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An Anti-Slip Predictive controller for a V-PRA Vehicle

IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

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Partitioning methods used in DBS treatments analysis results

Partitioning methods used in DBS treatments analysis results

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International Joint Conference on Neural Networks (IJCNN)

作者： Oana Geman Cornel Turcu Department of Automatic Control and Computers Faculty of Electrical Engineering and Computer Science University Stefan cel Mare of Suceava Suceava Romania

Parkinson's disease is a neurodegenerative disorder and is associated with motor symptoms, including tremor. The DBS (Deep Brain Stimulation) involves electrode implantation into subcortical structures for long-term stimulation at frequencies greater than 100Hz. The mechanism by which chronic, electrical Deep Brain Stimulation with high frequency, suppresses tremor in Parkinson's disease is unknown, but might involve a gradual change in network properties controlling the generation of tremor. First, we performed linear and nonlinear analysis of the tremor signals to determine a set of parameters and rules for recognizing the behavior of the investigated patient and to characterize the typical responses for several forms of DBS. Second, we found patterns for homogeneous group for data reduction. We used Data Mining and Knowledge discovery techniques to reduce the number of data. Then, we found "clusters" the most well-known used and commonly partitioning methods used: K-means and K-medoids. To support such predictions, we develop a model of the tremor, to perform tests determining the DBS reducing the tremor or inducing tolerance and lesion if the stimulation is chronic.

关键词： Satellite broadcasting Clustering algorithms Time series analysis Correlation Algorithm design and analysis Mathematical model Software algorithms

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Needle-stability maps for brain-tumor biopsies

Needle-stability maps for brain-tumor biopsies

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15th International Conference on System Theory, control and Computing, ICSTCC 2011

作者： Herghelegiu, Paul Manta, Vasile Gröpller, Eduard Faculty of Automatic Control and Computer Engineering Technical University Gheorghe Asachi Iasi Str. Prof. dr. doc. Dimitrie Mangeron 27 700050 Iasi Romania Vienna University of Technology Institute of Computer Graphics and Algorithms Favoritenstr. 9/5. Stock A-1040 Vienna Austria

ISBN: (纸本)9781457711732

Minimally invasive surgical procedures like biopsies require the insertion of a needle to reach a specific tissue from where samples are taken. This process is affected by a number of errors that can lead to a different needle pathway than originally planned. In the case of brain-tumor biopsies, these errors can be caused by the brain shifting when the skull is drilled, measurement errors due to the physical framework that supports the biopsy needle or some other human errors. To provide support for preoperative planning, we introduce the concept of a biopsy-needle stability-map. This map provides information on how stable a biopsy-needle pathway is. We also introduce an algorithm for finding the reachable points on the tumor border from one specific entry point. A technique for automatically selecting the needle pathway that offers the biggest minimal distance to any blood vessel is also presented. A 3D representation of the regions of interest (tumor, blood vessels) together with the needle pathway and the reachable points of the tumor has also been implemented. The resulting stability map visually represents, using color-coding, how close to any blood vessel the pathways surrounding the main one are. © 2011 faculty of Auto control.

关键词： Needles

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ORF-MOSAIC for Adaptive control of a Biomimetic Arm

ORF-MOSAIC for Adaptive Control of a Biomimetic Arm

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IEEE International Conference on Robotics and Biomimetics

作者： M. Mahdi Ghazaei A. Henrik Jorntell Rolf Johansson Department of Computer Science Faculty of Engineering Lund University Department of Experimental Medical Sciences Section for Neurophysiology Lund University Department of Automatic Control Faculty of Engineering Lund University

ISBN: (纸本)9781457721366

This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization techniques. With as few as 16 modules, we were able to control the arm in a workspace of 30×30 cm. The system was able to adapt to an external field as well as handling new objects despite delays. The discussion section suggests that there are similarities between the microzones in the cerebellum and the modules of this new model.

关键词： Arm spiral arm adaptive control Cerebellum Biomimetics external electric field Workplace Standing Orders Epicoccum

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Gradient-based classification and representation of features from volume data

Gradient-based classification and representation of features...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Marius Gavrilescu Vasile Manta Eduard Gröller Technical University of Iasi Romania Vienna University of Technology Austria Faculty of Automatic Engineering and Computer Control Technical University of Iasi Romania Computer Science Department University of Bergen Norway

The extraction and representation of information from volume data are important research avenues in computer-based visualization. The interpretation of three- or multi-dimensional data from various scanning devices is important to medical imaging, diagnosis and treatment, reliability and sustainability analyses in various industrial branches, and, in more general terms, information visualization. In this paper, we present several approaches for the classification and representation of relevant information from volume data sets. The techniques are based on the gradient vector, a property directly derived from the original volume data. We show how this property can be computed and subsequently used for classification through gradient-based one- and multi-dimensional transfer functions, as well as for the enhancement of surface features. The described techniques are illustrated through images generated using our volume rendering framework, from Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) data sets. The resulting images show how gradient-based techniques are suited for improved volume classification and the better extraction of meaningful information.

关键词： Transfer functions Image color analysis Rendering (computer graphics) Computed tomography Magnetic resonance imaging Skin Support vector machine classification

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Securing JPEG architecture based on enhanced chaotic hill cipher algorithm

Securing JPEG architecture based on enhanced chaotic hill ci...

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International Conference on computer engineering and Systems

作者： Ghada Hamissa Amany Sarhan Hatem Abdelkader Mahmoud Fahmy Electrical Engineering Dept. Faculty of Engineering KFS University Kafr-Elsheikh Egypt Information System Department Faculty ofComputer & Information Menoufia University Menoufia Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

In the last two decades, Chaos theory has received a great deal of attention from the cryptographic community. This paper presents two ideas. First idea is using chaotic functions to overcome the weaknesses of the classical Hill cipher. The second idea is proposing a new encoder-decoder architecture, called ChaoEncoDeco, for securing JPEG images. An extra stage of encryption is embedded within the traditional JPEG codec to improve security level of such system. This security stage uses one of the chaotic functions called Logistic Map. This map is used to enhance the Hill cipher and achieve more secure encryption key. The properties of both chaotic system and of the Hill cipher encryption key are all utilized to obtain ultimate secure systems. The proposed encryption algorithm is crypto-analyzed and compared to the standard Hill cipher algorithm. Complete evaluation for the proposed architecture is also performed which indicates the effectiveness of the proposed system.

关键词： Cryptography Image coding Chaos PSNR Transform coding Time measurement Size measurement

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Eye tracking based communication system for patient with major neoro-locomotor disabilites

Eye tracking based communication system for patient with maj...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Robert G. Lupu Radu G. Bozomitu Florina Ungureanu Vlad Cehan Faculty of Automatic Control and Computer Engineering Gh. Asachi Technical University of Iasi Romania Faculty of Electronics Telecommunications and Information Technology Gh. Asachi Technical University of Iasi Romania

This paper presents a new technology used for communicating with people with major neuro-locomotor disability by determining gaze direction on a monitor screen. Gaze direction is determined by pupil position through image analysis. The proposed communication technology ensures communication with the patient as follows: (1) on a monitor screen divided in four sections are displayed key words and corresponding ideograms; (2) the patient sees the key words and focuses his/her gaze on a certain section - a pointer allows the control of gaze direction; (3) an infra-red mini/micro video camera placed on the patient's head sends the image of the eye to a computer; (4) the focusing of the patient's gaze on a certain key word i.e. a certain section of the screen is identified by image analysis; (5) voluntary blinking, also objectified by image analysis, shows the selection of a certain word. The patient's wish or need, represented by the key word, is then sent to a server and from there to a caretaker by means of a wire or a wireless transmission system. The absence of a selection within a certain time period causes the displaying of a new set of ideograms. The new technology is useful in the case of the patients who cannot communicate verbally, through signs or in writing and is based on their ability to control eye movement, which is often the case with people with major locomotor disabilities.

关键词： Servers computers Tracking Educational institutions Facsimile Protocols

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Needle-stability maps for brain-tumor biopsies

Needle-stability maps for brain-tumor biopsies

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Paul Herghelegiu Vasile Manta Eduard Gröller Faculty of Automatic Control and Computer Engineering Technical University “Gheorghe Asachi” Iasi Iasi Romania Vienna University of Technology Institute of Computer Graphics and Algorithms Favoritenstr. 9/5. Stock A-1040 Austria

关键词： Needles Tumors Blood vessels Biomedical imaging Stability analysis Image segmentation Transforms

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Work in progress: MiceNet: Monitoring behaviour of laboratory mice with sensor networks

Work in progress: MiceNet: Monitoring behaviour of laborator...

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International Conference on Distributed Computing in Sensor Systems (DCOSS)

作者： Grigore Stamatescu Kay Romer Ralf Ludwig Saleh M. Ibrahim Valentin Sgârciu Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Institute of Computer Engineering University of Lübeck Lubeck Germany Department of Dermatology University of Lübeck Lubeck Germany

Medical research uses laboratory mice for experimental studies. Currently, symptoms are manually observed and recorded, resulting in noisy data - requiring many animals to obtain statistically significant results. We propose the use of a camera sensor network attached to mice cages as a low-cost solution for continuously monitoring mouse behavior and providing remote access to the data for scientists. The benefits of this approach are discussed along with challenges encountered in the initial phases of deployment. The proposed hardware and software architecture is described and early experimentation results are presented.

关键词： Mice Cameras Monitoring Laboratories Image color analysis

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The hardware component of the technology used to communicate with people with major neuro-locomotor disability using ocular electromyogram

The hardware component of the technology used to communicate...

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International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Radu Gabriel Bozomitu C. Barabaşa Vlad Cehan Robert Gabriel Lupu Telecommunications Department Faculty of Electronics Telecommunications and Information Technology Gheorghe Asachi Technical University of Ia&i Iasi Romania Faculty of Automatic Control and Computer Engineering Gheorghe Asachi Technical University of Ia&i Iasi Romania

In this paper, the hardware component of a new technology used to communicate with people with major neuro-locomotor disability using ocular electromyogram is presented. The signals produced by the ocular muscle, provided by five electromyogram sensors are amplified used a new instrumentation amplifier and then processed by the software component of the proposed communication technology. The information obtained after these signals are processed is used in order to move a pointer on a display in concordance to the patient gaze direction. In this way, the needs of the patient are sent to the caretaker by detection of voluntary blinking.

关键词： Electrodes Electrooculography Software Electric potential Hardware Oscilloscopes

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