The paper presents an ongoing investigation of applying finite state machines (FSM) to drive a meal assistance robot based on electromyogram (EMG) signals. An adapting single-threshold method on EMG power is proposed ...
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The paper presents an ongoing investigation of applying finite state machines (FSM) to drive a meal assistance robot based on electromyogram (EMG) signals. An adapting single-threshold method on EMG power is proposed to recognize different elevation gestures. Predefined control commands are output by FSM based on the extracted EMG features, and used to operate the robot. The performance of control mode is tested in efficiency and comfortableness by both subjective and objective indices. And the high performance of the EMG-control meal assistance robot makes it feasible for users with upper limbs motor disabilities.
In this paper, an on-line deterioration prediction method and residual life evaluation are proposed for maintenance of rotating equipment. Status of the rotating equipment is inspected by vibration measurement and a m...
In this paper, an on-line deterioration prediction method and residual life evaluation are proposed for maintenance of rotating equipment. Status of the rotating equipment is inspected by vibration measurement and a mathematical model for the deterioration of the equipment is derived in order to predict future condition of the rotating equipment. For the construction of the deterioration model, outliers in the vibration data caused by measurement errors and so on are eliminated in order to improve accuracy of the deterioration model. Residual life of the rotating equipment is evaluated from the deterioration prediction by using the deterioration model. The effectiveness of the proposed deterioration prediction method and residual life evaluation are assured by actual data of rotating equipment in thermal power plants.
Presently, breakthrough industrial technology and scientific technology produce various instruments of downscale and weight saving. But the metal parts are widely used for magnetic motors. It is difficult to lighten t...
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ISBN:
(纸本)9784907764302
Presently, breakthrough industrial technology and scientific technology produce various instruments of downscale and weight saving. But the metal parts are widely used for magnetic motors. It is difficult to lighten the weight and to miniaturize the motor. Therefore, we need small, light actuators that can be built into motor. We focus attention on the polymer material artificial muscle that responds to electrical stimulation with a significant shape or size change. In this research, the artificial muscle was produced by using the conductive grease and the polymer material. We used several kinds of polymer material films in our experiments to compare the performance of them. The displacement when the voltage is applied to electrode was measured. At last the result and conclusion are given.
An automatic sleep stage determination system dealing with the sleep data contaminated by artifacts is developed, which is working on an expert knowledge-based multi-valued decision making method. The knowledge databa...
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An automatic sleep stage determination system dealing with the sleep data contaminated by artifacts is developed, which is working on an expert knowledge-based multi-valued decision making method. The knowledge database is consisted of probability density functions of parameters for various sleep stages according to the visual inspection by a qualified clinician. The probability density functions are approximated by Cauchy distribution on histograms. Sleep stages are determined automatically according to the maximum value of conditional probability. Due to the infinite variance of Cauchy distribution, the effect of mis-determination caused by artifacts can be abated. The result of automatic sleep stage determination was satisfactory. The presented automatic sleep stage determination can be an assistant tool for clinical practice.
Sustained mental work easily causes mental fatigue. Comfortable environments are necessary to be introduced into mental work. It is very practical research to explore the characteristics under progressive mental fatig...
Sustained mental work easily causes mental fatigue. Comfortable environments are necessary to be introduced into mental work. It is very practical research to explore the characteristics under progressive mental fatigue and make a suitable work-rest schedule. In this research, a work-rest schedule containing mental calculation task and music relaxation is specially designed to reflect effect of prolonged cognitive work and relaxation factors in mental work environments. An integrated design and evaluation system for human fatigue-relaxation research is proposed, which consisted of subjective evidence (visual analogue scale) and objective evidence (calculation performance and bio-neurological signals especially EEG signals). The results from subjective evidence and objective evidence indicate that a short break of music relaxation (e.g. 15 minutes) in sustained mental work can successfully counteract the accumulation of mental fatigue and improve work efficiency. EEG analysis supports the music function from bio-neurological point of view. Suitable work-rest schedule has widespread application in boarder population and various situations to alleviate the impact of every life and improve life satisfaction.
In this paper, a new desktop NC machine tool with compliance controllability is presented for finishing metallic molds with small curved surface. The NC machine tool consists of three single-axis robots with high posi...
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In this paper, a new desktop NC machine tool with compliance controllability is presented for finishing metallic molds with small curved surface. The NC machine tool consists of three single-axis robots with high position resolution. A tool attached to the tip of the z-axis has a small ball-end shape. Also, the control system of the NC machine tool is composed of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction force. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along cutter location data. It is expected that the NC machine tool delicately removes surface cusps with under about 0.3 mm height on a mold, and finishes the surface with high quality. In order to first confirm the application limit of a conventional industrial robot to a finishing task, we evaluate the backlash that causes the position inaccuracy at the tip of the abrasive tool, through a simple position/force measurement. Through a similar position/force measurement and a surface following control experiment along a lens mold, the basic position/force controllability of the proposed NC machine tool is demonstrated.
In this paper, we propose an imaging technique which can create both an ultrasonography and an impedance tomography by using the data collected by only one set of transducers. This enables the identification of two co...
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In this paper, we propose an imaging technique which can create both an ultrasonography and an impedance tomography by using the data collected by only one set of transducers. This enables the identification of two completely different sets of properties of a target by the data collected through the same set of transducers, at the same time. The novelty of the proposed system is, piezoelectric transducers which are generally used for ultrasonography is used for both ultrasonography and impedance tomography. In the experiments conducted, we established an ultrasonic and impedance imaging system of sixteen piezoelectric transducers and measured the propagation time and electrical voltage for imaging. We also demonstrate that this system has the ability to detect changes in concentration or changes in position of the target imaging object.
The widespread use of relaxation technique amongst medicine community and sustained work environments makes a more complete understanding of its physiological effects. This research proposes a systematic evaluation fo...
The widespread use of relaxation technique amongst medicine community and sustained work environments makes a more complete understanding of its physiological effects. This research proposes a systematic evaluation for relaxation circumstances, which consists of subjective evidence and objective evidence. Innovative feature of this evaluation system is adding bio-neurological signals to support previous findings about relaxation circumstances. A work-rest schedule containing mental calculation and music relaxation is specially designed to reflect effect of prolonged cognitive work and relaxation in mental work environments. The results indicate that short period of music relaxation in sustained mental work is effective to counteract the accumulation of mental fatigue and improve work efficiency. This systematic evaluation method can be widely applicable, in medical fields, working environments and daily life for the purpose of prediction, detection and evaluation of human states.
Total hip arthroplasty (THA) is performed to replace all or part of a human hip joint with an artificial joint for patients who have rheumatoid arthritis or osteoarthritis of the hip joint. Although THA might result i...
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Total hip arthroplasty (THA) is performed to replace all or part of a human hip joint with an artificial joint for patients who have rheumatoid arthritis or osteoarthritis of the hip joint. Although THA might result in postoperative complications of dislocation, wear and/or loose, their mechanisms have not been analyzed enough. We have developed an artificial-hip-joint simulator that can generate the same joint posture and joint contact force as those in daily life motion in order to evaluate the performance of the artificial-hip-joint. Dislocation of the artificial-hip-joint during daily living activities was generated by the simulator in order to analyze its mechanism.
This paper investigates passivity based 3D dynamic visual force feedback control for fixed camera systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contac...
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ISBN:
(纸本)9781424422241
This paper investigates passivity based 3D dynamic visual force feedback control for fixed camera systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contact force by using visual information. The proposed method can be regarded as an extension of the hybrid position/force control to the hybrid vision/force control. The main contribution of this paper is to show that the 3D dynamic visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Both the passivity of the manipulator dynamics and the passivity of the visual feedback system are preserved. Finally simulation results on 3 DOF planar manipulator are presented to verify the stability of the 3D dynamic visual force feedback system and understand our proposed method simply.
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