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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Florin Dzeladini Amy R. Wu Daniel Renjewski Arash Arami Etienne Burdet Edwin van Asseldonk Herman van der Kooij Auke J. Ijspeert École Polytechnique Fédérale Institute of Bioengineering Lausanne Switzerland Robotics and Embedded Systems Technische Universitat Munchen Germany Human Robotics Group Imperial College London United Kingdom Department of Biomechancial Engineering University of Twente The Netherlands Department of Biomechanical Engineering Delft Technical University The Netherlands

ISBN: (纸本)9781509032884

Wearable devices to assist abnormal gaits require controllers that interact with the user in an intuitive and unobtrusive manner. To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses. We present (i) a Simulink neuromuscular control library derived from a computational model of reflexive neuromuscular control of human gait with a central pattern generator (CPG) extension, (ii) an ankle reflex controller for the Achilles exoskeleton derived from the library, and (iii) the mechanics and energetics of healthy subjects walking with an actuated ankle orthosis using the proposed controller. As this controller was designed to mimic human reflex patterns during locomotion, we hypothesize that walking with this controller would lead to lower energetic costs, compared to walking with the added mass of the device only, and allow for walking at different speeds without explicit control. Preliminary results suggest that the neuromuscular controller does not disturb walking dynamics in both slow and normal walking cases and can also reduce the net metabolic cost compared to transparent mode of the device. Reductions in tibialis anterior and soleus activity were observed, suggesting the controller could be suitable, in future work, for augmenting or replacing normal walking functions. We also investigated the impedance patterns generated by the neuromuscular controller. The validity of the equivalent variable impedance controller, particularly in stance phase, can facilitate serving subject-specific features by linking impedance measurement and neuromuscular controller.

关键词： Legged locomotion Neuromuscular Exoskeletons Electromyography Torque Hip

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HOOD: A real environment Human Odometry Dataset for wearable sensor placement analysis

HOOD: A real environment Human Odometry Dataset for wearable...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： B. Bruno F. Mastrogiovanni A. Sgorbissa Department of Informatics Bioengineering Robotics and Systems Engineering Genova Italy

Human Odometry (HO) is the process of providing a person with a continuous estimate of their location, on the basis of information acquired solely by sensors carried around by the person themselves. In an effort towards the development of effective and robust HO systems, we present the Human Odometry Outdoor Dataset (HOOD), a public collection of labelled accelerometer and gyroscope data recordings. We compare four sensor placements (foot, waist, wrist, chest) to identify the most suitable placement for different types of motions (ranging from walking to slithering), occurring in highly diverse real environments (such as flat grass fields, staircases and rough terrains).

关键词： Foot Wrist Sensors Legged locomotion Acceleration Roads Rivers

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Freeway Traffic Control Considering Capacity Drop Phenomena: Comparison of Different MPC Schemes

Freeway Traffic Control Considering Capacity Drop Phenomena:...

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International Conference on Intelligent Transportation

作者： Lorenzo Maggi Simona Sacone Silvia Siri Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

This paper proposes different MPC-based traffic controllers in order to reduce congestion in freeway systems via ramp metering. These controllers differ for the adopted prediction model and for the considered cost function to be minimized. In particular, both a standard CTM and a CTM modified version representing the capacity drop phenomenon are used, while the two different cost functions considered penalize congested states in different ways. These MPC controllers are compared via simulation, both evaluating the performances of the controlled freeway system in the different cases, and from a computational point of view.

关键词： Standards Traffic control Predictive models Cost function Computational modeling

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Analysis by Sweep Frequency Impedance (SFI) Meter of 226-Hz and 1,000-Hz Tympanometries in Neonates

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Procedia IUTAM 2017年 24卷 5-14页

作者： Michio Murakoshi Kyosuke Sano Nattikan Kanka Naoto Yoshida Shinji Hamanishi Hiromichi Kiyokawa Risako Kakuta Sreedevi Aithal Venkatesh Aithal Joseph Kei Carlie Driscoll Andrew Swanston Sachiko Mtsutani Toshimitsu Kobayashi Hiroshi Wada Department of Mechanical Engineering Kagoshima University 1-21-40 Korimoto Kagoshima 890-0065 Japan Department of Bioengineering and Robotics Tohoku University 6-6-01 Aoba-yama Sendai 980-8579 Japan Department of Mechanical Engineering Sendai National College of Technology 48 Nodayama Natori 981-1239 Japan Department of Otorhinolaryngology Head and Neck Surgery Tohoku University Graduate School of Medicine Sendai 980-8574 Japan Audiology Department Townsville Hospital and Health Service Douglas 4814 Queensland Australia Hearing Research Unit for Children School of Health and Rehabilitation Sciences University of Queensland Brisbane 4072 Queensland Australia Department of ENT Townsville Hospital and Health Service Douglas 4814 Queensland Australia Department of Otorhinolaryngology Japanese Red Cross Sendai Hospital 2-43-3 Yagi-yama Honcho Sendai 982-8501 Japan Department of Otolaryngology and Center of Otologic Surgery Sen-en Rifu Hospital 2-2-108 Aoba-dai Rifu 981-0133 Japan Department of Intelligent Information Systems Faculty of Science and Technology Tohoku Bunka Gakuen University 6-45-1 Kunimi Sendai 981-8551 Japan

Conventional 226-Hz tympanometry has been acknowledged as a reliable method for detecting middle ear dysfunction in adults and children. However, its application has proved to be inaccurate in neonates younger than 7 months of age. In the present study, therefore, tympanograms of neonates were derived based on sweep frequency impedance (SFI) data and an attempt was made to investigate the reason why conventional tympanometry is inadequate for neonates. Analysis of neonatal tympanograms revealed that the application of a conventional 226-Hz probe tone leads to either a type A or a type M tympanogram. This is possibly due to the intrinsic oscillatory behavior of the external ear canal wall caused by its resonance at around 226 Hz.

关键词： Neonates Middle ear External ear canal wall Conventional tympanometry 226 Hz High-frequency tympanometry 1,000 Hz Sweep frequency impedance (SFI) meter

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A Mathematical Programming Formulation for Cost-oriented Multi-manned Assembly Line Balancing Problem

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IFAC-PapersOnLine 2015年第3期48卷 2293-2298页

作者： Abdolreza Roshani Davide Giglio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Via Opera Pia 13 16145 Genova Italy

Multi-manned assembly line balancing problems are usually occurred in plants producing large-sized high-volume products such as automobiles and trucks. In this paper, a cost- oriented objective function is presented for a multi-manned assembly line balancing problem. This kind of objective function may be used to balance final assembly lines of products in which manufacturing process is very labor intensive. A mixed-integer mathematical programming model is proposed to solve the problem optimally. The proposed formulation has been used to solve some small size problems by considering both time-oriented and cost-oriented objective functions. The experiments show that, given the same precedence graph of multi-manned assembly line with a same cycle time, two different optimal solutions can be actually found when switching from time-oriented to cost-oriented objective functions, and vice versa. This difficulty increases the complexity of the cost-oriented multi-manned assembly line balancing problems with respect to the multi-manned assembly line balancing problems addressed in the literature.

关键词： Assembly line balancing problem Multi-manned workstations Production planning Cost-oriented objective Mathematical programming

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A simulated annealing approach for multi-manned assembly line balancing problem type II

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IFAC-PapersOnLine 2015年第3期48卷 2299-2304页

作者： Abdolreza Roshani Davide Giglio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Via Opera Pia 13 16145 Genova Italy

Multi-manned assembly lines are often designed to produce large-sized products, such as automobiles, trucks and buses. In this type of production lines, usually there are multimanned workstations where a group of workers simultaneously performs different operations on the same individual product. One of the problems, that managers of such production lines usually encounter, is to produce the optimal number of items using a fixed number of workstations, without adding new ones in order to meet the market demand. In this paper, such a class of assembly line balancing problems, named multi-manned assembly line balancing problems type II, has been addressed. Since the problem is NP-hard, a meta-heuristic approach based on a simulated annealing algorithm has been developed to solve the problem. The performance of the proposed algorithm has been tested on a set of test problems taken from the literature; the results show that the algorithm performs well.

关键词： Assembly Line Balancing problem Multi-manned workstations Cycle time Simulated annealing

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A Novel Tactile Sensor for Underwater Applications: Limits and Perspectives

A Novel Tactile Sensor for Underwater Applications: Limits a...

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OCEANS

作者： Giovanni Gerardo Muscolo Giorgio Cannata Department of Informatics Bioengineering Robotics and Systems Engineering Polytechnic School University of Genoa Italy

ISBN: (纸本)9781479987375

The paper deals with the problem of designing tactile sensors for underwater applications. The tactile sensors are used in many terrestrial applications, but research in underwater tactile perception remains limited because of the scarcity of underwater tactile sensors. In this paper the authors, after a review on underwater sensors available in commerce and in literature, propose a conceptual design of novel tactile sensors for underwater applications. The investigations are performed in collaboration with a national Italian project named MARIS regarding the possible extension to the underwater field of the technologies developed for a terrestrial use, within the European project ROBOSKIN.

关键词： tactile sensors deep-sea environments capacitive transducers pressure tolerant underwater sensors robotic skin

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Functional connectivity in cultured cortical networks during development: Comparison between correlation and information theory-based algorithms

Functional connectivity in cultured cortical networks during...

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International IEEE/EMBS Conference on Neural engineering, CNE

作者： Daniele Poli Vito P. Pastore Paolo Massobrio Sergio Martinoia Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Genova Italy

Goal of this work is to present a general approach to estimate functional connectivity in in vitro cortical networks coupled to Micro-Electrode Array (MEAs). Specifically, we developed and optimized a Partial Correlation (PC) based algorithm and we compared it to Cross Correlation (CC) and Transfer Entropy (TE) methods. First, we applied the algorithms to simulated networks with different average connectivity degrees. Second, we used a specific validation procedure based on the accuracy coefficient (ACC) to evaluate the algorithm's performances and we found Partial Correlation to be the best method to infer functional connections from spiking activity of in vitro cortical networks. Finally, we used PC to estimate connectivity during development (i.e., from 2 nd to 4 th week) from recordings of cortical networks coupled to MEAs.

关键词： Neurons Correlation In vitro Accuracy Computational modeling Neural networks

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A MIP Heuristic for Multi Port Stowage Planning

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Transportation Research Procedia 2015年 10卷 725-734页

作者： Daniela Ambrosino Massimo Paolucci Anna Sciomachen Department of Economics and Business Studies University of Genova Italy Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Italy

In this paper we extend the problem of determining how to stow a given set of containers of different types into the available locations of a containership, that is, the so-called Master Bay Plan Problem (MBPP), to the Multi-Port Master Bay Plan Problem (MP-MBPP). In the MP-MBPP the whole route of the ship is investigated; in particular, at each port of the route different sets of containers must be loaded for being shipped to the next ports. Differently from MBPP, in MP-MBPP at each port the sequence of two handling operations affects the effectiveness of a stowing plan: first, the import containers must be unloaded from the ship, then the export containers can be loaded. Only few papers in the recent literature deal with the MP-MBPP. Here, we propose a Mixed Integer Programming (MIP) heuristic based on an exact MIP model for the MP-MBPP very recently proposed in the literature; the main aim is the minimization of the total berthing time of the ship. Unproductive movements are included in the analysis, as well as the workload of the quay cranes used in each port visited by the ship. As a novel issue the new proposed MIP heuristic deals with actual operative handling operations; in particular, the presence of hatches is taken into account for the final stowage plans and different types of containers are included in the analysis, that is 20’ and 40’ standard containers, reefer and open top ones. The proposed MIP heuristic permits to find good stowage solutions in a short amount of time and thus to include the model into an effective tool that can help the liner planner during the whole trip of the ship for defining the stowage planning in accordance with the updated transport demands. Computational tests, executed for ships with increasing capacity up to a very large ship with a capacity of 18000 TEUs, show the efficacy of the proposed method.

关键词： Maritime logistics stowage plans mathematical programming combinatorial optimization MIP heuristic

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Modulation of motor performance by a monetary incentive: A pilot study

Modulation of motor performance by a monetary incentive: A p...

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

作者： Susanna Summa Irene Tamagnone Giulia Asprea Clelia Capurro Vittorio Sanguineti Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy

It is commonly acknowledged that movement performance is determined by a trade-off between accuracy requirements and energetic expenditure. However, their relative weights are subjective and depend on the perceived benefit (or cost) associated to successful movement completion. A deeper knowledge on how this trade-off affects motor behavior may suggest ways to manipulate it in pathologies, like Parkinson's disease, in which the mechanisms underlying the selection of motor response are believed to be defective. In this preliminary study, we associate a monetary incentive to successful completion of a full-body reaching task and look at the determinants of motor performance. Our preliminary results suggest that motor performance (measured as the absolute average acceleration of hand movements) increases with movement amplitude/target elevation. Overall, performance also increases with the amount of monetary incentive and with the average reward experienced in previous trials. In addition, subjects with a greater sensitivity to incentive exhibit a low sensitivity to the average reward. In contrast, subjects with a negative sensitivity to incentive exhibit a smaller sensitivity to the average reward. These results suggest that motor performance has a complex relation with its perceived benefits, and this relation is probably subject-dependent.

关键词： Acceleration Sensitivity Parkinson's disease Correlation Mathematical model Protocols Robot sensing systems

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