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Prospects for the use of wireless reading of prosthetic control signals and methods for generating commands

IOP Conference Series: Materials Science and engineering 2021年第1期1019卷

作者： D Malakhov V Zhmud V Avrmachuk D Gryaznov J Nosek L Dimitrov Department of Automation Novosibirsk State Technical University Novosibirsk Russia Department of Complex Information Security of Computer Systems Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Department of Mechatronics and Computer Engineering (MTI) Faculty of Mechatronics Informatics and Interdisciplinary Studies Technical University of Liberec Liberec Czech Republic Vice rector Technical University of Sofia Sofia Bulgaria

The paper provides a rationale for the use of low-power wireless communication to create non-invasive bionic limb prostheses. The need for such a connection is dictated, on the one hand, by the expediency of using sensors located in various parts of the body, often very remote from each other, on the other hand, by the desire to free the disabled person's body from the wires that would envelop it like a spider web. For each of these positions, arguments are given.

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A Survey of Human-centered Intelligent Robots:Issues and Challenges

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 602-609页

作者： Wei He Zhijun Li C.L.Philip Chen IEEE School of Automation and Electrical Engineering University of Science and Technology Beijing College of Automation Science and Engineering South China University of Technology Department of Computer and Information Science Faculty of Science and Technology University of Macao

Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intelligent control, pattern recognition and human-robot interaction. This paper focuses on the recent achievements and presents a survey of existing works on human-centered robots. Furthermore, we provide a comprehensive survey of the recent development of the human-centered intelligent robot and discuss the issues and challenges in the field.

关键词： Human-centered robots human-robot interaction intelligent control navigation path planning pattern recognition

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Prospects for the development of functional expansion of individual low-cost prosthetic limbs for people with disabilities with intelligent sensors

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IOP Conference Series: Materials Science and engineering 2021年第1期1019卷

作者： D Gryaznov V Zhmud V Avrmachuk D Malakhov J Nosek L Dimitrov Department of Automation Novosibirsk State Technical University Novosibirsk Russia Department of Complex Information Security of Computer Systems Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Department of Mechatronics and Computer Engineering (MTI) Faculty of Mechatronics Informatics and Interdisciplinary Studies Technical University of Liberec Liberec Czech Republic Vice rector of Technical University of Sofia Sofia Bulgaria

Despite the development of medicine, as well as robotics aimed at helping people with disabilities, most disabled people with missing limbs cannot hope for a full life with the help of bionic prostheses, since these products are made strictly individually, and their control requires expensive surgeries to implant sensors. In addition, such prostheses themselves are very expensive. An alternative solution is to reduce the cost of such prostheses as much as possible and abandon the implantable sensors of signals of the human nervous system. The paper proposes a method for solving such a problem using a variety of sensors that remove signals from the skin surface without invasive surgery.

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Realizing learned quadruped locomotion behaviors through kinematic motion primitives

arXiv

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arXiv 2018年

作者： Singla, Abhik Bhattacharya, Shounak Dholakiya, Dhaivat Bhatnagar, Shalabh Ghosal, Ashitava Amrutur, Bharadwaj Kolathaya, Shishir Faculty of Mechanical Engineering Faculty of Electrical & Computer Engineering Robert Bosch Center for Cyber Physical Systems IISc Bengaluru India Faculty of Computer Science and Automation

Humans and animals are believed to use a very minimal set of trajectories to perform a wide variety of tasks including walking. Our main objective in this paper is two fold 1) Obtain an effective tool to realize these basic motion patterns for quadrupedal walking, called the kinematic motion primitives (kMPs), via trajectories learned from deep reinforcement learning (D-RL) and 2) Realize a set of behaviors, namely trot, walk, gallop and bound from these kinematic motion primitives in our custom four legged robot, called the "Stoch". D-RL is a data driven approach, which has been shown to be very effective for realizing all kinds of robust locomotion behaviors, both in simulation and in experiment. On the other hand, kMPs are known to capture the underlying structure of walking and yield a set of derived behaviors. We first generate walking gaits from D-RL, which uses policy gradient based approaches. We then analyze the resulting walking by using principal component analysis. We observe that the kMPs extracted from PCA followed a similar pattern irrespective of the type of gaits generated. Leveraging on this underlying structure, we then realize walking in Stoch by a straightforward reconstruction of joint trajectories from kMPs. This type of methodology improves the transferability of these gaits to real hardware, lowers the computational overhead on-board, and also avoids multiple training iterations by generating a set of derived behaviors from a single learned gait. Copyright © 2018, The Authors. All rights reserved.

关键词： Kinematics

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Understanding metric-related pitfalls in image analysis validation

arXiv

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arXiv 2023年

作者： Reinke, Annika Tizabi, Minu D. Baumgartner, Michael Eisenmann, Matthias Heckmann-Nötzel, Doreen Kavur, A. Emre Rädsch, Tim Sudre, Carole H. Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Benis, Arriel Blaschko, Matthew B. Buettner, Florian Cardoso, M. Jorge Cheplygina, Veronika Chen, Jianxu Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hashimoto, Daniel A. Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kenngott, Hannes Kleesiek, Jens Kofler, Florian Kooi, Thijs Kopp-Schneider, Annette Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Petersen, Jens Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Riegler, Michael A. Rieke, Nicola Saez-Rodriguez, Julio Sánchez, Clara I. Shetty, Shravya Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. van Calster, Ben Varoquaux, Gaël Yaniv, Ziv R. Jäger, Paul F. Maier-Hein, Lena Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Heidelberg Division of Intelligent Medical Systems Germany NCT Heidelberg A Partnership Between DKFZ University Medical Center Heidelberg Germany Heidelberg Division of Medical Image Computing Germany Heidelberg Division of Intelligent Medical Systems Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montreal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Leuven Belgium partner site Frankfurt/Mainz a partnership between DKFZ and UCT Frankfurt Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany and Frankfurt Cancer Insititute Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for Statistics in Medicine University of Oxford Oxford United Kingdom Center for Biomedical In

Validation metrics are key for tracking scientific progress and bridging the current chasm between artificial intelligence (AI) research and its translation into practice. However, increasing evidence shows that particularly in image analysis, metrics are often chosen inadequately. While taking into account the individual strengths, weaknesses, and limitations of validation metrics is a critical prerequisite to making educated choices, the relevant knowledge is currently scattered and poorly accessible to individual researchers. Based on a multi-stage Delphi process conducted by a multidisciplinary expert consortium as well as extensive community feedback, the present work provides the first reliable and comprehensive common point of access to information on pitfalls related to validation metrics in image analysis. While focused on biomedical image analysis, the addressed pitfalls generalize across application domains and are categorized according to a newly created, domain-agnostic taxonomy. The work serves to enhance global comprehension of a key topic in image analysis validation. © 2023, CC BY.

关键词： computer vision

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Hierarchic neighbors embedding

arXiv

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arXiv 2019年

作者： Liu, Shenglan Yu, Yang Liu, Yang Qiao, Hong Feng, Lin Feng, Jiashi School of Computer Science and Technology Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian Liaoning116024 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore

Manifold learning now plays a very important role in machine learning and many relevant applications. Although its superior performance in dealing with nonlinear data distribution, data sparsity is always a thorny knot. There are few researches to well handle it in manifold learning. In this paper, we propose Hierarchic Neighbors Embedding (HNE), which enhance local connection by the hierarchic combination of neighbors. After further analyzing topological connection and reconstruction performance, three different versions of HNE are given. The experimental results show that our methods work well on both synthetic data and high-dimensional real-world tasks. HNE develops the outstanding advantages in dealing with general data. Furthermore, comparing with other popular manifold learning methods, the performance on sparse samples and weak-connected manifolds is better for HNE. Copyright © 2019, The Authors. All rights reserved.

关键词： Topology

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Research on temperature cascade control of distillation column based on Smith-Fuzzy-PID

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Paper Asia 2018年第COMPENDIUM 2期 91-94页

作者： Wang, Yeqin Chen, Yunhao Liu, Qihui Zhang, Yue Faculty of Automation Huaiyin Institute of Technology Huaian China Faculty of Computer and Software Engineering Huaiyin Institute of Technology Huaian China

The efficiency and quality of oil recovery depend largely on the temperature control in distillation column, a Smith-Fuzzy-PID cascade control system for the distillation column proposed to overcome the drawback of single loop control in terms of rapidity and stability. Fuzzy-PID controller is designed in vice loop to achieve the coarse control by controlling the material flow. The Smith predictor was introduced into the feedback loop of the main loop to solve the time-delay in the traditional PID control. The simulated results show that the proposed control system has good characteristic in terms of dynamic and steady-state performance and robustness. © 2018 SHPMedia Sdn Bhd. All rights reserved.

关键词： Distillation columns

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Comparison of the PLL Control techniques applied in Photovoltaic System

Comparison of the PLL Control techniques applied in Photovol...

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Brazilian Power Electronics Conference, COBEP

作者： Marenice M. de Carvalho Renan L. P. Medeiros Iury V. Bessa Florindo A. C. Junior Kevin E. Lucas David A. Vaca Department of Electricity Federal University of Amazonas (UFAM) Manaus Brazil Department of Automation and Systems Federal University of Santa Catarina (UFSC) Florianopólis Brazil Faculty of Electrical and Computer Engineering ESPOL Polytechnic University Guayaquil Ecuador

ISBN: (数字)9781728141800

ISBN: (纸本)9781728141817

The increasing demand for low-carbon power and concerns about the environment resulted in the proliferation of alternative sources of energy. Among these sources, the photovoltaic systems stand out. However, these systems produce energy in direct current and require power inverters to connect them to the electric grid. For this connection to be realized the generated signal must have the same parameters of amplitude, phase, and frequency of the electrical network. In this sense, Phase-Locked Loop (PLL) controllers are used to synchronize the output signal with the network signal. For this type of system there are several topologies, such as PLL Synchronous Reference Frame (SRF-PLL), Second-Order Generalized Integrator PLL (SOGI-PLL), Enhanced PLL (EPLL) and Quadrature PLL (QPLL). This work proposes to compare these four controller topologies applied to the inverter of the photovoltaic system connected to the electric grid.

关键词： Phase locked loops Topology Power quality Harmonic analysis Photovoltaic systems Network topology Power harmonic filters

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Scheduling for Re-entrant Hybrid Flowshop Based on Wolf Pack Algorithm

Scheduling for Re-entrant Hybrid Flowshop Based on Wolf Pack...

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2018 International Conference on Advanced Materials, Intelligent Manufacturing and automation, AMIMA 2018

作者： Han, Zhonghua Tian, Xutian Ma, Xiaofu Lin, Shuo Faculty of Information and Control Engineering Shenyang Jianzhu University Liaoning110168 China Digital Factory Department Shenyang Institute of Automation CAS Shenyang110016 China Information and Control Engineering Faculty Shenyang Jianzhu University Liaoning110168 China Department of Electrical and Computer Engineering Virginia Tech BlacksburgVA24060 United States

In order to solve the scheduling problems of Re-entrant Hybrid Flowshop (RHFS), this paper investigates the mathematical programming model of RHFS, and proposes the wolf pack based algorithm (WPA) as a global optimization method. Multi-Sticking Crape Masking procedure scheduling problems in painting workshop of a bus manufacturing enterprise are of typical features of RHFS. We regard it as an application objective of the proposed algorithm, applying WPA and multiple evolutionary algorithms to solve the problems. The results show that the algorithm can solve re-entrant scheduling problems of hybrid flowshop more effectively compared with other conventional methods. © Published under licence by IOP Publishing Ltd.

关键词： Global optimization

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Temperature Dependent Dielectric Spectroscopy of Muscle Tissue Phantom

Temperature Dependent Dielectric Spectroscopy of Muscle Tiss...

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European Microwave Conference in Central Europe (EuMCE)

作者： Ondrej Fiser Sebastian Ley Marko Helbig Jürgen Sachs Michaela Kantova Jan Vrba Department of Biomedical Technology CTU Prague Czech Republic Faculty of Computer Science and Automation TU Ilmenau Germany Department of Electrical Engineering and Information Technology TU Ilmenau Germany Department of Electromagnetic Field CTU Prague Czech Republic

ISBN: (纸本)9781728112404;9782874870675

The temperature dependence of the dielectric parameters of tissues and tissue mimicking phantoms is very important for the non-invasive temperature measurement in medical applications using microwaves. We investigated and proposed a procedure of the measurement of this dependence in the temperature range 25 - 50 °C. Our proposed procedure was verified using distilled water. The results were compared to the literature model in the frequency range 150 - 3000 MHz. Using this method, the temperature dependence of dielectric parameters of new tissue mimicking phantom based on agar, PE powder and TX-151 was measured in the temperature range 25 -50 °C.

关键词： Temperature measurement Temperature dependence Dielectrics Calibration Phantoms Permittivity measurement

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