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Middle East Conference on Biomedical engineering (MECBME)

作者： M. Parsa Hosseini Hamid Soltanian-Zadeh Shahram Akhlaghpoor Department of Electrical Engineering Islamic Azad University Tehran Iran Department of Radiology Henry Ford Health System Image Analysis and Communications Laboratory Detroit MI USA Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Radiology Tehran University of Medical Sciences Sina Hospital Tehran Iran

Chronic obstructive pulmonary disease (COPD) refers to a group of lung diseases that block airflow and cause a huge degree of human suffering. While there is no cure for COPD and the lung damage that results in this disease cannot be reversed, it is very important to diagnose it as early as possible. Additional to diagnosis, using a mathematical model to estimate severity of disease would be helpful for evaluation of treatment effects. This paper presents a new method for identifying COPD from three-dimensional (3-D) pulmonary X-ray CT images. The method has five main steps. First, corresponding positions of lungs in inspiration and expiration are found based on anatomical structures. Then, lung regions are segmented from the CT images by active contours. Next, the left and right lungs are separated using a sequence of morphological operations. Then, parenchyma variations in each lung are found as a relationship between inspiratory and expiratory states. Finally, a classifier is used to decide about the disease and its severity. A t-test is done to evaluate the results. Twelve patients with variable severity of COPD and twelve normal adults were included in this study. The proposed method may assist radiologists in the detection of COPD as a computer aided diagnosis (CAD) system.

关键词： Lungs Computed tomography Diseases Image segmentation Biomedical imaging Gaussian distribution

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Assessing lung volumetric variation to detect and stage COPD

Assessing lung volumetric variation to detect and stage COPD

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Middle East Conference on Biomedical engineering (MECBME)

Chronic obstructive pulmonary disease (COPD) is a devastating disease. In this paper, we propose a novel method for scoring of air trapping in the lungs for detection and evaluation of COPD. The proposed method finds volumetric changes of the lungs from inspiration to expiration. To this end, trachea CT images at full inspiration and expiration are compared. For this comparison, the lungs parenchyma in the inspiration and expiration images are found and changes in the surface and volume of the lungs between inspiration and expiration are used to define quantitative measures (features). Using these features, the subjects are classified into two groups of normal class and COPD patients using a Bayesian classifier. In addition, t-tests are applied to evaluate discrimination powers of the features for this classification. The main advantage of the proposed method is its ability to estimate air trapping in the lungs from CT images without human intervention. The proposed method may assists radiologists in the detection of COPD as a computer aided diagnosis (CAD) system. It may also assist them with the scoring of the disease (severity of air trapping in the lungs).

关键词： Lungs Computed tomography Diseases Active contours Image segmentation Charge carrier processes

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Spectral analysis of sEMG signals to investigate skeletal muscle fatigue

Spectral analysis of sEMG signals to investigate skeletal mu...

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IEEE Conference on Decision and control

作者： Parmod Kumar Anish Sebastian Chandrasekhar Potluri Yimesker Yihun Madhavi Anugolu Jim Creelman Alex Urfer D. Subbaram Naidu Marco P. Schoen Measurement and Control Engineering Research Center (MCERC) School of Engineering Idaho State University Pocatello ID USA MCERC School of Engineering Idaho State University Pocatello ID USA Department of Physical and Occupational Therapy Idaho State University Pocatello ID USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello ID USA Department of Mechanical Engineering MCERC Idaho State University Pocatello ID USA

ISBN: (纸本)9781612848006;9781612848013

Our recent investigations are focused to develop dynamic models for skeletal muscle force and finger angles for prosthetic hand control using surface electromyographic sEMG as input. Since sEMG is temporal and spatially distributed and is influenced by various factors, muscle fatigue and its related sEMG becomes of importance. This study is an effort to spectrally analyze the sEMG signal during progression of muscle fatigue. The sEMG is captured from the arms of healthy subjects during muscle fatiguing experiments for dynamic and static force levels. Filtered sEMG signal is segmented in five parts with 75% overlap between adjacent segments. The analysis is done using different classical (fast Fourier transform, Welch's averaged modified periodogram), model-based (Yule-Walker, Burg, Covariance and Modified Covariance autoregressive (AR) method), and eigenvector methods (Multiple Signal Classification (MUSIC) and eigenvector spectral estimation method) in frequency domain. Results show that the classical and eigenvector based methods are more sensitive than the model-based methods to fatigue related changes in sEMG signals.

关键词： Muscles Fatigue Force Multiple signal classification Dynamics Estimation Electromyography

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Gearbox Ripple Rejection of Robots Using Observer and Adaptive control Theory

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IFAC Proceedings Volumes 2011年第1期44卷 893-898页

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Muenchner Str. 20 Department of Electrical and Computer Engineering University of Utah 50 S Central Campus Dr. Salt Lake City UT 84112 USA

Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gearbox ripple problem is more complicated to be solved with control theory because only motor side sensors should be used. Due to the internal model principle gearbox side information is necessary to solve the problem. The first algorithm uses an observer to get gearbox side information where the second algorithm uses a gearbox side rate sensor. The algorithms are tested with a nonlinear SISO problem and with a nonlinear MIMO system. In both cases the ripples are canceled with an adaptive controller which estimates the phase and magnitude of the ripple. This adaptive controller is designed separately and is added to the existing basis controller. The algorithms are tested in simulation and on a testbed, which is an industrial application.

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A Sliding Mode Regulator for Antilock Brake System

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IFAC Proceedings Volumes 2011年第1期44卷 7187-7192页

作者： Juan Diego Sánchez-Torres Alexander G. Loukianov Marcos I. Galicia Jorge Rivera Department of Electrical Engineering and Computer Science Automatic Control Laboratory CINVESTAV Unidad Guadalajara Zapopan Jalisco 45015 México Centro Universitario de Ciencias Exactas e Ingenierías de la Universidad de Guadalajara Guadalajara Jalisco 44430 México

Abstract A Sliding Mode (SM) Regulator is proposed for an Antilock Brake System (ABS) control problem by employing Block control SM and regulation concepts. This regulator has robustness against matched and unmatched perturbations, and the capability to estimate and incorporate the residual dynamics. Numeric simulations are carried on in order to verify the closed-loop system performance, where simulations predict the robustness of the ABS to matched and unmatched perturbations.

关键词： Sliding Mode control Brake control Antilock Braking Systems (ABS)

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Dynamic vehicle routing for robotic systems

Dynamic vehicle routing for robotic systems

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作者： Bullo, Francesco Frazzoli, Emilio Pavone, Marco Savla, Ketan Smith, Stephen L. Center for Control Dynamical Systems and Computation Department of Mechanical Engineering University of California in Santa Barbara Santa Barbara CA 93106 United States Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge MA 02139 United States Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 United States Department of Electrical and Computer Engineering University of Waterloo Waterloo ON N2L 3G1 Canada

Recent years have witnessed great advancements in the science and technology of autonomy, robotics, and networking. This paper surveys recent concepts and algorithms for dynamic vehicle routing (DVR), that is, for the automatic planning of optimal multivehicle routes to perform tasks that are generated over time by an exogenous process. We consider a rich variety of scenarios relevant for robotic applications. We begin by reviewing the basic DVR problem: demands for service arrive at random locations at random times and a vehicle travels to provide on-site service while minimizing the expected wait time of the demands. Next, we treat different multivehicle scenarios based on different models for demands (e.g., demands with different priority levels and impatient demands), vehicles (e.g., motion constraints, communication, and sensing capabilities), and tasks. The performance criterion used in these scenarios is either the expected wait time of the demands or the fraction of demands serviced successfully. In each specific DVR scenario, we adopt a rigorous technical approach that relies upon methods from queueing theory, combinatorial optimization, and stochastic geometry. First, we establish fundamental limits on the achievable performance, including limits on stability and quality of service. Second, we design algorithms, and provide provable guarantees on their performance with respect to the fundamental limits. © 2011 IEEE.

关键词： Adaptive algorithms

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Two local observables are sufficient to characterize maximally entangled states of N qubits

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Physical Review A 2011年第2期83卷 022319-022319页

作者： Fengli Yan Ting Gao Eric Chitambar College of Physics Science and Information Engineering and Hebei Advanced Thin Films Laboratory Hebei Normal University Shijiazhuang 050016 China College of Mathematics and Information Science Hebei Normal University Shijiazhuang 050016 China Center for Quantum Information and Quantum Control (CQIQC) Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto Ontario M5S 3G4 Canada

Maximally entangled states (MES) represent a valuable resource in quantum information processing. In N-qubit systems the MES are N-GHZ states [i.e., the collection of |GHZN〉=12(|00…0〉+|11…1〉)] and its local unitary (LU) equivalences. While it is well known that such states are uniquely stabilized by N commuting observables, in this article we consider the minimum number of noncommuting observables needed to characterize an N-qubit MES as the unique common eigenstate. Here, we prove, rather surprisingly, that in this general case any N-GHZ state can be uniquely stabilized by only two observables. Thus, for the task of MES certification, only two correlated measurements are required with each party observing the spin of his or her system along one of two directions.

关键词： BELL'S theorem QUANTUM theory INFORMATION processing INFORMATION theory QUANTUM communication OPTICAL communications

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Stabilization of linear systems with distributed delay and saturation nonlinearity

Stabilization of linear systems with distributed delay and s...

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Chinese control Conference (CCC)

作者： Bin Zhou Huijun Gao Zongli Lin Guang-Ren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology China Space Control and Inertial Technology Research Center Harbin Institute of Technology China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia U.S.A.

This paper is concerned with stabilization of a linear system with distributed input delay and input saturation. Both constant and time-varying delays are considered. In the case that the input delay is constant, under the stabilizability assumption on an auxiliary system, it is shown that the system can be stabilized by state feedback for an arbitrarily large delay as long as the open-loop system is not exponentially unstable. In the case that the input delay is time-varying, but bounded, it is shown that the system can be stabilized by state feedback if the non-asymptotically stable poles of the open-loop system are all located at the origin. In both cases, stabilizing controllers are explicitly constructed by utilizing the parametric Lyapunov equation based low gain design approach we recently developed. It is also shown that in the presence of actuator saturation and under the same assumptions on the system, these controllers achieve semi-global stabilization. Some discussions on the assumptions we impose on the system are given. A numerical example illustrate the effectiveness of the proposed stabilization approach.

关键词： Delay State feedback Linear systems Delay effects Eigenvalues and eigenfunctions Riccati equations

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A Generalized Fractional-Order Iterative Learning control

A Generalized Fractional-Order Iterative Learning Control

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IEEE Conference on Decision and control

作者： Yan Li YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan 250061 Shandong Province PR China Electrical and Computer Engineering Department Utah State University Logan UT 84341 USA Department of Mechatronics Gwangju Institute of Science and Technology (GIST) 1 Oryong-dong Buk-gu Gwangju Korea

ISBN: (纸本)9781612848006

In this paper, we discuss in time domain the convergence of the iterative process for fractional-order nonlinear systems. A linear adaptive generalized fractional-order iterative learning control scheme is derived, which guarantees the convergence of the algorithm without the knowledge of the system order. The implementation of generalized fractional-order iterative learning controllers can be achieved by using the idea of fractional-order element networks. Most of the classical fractional-order iterative learning control methods fall into the scheme of this paper. A number of numerical simulations are illustrated to validate the concepts.

关键词： Iterative learning control Fractional calculus Nonlinear systems Convergence Adaptiveness

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VTube: Towards the media rich city life with autonomous vehicular content distribution

VTube: Towards the media rich city life with autonomous vehi...

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IEEE Communications Society Conference on Sensor and Ad Hoc Communications and Networks (SECON)

作者： Tom H. Luan Lin X. Cai Jiming Chen Xuemin Shen Fan Bai Department of Electrical and Computer Engineering University of Waterloo Waterloo ONT Canada State Key Laboratory of Industrial Control Technology University of Zhejiang Hangzhou China Electrical and Controls Integration Laboratory General Motors Global Research and Development Center Warren MI USA

The copious social and user generated contents, like Facebook and Youtube, are re-shaping the way people share, access, and digest information. Although flourishing in Internet, content sharing services are still considered expensive and not ready for mobile users of vehicular networks. In this paper, we propose VTube, an autonomous and cost-effective infrastructure, to facilitate the localized content publish/subscribe in an urban area. VTube relies on the distributed low-cost light-weight storage buffers, namely roadside buffer, installed in the city facilities, such as stores, museums, cafeteria, etc., to cache and publish contents for mobile users. The contents at different storage buffers are then transported to different locations by moving vehicles and cached collaboratively in both vehicles and storage buffers across the city. In this work, we unfold the design of VTube by first presenting the detailed design principles and practices of VTube. Given the content availability and capacity of the buffer storage, we then develop a mathematical model to evaluate the mean download delay of mobile users. Using the delay as an input, we formulate the content replication problem in roadside buffers as a stochastic programming problem to attain the mean system-wide minimum download delay. Finally, we propose a fully distributed random walk based algorithm to solve the optimization problem. Extensive simulations demonstrate that VTube can minimize the download delay of users because of the exploitation of vehicle mobility and distributed buffer storage at different locations.

关键词： Vehicles Buffer storage Cities and towns Delay Availability Optimized production technology Mobile communication

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