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2nd International Conference on BioSignal Analysis, Processing and Systems, ICBAPS 2018

作者： Michelle Gian, Kah Shin Then, Yi Lung Tay, Fei Siang Ahmed, Jubaer Vithanawasam, Chamath Kalanaka Department of Electrical and Electronic Engineering Faculty of Engineering Computing and Science Swinburne University of Technology Sarawak Campus Kuching93350 Malaysia Department of Robotics and Mechatronics Engineering Faculty of Engineering Computing and Science Swinburne University of Technology Sarawak Campus Kuching93350 Malaysia

ISBN: (纸本)9781538612774

Hemiplegia is paralysis which occurs on one half of the body. Rehabilitation for hemiplegic patients, in order to prevent muscle degeneration from prolonged under-usage, can be boring as it requires the same movements to be performed repeatedly. This research project aims to reduce the cost of rehabilitation for hemiplegia patients by demonstrating an exoskeleton with the implementation of only a single active actuator as opposed to other complex designs with multiple active actuators. Moreover, the proposed game-based exercises can motivate and minimize boredom of patients in lengthy and intensive therapy sessions. This paper presents the design, control and preliminary evaluation on the feasibility of a low-cost rehabilitation approach that can be implemented for both home based therapy or rehabilitation center therapy. The proposed approach demonstrates a lower extremity exoskeleton with the implementation of only one DC motor located at the hip, in which it is linked to a video game, and is monitored and controlled by an ATmega328 microcontroller based on commands from the video game. Preliminary result shows that the movement of the exoskeleton can be controlled through commands from the video game but with a delay of 2s. © 2018 IEEE.

关键词： Actuators

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Corrigendum to “Acoustic focusing of microplastics in microchannels: A promising continuous collection approach” [Sens. Actuators B: Chem. 304 (2020) 127328]

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Sensors and Actuators B: Chemical 2021年 329卷

作者： Yoshitake Akiyama Takatoshi Egawa Kiyoshi Koyano Hiroshi Moriwaki Department of Mechanical Engineering and Robotics Faculty of Textile Science and Technology Shinshu University 3-15-1 Tokida Ueda Nagano 386-8567 Japan Izumi Giken Co. Ltd. 988-1 Mochizuki Saku Nagano 384-2202 Japan Department of Applied Biology Faculty of Textile Science and Technology Shinshu University 3-15-1 Tokida Ueda Nagano 386-8567 Japan

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Bearing-only formation control under persistence of excitation

Bearing-only formation control under persistence of excitati...

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IEEE Conference on Decision and Control

作者： Zhiqi Tang Rita Cunha Tarek Hamel Carlos Silvestre Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal I3S-CNRS Université Côte d’Azur Nice-Sophia Antipolis France I3S-CNRS Institut Universitaire de France Nice-Sophia Antipolis France Faculty of Science and Technology University of Macau Macao China

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

This paper addresses the problem of bearing-only formation control in d (d ≥ 2)-dimensional space by exploring persistence of excitation (PE) of the desired bearing reference. By defining a desired formation that is bearing PE, distributed bearing-only control laws are proposed, which guarantee exponential stabilization of the desired formation only up to a translation vector. The key outcome of this approach relies in exploiting the bearing PE to significantly relax the conditions imposed on the graph topology to ensure exponential stabilization, when compared to the bearing rigidity conditions, and to remove the scale ambiguity introduced by bearing vectors. Simulation results are provided to illustrate the performance of the proposed control method.

关键词： Laplace equations Rigidity Topology Aerospace electronics Shape Graph theory Eigenvalues and eigenfunctions

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Bentonite clay suspension -coagulation process and identification of properties 7

Bentonite clay suspension -coagulation process and identific...

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7th Conference SOLINA Sustainable Development: Architecture - Building Construction - Environmental Engineering and Protection Innovative Energy-Efficient Technologies - Utilization of Renewable Energy Sources, SOLINA 2018

作者： Warzecha, Piotr Hilger, Bartlomiej Rózycki, Slawomir AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Power Systems and Environmental Protection Mickiewicza 30 Kraków30 - 059 Poland

The main aim of the research presented in this paper is study of volume coagulation of bentonite suspension. Investigation of physical properties included measurement of particle size distribution, chemical and phase analysis of prepared suspension, as well as preparation of sedimentation test graph and determination of dependence between concentration of the suspension and turbidity of the suspension. Relationship between coagulant dose and concentration was also determined during this analysis. This research could help in determination of critical coagulation concentration duringanalysis of coagulation process. Also it could be used duringsimulations of distribution of suspension in high - performance sedimentation settling tanks for suspension of similar origin in water treatment process. © The Authors, published by EDP sciences, 2018.

关键词： Suspensions (fluids)

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A transient FEA-based methodology for designing soft surgical manipulators 15

A transient FEA-based methodology for designing soft surgica...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Elkeran, Mohamed Fanni, Mohamed Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Mansoura University Egypt

ISBN: (纸本)9781538660720

Traditionally, any new development in soft robotics has to come first through many trial-and-error experiments. Many researchers tried to develop analytical models either to study certain phenomena in an already existed deigns or to use them to enhance soft robots performance. However, there is no general methodology that can be used to design any arbitrary soft robot from scratch. Such methodology should have the ability to test different operation scenarios for checking certain control approaches or certain types of sensors and actuators. This paper introduces a general tool for developing soft surgical manipulators, which is based on transient finite element analysis (FEA). To verify the feasibility of the proposed approach, experiments have been conducted on a fabricated soft manipulator. The test setup incorporates pressure sensors and vision tracking system to record the manipulator trajectory. Air pressure measurements are used as input to FEA for transient simulation. The experimental results demonstrate high level of agreement with FEA results and prove that the suggested approach is promising to be used in designing new soft surgical robots. © 2018 IEEE.

关键词： Finite element method

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Review of multifractal analysis-environmental sciences 18

Review of multifractal analysis-environmental sciences

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18th International Multidisciplinary Scientific Geoconference, SGEM 2018

作者： Banas, Marian Hilger, Bartlomiej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Power Systems and Environmental Protection Mickiewicza 30 Kraków30-059 Poland

ISBN: (纸本)9786197408355

Fractal geometry in recent years became a useful tool used in many scientific fields. One of the directions of development of that tool was also an attempt as using it for describing the morphology and granulometry of solid phase contained in various suspensions. While monofractals are used primarily to describe the space occupied, multifractals can be used to describe entire sets of data. (The set of data could be: various data series, distributions of physical quantities (such as, for example, particle size distribution), time series, etc.). At the source of the idea of multifractality is the desire to reveal information about the complexity and properties of the mathematical object of its similarity and scalability. Measurement-data series can be multifractal despite the fact that their base, or basic assumptions or functions are not a monofractal. This paper shows four different multifractal methodology which could be used in environmental sciences in different fields (description of morphology of particles, or description of variety present in time series). © SGEM2018.

关键词： Time series

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Analysis of vibrations of an oscillator using statistical series 14th

Analysis of vibrations of an oscillator using statistical se...

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14th International Conference on Dynamical Systems: Theory and Applications, DSTA 2017

作者： Agnieszka, Ozga Department of Mechanics and Vibroacoustics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Kraków30-059 Poland

ISBN: (纸本)9783319965970

Solving of a problem for systems subjected to random series of impulses is aimed at determining an approximate distribution of the strength of stochastic impulses forcing vibrations of an oscillator with damping. The difficulties that arose in connection with interpretation of experimental data forced us to search for a mathematical model, where algorithms were applied based on precise solutions. Under appropriate assumptions regarding random variables: the time of action of impulse and their strength, the deviation of the oscillator from its balanced position is a process which, in the limit as time tends to infinity, is stationary and ergodic. At the first stage of the simulation study discussed in this paper, classification of the elements of the structure of statistical series is necessary. The work was inspired by attempts at constructing a measuring device that would control granularity of the medium in a dust pipeline. The device had to signal appearance of big or small particles in excessive quantity in the transported dust. © Springer International Publishing AG, part of Springer Nature 2018.

关键词： Dust

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MetaSleepLearner: A pilot study on fast adaptation of bio-signals-based sleep stage classifier to new individual subject using Meta-Learning

arXiv

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arXiv 2020年

作者： Banluesombatkul, Nannapas Ouppaphan, Pichayoot Leelaarporn, Pitshaporn Lakhan, Payongkit Chaitusaney, Busarakum Jaimchariyatam, Nattapong Chuangsuwanich, Ekapol Chen, Wei Phan, Huy Dilokthanakul, Nat Wilaiprasitporn, Theerawit Bio-inspired Robotics and Neural Engineering Lab School of Information Science and Technology Vidyasirimedhi Institute of Science & Technology Rayong Thailand Department of Otolaryngology Faculty of Medicine Chulalongkorn University Thailand Excellence Center for Sleep Disorders King Chulalongkorn Memorial Hospital Thai Red Cross Society Bangkok Thailand Division of Pulmonary and Critical Care Medicine Faculty of Medicine Chulalongkorn University Thailand Head of Excellence Center for Sleep Disorders King Chulalongkorn Memorial Hospital Thai Red Cross Society Bangkok Thailand The Computer Engineering Department Chulalongkorn University Bangkok Thailand The Center for Intelligent Medical Electronics Department of Electronic Engineering School of Information Science and Technology Fudan University Shanghai200433 China The School of Electronic Engineering and Computer Science Queen Mary University of London United Kingdom

Identifying bio-signals based-sleep stages requires time-consuming and tedious labor of skilled clinicians. Deep learning approaches have been introduced in order to challenge the automatic sleep stage classification conundrum. However, the difficulties can be posed in replacing the clinicians with the automatic system due to the differences in many aspects found in individual bio-signals, causing the inconsistency in the performance of the model on every incoming individual. Thus, we aim to explore the feasibility of using a novel approach, capable of assisting the clinicians and lessening the workload. We propose the transfer learning framework, entitled MetaSleepLearner, based on Model Agnostic Meta-Learning (MAML), in order to transfer the acquired sleep staging knowledge from a large dataset to new individual subjects (source code is available at https://***/IoBTVISTEC/MetaSleepLearner). The framework was demonstrated to require the labelling of only a few sleep epochs by the clinicians and allow the remainder to be handled by the system. Layer-wise Relevance Propagation (LRP) was also applied to understand the learning course of our approach. In all acquired datasets, in comparison to the conventional approach, MetaSleepLearner achieved a range of 5.4% to 17.7% improvement with statistical difference in the mean of both approaches. The illustration of the model interpretation after the adaptation to each subject also confirmed that the performance was directed towards reasonable learning. MetaSleepLearner outperformed the conventional approaches as a result from the fine-tuning using the recordings of both healthy subjects and patients. This is the first work that investigated a non-conventional pre-training method, MAML, resulting in a possibility for human-machine collaboration in sleep stage classification and easing the burden of the clinicians in labelling the sleep stages through only several epochs rather than an entire recording. © 2020, CC BY-N

关键词： Convolutional neural networks

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Method of vibrational energy flow visualization based on frequency response function

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AIP Conference Proceedings 2020年第1期2239卷

作者： Jacek Cieslik AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Al. A. Mickiewicza 30 30-059 Krakow Poland

The research aspect of application of structure surface intensity to the analysis of thin-walled structures was the subject of the work. Method is based on direct frequency response analysis what allow to receive exact within FEM structural intensity vector field.. The numerical examples concern thin-walled structures with harmonic excitation.. The numerical models included the source of vibrations in form of force excitation with known position and sink of energy with localized damper. The results of method are compared with results received using modal superposition method. Under special interest was the shape of intensity vector field. There were shown the advantage of applied method. The results of the numerical calculations allow estimate the spatial distribution of structural intensity vector values on the surface parts and enabled more precise analysis of vibration energy flow. The energy balance done for particular elements leads to valuable practical conclusions for restrain of the vibration energy flows and lowering of the sound radiation. The method of intensity calculation can be used in discontinuity and damage diagnostics of mechanical constructions.

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Attitude observers aided by implicit measurements of the Earth angular velocity

Attitude observers aided by implicit measurements of the Ear...

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IEEE Conference on Decision and Control

作者： Joel Reis Carlos Silvestre Pedro Batista Paulo Oliveira Faculty of Science and Technology University of Macau Taipa Macao China Instituto Superior Técnico Universidade de Lisboa Portugal Institute for Systems and Robotics LARSyS Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal LAETA — Associated Laboratory for Energy Transports and Aeronautics IDMEC — Institute of Mechanical Engineering Instituto Superior Técnico Universidade deLisboa Lisboa Portugal

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

In this tutorial, a new class of attitude estimation solutions is presented to determine the orientation of a robotic platform resorting only to a set of triaxial gyroscopes and an additional measurement of a constant inertial vector. This approach poses a significant advantage in terms of setup design and reduced mission costs since only one inertial measurement is required, in contrast with existing solutions that require at least two of these. Pertinent examples of viable applications include navigation of submarines or large ships, assisting autonomous robots in precise maneuvers, inertial platform stabilization, etc. The novelty of the solutions proposed herein exploit the well-known inertial information about the Earth's angular velocity by using high-grade gyroscopes that are sensitive to the planet's spin. Experimental results are presented to demonstrate the good performance achieved by the algorithms.

关键词： Observers Extraterrestrial measurements Earth Robot sensing systems Angular velocity Tutorials Gyroscopes

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