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Problems in estimation of hand grip force based on EMG signal

Diagnostyka 2015年第2期16卷 21-26页

作者： Barański, Robert Grzeczka, Anna AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza 30 Kraków30-059 Poland Gdańsk University of Technology Faculty of Mechanical Engineering Narutowicza 11/12 Gdańsk80-233 Poland

There has recently been a significant increase in the number of publications on and applications of bioelectric signals for diagnostic purposes. While the use of ECG (electrocardiography) is not surprising, the use of signals from registration of brain activity (EEG) and muscles activity (EMG) still finds new applications in various fields. The authors focus on the use of EMG signals for estimating hand grip force. Currently, EMG signals are broadly used in limb rehabilitation after severe injuries, surgeries, long immobilizations. Such parameters as maximal voluntary contraction (MVC) used for that purpose do not enable comparison of the forces generated by the muscles, for example, of two different people. It is connected, inter alia, with individual features of the studied person, as well as with a significant scatter of the measured EMG values for the same muscle, e.g. on different days of EMG measurements. The paper presents results of preliminary research whose final effect is to develop a procedure allowing force estimation in force units and estimation of the accuracy of the results. A series of tests was performed on two people. The tests showed the most important elements influencing disturbance of homogeneity of the obtained measurements with the same stimulation of the muscle. The authors focus only on determining hand grip force.

关键词： Muscle

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Effects of carbon dioxide on different PSK modulation formats of Optical Wireless Communications using USRP

Effects of carbon dioxide on different PSK modulation format...

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International Conference on Transparent Optical Networks

作者： Jan Vitasek Radek Martinek Ales Vanderka Lukas Hajek Jan Latal Zhenli Lu Bin Li Department of Telecommunications VSB-Technical University of Ostrava Ostrava Czech Republic Department of Cybernetics and Biomedical Engineering VSB-Technical University of Ostrava Ostrava Czech Republic Department of Telecommunications Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava 17. listopadu 15 708 33 Czech Republic State key Laboratoryof Robotics Chinese Academy of Sciences Shenyang China School of Electrical Engineering and Automation Changshu Instituteof Technology Changshu China

ISBN: (纸本)9781509014682

This article explores the influence of the concentrated carbon dioxide (CO 2 ) gas on the different Phase Shift Keying (PSK) modulations used for Optical Wireless Communication (OWC) links. In this work, the OWC consisted of a laser diode, a photodetector, and a transmission medium. The Universal Software Radio Peripheral (USRP) unit created and evaluated the PSK modulations. This unit modulated the laser diode on the transmitter side and demodulated the data which were received by the photodetector on the receiver side. The CO 2 gas was emitted as a consequence of sublimation of the solid carbon dioxide in hot water. The measurements were done in a closed box in laboratory. The CO 2 gas is a one element of smog which pollutes cities now and then. Our experimental results with CO 2 gas could help to choose a suitable modulation scheme for OWC which are installed in cities with smog-polluted atmospheric conditions.

关键词： Phase shift keying Carbon dioxide Optical receivers Diode lasers Integrated optics Optical transmitters

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Piezoelectric shunt damping for alpine ski traction improvement

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Diagnostyka 2014年第1期15卷 3-9页

作者： Rajek, Marcin Lubieniecki, Micha Pieczonka, Ukasz Uhl, Tadeusz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Al. Mickiewicza 30 30-059 Kraków Poland

The paper investigates the problem of improving driveability of alpine skis. That properties depend largely on the vibration behavior of a ski under different snow conditions. There is a broad range of methods to deal with vibration damping, both active and passive, that have been described in the literature. In this paper the passive approaches were taken into consideration. It is due to the specific nature of the sport where use of external sources of energy may be impractical. Passive shunt damping system has been designed for a commercially available model of an alpine ski. The performance of the designed system has been evaluated on a numerical model of the ski. Piezoelectric patches have been included in the model by means of a generalized impedance that complies both the mechanical properties and shunted circuit electrical properties. The fraction of strain energy stored in a piezoelectric element at particular vibration modes were used to evaluate the maximum damping coefficient for first three resonant modes that have the largest influence on the ski properties. The damping system is based on piezoelectric patches that can be easily embedded in the laminated structure of a ski.

关键词： Damping

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New progress in neurofeedback for optimizing cognitive and behavioral performance

New progress in neurofeedback for optimizing cognitive and b...

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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Neurofeedback(NF)training is an operant conditioning procedure which regulates brain activity for human cognition,peak performance and health *** paper briefly introduces the new progress in neurofeedback research in optimizing cognition and behavior performance including memory,peripheral vision,physical balance and brain computer interface(BCI)in our research group.

关键词： neurofeedback alpha beta/theta ratio brain computer interface cognition

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Alpha down-regulation neurofeedback effects in short term memory performance

Alpha down-regulation neurofeedback effects in short term me...

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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Qi Tang Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Research objective: Regulation of brain activity by neurofeedback(NF)training has been widely applied in treatment of human psychological disorders,improvement of human cognitive performance and recently enhancement of brain-computer interfaces(BCIs)***,no study has investigated whether training the same EEG feature but with different training direction has the reverse effects on some *** alpha neurofeedback,it has been demonstrated that alpha up-regulation NF has positive effects on short term memory enhancement while alpha down-regulation NF could improve steady state visual evoked potential BCI ***,it is unknown whether alpha down-regulation NF has side effects on short term ***,this study aimed to investigate: 1)whether multi-session NF training can decrease alpha activity and 2)whether this NF training has side effects in cognitive test of short term ***: A total of 19 participants performed 10 sessions of individualized alpha down-regulation neurofeedback training with 5 sessions per *** session had three 1-min trials with an interval of 5 s between two consecutive *** and after the 5 sessions of NF training in each day,three 30-s eyes open and three 30-s eyes closed resting baselines were recorded.9 in 19 participants performed forward and backward digit span as short term memory assessment before and after all training *** were trained to decrease their amplitude in individual alpha band(IAB)which is defined as band ranges from peak alpha frequency(PAF)-4 Hz to PAF+2 ***: 14 out of total 19 subjects could decrease the training parameter,their IAB amplitude,over training *** terms of the cognitive performance,neither forward nor backward digit span performance had significant change between before and after the alpha down-regulation neurofeedback training,indicating that this type of training has no side effects in short term ***

关键词： neurofeedback down-regulation short term memory individual alpha band peak alpha frequency

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Method of wireless passive temperature measurement for diagnostic purposes

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Diagnostyka 2014年第2期15卷 3-6页

作者： Lisowski, Mateusz Gonek, Przemyslaw Uhl, Tadeusz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Al. Mickiewicza 30 30-059 Krakow Poland

This paper presents the method of wireless passive temperature measurement by using the battery-free sensing platform based on RFID technology. Described platform serves as an interface between any sensor and standard RFID reader connected to the host computer. Utilizing the RFID technology working in high frequency band results in the possibility of providing energy from the reader to the sensing platform via magnetic coupling between their antennas and wireless data transmission of the measured data, even in the proximity of metal objects. Investigation related to the wireless temperature measurements of bearing supporting a rotating shaft are presented in this paper. Comparison with the measurements performed by using of an infrared camera shows high compliance of data obtained by using those two methods. The result demonstrates that presented wireless temperature measurement method could be attractive in many diagnostic purposes. © DIAGNOSTYKA 2014.

关键词： Temperature measurement

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A distributed formation-based odor source localization algorithm - Design, implementation, and wind tunnel evaluation

A distributed formation-based odor source localization algor...

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2015 IEEE International Conference on robotics and Automation, ICRA 2015

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, Antonio M. Martinoli, Alcherio Lausanne1015 Switzerland Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Av. Rovisco Pais Lisboa1049-001 Portugal Research Center for Systems and Technology Faculty of Engineering University of Porto Rua Dr. Roberto Frias Porto4200-465 Portugal

ISBN: (纸本)9781479969234

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing spatial diversity that is used to better establish the position of the flock relative to the plume and its source. Robots primarily move upwind but use odor information to adjust their position and spacing so that they are centered on the plume and trace its structure. Real-world experiments were performed with an ethanol plume inside a wind tunnel, and used to both validate the algorithm and assess the impact of different formation shapes. © 2015 IEEE.

关键词： Wind tunnels

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The influence of excitation frequency on the effectiveness of vibrothermographic testing

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Diagnostyka 2014年第4期15卷 47-51页

作者： Pieczonka, Lukasz Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. A. Mickiewicza 30 Kraków30-059 Poland

The paper investigates the influence of excitation frequency on the effectiveness of vibrothermographic testing. Vibrothermography is a nondestructive testing method that monitors heat produced by damage under vibrational excitation in order to evaluate the structural health. Layered carbon fiber reinforced polymer plate with polytetrafluoroethylene (PTFE) insert, simulating delamination, was analyzed for a range of excitation frequencies. It was found that some of the frequencies generate much higher thermal response from the simulated delamination and should be therefore preferable for vibrothermographic testing. The paper contains the description of the experimental procedure together with presentation and discussion of the results.

关键词： Damage detection

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Design and implementation of transfusion auxiliary device by patient manual control dressing change

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International Journal of u- and e- Service, science and technology 2015年第11期8卷 171-178页

作者： Jiang, Jin-Gang Shen, Rui-Chao Wang, Bao-Fu Gu, Bo-Yang Tang, Hai-Bo Jiang, Ze-Hao Robotics & its Engineering Research Center Harbin University of Science and Technology Harbin150080 China Faculty of Vehicle Engineering and Mechanics Dalian University of Technology Dalian116024 China School of Mechanical and Power Engineering Harbin University of Science and Technology Harbin150080 China

Transfusion auxiliary device by patient manual control dressing is proposed. It is realized by one-way rotation ratchet mechanism, which is consistent of slider-crank mechanism and double pawl ratchet mechanism. Dressing change is automatically realized by patient manual control rope. This reduces the labor intensity of the medical staff, shortens the waiting time of the patients. This device has the advantage of low cost, large market space. © 2015 SERSC.

关键词： Auxiliary equipment

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Survival microinjection into C. elegans with in vivo observation based on micromanipulation

Survival microinjection into C. elegans with in vivo observa...

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IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

作者： Nakajima, Masahiro Ayamura, Yuki Takeuchi, Masaru Hisamoto, Naoki Pastuhov, Strahil Hasegawa, Yasuhisa Fukuda, Toshio Qiang, Huang Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Graduate School of Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China

ISBN: (纸本)9781479999941

This study presents the survival microinjection into Caenorhabditis elegans (C. elegans) with in vivo observation based on micromanipulation. The microinjections were achieved with micro-gel beads which are enable to encapsulate chemicals for injection. In this study, a fluorescent material was used to evaluate the injection positional precision inside the C. elegans. The fluorescent microbead was picked up at the tip of a micropipette injection tool and injected by a piezo actuated microinjector. The distance between the injected micro-gel bead and closest nerve axon was measured as 20.3 μm and 16.5 μm by in vivo observation of a confocal microscopy. The two types of pipette tools were used to evaluate the success and survival rates of microinjection, and the smaller pipette (pipette A, 0.8 μm in diameter) showed higher rates as 50 % and 67 % respectively. © 2015 IEEE.

关键词： Intelligent robots

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