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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Yinlong Zhang Jindong Tan Ziming Zeng Wei Liang Ye Xia Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Department of Mechanical Aerospace and Biomedical Engineering University of Tennessee Information and Control Engineering Faculty Shenyang Jianzhu University

ISBN: (纸本)9781424479276

This paper presents a monocular camera (MC) and inertial measurement unit (IMU) integrated approach for indoor position estimation. Unlike the traditional estimation methods, we fix the monocular camera downward to the floor and collect successive frames where textures are orderly distributed and feature points robustly detected, rather than using forward oriented camera in sampling unknown and disordered scenes with pre-determined frame rate and autofocus metric scale. Meanwhile, camera adopts the constant metric scale and adaptive frame rate determined by IMU data. Furthermore, the corresponding distinctive image feature point matching approaches are employed for visual localizing, i.e., optical flow for fast motion mode;Canny Edge Detector & Harris Feature Point Detector & Sift Descriptor for slow motion mode. For superfast motion and abrupt rotation where images from camera are blurred and unusable, the Extended Kalman Filter is exploited to estimate IMU outputs and to derive the corresponding trajectory. Experimental results validate that our proposed method is effective and accurate in indoor positioning. Since our system is computationally efficient and in compact size, it's well suited for visually impaired people indoor navigation and wheelchaired people indoor localization.

关键词： Cameras Feature extraction Estimation Acceleration Trajectory Navigation Vectors

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control of servo system driven by pneumatic artificial muscles

Control of servo system driven by pneumatic artificial muscl...

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International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： Marcel More Ondrej Líška Department of Automation Control and Human Machine Interaction Technical University of Košice/Faculty of Mechanical Engineering Košice Slovakia

Pneumatic muscles are successfully used as a drive for simple machines. However, they are still more used in complex devices such as robotic systems, where they are part of servomechanism with a close control loop. This paper describes two variants of control system for this servo. The first one is using Matlab with Simulink simulation environment. In this solution, pneumatic valves are connected through I/O card directly to the computer. All control is made by regulator build from Simulink blocks. This program also use virtual model of controlled system designed in Realm Builder extension. The second way is usage of electronic pressure regulators. Paper describes device made of two EPR50 regulators designed specially for controlling one pair of pneumatic artificial muscles. This device is semi autonomous system that can work without any form higher control. Paper also presents one solution for interconnection of these two programs.

关键词： Muscles Regulators Robots Valves Ports (Computers) Pneumatic systems

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MEMS Sensors in Evaluation of Human Biomechanical Parameters

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Procedia engineering 2014年 96卷 209-214页

作者： Ján Karchňák Dušan Šimšík Boris Jobbágy Alena Galajdová Daniela Onofrejová Department of Automation Control and Human-Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Letná 9 042 00 Košice Slovakia Department of Industrial Engineering and Management Faculty of Mechanical Engineering Technical University of Košice Nemcovej 32 042 00 Košice Slovakia

Human biomechanical parameters such as range of motion can serve for evaluation of rehabilitation process, detecting disease or assessing training activities of the individual. MEMS sensors are today one of the most important innovation tools and are used in all kinds of applications, including measurements of human biomechanical parameters. Proposed article deals with validation of use of MEMS sensors for purposes of stroke patients’ rehabilitation and related measurements such as range of motion and provides description of the most common mistakes that may occur when such measurements would be include in a tele-rehabilitation application.

关键词： MEMS rehabilitation Range of Motion

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Robotic Arm with Artificial Muscles in Rehabilitation

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Procedia engineering 2014年 96卷 195-202页

作者： Boris Jobbágy Dušan Šimšík Ján Karchňák Daniela Onofrejová Department of Automation Control and Human-Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Letná 9 042 00 Košice Slovakia Department of Industrial Engineering and Management Faculty of Mechanical Engineering Technical University of Košice Nemcovej 32 042 00 Košice Slovakia

Proposed paper deals with rehabilitation robotic devices. First part, introduction, introduces an aplication of robotics in rehabilitation process. Second part deals with robot - assisted rehabilitation of the upper limb where is also described an architecture of robotic rehabilitation and its main functions. In the third section there is described a design of robotic arm with artificial muscles for rehabilitation of the upper limb. Fourth part is about wearable sensors used by authors in rehabilitation.

关键词： Robotics Biomechanics Artificial muscle

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Evaluation of Seniors Gait Training with Mechatronic Device

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Procedia engineering 2014年 96卷 444-453页

作者： Lenka Szerdiová Dušan Šimšík Alena Galajdová Daniela Onofrejová Department of Automation Control and Human-Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Letná 9 042 00 Košice Slovakia Department of Industrial Engineering and Management Faculty of Mechanical Engineering Technical University of Košice Nemcovej 32 042 00 Košice Slovakia

Authors present some results from research work on human movement analysis and its use in clinical practice. The aim of this research was to evaluate the effect of the new rehabilitation method for the prevention of falls in the elderly. The basis of new rehabilitation training is walking disturbed by perturbations embedded in shoes. Perturbations are generated with the original mechatronic device developed within project SMILING - S elf M obility I mprovement of e L derly by counteract ING falls, no. 215493 granted by the 7th framework program–ICT2007.7.1 „ICT and Ageing“. The SMILING system is a complete system for the training of gait [1]. SMILING shoe is a complex mechatronic system, which requires interaction through data obtained from the sensors of mechanical components, as well as data on user's activities. The SMILING shoes are able to change their configuration during the swing phase of gait to propose a different “ground” when the foot touches the floor. According to the basic idea, the SMILING system is not a medical device but a training device. This means that its use is envisaged also in non-protected environments such as fitness centers and/or private homes. The aim of the pilot study was to assess the impact of unconventional rehabilitation system SMILING on gait pattern. Seventeen patients participated in the study (elderly aged 65 and over) provided in Slovakia in cooperation with the Highly Specialized Geriatric Institute of St. Lukas Košice. Gait pattern has been defined through selected temporal-spatial parameters, obtained by measuring walking self-paced by opto-electrical system SMART in laboratory conditions. The results of the three measurements were compared by paired t-test for significance α=0,05. Data showed that after completing the second stage of training exercises walking speed and the length stride have increased and gait cycle was decreased. However, for approval of efficiency of the new rehabilitation method further clinical test

关键词： Seniosr Fall Neural plasticity Gait pattern System SMILING System SMART

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The classification of meningioma subtypes based on the color segmentation and shape features

The classification of meningioma subtypes based on the color...

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5th International Symposium on IT in Medicine and Education, ITME 2013

作者： Zeng, Ziming Tong, Zeng Han, Zhonghua Zhang, Yinlong Zwiggelaar, Reyer Information and Control Engineering Faculty Shenyang Jianzhu University Liaoning China Department of Computer Science Aberystwyth University Aberystwyth United Kingdom School of Management Shenyang Jianzhu University Shenyang Liaoning China Shenyang Institute of Automation Chinese Academy of Science Shenyang Liaoning China

ISBN: (纸本)9789400776173

This paper proposed an automatic method for the classification of meningioma subtypes based on the unsupervised color segmentation method and feature selection scheme. Firstly, a color segmentation method is utilized to segment the cell nuclei. Then the set of shape feature vectors which are calculated from the segmentation results are constructed. Finally, a k-nearest neighbour classifier (kNN) is used to classify the meningioma subtypes. Experiment shows that the classification accuracy of 85 % is achieved by using a leave-one-out cross validation approach on 80 meningioma images. © Springer Science+Business Media Dordrecht 2014.

关键词： Color

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Fuzzy adaptive control for pneumatic muscle actuator with simulated annealing tuning

Fuzzy adaptive control for pneumatic muscle actuator with si...

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International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： A. Hošovský P. Michal M. Tóthová O. Biroš Department of Mathematics Informatics and Cybernetics Faculty of Manufacturing Technologies Prešov Slovakia Department of Automation Control and Human Machine Interaction Faculty of Mechanical Engineering Košice Slovakia

Pneumatic artificial muscles - based robotic systems usually necessitate the use various nonlinear control techniques in order to improve their performance. Moreover, their robustness to parameter variation, which is generally hardly predictable, should also be tested. Here a fast hybrid adaptive control is proposed, where a conventional PD controller is placed into the feedforward branch and a fuzzy controller is placed into the adaptation branch. The fuzzy controller compensates for the actions of PD controller under conditions of inertia moment variation. The design of fuzzy controller is based on the results of optimization using simulated annealing algorithm. The results confirm fast action of the control scheme as well as its robustness to changes in inertia moment variation.

关键词： Muscles Actuators Adaptation models PD control Adaptive control Simulated annealing

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Application of Continous Casting Simulation at Štore Steel—II

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BHM Berg- und Huttenmannische Monatshefte 2014年第3期159卷 99-107页

作者： Šarler, Božidar Vertnik, Robert Lorbiecka, Agnieszka Zuzanna Vušanović, Igor Senčič, Bojan Laboratory for Multiphase Processes University of Nova Gorica Vipavska 13 Nova Gorica5000 Slovenia Laboratory for Simulation of Materials and Processes Institute of Metals and Technology Lepi pot 11 Ljubljana Slovenia Laboratory for Advanced Materials Systems Center of Excellence for Biosensors Automation and Process Control Velika pot 22 Solkan5250 Slovenia Štore Steel d.o.o. Železarska cesta 3 Štore3220 Slovenia Faculty of Mechanical Engineering University of Montenegro George Washington street Podgorica81000 Montenegro Centre of Excellence for Biosensors Automation and Process Control Velika pot 22 Solkan5250 Slovenia

This paper represents the elements and the use of the upgraded simulation system, developed in the last half decade for Štore Steel billet caster. The simulation system is used in the context of the state-of-the-art automation and information of the twenty-five year-old three-strand Concast billet continuous caster for dimensions square 140 and 180 mm with the capacity of 160,000 tons/year. The simulation system is used in the off-line and on-line modes. The off-line mode is used in order to set the proper process parameters and to calculate the temperature field, macrosegregation, and grain structure of the strand. It is also used to calculate the changes in the caster design such as the secondary cooling and the position of the SEN. The on-line model is used in automatic casting control system. The paper represents an update of our BHM publication of 2005 (Application of Continous Casting Simulation at Štore Steel, BHM, Vol. 150, No. 9, 300–306). © 2013, Springer-Verlag Wien.

关键词： Continuous casting

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Genetic Algorithm based Neural Network for the Displacement of Landslide Forecasting

Genetic Algorithm based Neural Network for the Displacement ...

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第三十三届中国控制会议

作者： Jiejie Chen Zhigang Zeng Ping Jiang Huiming Tang The School of Automation Huazhong University of Science and Technology Key Laboratory of Image Information Processing and Intelligent Control Ministry Education Faculty of Engineering China University of Geosciences

This paper proposes two hybrid prediction models using for predicting the displacement of landslide, Genetic Algorithm-Radial Basis Function Neural Network (GA-RBFN) and Genetic Algorithm- Back Propagation Neural Network (GA-BPNN). A case study of Yuhuangge landslide in the Three Gorges reservoir in China is used to illustrate the capability and merit of our schemes. In addition, the result shows that GP-BPNN get better accuracy than GA-RBFN in the same measurements.

关键词： Terrain factors Genetic algorithms Neural networks Forecasting Training Transfer functions Educational institutions

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Model of Production Environment controlled With Intelligent Systems

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Procedia engineering 2014年 96卷 330-337页

作者： Daniela Onofrejová Peter Onofrej Dušan Šimšík Technical University of Kosice Faculty of Mechanical Engineering Department of Industrial Engineering and Management B.Nemcovej 32 042 00 Kosice Slovakia PONTECH s.r.o. Kisdyho 19 040 01 Kosice Slovakia Technical University of Kosice Faculty of Mechanical Engineering Department of Automation Control and Human Machine Interaction Letna 9 042 00 Kosice Slovakia

For safe, reliable and convenient facility operation, it is eligible to install a control system with ambient intelligence. Building automation with its functions as keeping building climate within a specified range, lighting rooms based on an occupancy schedule, monitoring performance and device failures in all systems, providing malfunction alarms (usually via email and/or sms text notifications) to building engineering/maintenance staff, has become more affordable and simple through smartphone, tablet connectivity, evolved touch control panels. Building automation systems reduce operation energy and maintenance costs comparing to non-controlled building systems; advantage embodies pre-emptive maintenance and quick detection of break-downs. The paper deals with new features in designing ambient intelligence in monitoring and control processes for tangible manufacturing operations.

关键词： building automation model of production environment intelligent system

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