Weightlifting is one of the most physically demanding sports. A successful lift is influenced by many factors. Among them, the ground reaction force (GRF) which is exerted on weight lifers during the motion process is...
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Weightlifting is one of the most physically demanding sports. A successful lift is influenced by many factors. Among them, the ground reaction force (GRF) which is exerted on weight lifers during the motion process is crucial to the performance of a weight lifer, so the acquisition and analysis of GRF is very important to the scientific research of weightlifting. This paper describes GRF acquisition using a force platform and analysis by means of wavelet transform (WT) for the performance diagnosis of weight lifters. The differences of GRF between the skilled weight lifters and the learners are reported. The method allows to detect and to quantify details not easily perceivable by coaches through traditional techniques. By wavelet transform of the GRF, it is possible for biomechanics experts to analysis mechanical behaviours of athletes and to direct them to improve their skills. GRF acquisition and analysis provides a very important tool for modern athletes training.
This paper describes a simple system that can be used for autonomous demand-side management in a load site such as a home or commercial facility. The system identifies the operation of individual loads using transient...
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This paper describes a simple system that can be used for autonomous demand-side management in a load site such as a home or commercial facility. The system identifies the operation of individual loads using transient patterns observed in the voltage waveform measured at an electric service outlet. The theoretical foundation of the measurement process is introduced, and a preprocessor that computes short-time estimates of the spectral content of the voltage waveform is described. The paper presents several example measurements demonstrating the ability of the system to obtain estimates of the spectral content of the voltage waveform.
This paper presents the design of a relative low-cost and more compatible autonomous helicopter system using HIROBO 50 scale as an experimental platform. Because of the limit of helicopter payload, we choose the MP212...
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This paper presents the design of a relative low-cost and more compatible autonomous helicopter system using HIROBO 50 scale as an experimental platform. Because of the limit of helicopter payload, we choose the MP2128 Autopilot and a number of sensors to build the system and the weight of instrumentation is about 500 g, much less than the payload capability of model helicopter. Thus it is feasible to design the binocular stereo-camera system to achieve full autonomous flight and the whole weight (include power) of instrumentation is about 1500 g. After getting the model of the helicopter using the subspace model identification (SMI) algorithms, we present the structure of fuzzy PID controller.
This paper presents an efficient target detection algorithm from a sequence of infrared images using the sequential Monte Carlo method (SMC). The algorithm employs an evolution process of the particles which correspon...
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This paper presents an efficient target detection algorithm from a sequence of infrared images using the sequential Monte Carlo method (SMC). The algorithm employs an evolution process of the particles which correspond to the candidates of the target position and whose evolution is controlled by the weight of the target feature. Through the iterative process on the differential images, a valve of the particle set is proposed to decide if there is a target in the image, and the state of the particle set is used to position the target. The experimental results demonstrated that the algorithm can detect the target with sea-sky background effectively regardless of the existence of serious non-Gaussian noises. The experiments also showed real-time efficiency of the algorithm for target detection
To ensure safety of railway operation, it is extremely important to regularly check railway conditions such as deformation of the rails. This paper presents an on-line rail deformation monitoring system for being impl...
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To ensure safety of railway operation, it is extremely important to regularly check railway conditions such as deformation of the rails. This paper presents an on-line rail deformation monitoring system for being implement on moving train so as to timely report any deformation beyond the threshold. The system is based an effective algorithm for detecting the rail deformation using three acceleration sensors mounted on the train. The proposed method can distinguish vibrations due to track deformation from those caused by motion of the train by analysing the lateral accelerations of the train's crossbeam and the lateral acceleration of the bogie. This method is testing on the railway between Shenyang and Dalian. Through experiment of large number of collected data, the performance of the detection is applicable
A cellular neural/nonlinear network (CNN) is any spatial arrangement of mainly locally coupled cells, where each cell is a dynamical system which has an input, an output and a state that evolves according to some pres...
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A cellular neural/nonlinear network (CNN) is any spatial arrangement of mainly locally coupled cells, where each cell is a dynamical system which has an input, an output and a state that evolves according to some prescribed dynamical laws. Since the CNN was first introduced in 1988, research in this field has developed rapidly. The goal of this tutorial is to provide participants with a snapshot of the current state of the art and research trends. It covers the broad multi-disciplinary areas of CNN research, from theoretical aspects to applications. The presenters have experience ranging from theoretical analysis of CNN dynamics, VLSI implementation and system level applications
In this paper, a real-time stereo vision based pose and motion estimation system is presented. It is used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists...
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In this paper, a real-time stereo vision based pose and motion estimation system is presented. It is used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. By the specially designed pattern of the landing target, the feature extraction algorithm can simplify the step of feature points matching of stereo system. In the task of feature extraction, the step of accurate corner detection can get to the precision of sub-pixel, which helps improve the measurement precision in state estimation. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust to allow our vision sensor to be placed in the control loop of unmanned helicopter management system.
An EMG-driven arm wrestling robot (AWR) is being developed in our laboratories for the purposes of studying neuromuscular control of arm movements. The AWR arm have 2-DOF, integrated with mechanical arm, elbow/wrist f...
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An EMG-driven arm wrestling robot (AWR) is being developed in our laboratories for the purposes of studying neuromuscular control of arm movements. The AWR arm have 2-DOF, integrated with mechanical arm, elbow/wrist force sensors, servo motor, encoder, 3-D MEMS accelerometer, and USB camera, is used to estimate tension developed by individual muscles based on recorded electromyograms (EMGs). The surface electromyographic signal form the upper limb is sampled from a real player in same conditions. By using the method of wavelet packet transformation (WPT) and auto regressive model (AR), the characteristics of EMG signals can be extracted. Artificial neural network is adopted to estimate the elbow joint torque. The effectiveness of the humanoid algorithm using torque control estimated via WRT and neural network is confirmed by experiments. The purpose of this paper is to describe the design objectives, fundamental components and implementation of our real-time, EMG-driven AWR arm.
In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly cons...
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In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.
Inspection robot must plan its behavior to detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order to negotiate reliably. However, in mo...
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Inspection robot must plan its behavior to detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order to negotiate reliably. However, in most instances, detecting the obstacles from the complex background is a hard task. For this purpose, a novel and fast visual obstacle recognition algorithm is designed based on the structure of the 220 KV power transmission line. Basic principle and architecture of the algorithm are given. By this approach, three typical obstacles on the power transmission line such as insulator strings, counterweights and suspension clamps can be recognized with high accuracy. Experiments in the real power transmission line show its effectiveness. This method can contribute to the process of the mobile robot negotiating obstacles
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