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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Ihara, Takahiro Sugi, Takenao Eriguchi, Makoto Asami, Toyoko Nakamura, Masatoshi Department of Electrical and Elcctoronic Engineering Saga University Saga Japan Saga University Hospital Saga Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764296

Many persons suffer from severe disabilities such as amyotrophic lateral sclerosis (ALS) caused by neurological disorders. Such kinds of disabilities bring various restrictions to communication and circumstance in their daily life. A simple communication method using neuro-biological signal will be effective and helpful to enhance their life quality Tn this study, a simple on-off communication method using electroencephalogram (EEG) and electrooculogram (EOG) was proposed. Tn case of EEG, parameters for linear regressive equation were selected by ATC. The results showed that the accuracy was extremely high with both communication methods. © 2009 SICE.

关键词： Brain computer interface

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Reliable EOG signal based control approach with EEG signal judgement

Reliable EOG signal based control approach with EEG signal j...

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作者： Zhang, T. Chen, C. Nakamura, M. Department of Automation Tsinghua University Beijing 100086 China Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan

ISBN: (纸本)9784990288037

This paper proposes a reliable EOG signal based control approach with EEG signal judgement. In this method, raw bio-neurological signals (including EOG and EEG) are first extracted and segmented in the preprocessing. The processed bio-neurological signals will be then evaluated by calculating feature parameters of these signals. Since in bio-neurological signals they may be contaminated by various kinds of artifacts, by means of feature parameters of bio-neurological signals, some artifacts of bio-neurological signals can be indicated. Thus, the bio-neurological signals contaminated with artifacts can not be adopted to generate control signals and judge the correctness of control signals. In the proposed method, in order to generate reliable control signal based on the EOG signal, EEG signal is adopted to assist to make judgement about the valid of EOG signal. With the proposed method, an EOG signal based control software platform has been implemented. By use of this platform, simulation work has been carried out to control the behavior of a robot. The simulation results verified the effectiveness of the proposed method. ©ISAROB 2009.

关键词： Neurology

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Development of a desktop swarm robot system based on pheromone communication

Development of a desktop swarm robot system based on pheromo...

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作者： Kitamura, Naoyuki Nakamichi, Yoshiyuki Fukuda, Koji Advanced Course of Electricity and Control System Engineering Anan National College of Technology 265 Aoki Minobayashi Anan Tokushima 774-0017 Japan Department of Systems and Control Engineering Anan National College of Technology 265 Aoki Minobayashi Anan Tokushima 774-0017 Japan Department of Electronic Control Engineering Gifu National College of Technology 2236-2 Kamimakuwa Motosu Gifu 501-0495 Japan

ISBN: (纸本)9784990288037

Complex and adaptive behavior of population emerges in social insects. Especially in ants, pheromone communication is the key to understanding their swarm intelligence. This paper proposes a swarm robot system based on pheromone communication and reports our current status of development of the robot system. We believe that the system could be used in swarm robotics and complex systems education. ©ISAROB 2009.

关键词： Multipurpose robots

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Expert knowledge-based automatic sleep stage determination by multi-valued decision making method

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and systems 2009年第4期129卷 614-619+6页

作者： Wang, Bei Sugi, Takenao Kawana, Fusae Wang, Xingyu Nakamura, Masatoshi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Automation School of Information Science and Engineering East China University of Science and Technology 130 Meilong St. Shanghai 200237 China Department of Electrical and Electronic Engineering Faculty of Science and Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Clinical Physiology Toranomon Hospital 2-2-2 Toranomon Minato-ku Tokyo 105-8407 Japan

In this study, an expert knowledge-based automatic sleep stage determination system working on a multivalued decision making method is developed. Visual inspection by a qualified clinician is adopted to obtain the expert knowledge database. The expert knowledge database consists of probability density functions of parameters for various sleep stages. Sleep stages are determined automatically according to the conditional probability. Totally, four subjects were participated. The automatic sleep stage determination results showed close agreements with the visual inspection on sleep stages of awake, REM (rapid eye movement), light sleep and deep sleep. The constructed expert knowledge database reflects the distributions of characteristic parameters which can be adaptive to variable sleep data in hospitals. The developed automatic determination technique based on expert knowledge of visual inspection can be an assistant tool enabling further inspection of sleep disorder cases for clinical practice. © 2009 The Institute of Electrical Engineers of Japan.

关键词： Probability density function

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Posture control of a robot manipulator by evaluating fuzzy linguistic information based on user feedback

Posture control of a robot manipulator by evaluating fuzzy l...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： A.G. Buddhika P. Jayasekara Keigo Watanabe Kiyotaka Izumi Maki K. Habib Department of Advanced Systems Control Engineering Saga University Japan

This paper proposes a method for controlling posture of a robot manipulator by fuzzy voice commands. Human-friendly robotic system should be able to understand the fuzzy linguistic information based on the user's guidance and the environmental conditions. The contextual meaning of fuzzy linguistic information depends on the conditions of the environment. Therefore, the user's feedback is evaluated to understand the fuzzy linguistic information related to the posture movements. The primitive posture movements are evaluated by the behavior evaluation network (BEN). Feedback evaluation system (FES) is introduced to evaluate the user's feedback to correct the robot perception by adapting the BEN. The capability of evaluating fuzzy linguistic information based on the current context is enhanced. A selected set of posture movements are used to illustrate the system by using a PA-10 robot manipulator.

关键词： Robot control Manipulators Fuzzy control Feedback Fuzzy systems Speech synthesis Human robot interaction control systems Humanoid robots Speech recognition

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Simulation model of integrated OTEC and desalination plant and its application

Simulation model of integrated OTEC and desalination plant a...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Nakatnura, Syo Goto, Satoru Sugi, Takenao Ikegami, Yusuke Nakamura, Masatoshi Department of Advanced Systems Control Engineering Saga University Honjomachi Saga 840-8502 Japan Institute of Ocean Energy Saga University Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784907764296

Water and energy are indispensable for human life. Fossil fuels such as oil and coal are usually used for power generation. However, the environment impact of these thermal power generation is relatively large. Moreover, the shortage of water caused by a population increase and global warming also becomes serial problem. In order to solve these energy and water problems at the same time, an integrated plant of ocean thermal energy conversion (OTEC) system and desalination system has been developed. In this research, a simulation model of the integrated OTEC and desalination plant was constructed. © 2009 SICE.

关键词： Desalination

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Image reconstruction from point cloud data by CIP-level set method

Image reconstruction from point cloud data by CIP-level set ...

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SICE Annual Conference

作者： Ishimoto Hironori Ryuzaburo Sugino Noboru Morizumi Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Systems and Control Engineering Anan National College of Technology Tokushima Japan

Level set method (LSM) is the efficient computation method for the interface capturing with corresponding of advection equation attend topological change of interface. LSM is consisted of the generation of signed distance function from initial interface and the convergence computation of the interface evolution for the target shape using the advection equation in conjunction with the mean curvature flow. We can get the image source from the actual object through the some kinds of distance measurement. The many measured points form the point cloud as the pointing sketch of a object surface. The precision surface model of the object requires that we extract the suitable interface for the purpose from the point cloud data. The extraction is one of image reconstruction. LSM is very useful method to extract the fine surface model from the point cloud data. However, the conventional LSM has some difficulties in the practical computing. In the long time computing, the distance function will be broken up without the frequent reinitialization of it. In this study, we proposed the new computation algorithm in which it is combined the LSM with the CIP scheme. The CIP presents very good performance to keep the shape profile in the advection computing. The obtained results are the various of examples of image reconstruction such as the convex sharp profile, the non-convex profile and the topological changing of profiles. We show the applicability and the effectiveness through the comparison of the CIP scheme with up-wind scheme.

关键词： Image reconstruction Clouds Surface reconstruction Data mining Computer interfaces Equations Shape Level set Convergence Distance measurement

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Notes on Data-driven System Approaches

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自动化学报 2009年第6期35卷 668-675页

作者： XU Jian-Xin HOU Zhong-Sheng Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University Beijing 100044 P.R. China

In this paper, we present several considerations centered around the data-driven system approaches. We briefly explore three main issues: the evolving relationship between off-line and on-line data processing methods, the complementary relationship between the data-driven and model-based methods, and the perspectives of data-driven system approaches. Instead of offering solutions to data-driven system problems, which is impossible at the present level of knowledge and research, in this article we aim at categorizing and classifying open problems, exploring possible directions that may offer alternatives or potentials for the four key fields of interests: control, decision making, scheduling, and fault diagnosis.

关键词：数据驱动数据分析自动化系统分析方法

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Quantitative analysis between visual mismatch negativity and psychopathology scale for schizophrenia

Quantitative analysis between visual mismatch negativity and...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Goto, Kazuhiko Sugi, Takenao Maekawa, Toshihiko Ogata, Katuya Goto, Yoshinobu Tobitnatsu, Shozo Nakatnura, Masatoshi Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Clinical Neurophysiology Kyushu University Fukuoka Japan Departmcnt of Occupational Therapy International University of Health and Welfare Fukuoka Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

Visual mismatch negativity (v-MMN) in electroencephalographic (EEG) record provides an index of preattentive information processing of the brain. v-MMN is considered to reflect schizophrenia. The positive and negative syndrome scale (PANSS) is usually used in clinical diagnosis on patients with schizophrenia for estimating the degree of disorder. Tn this study, the relationship between v-MMN and PANSS was analyzed. Characteristic parameters of peaks including Nl, N2, P300, and MMN were established respectively. Estimated function was constructed by selected parameters. P300 was most significant characteristic related to all items of PANSS. © 2009 SICE.

关键词： Diseases

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EMG-based control for lower-limb power-assist exoskeletons

EMG-based control for lower-limb power-assist exoskeletons

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IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS

作者： Kazuo Kiguchi Yasunobu Imada Department of Advanced Systems Control Engineering Saga University Saga Japan

Power-Assist for lower-limb is expected by many physically weak persons to assist their daily activities. It is important for the power-assist robots that the assist motion is generated based on users motion intention. This paper presents a muscle-model-oriented EMG-based (electromyogram-based) control method to activate a lower-limb power-assist robot according to the users motion intention since the EMG directly reflects the users muscle activities. In the proposed method, a matrix which expresses the relationship between the muscle activities and the generating joint torque is applied to estimate the users motion intention in real-time. The effectiveness of the proposed control method was evaluated by performing experiments.

关键词： Exoskeletons Muscles Electromyography Motion control Hip Knee Rehabilitation robotics Power generation Leg DC motors

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