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The Weight Load Inconsistency Effect on Voluntary Movement Recognition of Essential Tremor Patient

The Weight Load Inconsistency Effect on Voluntary Movement R...

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IEEE International Conference on robotics and Biomimetics

作者： Masatoshi Seki Yuya Matsumoto Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Graduate School of Creative Science and Engineering Waseda University Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Department of Rehabilitation Medicine Juntendo University Graduate School

ISBN: (纸本)9781457721366

Essential Tremor (ET) refers to involuntary movements of a part of the body. ET patients have serious difficulties in performing their daily living activities. Our ultimate goal is to develop a system that can enable ET patients to perform their daily living activities. We are in the process of developing an exoskeletal robot for ET patients. This robot is controlled by estimation of voluntary movement using surface electromyogram (EMG) signal input and a Neural Network (NN) learning algorithm. However, the EMG signal of ET patients contains not only signals from voluntary movements but also noise from involuntary tremors. We have therefore developed a signal processing method to suppress tremor noise present in the surface EMG signal. The proposed filter is based on the hypothesis that tremor noise can be approximated to powered sine wave. It have been confirmed that the proposed filter increases the accuracy of recognition. In this paper, we have focused on the effect of inconsistency of weight load between instruction signal and input signal. When the instruction signal comprised unloaded motion, our voluntary movement estimation method worked stably with the loaded motion's EMG input.

关键词： voluntary movement Activities of Daily Living Essential Tremor Surface Electromyography Fault trees Electromyogram signals Tremor Inconsistency Involuntary Movements Patients Noise Recognition (Psychology) input signal

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A cooperation scenario for multiagent systems

A cooperation scenario for multiagent systems

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IEEE Africon'11

作者： Pozna, Claudiu Precup, Radu-Emil Kóczy, László T. Minculete, Nicuşor Ballagi, Áron Department of Informatics Széchenyi István University 9026 Gyõr Hungary Dept. of Production Design and Robotics Transilvania Univ. Brasov 500036 Brasov Romania Department of Automation and Applied Informatics Politehnica University of Timisoara 300223 Timisoara Romania Faculty of Engineering Sciences Széchenyi István University 9026 Gyõr Hungary Department of Telecommunications and Media Informatics BUTE 1117 Budapest Hungary Faculty of International Economic Relations Dimitrie Cantemir University of Brasov 500068 Brasov Romania Department of Automation Széchenyi István University 9026 Gyõr Hungary

ISBN: (纸本)9781612849928

This paper gives aspects related to a cooperation scenario in the framework of multiagent systems. The presentation is focused on a trivial multiagent system that consists of two agents, the Master and the Apprentice. The theoretical basis of the cooperation scenario is the definition of the most probable process, and two algorithms are used with this regard. The formulation of the cooperation scenario is exemplified for a case study that builds an architecture of successively placed bricks in the workspace. © 2011 IEEE.

关键词： Brick

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A new principle of controlling contact forces in interactive grasping simulation

A new principle of controlling contact forces in interactive...

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作者： Rusák, Zoltán Antonya, Csaba Horváth, Imre Faculty of Industrial Design Engineering Delft University of Technology Netherlands Product Design and Robotics Department Transilvania University of Brasov Romania

ISBN: (纸本)9789051550603

The paper proposes a new method to interactively simulate grasping of virtual product concepts with the goal to evaluate the contact forces between the hand and product as well as the load on the human arm. Interaction between product concepts and the users happens in a virtual environment, where the user controls a virtual hand interactively. The contact between the virtual hand is simulated and visual feedback is provided to the user. Controlling the virtual hand interactively in real time holds many challenges. One of the biggest challenges is mapping the motion of the user to contact forces, which then results in stable grasping of objects. In this paper we present a new approach to convert and map the measured position of the real hand into contact forces so that the contact between the virtual hand and the object remains stable. Our approach applies a multi-objective optimization that takes into account the posture and anthropometric properties of grasping, as well as the penetration of the hand in the grasped object in order to find the optimal arrangement of contact forces. The paper reports on the on the principle of our grasping control approach as well as on some test cases to show the advantages and disadvantages. © Organizing Committee of TMCE 2010 Symposium.

关键词： Multiobjective optimization

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A cooperation scenario for multiagent systems

A cooperation scenario for multiagent systems

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AFRICON Conference

作者： Claudiu Pozna Radu-Emil Precup László T. Kóczy Nicusor Minculete Áron Ballagi Department of Informatics Széchenyi István University Gyor Hungary Department of Production Design and Robotics Transilvania University of Brasov Brasov Romania Faculty of Engineering Sciences Széchenyi István University Gyor Hungary Department of Telecommunications and Media Informatics BUTE Budapest Hungary Department of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Faculty of International Economic Relations Dimitrie Cantemir University of Brasov Brasov Romania Department of Automation Széchenyi István University Gyor Hungary

关键词： Multiagent systems Entropy Educational institutions Conferences Architecture Probabilistic logic Buildings

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Effect of variable geometric piezoelectric patches on vibration of FG plate under constant electric charge 4th

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4th International Conference on Structural engineering, Mechanics and Computation, SEMC 2010

作者： Khalili, S.M.R. Zoohor, H. Pourrostami, H. Viliani, N.S. Department of Mechanical Engineering Islamic Azad University South Tehran branch Tehran Iran Faculty of Engineering Kingston University London United Kingdom Centre of Excellence in Design Robotics &Automation Sharif University Iran Faculty of Mehanical Engineering Islamic Azad University Science & Research branch Tehran Iran

ISBN: (纸本)9780415584722

In this paper, the vibration control of a simply supported functionally graded rectangular plate with bonded piezoelectric sensor and actuator patches in different geometrical shapes on the top and/ or the bottom surface(s) of the plate are presented and the effect of feedback gain in vibration control is studied. An active vibration control approach is used to control the vibration of the smart plate. The effect of feedback gain and FGM volume fraction on the plate frequency and displacement for trapezoidal, triangular and rectangular shape patches of the sensor and the actuator are studied. Increasing the feedback gain leads to the reduction of the frequency and the displacement and therefore a better control of the plate’s vibration. The rectangular shape patch is more effective than the other patches’ shapes. © 2010 Taylor & Francis Group, London.

关键词： Vibration control

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Takagi-Sugeno fuzzy controller for a magnetic levitation system laboratory equipment

Takagi-Sugeno fuzzy controller for a magnetic levitation sys...

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IEEE International Joint Conferences on Computational Cybernetics and Technical Informatics, ICCC-CONTI 2010

作者： Dragos, Claudia-Adina Preitl, Stefan Precup, Radu-Emil Bulzan, Raul-Gherasim Pozna, Claudiu Tar, Jozsef K. Politehnica University of Timisoara Timisoara Romania Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania Faculty of Engineering Széchenyi István University Gyor Hungary Institute of Intelligent Engineering Systems Obuda University Budapest Hungary

ISBN: (纸本)9781424474332

This paper presents the design and the implementation of two control solutions applied to a magnetic levitation system laboratory equipment. The first solution deals with a state feedback control structure to stabilize the controlled plant which is the inner control loop for the cascade control system structure proposed as the second solution. The second solution is based on a TakagiSugeno fuzzy controller in the outer control loop to ensure the zero steady-state control errors. Simulation and real time experimental results are included to illustrate the performance of the control systems and to validate the two control solutions in regulation and tracking. © 2010 IEEE.

关键词： Controllers

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NDSP: A platform for audiophile software audio processing

NDSP: A platform for audiophile software audio processing

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IEEE International Joint Conferences on Computational Cybernetics and Technical Informatics, ICCC-CONTI 2010

作者： Paul, Adrian-Sebastian Precup, Radu-Emil Pozna, Claudiu David, Radu-Codrut Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania Faculty of Engineering Széchenyi István University Györ Hungary

ISBN: (纸本)9781424474332

This paper proposes a platform referred to as nDSP to interconnect different software audio signal processing effects which are modularized. The new platform is focused on having all processing done by the system CPU at higher quality than that achieved using hardware DSPs. The software representation of the module inside the platform is defined such that its state can be externally controlled, therefore the design of self-tuning filters is allowed. The design aims the further use of software audio signal processing in low-cost audiophile loudspeaker systems taking full advantage of the new personal computer hardware products. © 2010 IEEE.

关键词： Computer hardware

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Modeling of a vehicle with continuously variable transmission

Modeling of a vehicle with continuously variable transmissio...

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Dragos, C.-A. Preitl, S. Precup, R.-E. Pirlea, D. Nes, C.-S. Petriu, E.M. Pozna, C. Department of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Department of Strength of Materials Politehnica University of Timisoara Timisoara Romania School of Information Technology and Engineering University of Ottawa Ottawa Canada Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania Faculty of Engineering Széchenyi István University Györ Hungary

ISBN: (纸本)9781424468867

The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results: acceleration, overtaking maneuver, ramp encounter and engine brake. © 2010 IEEE.

关键词： Torque converters

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A novel approach to the model reference adaptive control of MIMO systems

A novel approach to the model reference adaptive control of ...

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Tar, J.K. Rudas, I.J. Bitó, J.F. Kozlowski, K.R. Pozna, C. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Ó Buda University Bécsi út 96/B H-1034 Budapest Hungary Department of Control and Systems Engineering Computing Science and Management Poznań University of Technology Piotrowo 3a 60-965 Poznań Poland Design and Robotics Department University Transilvania of Brasov Bd. Eroilor 29 Brasov Romania

ISBN: (纸本)9781424468867

The "Model Reference Adaptive Control (MRAC)" is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the "reference model" that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2nd ("direct") method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of "Robust Fixed Point Transformations (RFPT)" in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of "deformation" of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can "fob" the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a "cart-beam-hamper" system is considered. The conclusions of the paper are illustrated by simulation results. © 2010 IEEE.

关键词： Model reference adaptive control

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A novel approach to the Model Reference Adaptive Control of MIMO systems

A novel approach to the Model Reference Adaptive Control of ...

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IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： J.K. Tar I.J. Rudas J.F. Bitó K.R. Kozłowski C. Pozna John von Neumann Faculty of Informatics buda University Budapest Hungary Chair of Control and Systems Engineering Poznan University of Technology Poznan Poland Design and Robotics Department University Transilvania of Brasov Brasov Romania

The “Model Reference Adaptive Control (MRAC)” is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the “reference model” that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2 nd (“direct”) method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of “Robust Fixed Point Transformations (RFPT)” in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of “deformation” of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can “fob” the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a “cart - beam - hamper” system is considered. The conclusions of the paper are illustrated by simulation results.

关键词： Adaptive control MIMO Lyapunov method Motion control Programmable control Intelligent robots Systems engineering and theory Control systems Control system synthesis Asymptotic stability

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