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Design of fuzzy controller for automatic steering

Design of fuzzy controller for automatic steering

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作者： Ko, Sang-Jin Lee, Jun-Woo Choi, Byoung-Suk Lee, Ju-Jang Graduate School of Automobile Technology KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of Department of Electrical Engineering and Computer Science KAIST Daejeon Korea Republic of

ISBN: (纸本)9784990288020

Unmanned vehicle is future vehicle technology. Lateral control technology and longitudinal control technology are needed for unmanned vehicle. Automatic steering system is lateral control technology. A automatic steering system automatically controls the steering to keep the vehicle in its land and also to follow the lane as it curves around. This paper proposes automatic steering system based on fuzzy logic. If the fuzzy rules are set properly, the fuzzy controller can control the objective system nicely. To design an automatic steering system, lateral error dynamics of a vehicle is derived. The proposed automatic steering system is evaluated by SIMULINK in MATLAB. The simulation results show that the proposed automatic steering system works satisfactorily for keeping the vehicle in its land and following the lane. ©ISAROB 2008.

关键词： Fuzzy control

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Stiffness control of 2-DOF exoskeleton for brain-machine interfaces

Stiffness control of 2-DOF exoskeleton for brain-machine int...

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

作者： Rodolphe Heliot Amy Orsborn Jose M. Carmena Department of Electrical Engineering and Computer Science University of California Berkeley CA USA UCB/UCSF Joint Graduate Group in Bioengineering University of California Berkeley CA USA Department of Electrical Engineering and Computer Science Cognitive Science University of California Berkeley CA USA

Previous demonstrations of brain-machine interfaces have shown the potential for controlling a neuroprosthesis under pure motion control, i.e. predicting end effector kinematics from neural ensemble activity. For real world tasks, however, pure motion control lacks the information required for versatile manipulation in which the dynamic interactions of forces and torques between the musculoskeletal system and the environment play a crucial role. Thus, our current efforts aim at enabling a subject using a brain-machine interface to volitionally control the mechanical impedance of the prosthetic device. Here we propose the use of a two-link arm exoskeleton to investigate upper limb stiffness in non-human primates. We show that the device can be used to experimentally measure end-point limb stiffness, as well as to control the stiffness when the exoskeleton is used in slave-robot mode. Experimental results show that this platform allows for both stiffness measurement and control of the robotic device.

关键词： Exoskeletons Motion control Impedance Prosthetics Velocity control Kinematics Musculoskeletal system Biomedical measurements Robot control Actuators

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Interferometric synthetic aperture microscopy

Interferometric synthetic aperture microscopy

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OFC/NFOEC 2008 - 2008 Conference on Optical Fiber Communication/National Fiber Optic Engineers Conference

作者： Boppart, A. Ralston, Tyler S. Marks, Daniel L. Carney, P. Scott Beckman Institute for Advanced Science and Technology Department of Medicine 405 North Mathews Avenue Urbana IL 61801 United States Department of Electrical and Computer Engineering Department of Medicine 405 North Mathews Avenue Urbana IL 61801 United States Department of Bioengineering Department of Medicine 405 North Mathews Avenue Urbana IL 61801 United States

Interferometric synthetic aperture microscopy (ISAM) provides high-resolution three-dimensional optical images of highly-scattering samples with large depth-of-field without scanning the focal plane, ISAM can function... 详细信息

ISBN: (纸本)9781557528551

关键词： Synthetic apertures

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Robust Human Pose Recognition Using Unlabelled Markers

Robust Human Pose Recognition Using Unlabelled Markers

引用

IEEE Workshop on Applications of computer Vision (WACV)

作者： Yi Wang Gang Qian Department of Computer Science and Engineering Arizona State University USA Arts Media and Engineering Program and Department of Electrical Engineering Arizona State University USA

In this paper, we tackle robust human pose recognition using unlabelled markers obtained from an optical marker-based motion capture system. A coarse-to-fine fast pose matching algorithm is presented with the following three steps. Given a query pose, firstly, the majority of the non-matching poses are rejected according to marker distributions along the radius and height dimensions. Secondly, relative rotation angles between the query pose and the remaining candidate poses are estimated using a fast histogram matching method based on circular convolution implemented using the fast Fourier transform. Finally, rotation angle estimates are refined using nonlinear least square minimization through the Levenberg-Marquardt minimization. In the presence of multiple solutions, false poses can be effectively removed by thresholding the minimized matching scores. The proposed framework can handle missing markers caused by occlusion. Experimental results using real motion capture data show the efficacy of the proposed approach.

关键词： Robustness Humans Least squares approximation Labeling Clouds Art Fast Fourier transforms Image recognition computer science Biomedical optical imaging

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Photonic crystals: A platform for label-free and enhanced fluorescence biomolecular and cellular assays

Photonic crystals: A platform for label-free and enhanced fl...

引用

2008 MRS Fall Meeting

作者： Cunningham, Brian T. Chan, Leo Mathias, Patrick C. Ganesh, Nikhil George, Sherine Lidstone, Erich Heeres, James Hergenrother, Paul J. Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States Department of Bioengineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States Department of Material Science and Engineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States Department of Chemistry University of Illinois at Urbana-Champaign Urbana IL 61801 United States

ISBN: (纸本)9781615677672

Photonic crystal surfaces represent a class of resonant optical structures that are capable of supporting high intensity electromagnetic standing waves with near-field and far-field properties that can be exploited for high sensitivity detection of biomolecules and cells. While modulation of the resonant wavelength of a photonic crystal by the dielectric permittivity of adsorbed biomaterials enables label-free detection, the resonance can also be tuned to coincide with the excitation wavelength of common fluorescent tags - including organic molecules and semiconductor quantum dots. Photonic crystals are also capable of efficiently channeling fluorescent emission into a preferred direction for enhanced extraction efficiency. Photonic crystals can be designed to support multiple resonant modes that can perform label free detection, enhanced fluorescence excitation, and enhanced fluorescence extraction simultaneously on the same device. Because photonic crystal surfaces may be inexpensively produced over large surface areas by nanoreplica molding processes, they can be incorporated into disposable labware for applications such as pharmaceutical high throughput screening. In this talk, the optical properties of surface photonic crystals will be reviewed and several applications will be described, including results from screening a 200,000-member chemical compound library for inhibitors of protein-DNA interactions, gene expression microarrays, and high sensitivity of protein biomarkers. © 2009 Materials Research Society.

关键词： Photonic crystals

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Abandoned object position prediction based on mobile robot

Abandoned object position prediction based on mobile robot

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Soung Min Im Ju Jang Lee Robotics program KAIST Daejeon South Korea Department of Electrical Engineering and Computer Science KAIST Daejeon South Korea

Visual surveillance with dynamic background is one of the most active research topics in computer vision. Especially, researches for abandoned detection in the public place have been caused by preventing terror and accident. Previous researches for abandoned detection have been based on a static image and used an image difference. In this paper we present an algorithm for a mobile robot and we use optical flow for detecting a static object and distances from abandoned objects. For this purpose, we find abandoned objects and predict a position of objects using a mobile robot visual system with a single camera.

关键词： Mobile robots Surveillance computer vision Accidents Image motion analysis Object detection Optical detectors Visual system Robot vision systems Cameras

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Geometric optimization methods for the analysis of gene expression data

Geometric optimization methods for the analysis of gene expr...

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作者： Journée, Michel Teschendorff, Andrew E. Absil, Pierre-Antoine Tavaré, Simon Sepulchre, Rodolphe Department of Electrical Engineering and Computer Science University of Liège Belgium Breast Cancer Functional Genomics Program Cancer Research UK Cambridge Research Institute University of Cambridge Robinson Way Cambridge CB2 0RE United Kingdom Department of Mathematical Engineering Université catholique de Louvain Belgium

ISBN: (纸本)9783540737490

DNA microarrays provide such a huge amount of data that unsupervised methods are required to reduce the dimension of the data set and to extract meaningful biological information. This work shows that Independent Component Analysis (ICA) is a promising approach for the analysis of genome-wide transcriptomic data. The paper first presents an overview of the most popular algorithms to perform ICA. These algorithms are then applied on a microarray breast-cancer data set. Some issues about the application of ICA and the evaluation of biological relevance of the results are discussed. This study indicates that ICA significantly outperforms Principal Component Analysis (PCA).

关键词： Independent component analysis

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Label free detection of PCR amplification

Label free detection of PCR amplification

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2008 IEEE Sensors, SENSORS 2008

作者： Liu, Yi-Shao Banada, Padmapriya P. Bhunia, Arun K. Bashir, Rashid Micro and Nanotechnology Laboratory United States Department of Electrical and Computer Engineering Department of Bioengineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States Molecular Microbiology Laboratory and Department of Food Science Purdue University West Lafayette IN 47907 United States Center for infectious diseases Department of Medicine New Jersey Medical school Newark NJ 07130 United States

ISBN: (纸本)9781424425808

In this paper, we present a method for the label-free detection of PCR products using impedance spectroscopy. Instead of using conventional optical detection instruments, our method provides a direct detection of amplified target genes in PCR. As a proof of concept, identification of a target bacterium in a mixture of microorganisms is demonstrated. © 2008 IEEE.

关键词： Polymerase chain reaction

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Accelerating advanced MRI reconstructions on GPUs 08

Accelerating advanced MRI reconstructions on GPUs

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2008 Conference on Computing Frontiers, CF'08

作者： Stone, Sam S. Haldar, Justin P. Tsao, Stephanie C. Hwu, Wen-Mei W. Liang, Zhi-Pei Sutton, Bradley P. Center for Reliable and High-Performance Computing University of Illinois at Urbana-Champaign Urbana IL United States Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL United States Bioengineering Department Biomedical Imaging Center Beckman Institute for Advanced Science and Technology University of Illinois at Urbana-Champaign Urbana IL United States

ISBN: (纸本)9781605580777

Computational acceleration on graphics processing units (GPUs) can make advanced magnetic resonance imaging (MRI) reconstruction algorithms attractive in clinical settings, thereby improving the quality of MR images across a broad spectrum of applications. At present, MR imaging is often limited by high noise levels, significant imaging artifacts, and/or long data acquisition (scan) times. Advanced image reconstruction algorithms can mitigate these limitations and improve image quality by simultaneously operating on scan data acquired with arbitrary trajectories and incorporating additional information such as anatomical constraints. However, the improvements in image quality come at the expense of a considerable increase in computation. This paper describes the acceleration of an advanced reconstruction algorithm on NVIDIA's Quadro FX 5600. Optimizations such as register allocating the voxel data, tiling the scan data, and storing the scan data in the Quadro's constant memory dramatically reduce the reconstruction's required bandwidth to off-chip memory. The Quadro's special functional units provide substantial acceleration of the trigonometric computations in the algorithm's inner loops, and experimentally-tuned code transformations increase the reconstruction's performance by an additional 20%. The reconstruction of a 3D image with 1283 voxels ultimately achieves 150 GFLOPS and requires less than two minutes on the Quadro, while reconstruction on a quadcore CPU is thirteen times slower. Furthermore, relative to the true image, the error exhibited by the advanced reconstruction is only 12%, while conventional reconstruction techniques incur error of 42%. In short, the acceleration afforded by the GPU greatly increases the appeal of the advanced reconstruction for clinical MRI applications. Copyright 2008 ACM.

关键词： Magnetic resonance imaging

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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