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IEEE Conference on Control Technology and Applications (CCTA)

作者： Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper investigates iterative learning control based on passivity for three-dimensional (3-D) visual feedback systems. Firstly, a brief summary of a visual motion observer is given. Next, a pose control error system for iterative learning control that has an output strictly passivity property is constructed. Then, iterative learning control for 3-D visual feedback systems is proposed. The transient response of the proposed control law should be improved because of the repeatability. Convergence analysis of the closed-loop system is discussed based on passivity. Finally, simulation results are shown in order to confirm the proposed method.

关键词： Visualization Cameras Control systems Estimation error Observers Jacobian matrices Iterative methods

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Adaptive control design in chaos synchronization as alternative of Lyapunov's direct method

Adaptive control design in chaos synchronization as alternat...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： József K. Tar Imre J. Rudas János F. Bitó Claudiu Pozna Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Budapest Hungary Design and Robotics Department University Transilvania of Brasov Brasov Romania

As is well known various neuron models show interesting behavior as producing stable, non-sinusoidal limit cycles or even chaotic regimes of motion. Realization of precise tracking of a chaotic trajectory generated by a “master system” by a controlled, quite different “slave” system also having aptitude for chaotic motion is an interesting challenge. Lyapunov's 2 nd or “Direct” Method is generally used in the literature for such purposes. It is well known that finding appropriate Lyapunov function is rather an “art” that needs special mathematical skills so it needs very talented designers. As an alternative of Lyapunov's Direct Method the use of “Robust Fixed Point Transformations (RFPT)” for the synchronization of the motion of different chaotic systems is studied in this paper via numerical simulations. It is shown that the RFPT-based method is very efficient. In the present paper the signal generated by a 1 st order Chua-Matsumoto Circuit serves as a reference trajectory to be racked by a 2 nd order chaotic system, the Duffing Oscillator. The interesting finding is reported that while the “brute force” solution achieved by very big simple linear feedback coefficients fails after a short period the adaptive controller operating on the basis of very loose, purely kinematically designed feedback coefficient successfully stabilizes the synchronization.

关键词： Chaos Trajectory Oscillators Adaptive control Synchronization Robots Robustness

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Detection of number of uncorrelated and coherent narrowband signals with L-shaped sensor array

Detection of number of uncorrelated and coherent narrowband ...

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International Symposium on Access Spaces (ISAS)

作者： Hao Tao Jingmin Xin Kuizhi Mei Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi''an Jiaotong University Xi'an China Xi''an Jiaotong University Suzhou China Department of System Design Engineering Keio University Yokohama Japan

This paper deals with the problem of estimating the number of mixed narrowband signals of uncorrelated and coherent signals impinging on the L-shaped sensor array, which is structured by two uniform linear arrays (ULAs). Since the total number of incident signals can be estimated as the rank of a combined matrix formed from the cross-correlations between the received data of two ULAs, and the number of uncorrelated signals can be obtained from rank of the cross-covariance matrix of two ULAs, a new QR-based detection method without eigendecomposition is proposed to estimate the number of incident signals and that of uncorrelated signals from the values of the running indexes of two ratio criteria for which the criteria are maximized, where the criteria are formed from the elements of QR upper-triangular factors of the autoproducts of two aforementioned matrices. The statistical analysis clarifies that the proposed detection is asymptotically consistent. Furthermore the effectiveness of proposed method is confirmed through numerical examples.

关键词： Arrays Matrix decomposition Signal to noise ratio Additive noise Narrowband Indexes Geometry

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Deliberation of value-sympathy model for adaptive service attendant system

Deliberation of value-sympathy model for adaptive service at...

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Annual Conference of Industrial Electronics Society

作者： Satoshi Suzuki Masaya Ando Hiroshi Hashimoto Hajime Asama Department of Robotics and Mechatronics Tokyo Denki University Chiyoda Tokyo Japan Department of Design Chiba Institute of Technology Japan Advanced Institute of Industrial Technology Japan School of Engineering University of Tokyo Japan

For service engineering, a mathematical model of customers is indispensability. This paper presents a design procedure of the service value-sympathy model by utilizing Self-Organizing Map (SOM) to establish a formulation of the model implementable to the service devices. The model is expressed as a mapping function of SOM computed using the questionnaire data on the service recipients, and the questionnaire is designed using results of the qualitative analysis to the service providers. The effectiveness of the design procedure and the modeling method were verified through the case-study of the hotel reception service. Predicting the guest satisfaction using the obtained value-sympathy model, an accuracy of the model and its feasibilities were investigated. Although the matching ratio in the cross-validation was not sufficiently high, a direction to create a new value concerning the service engineering could be shown.

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Thoracic ROM Measurement System with Visual Bio-feedback: System design and Biofeedback Evaluation

Thoracic ROM Measurement System with Visual Bio-feedback: Sy...

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

作者： Takeshi Ando Kazuya Kawamura Junko Fujitani Tomokazu Koike Masashi Fujimoto Masakatsu G. Fujie Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University Department of Rehabilitation Medicine National Center for Global Health and Medicine

ISBN: (纸本)9781424441211

Patients with diseases such as chronic obstructive pulmonary disease (COPD) need to improve their thorax mobility. Thoracic ROM is one of the simplest and most useful indexes to evaluate the respiratory function. In this paper, we have proposed the prototype of a simple thoracic ROM measurement system with real-time visual bio-feedback in the chest expansion test. In this system, the thoracic ROM is measured using a wire-type linear encoder whose wire is wrapped around the thorax. In this paper, firstly, the repeatability and reliability of measured thoracic ROM was confirmed as a first report of the developed prototype. Secondly, we analyzed the effect of the bio-feedback system on the respiratory function. The result of the experiment showed that it was easier to maintain a large and stable thoracic ROM during deep breathing by using the real-time visual biofeedback system of the thoracic ROM.

关键词： Read only memory Visualization Biological control systems Real time systems Current measurement Diseases Prototypes

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Nonlinear identification of electro-magnetic force model

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2010年第3期11卷 165-174页

作者： R. SHABANI S. TARIVERDILO H. SALARIEH Mechanical Engineering Department Faculty of EngineeringUrmia University Civil Engineering Department Faculty of EngineeringUrmia University Center of Excellence in Design Roboticsand Automation (CEDRA)Sharif University of Technology

Conventional attractive magnetic force models (proportional to the coil current squared and inversely proportional to the gap squared) cannot simulate the nonlinear responses of magnetic bearings in the presence of electromagnetic losses,flux leakage or saturation of *** this paper,based on results from an experimental set-up designed to study magnetic force,a novel parametric model is presented in the form of a nonlinear polynomial with unknown *** parameters of the proposed model are identified using the weighted residual *** of the model identified were performed by comparing the results in time and frequency *** results show a good correlation between experiments and numerical simulations.

关键词： Identification Nonlinear vibration Magnetic bearing Weighted residual method

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A cooperation scenario for multiagent systems

A cooperation scenario for multiagent systems

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IEEE Africon'11

作者： Pozna, Claudiu Precup, Radu-Emil Kóczy, László T. Minculete, Nicuşor Ballagi, Áron Department of Informatics Széchenyi István University 9026 Gyõr Hungary Dept. of Production Design and Robotics Transilvania Univ. Brasov 500036 Brasov Romania Department of Automation and Applied Informatics Politehnica University of Timisoara 300223 Timisoara Romania Faculty of Engineering Sciences Széchenyi István University 9026 Gyõr Hungary Department of Telecommunications and Media Informatics BUTE 1117 Budapest Hungary Faculty of International Economic Relations Dimitrie Cantemir University of Brasov 500068 Brasov Romania Department of Automation Széchenyi István University 9026 Gyõr Hungary

ISBN: (纸本)9781612849928

This paper gives aspects related to a cooperation scenario in the framework of multiagent systems. The presentation is focused on a trivial multiagent system that consists of two agents, the Master and the Apprentice. The theoretical basis of the cooperation scenario is the definition of the most probable process, and two algorithms are used with this regard. The formulation of the cooperation scenario is exemplified for a case study that builds an architecture of successively placed bricks in the workspace. © 2011 IEEE.

关键词： Brick

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The Weight Load Inconsistency Effect on Voluntary Movement Recognition of Essential Tremor Patient

The Weight Load Inconsistency Effect on Voluntary Movement R...

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IEEE International Conference on robotics and Biomimetics

作者： Masatoshi Seki Yuya Matsumoto Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Graduate School of Creative Science and Engineering Waseda University Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Department of Rehabilitation Medicine Juntendo University Graduate School

ISBN: (纸本)9781457721366

Essential Tremor (ET) refers to involuntary movements of a part of the body. ET patients have serious difficulties in performing their daily living activities. Our ultimate goal is to develop a system that can enable ET patients to perform their daily living activities. We are in the process of developing an exoskeletal robot for ET patients. This robot is controlled by estimation of voluntary movement using surface electromyogram (EMG) signal input and a Neural Network (NN) learning algorithm. However, the EMG signal of ET patients contains not only signals from voluntary movements but also noise from involuntary tremors. We have therefore developed a signal processing method to suppress tremor noise present in the surface EMG signal. The proposed filter is based on the hypothesis that tremor noise can be approximated to powered sine wave. It have been confirmed that the proposed filter increases the accuracy of recognition. In this paper, we have focused on the effect of inconsistency of weight load between instruction signal and input signal. When the instruction signal comprised unloaded motion, our voluntary movement estimation method worked stably with the loaded motion's EMG input.

关键词： voluntary movement Activities of Daily Living Essential Tremor Surface Electromyography Fault trees Electromyogram signals Tremor Inconsistency Involuntary Movements Patients Noise Recognition (Psychology) input signal

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Filtering Essential Tremor Noise on surface EMG based on Squared Sine Wave Approximation

Filtering Essential Tremor Noise on surface EMG based on Squ...

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

作者： Masatoshi Seki Yuya Matsumoto Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Graduate School of Creative Science and Engineering Waseda University Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Osaka Japan and Faculty of Science and Engneering Waseda University Faculty of Science and Engineering Waseda University Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Department of Rehabilitation Medicine Juntendo University Graduate School

ISBN: (纸本)9781424441211

Essential Tremor (ET) refers to involuntary movements of a part of the body. ET patients have serious difficulties in performing daily living activities. Our ultimate goal is to develop a system that can enable ET patients to perform daily living activities. We have been developing an exoskeleton robot for ET patients. We make use of the electromyogram (EMG) signal to control this robot. However, the EMG signal of ET patients contains not only signals from voluntary movements but also noise from involuntary tremors. In this paper, we focus on developing a signal processing method to suppress tremor noise present in the surface EMG signal. The proposed filter detected attenuation ratio by the correlation between the last EMG data and one period squared sine wave. The filtered EMG signals indicated that essential tremor noise of the elbow flexed posture while holding a water-filled bottle was suppressed. In addition, voluntary information was less affected by the filter. Welch's t-value test confirmed that ease of extraction of voluntary movement was increased by the proposed filter.

关键词： Surface Electromyography Essential Tremor voluntary movement Activities of Daily Living Electromyogram Noise Fault trees sin Involuntary Movements Patients

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The method of area segmentation of cancer using multispectral image

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ICIC Express Letters 2011年第10期5卷 3859-3864页

作者： Takahashi, Hideya Yamada, Kenji Tareda, Maki Yoshida, Shigeto Zin, Thi Thi Aida, Tahito Graduate School of Engineering Osaka City University 3-3-138 Sugimoto Sumiyoshi-ku Osaka 558-8585 Japan Robotics and Design for Innovative Healthcare Graduate School of Medicine Osaka University 2-2 Yamadaoka Suita Osaka 565-0871 Japan Department of Endoscopy Hiroshima University Hospital 1-2-3 Kasumi Minami-ku Hiroshima 734-8551 Japan

Transnasal endoscopy has recently become a widely accepted screening method in practical application areas of medical endoscopy. Pain tolerance and safety seem to be the greatest advantage of transnasal endoscopy when compared with those of a conventional peroral endoscopy. Although there are some disadvantages such as poor endoscopic images and less illumination caused by downsizing of scopes, as a whole, slim endoscopy is a safe and less invasive tool for screening purposes. On the other hand, flexible spectral imaging color enhancement (FICE) is one of the diagnostic methods using specific light spectra based on spectral image processing technology. FICE provides comparison of spectral images of diseased and surrounding normal areas for enhancement of the contrast by combining wavelengths with greater differences in signals. It is thus in this paper, that we propose a novel method of segmenting tumor region for medical endoscope surgery and investigation by using the narrowband images on several wavelengths. © 2011 ISSN 1881-803X.

关键词： Endoscopy

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