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International Symposium on Innovations in Intelligent Systems and Applications, INISTA 2015

作者： Basiri, Salar Langroodi, Armin Kasemi Piredeir, Pooyan Jamshidpey, Aryo Mechatronics and Robotics Group Marlik Institute of Innovation and Technology Rasht Iran Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran Department of Mechanical Engineering University of Guilan Rasht Iran Department of Computer Science and IT Institute for Advanced Studies in Basic Sciences Zanjan Iran

ISBN: (纸本)9781467390965

In this article, a step-walker robot is introduced. In recent years too many explorer and moving robots are designed and manufactured. These kinds of robots need a mechanism for climbing stairs or steps to explore and discover all sections of a building. This introduced mechanism is an optimum mechanism in terms of energy consumption while climbing a step or stair with a specific altitude. The robot which is introduced in this article contains two axes. Each axis can change its Vertical position independently. This position changes upon the stair or step's height. When the robot meets a step or stair, it can climb by changing its wheel's axes alternatively. This robot's cinematic and 3D modeling that will be used for choosing the proper DC motors and other essentials for making robot, is done by MATLAB and CATIA software solution package. © 2015 IEEE.

关键词： Energy utilization

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Representations of body schemas for infant robot development

Representations of body schemas for infant robot development

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IEEE International Conference on Development and Learning, ICDL

作者： Patricia Shaw James Law Mark Lee Department of Computer Science Aberystwyth University Sheffield Robotics & Department of Automatic Control and Systems Engineering The University of Sheffield

Psychological studies have often suggested that internal models of the body and its structure are used to process sensory inputs such as proprioception from muscles and joints. Within robotics, there is often a need to have an internal representation of the body, integrating the multi-modal and multi-dimensional spaces in which it operates. Here we propose a body model in the form of a series of distributed spatial maps, that have not been purpose designed but have emerged through our experiments on developmental stages using a minimalist content-neutral approach. The result is an integrated series of 2D maps storing correlations and contingencies across modalities, which has some resonances with the structures used in the brain for sensorimotor coordination.

关键词： Neck Robot sensing systems Robot kinematics Visualization Modeling Joining processes

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Novel Efficient Technologies in Europe for Axle Bearing Condition Monitoring – the MAXBE Project

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Transportation Research Procedia 2016年 14卷 635-644页

作者： Cecília Vale Cristiana Bonifácio Jorge Seabra Rui Calçada Nadia Mazzino Massara Elisa Stefano Terribile Davide Anguita Emanuele Fumeo Carlos Saborido Tom Vanhonacker Edwin De Donder Michael Laeremans Frederik Vermeulen Diarmuid Grimes Construct-LESE Faculty of Engineering of University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal Ansaldo STS S.p.A. Via Paolo Mantovani 3-5 16151 Genoa Italy Department of Computer Science Bioengineering Robotics and Systems Engineering (DIBRIS) Polytechnic School of University of Genoa Via all’Opera Pia 13 16145 Genoa Italy COMSA EMTE Edificio Numancia 1 Viriat 47 08014 Barcelona Spain Dynamics Structures and Systems International Jules Vandenbemptlaan 71 3001 Leuven Belgium Vlaamse Vervoermaatschappij De Lijn Grotehondstraat 58 2018 Antwerp Belgium I-MOSS N.V. Corbielaan 5 3060 Bertem Belgium Insight Center for Data Analytics Department of Computer Science University College Cork Cork Ireland

Axle bearing damage with possible catastrophic failures can cause severe disruptions or even dangerous derailments, potentially causing loss of human life and leading to significant costs for railway infrastructure managers and rolling stock operators. Consequently the axle bearing damage process has safety and economic implications on the exploitation of railways systems. Therefore it has been the object of intense attention by railway authorities as proved by the selection of this topic by the European Commission in calls for research proposals. The MAXBE Project ( http://***/ ), a EU-funded project, appears in this context and its main goal is to develop and to demonstrate innovative and efficient technologies which can be used for the onboard and wayside condition monitoring of axle bearings. The MAXBE (interoperable monitoring, diagnosis and maintenance strategies for axle bearings) project focuses on detecting axle bearing failure modes at an early stage by combining new and existing monitoring techniques and on characterizing the axle bearing degradation process. The consortium for the MAXBE project comprises 18 partners from 8 member states, representing operators, railway administrations, axle bearing manufactures, key players in the railway community and experts in the field of monitoring, maintenance and rolling stock. The University of Porto is coordinating this research project that kicked-off in November 2012 and it is completed on October 2015. Both on-board and wayside systems are explored in the project since there is a need for defining the requirement for the onboard equipment and the range of working temperatures of the axle bearing for the wayside systems. The developed monitoring systems consider strain gauges, high frequency accelerometers, temperature sensors and acoustic emission. To get a robust technology to support the decision making of the responsible stakeholders synchronized measurements from onboard and wayside monito

关键词： axle bearings condition monitoring system diagnosis condition-based maintenance

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DWT-DCT based individuals identification using robust gait feature images

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2015年第4期8卷 113-124页

作者： Ibrahim Khalilullah, K.M. Hossain, Delowar Hamid, Ekramul Department of Computer Science and Engineering Bangladesh University of Business and Technology Dhaka Bangladesh Intelligent Robotics Lab Department of Electrical and Electronics System Engineering University of Toyama Japan Department of Computer Science and Engineering University of Rajshahi Rajshahi Bangladesh

Individual identification at a distance using gait features has newly gained growing interest from biometrics researchers. Most of the researchers have been shown that different covariate factors can affect different parts of the human body. In this paper, we propose a new approach that minimizes these difficulties, especially for carrying objects by combining static, dynamic, and part-based features. The Gait Features of the walking sequences are extracted by selecting only four sub bands of the Discrete Wavelet Transform (DWT) of the individual images. Moreover, Discrete Fourier Transform (DFT) and Discrete Cosine Transform (DCT) are implemented to extract lowest and middle frequency components that are used to create robust gait feature images (RGFIs). Then we select effective parts of the body from the Robust Gait Feature Images. After that, these parts of the body are trained using Principal Component Analysis (PCA) and Multiple Discriminant Analysis (MDA) to identify individuals. Experimental result shows promising performance in comparison with other methods. © 2015 SERSC.

关键词： Discrete cosine transforms

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Boundary Control Design and Stability Analysis of an Euler-Bernoulli Beam System with Input Backlash

Boundary Control Design and Stability Analysis of an Euler-B...

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第三十四届中国控制会议

作者： Xiuyu He Wei He Hui Qin Chang Liu Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China Department of Mathematics and Computer Science Eindhoven University of Technology

ISBN: (纸本)9781467374439

This paper investigates the vibration control of an Euler-Bernoulli Beam with nonlinear backlash input. Based on the dynamical model of the flexible beam, the boundary control law and the disturbance observer are designed to suppress the vibration of the system and reduce the effect of the backlash. The stability of the closed-loop system is proved and the uniform boundness of the states of the system is achieved. The proposed boundary control with appropriate parameters is proved to be effective by the performance of numerical simulations of the flexible beam system.

关键词： Input Backlash Flexible Beam Distributed Parameter Systems Vibration Control

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New progress in neurofeedback for optimizing cognitive and behavioral performance

New progress in neurofeedback for optimizing cognitive and b...

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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Neurofeedback(NF)training is an operant conditioning procedure which regulates brain activity for human cognition,peak performance and health *** paper briefly introduces the new progress in neurofeedback research in optimizing cognition and behavior performance including memory,peripheral vision,physical balance and brain computer interface(BCI)in our research group.

关键词： neurofeedback alpha beta/theta ratio brain computer interface cognition

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Alpha down-regulation neurofeedback effects in short term memory performance

Alpha down-regulation neurofeedback effects in short term me...

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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Qi Tang Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Research objective: Regulation of brain activity by neurofeedback(NF)training has been widely applied in treatment of human psychological disorders,improvement of human cognitive performance and recently enhancement of brain-computer interfaces(BCIs)***,no study has investigated whether training the same EEG feature but with different training direction has the reverse effects on some *** alpha neurofeedback,it has been demonstrated that alpha up-regulation NF has positive effects on short term memory enhancement while alpha down-regulation NF could improve steady state visual evoked potential BCI ***,it is unknown whether alpha down-regulation NF has side effects on short term ***,this study aimed to investigate: 1)whether multi-session NF training can decrease alpha activity and 2)whether this NF training has side effects in cognitive test of short term ***: A total of 19 participants performed 10 sessions of individualized alpha down-regulation neurofeedback training with 5 sessions per *** session had three 1-min trials with an interval of 5 s between two consecutive *** and after the 5 sessions of NF training in each day,three 30-s eyes open and three 30-s eyes closed resting baselines were recorded.9 in 19 participants performed forward and backward digit span as short term memory assessment before and after all training *** were trained to decrease their amplitude in individual alpha band(IAB)which is defined as band ranges from peak alpha frequency(PAF)-4 Hz to PAF+2 ***: 14 out of total 19 subjects could decrease the training parameter,their IAB amplitude,over training *** terms of the cognitive performance,neither forward nor backward digit span performance had significant change between before and after the alpha down-regulation neurofeedback training,indicating that this type of training has no side effects in short term ***

关键词： neurofeedback down-regulation short term memory individual alpha band peak alpha frequency

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Flat Rotman lens for 5G beamforming antenna

Flat Rotman lens for 5G beamforming antenna

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IEEE Asia-Pacific Conference on Antennas and Propagation (APCAP)

作者： Muhammad Kamran Khattak Changhyung Lee Dajung Han Sungtek Kahng Department of Information Technologies Università degli Studi di Milano Doctoral School of Computer Science Crema Italy Doctoral School of Applied Informatics and Applied Mathematics Obuda University Budapest Hungary Antal Bejczy Center for Intelligent Robotics (ABC iRob) Obuda University Budapest Hungary Institute of Mechatronics and Vehicle Engineering Obuda University Budapest Hungary Department of Mathematics and Informatics J. Selye University Komarno Slovakia Department of Information Technologies Università degli Studi di Milano Crema Italy

ISBN: (纸本)9781467372381

In this paper, a planar Rotman lens featured as beamforming and multiple beams is presented, aimed at the potential use for 5G communication. The feeding network and the radiating patches are made as a single layer Taconic-microstrip structure for a 24-GHz area operation for low cost and practicality. The beamforming characteristics are verified by the full-wave simulation which is validated by the fabrication and measurement.

关键词： Lenses Ports (computers) Feeds Array signal processing 5G mobile communication Microstrip

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Multi-crease self-folding by global heating

Multi-crease self-folding by global heating

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作者： Miyashita, Shuhei Onal, Cagdas D. Rus, Daniela Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology 32 Vassar Street 32-379 CambridgeMA02139 United States Worcester Polytechnic Institute Department of Mechanical Engineering Robotics Engineering Program 100 Institute Rd. HL 105 WorcesterMA01609 United States

This study demonstrates a new approach to autonomous folding for the body of a 3D robot from a 2D sheet, using heat. We approach this challenge by folding a 0.27-mm sheetlike material into a structure. We utilize the thermal deformation of a contractive sheet sandwiched by rigid structural layers. During this baking process, the heat applied on the entire sheet induces contraction of the contracting layer and thus forms an instructed bend in the sheet. To attain the targeted folding angles, the V-fold spans method is used. The targeted angle θout can be kinematically encoded into crease geometry. The realization of this angle in the folded structure can be approximately controlled by a contraction angle θin. The process is non-reversible, is reliable, and is relatively fast. Our method can be applied simultaneously to all the folds in multi-crease origami structures. We demonstrate the use of this method to create a lightweight mobile robot. © 2015 Massachusetts Institute of Technology.

关键词： Self assembly

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Adaptive Extended Kalman Filter for a Red Shift Navigation System

Adaptive Extended Kalman Filter for a Red Shift Navigation S...

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第三十四届中国控制会议

作者： Kui Fu Dan Zhang Peng Tang Zhongliang-Tang Wei He School of Computer Science and Engineering University of Electronic Science and Technology of china Computer Science Department Stony Brook University SUNY Korea Incheon 406-840 Center for Robotics University of Electronic Science and Technology of china

ISBN: (纸本)9781467374439

In this paper, a navigation system based on red shift for spacecraft mission in solar system is implemented. Deep space environment is complex and changeable, its characteristics are hard to handle, there exist difficulties to simulate the deep space environment accurately. We know that red shift navigation system can achieve high navigation accuracy in deep space missions. And innovation-based adaptive estimation(IAE) can utilize latest measurement to adaptive adjust the covariance matrix of observation equations and state error covariance matrix. Using IAE method, we proposed a new adaptive filter to handle variable deep space environment. Employing adaptive extended Kalman filter(AEKF) in this system, the navigation performance is analysed. Simulation results indicate that the proposed navigation system using AEKF can achieve higher precision, better availability and continuity compared with conventional extended Kalman filter(EKF), but greater computational burden.

关键词： Adaptive Extended Kalman Filter,Deep Space Navigation,Red Shift

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