert, mountainous area, surface of the Mars). In order to walk steadily and rapidly on such ground, a chief problem to overcome is that the humanoid robot's foot is not matching with the unknown model of the ground. Therefore, the humanoid robot's foot should have the flexibility mimic the human's foot, and can adapt to and steadily interacted with any unsmooth ground. Also interferences and disjoints between soles and irregular unsmooth ground should be avoided. Aiming at solving the key problem for humanoid robot to steadily and rapidly walk on the large-scale and three- dimension uneven ground, we've set up a new multidegree- of-freedom flexible foot mechanism which can make the humanoid robot's walking gesture and gait automatically adapt to the terrain, and then carry out the research of the globally stable control of the gait. The flexibility can obviously improve the humanoid robot's walking stability and speediness on the large-scale uneven ground.

关键词： Foot Humanoid robots Legged locomotion Large-scale systems Robotics and automation Mars Human robot interaction Interference Automatic control Stability

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Abstracts for the 6th Congress of Asian Sleep Research Society

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Sleep and Biological Rhythms 2009年第4期7卷 A1-A49页

作者： Seog Ju Kim In Kyoon Lyoo Yu-Jin Lee Do-Un Jeong Hirohiko Kanai Masanori Ookubo Atsushi Yoshimura Masako Okawa Noto Yamada Takeshi Munezawa Yoshitaka Kaneita Yoneatsu Osaki Hideyuki Kanda Tadahiro Ohtsu Masumi Minowa Kenji Suzuki Susumu Hijuchi Hiroyuki Suzuki Takashi Ohida Takashi Abe Yoko Komada Shoichi Asaoka Yuichi Inoue Jin-Seong Lee Sang-Yong Cho Deependra Kumar Hruda N. Mallick Velayudhan M. Kumar Mahesh K. Kaushik Akihiro Karashima Noiihiro Katayama Mitsuyuki Nakao Ravindra P. Nagendra Sathiamma Sulekha Sathyaprabha T. Narasappa Pradhan Nityanadan Bindu M. Kutty M. Nirmala P. N. Ravindra Basavaraj Ramappa Tubaki T. N. Sathyaprabha D. Sudhakar G. S. Lavekar C. R. Chandrashekar Kazuyoshi Kitaoka Mika Shimizu Sachiko Chikahisa Kazuo Yoshizaki Hiroyoshi Sei Jong-Won Kim Misa Takegami Shin Yamazaki Yasuaki Hayashino Rei Ono Koji Otani Miho Sekiguchi Shinichi Konno Shunichi Fukuhara Antonia J. Jakobson Paul Fitzgerald Russell Conduit Xin Shirley Li Siu Ping Joyce Lam Wai Man Mandy Yu Yun Kwok Wing Kazue Okamoto-Mizuno Koh Mizuno Mituaki Yamamoto Shuichiro Shirakawa Hirokazu Doi Mikako Kato Kazuyuki Shinohara Masako Tamaki Shiori Matsuda Katsuo Yamazaki Tadao Hori Keiko Ogawa Kazumi Takahashi Kunio Kitahama Katuo Yamazaki Yoshimasa Koyama Kohei Shioda Yugo Ueda Yukiko Nakamura Clara Inoue Kazushige Goto Sunao Uchida Yuko Morita Yoshiko Honda Tohru Kodama Mari Hagihara Toru Nakajima Masato Saito Yoshihiko Koga Shinichiro Tanaka Hiroshi Yamadera Madoka Takahara Sachiko Suwa Minoru Onozuka Sadao Sato Fumiharu Togo Taiki Komatsu Takeshi Mitani Jongbae Choi Bin Zhang Taeko Sasai Hiromi Mitsubayashi Mitsuhiro Ohtsu Isao Hasegawa Tatsuya Ishii Akira Komori Asami Suzuki Yue Nakahara Mitsuyasu Hiroki Mariko Nakauma Nobuo Someya Tomomasa Ochiai Shouhei Komori Rayleigh Ping-Ying Chiang Zai-Ting Yeh Seong T. Kim Seung H. Yoon Jeong S. Kwon Jong H. Choi Hyung J. Ahn Youngsoo Kim Bolortuya Yunren Lichao Chen Radhika Basheer Robert W. Mccarley Robert E. Strecker Makoto Honda Tetsuaki Arai Miyuki Fukazawa Yutaka Honda Kuniaki T Department of Psychiatry Gachon University of Medicine and Science Incheon Republic of Korea Department of Psychiatry Seoul National University Seoul Republic of Korea Department of Neuropsychiatry and Center for Sleep and Chronobiology Seoul National University Hospital Seoul Republic of Korea Department of Neuropsychiatry Seoul National University Hospital Seoul Republic of Korea Seoul National University Hospital Seoul Republic of Korea Department of Psychiatry Shiga University of Medical Science Otsu Japan Division of Public Health Department of Social Medicine Nihon University School of Medicine Tokyo Japan Department of Public Health Nihon University School of Medicine Tokyo Japan Division of Environmental and Preventive Medicine Department of Social Medicine Faculty of Medicine Tottori University Yonago Japan Department of Hygiene and Preventive Medicine Fukushima Medical University Fukushima Japan Department of Public Health Showa University School of Medicine Tokyo Japan Faculty of Humanities Seitoku University Matsudo Japan Section on Behavioral Science Division of Clinical Research National Hospital Organization Kurihama Alcoholism Center Yokosuka Japan Department of Otolaryngology Second Hospital Fujita Health University Nagoya Japan National Hospital Organization Kurihama Alcoholism Center Kanagawa Japan Metropolitan Police Department Criminal Investigation Laboratory Tokyo Japan Japan Somnology Center Neuropsychiatrie Research Institute Tokyo Japan Department of Somnology Tokyo Medical University Tokyo Japan Japan Somnology Center Neuropsychiatric Research Institute Tokyo Japan Department of Somnology Tokyo Medical and Dental University Tokyo Japan Center for Sleep and Chronobiology Department of Psychiatry and Behavioral Science Seoul National University College of Medicine Seoul Republic of Korea Department of Psychiatry and Behavioral Science Center for Sleep and Chronobiology Seoul Republic of Korea Department of Physiology Al

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Model-based subnano-positioning control

Model-based subnano-positioning control

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22nd Annual Meeting of the American Society for Precision engineering, ASPE 2007

作者： Van Hulzen, J. Van Eijk, J. Van Den Hof, P.M.J. Precision and Microsystems Engineering Department Mechatronics Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands

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Fixed structure feedforward controller tuning exploiting iterative trials, applied to a high-precision electromechanical servo system

Fixed structure feedforward controller tuning exploiting ite...

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2007 American control Conference, ACC

作者： Van Der Meulen, Stan Tousain, Rob Bosgra, Okko Department of Mechanical Engineering Control Systems Technology Group Eindhoven University of Technology PO Box 513 5600 MB Eindhoven Netherlands Department of Mechatronics Drives and Control Group High Tech. Campus 7 5656 AE Eindhoven Netherlands

ISBN: (纸本)1424409888

In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed structure of the feedforward controller and the optimization of the controller parameters on the basis of measurement data from iterative trials. A linear parameterization of the feedforward controller in a two-degree-of-freedom control architecture is chosen, which for a linear time-invariant (LTI) plant results in a feedforward controller that is applicable to a class of motion profiles as well as in a convex optimization problem with the objective function being a quadratic function of the tracking error. Optimization by iterative trials results in the controller parameter values that are optimal with respect to the actual plant, which leads to a high tracking performance. The use of iterative trials in general outperforms techniques that are based on a detailed a priori plant model only, whereas the fixed structure of the feedforward controller, i.e., the approximative inverse plant model, guarantees a high tracking performance for a class of motion profiles, unlike for example iterative learning control (ILC). Experimental results on a high-precision wafer stage illustrate the procedure. ©2007 IEEE.

关键词： Servomechanisms

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Fixed Structure Feedforward controller Tuning Exploiting Iterative Trials, Applied to a High-Precision Electromechanical Servo System

Fixed Structure Feedforward Controller Tuning Exploiting Ite...

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American control Conference (ACC)

作者： Stan van der Meulen Rob Tousain Okko Bosgra Department of Mechanical Engineering Control Systems Technology Group Eindhovan University of Technology Eindhoven Netherlands Department of Mechatronics Drives and Control Group Philips Applied Technologies Eindhoven Netherlands

In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed structure of the feedforward controller and the optimization of the controller parameters on the basis of measurement data from iterative trials. A linear parameterization of the feedforward controller in a two-degree- of-freedom control architecture is chosen, which for a linear time-invariant (LTI) plant results in a feedforward controller that is applicable to a class of motion profiles as well as in a convex optimization problem with the objective function being a quadratic function of the tracking error. Optimization by iterative trials results in the controller parameter values that are optimal with respect to the actual plant, which leads to a high tracking performance. The use of iterative trials in general outperforms techniques that are based on a detailed a priori plant model only, whereas the fixed structure of the feedforward controller, i.e., the approximative inverse plant model, guarantees a high tracking performance for a class of motion profiles, unlike for example iterative learning control (ILC). Experimental results on a high-precision wafer stage illustrate the procedure.

关键词： control systems Servomechanisms Motion control Tracking Error correction Adaptive control Optimization methods Iterative methods Semiconductor device modeling Inverse problems

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