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IEEE International Conference on Robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion Control systems

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Automated cell stiffness measurement with two-fingered microhand using micro force sensor

Automated cell stiffness measurement with two-fingered micro...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Hiroyuki Yabugaki Kenichi Ohara Masaru Kojima Mitsuhiro Horade Kazuto Kamiyama Shinji Sakai Takanori Kihara Yasushi Mae Tamio Tanikawa Tatsuo Arai Department of Systems Innovation Osaka University Osaka Japan Department of Mechatronics Engineering Meijo University Nagoya Japan Department of Materials Engineering Science Osaka University Osaka Japan Faculty of Environmental Engineering University of Kitakyushu Fukuoka Japan Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Ibaraki Japan

Recently, with the development of life sciences, measurement of cell characteristics have been carried out to evaluate cells. As one example of these characteristics, cell stiffness has attracted attention. It is known that cell stiffness changes depending on the status of the cell. Thus, stiffness measurement is said to be one of the important indices to evaluate a cell. However, since measuring cell stiffness requires manipulating micron order scale cells and measuring nano order forces, cell stiffness has not been extensively researched. In previous studies, a cell stiffness measurement system using a two-fingered microhand with a micro force sensor has been proposed. In this research, cell stiffness is measured using the reaction force while the target object is deforming. Also, in the previous method, it was necessary to grasp the target object manually for measuring cell stiffness, and manual grasping leads to errors in the stiffness measurement. In this paper, an automated stiffness measurement combining force data and image data is introduced. By using this system, an automated and high-precision cell stiffness measurement is realized.

关键词： Force Force measurement Grasping Force sensors Strain Position measurement Measurement uncertainty

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World Congress Integrative Medicine & Health 2017: part two Berlin, Germany. 3-5 May 2017 Abstracts

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BMC COMPLEMENTARY AND ALTERNATIVE MEDICINE 2017年第SUPPL 1期17卷 317-317页

作者： [Anonymous] National Institute of Complementary Medicine Western Sydney University Sydney Australia Department of General Practice University of Melbourne Melbourne Australia School of Rehabilitation Therapy Queens University Ontario Canada School of Health and Biomedical Sciences RMIT University Melbourne Australia School of Public Health and Preventive Medicine Monash University Melbourne Australia NAFKAM UiT The Arctic University of Norway Tromsø 9019 Norway Department of Psychology University of Sheffield Sheffield S1 1HD UK Department of Community Medicine UiT The Arctic University of Norway Tromsø 9019 Norway Institue of General Practice Goethe University Frankfurt Frankfurt 60590 Germany Department of General Practice University of Tübingen Tübingen Germany Med.-pharm. Information/Klinische Forschung WALA Heilmittel GmbH Bad Boll/ Eckwälden 73087 Germany Ressortleitung Wissenschaft WALA Heilmittel GmbH Bad Boll/Eckwälden 73087 Germany University of Minnnesota Minneapolis 55455 MN USA Minneapolis College of Art and Design Minneapolis MN USA Duke University Durham NC USA Caring Bridge Minneapolis MN USA University of Minnesota Minneapolis 55455 MN USA Phytomedicines Supply and Development Center Innovation & Development Bayer Consumer Health Steigerwald Arzneimittelwerk GmbH Darmstadt 68526 Germany University Medicine of Rostock Rostock 18055 Germany Primary Care and Population Sciences University of Southampton Southampton UK Psychology University of Southampton Southampton UK Faculty of Health University of Technology Sydney Sydney 2007 Australia st Department of Pathology and Experimental Cancer Research Semmelweis University Budapest 1085 Hungary University of Alberta Edmonton Canada Parker University Dallas TX USA Canadian Memorial Chiropractic College Toronto Canada Anglo-European College of Chiropractic Bournemouth UK University of Calgary Calgary Canada University of Toronto Toronto Canada University of Hawaii at Manoa Honolulu Hawai’

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Fall detection for elderly by using an intelligent cane robot based on center of pressure (COP) stability theory

Fall detection for elderly by using an intelligent cane robo...

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International Symposium on Micromechatronics and Human science (MHS)

作者： Pei Di Jian Huang Shotaro Nakagawa Kosuke Sekiyama Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Institute for Advanced Research Nagoya University Chikusa-ku Nagoya Japan The Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China The Faculty of Science and Engineering Meijo University Japan

An intelligent cane robot was designed for aiding the elderly and handicapped people walking. The robot consists of a stick, a group of sensors and an omni-directional basis driven by three Swedish wheels. Multiple sensors were used to recognize the user's “walking intention”, which is quantitatively described by a new concept called intentional direction (ITD). Based on the guidance of filtered ITD, a novel intention-based admittance motion control (IBAC) scheme was proposed for the cane robot. To detect the fall of user, a detection method based on Dubois possibility theory was proposed using the combined sensor information from force sensors, a laser ranger finder (LRF) and an on-shoe load sensor. The human fall model was represented in a two-dimensional space, where the relative position between the center of pressure (COP) and the center of support triangle was utilized as a significant feature. The effectiveness of proposed fall detection method was also confirmed by experiments.

关键词： Legged locomotion Robot sensing systems Senior citizens Artificial intelligence

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine systems Control Laws Formation Control Station Keeping Triangular Formations

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Embedding of Nonlinear systems in a Linear Parameter-Varying Representation

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IFAC Proceedings Volumes 2014年第3期47卷 6907-6913页

作者： Hossam S. Abbas Roland Tóth Mihály Petreczky Nader Meskin Javad Mohammadpour Department of Electrical Engineering College of Engineering Qatar University PO Box 2713 Doha Qatar Electrical Engineering Department Faculty of Engineering Assiut University Assiut Egypt Control Systems Group Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands Department of Computer Science and Automatic Control Ecole des Mines de Douai 59508 Douai France Intelligent Control Systems Lab College of Engineering The University of Georgia Athens GA 30602 USA

This paper introduces a systematic approach to synthesize linear parameter-varying (LPV) representations of nonlinear (NL) systems which are originally defined by control affine state-space representations. The conversion approach results in LPV state-space representations in the observable canonical form. Based on the relative degree concept of NL systems, the states of a given NL representation are transformed to new coordinates that provide its normal form. In the SISO case, all nonlinearities of the original system are embedded in one NL function which is factorized to construct the LPV form. An algorithms is proposed for this purpose. The resulting transformation yields an LPV model where the scheduling parameter depends on the derivatives of the inputs and outputs of the system. In addition, if the states of the NL model can be measured or estimated, then the procedure can be modified to provide LPV models scheduled by these states. Examples are included for illustration.

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A Future Prospect for Domestic Waste Management in Qatar

A Future Prospect for Domestic Waste Management in Qatar

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International Conference on Earth, Environment and Life sciences (EELS-2014, Dubai)

作者： Nasser Ayoub Farayi Musharavati Hossam A.Gabbar Qatar University the Production Technology Department Faculty of Industrial EducationHelwan University the Mechanical and Industrial Engineering Department The Collage of EngineeringQatar University Tokyo Institute of Technology Eindhoven University of Technology Production and Industrial Engineering Department Zagazig University Dept.of Mechanical and Industrial Engineering Qatar University the Faculty of Energy Systems and Nuclear Science University of Ontario Institute of Technology McMaster University Alexandria University SMC Chapter-Hiroshima Section the technical committee on Intelligent Green Production Systems(IGPS) International Journal of Process Systems Engineering (IJPSE)

Sustainable Waste Management is one of the major challenges that face developing nations,with the mandate to balance between their economic & social development while keeping environmental ***,for example,is generating a total of 28,000 tons per day of solid waste,of which only 3% is recycled,4% is incinerated while the remaining is disposed into *** of the targets of Qatar National Development Strategy,NDS is to raise the recycle share to 38% of solid waste,reducing landfill to 53% and converting waste to ***,this paper presents a potential view for managing and optimizing domestic waste management that is about 25% of the total generated waste in the country from system ***,a detailed methodology for Socio-Technological System,STS,development and operation was *** STS is a robust modular system that dynamically changes in response to social activities and deals with the problem from micro and macro details *** the proposed STS development methodology,several controllable parameters need to be considered,such as future construction plans,population development,waste collection methods possibilities,generation and recycling business development,strategies for materials use and reuse and so ***,the STS modularity to deal with the emerging technologies of converting waste to final products as significant fragments was taken care of to be able to adapt new technologies introduced in the future.

关键词： Qatar Socio-Technological systems Strategies Waste Management

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Fuzzy-rule-embedded reduction image construction method for image enlargement with high magnification

Fuzzy-rule-embedded reduction image construction method for ...

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International Conference on Computer Vision Theory and Applications (VISAPP)

作者： Hakaru Tamukoh Noriaki Suetake Hideaki Kawano Ryosuke Kubota Byungki Cha Takashi Aso Graduate School of Life Science and Systems Engineering Kyushu Institute of Technology Kyushu Japan Graduate School of Science and Engineering Yamaguchi Universitv Yamaguchi Japan Graduate School of Engineering Kyushu Institute of Technology Kyushu Japan Department of Intelligent System Engineering Ube National College of Technology Ube Japan Faculty of Management and Information Sciences Kyushu Institute of Information Sciences Kyushu Japan

ISBN: (纸本)9781479976867

This paper proposes a fuzzy-rule-embedded reduction image construction method for image enlargement. A fuzzy rule is generated by considering distribution of pixel value around a target pixel. The generated rule is embedded into the target pixel in a reduction image. The embedded fuzzy rule is used in a fuzzy inference to generate a highly magnified image from the reduction image. Experimental results, which scale factors are three and four, show that the proposed method realizes high-quality image enlargement in terms of both objective and subjective evaluations in comparison with conventional methods.

关键词： Interpolation Fuzzy logic Measurement uncertainty Image edge detection Image color analysis Image resolution TV

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Five two-qubit gates are necessary for implementing the Toffoli gate

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Physical Review A 2013年第1期88卷 010304(R)-010304(R)页

作者： Nengkun Yu Runyao Duan Mingsheng Ying State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing 100084 China and Center for Quantum Computation and Intelligent Systems (QCIS) Faculty of Engineering and Information Technology University of Technology Sydney New South Wales 2007 Australia

In this Rapid Communication, we consider the open problem of the minimum cost of two-qubit gates for simulating the Toffoli gate and show that five two-qubit gates are necessary. Before our work, it was known that five two-qubit gates are sufficient to implement the Toffoli gate, and numerical evidence indicates that five two-qubit gates are also necessary. The idea introduced here can also be used to solve the problem of optimal simulation of Deutsch three-qubit gates.

关键词： QUBITS QUANTUM gates QUANTUM communication NUMERICAL analysis PROBLEM solving SIMULATION methods & models

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Corrigendum to “Biochemical and atomic force microscopic characterization of salmon nasal cartilage proteoglycan” [Carbohydr. Polym. 103 (2014) 538–549]

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Carbohydrate Polymers 2015年 115卷 805-805页

作者： Ikuko Kakizaki Takashi Mineta Mana Sasaki Yota Tatara Eiji Makino Yoji Kato Department of Glycotechnology Center for Advanced Medical Research Hirosaki University Graduate School of Medicine 5 Zaifu-cho Hirosaki 036-8562 Japan Department of Intelligent Machines and System Engineering Graduate School of Science and Technology Hirosaki University 3 Bunkyo-cho Hirosaki 036-8561 Japan Department of Mechanical Systems Engineering Graduate School of Science and Engineering Yamagata University 4-3-16 Jonan Yonezawa 992-8510 Japan Laboratory of Food Science Faculty of Education Hirosaki University 1 Bunkyo-cho Hirosaki 036-8560 Japan

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