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作者： Indelman, Vadim Gurfil, Pini Rivlin, Ehud Rotstein, Hector Technion - Israel Institute of Technology Haifa 32000 Israel RAFAEL - Advanced Defense Systems Limited Israel Faculty of Aerospace Engineering United States Department of Computer Science United States

ISBN: (纸本)9781563479786

We present a method for fusion of computer-vision mosaic-image-based motion estimation with a standard navigation system, yielding mosaic-aided navigation that does not rely on any a-priori information. The mosaic-based motion estimation uses inter-relations among images captured in real time during flight. This motion estimation is transformed into residual translation and rotation measurements, which are fed into a Kalman Filter, fusing the inertial measurement and the mosaic-based motion estimation. The proposed method can arrest and reduce the secular growth of inertial navigation errors, and correct measurements of the on-board inertial sensors. Moreover, we show that mosaic-aided navigation outperforms traditional vision-based aiding methods in challenging scenarios, such as flight over low-texture scenes captured by a camera with a narrow filed-of-view. To validate the proposed algorithms, we carried out a comprehensive performance evaluation, including statistical simulation runs and experiments based on real imagery. Copyright © 2009 by the authors.

关键词： Motion estimation

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Real-time estimation system of gaze angle based on electrooculogram

Real-time estimation system of gaze angle based on electrooc...

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作者： Zhang, Xiu Sugi, Takenao Wang, Xingyu Nakamura, Masatoshi Department of Automation East China University of Science and Technology 130 St. Meilong Shanghai China Department of Electrical and Electronic Engineering Saga University 1 Honjimachi Saga 840-8502 Japan Department of Advanced Systems Control Engineering Saga University 1 Honjimachi Saga 840-8502 Japan

ISBN: (纸本)9784990288037

This paper describes an online eye-tracking method based on electrooculogram (EOG) to estimate gaze angle. The objective is to use biomedical signal EOG as the input of human-machine interface for both disabled and healthy people. In this study, a quadratic function is applied to set the relation between EOG and gaze angle. The estimated gaze angle is decided by three EOG channels with maximum amplitude after compensating shift and smoothing. The results of real-time estimation showed high accuracy, which makes it possible in many application fields, such as assistance robot control, online word processor and so on. ©ISAROB 2009.

关键词： Eye tracking

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Automatic sleep stage determination for sleep apnea syndrome patients: Multivariate probability distribution based on expert knowledge

Automatic sleep stage determination for sleep apnea syndrome...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Wang, Bei Sugi, Takenao Kawana, Fusae Wang, Xingyu Nakamura, Masatoshi Department of Automation East China University of Science and Technology Shanghai China Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Clinical Physiology Toranomon Hospital Tokyo Japan Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9784907764333

In this study, the multivariate probability distribution was investigated to develop the expert knowledge-based automatic sleep stage determination technique. The ultimate purpose is to develop adaptive automatic sleep stage determination algorithm for clinical practice. Gaussian distribution was adopted to realize automatic parameter selection while Cauchy distribution was adopted to estimate the parameter distribution. The different usage of multivariate probability distribution of Gaussian and Cauchy distribution presented effectiveness for automatic sleep stage determination. © 2009 SICE.

关键词： Sleep research

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Artificial realization of an adaptive expert knowledge database for automatic sleep stage determination in clinical practice

Artificial realization of an adaptive expert knowledge datab...

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作者： Wang, Bei Sugi, Takenao Kawana, Fusae Wang, Xingyu Nakamura, Masatoshi Department of Automation East China University of Science and Technology Shanghai 200237 China Department of Electrical and Electronic Engineering Saga University Saga 840-8502 Japan Department of Clinical Physiology Toranomon Hospital Tokyo 105-8470 Japan Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan

ISBN: (纸本)9784990288037

Artificial realization of an adaptive expert knowledge database for the sleep data from clinics was investigated. The ultimate purpose is to develop automatic sleep stage determination technique for variable cases of sleep data in hospitals. The automatic sleep stage determination algorithm is designed by using probabilistic method based on conditional probability. In order to make algorithm flexible for variable sleep data, an adaptive expert knowledge database is constructed based on a set of fundamental and optional parameters. The parameters, which can improve the accuracy of sleep stage recognition for the training data, are selected. The adaptive expert knowledge database is consisting of the probability density functions of fundamental parameters and selected optional parameters. The overnight sleep data of 4 subjects from Toranomon hospital, Tokyo, Japan were utilized for analysis. The automatic sleep stage determination results were compared with the visual inspection by clinician. Finally, satisfied results of close agreement with the visual inspection were obtained. The developed automatic sleep stage determination by adaptive expert knowledge database can be an effective tool for clinical practice. ©ISAROB 2009.

关键词： Hospitals

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Decoupled fixed point transformation based adaptive control of the generalized 2 DOF Φ6-type Van der Pol oscillator 10

Decoupled fixed point transformation based adaptive control ...

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2009 10th European control Conference, ECC 2009

作者： Tar, Jozsef K. Rudas, Imre J. Bito, Janos F. Machado, Jose A. Tenreiro Kozlowski, Krzysztof R. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Budapest Tech Bécsiút 96/B BudapestH-1034 Hungary Department of Electrotechnical Engineering Institute of Engineering of Porto Rua Dr. Antonio Bernardino de Almeida Porto4200-072 Portugal Control and Systems Engineering Computing Science and Management Poznan University of Technology ul. Piotrowo 3a Poznan60-965 Poland

ISBN: (纸本)9783952417393

In this paper a possible application of a novel adaptive control approach is reported that fits to the 'traditional line of thinking' according to which in the most practical cases neither very precise, nor even complete system model is needed for obtaining precise control for dynamical systems. The validity of this statement is briefly pointed out in the most popular approaches as the main idea of the Robust Sliding Mode / Variable Structure controllers, in Lyapunov's 2nd Method, and in a recently published problem tackling based on the simple geometric interpretation of the Singular Value Decomposition. In the present approach differential equations are deduced from iterative Cauchy sequences to realize adaptive control of a coupled nonlinear system in 'decoupled manner', using single dimensional projections of the 'acceleration space'. The paradigm on which the method is demonstrated is a 2 dimensional generalization of the originally single dimensional Φ6-type Van der Pol oscillator that is a popular paradigm of chaotic systems. Further possible generalizations of the novel method is outlined, too. © 2009 EUCA.

关键词： Chaotic systems

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A higher order adaptive approach to tackle the swinging problem

A higher order adaptive approach to tackle the swinging prob...

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10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009

作者： Tar, József K. Rudas, Imre J. Bitó, János F. Tenreiro Machado, José A. Kozlowski, Krzysztof R. Telematics and Communications Informatics Knowledge Centre Hungary John Von Neumann Faculty of Informatics Institute of Intelligent Engineering Systems Budapest Tech Bécsi út 96/B H-1034 Budapest Hungary Department of Electrotechnical Engineering Institute of Engineering of Porto Rua Dr. Antonio Bernardino de Almeida 4200-072 Porto Portugal Poznan University of Technology Control and Systems Engineering Computing Science and Management Piotrowo 3a 60-965 Poznan Poland

In numerous practical applications precise control of a subsystem passively connected to a precisely controllable subsystem by elastic connection is needed. As typical example is a crane carrying its payload swinging on an elastic string can be mentioned. From the point of view of control technology this task is interesting since the connected degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed for simultaneously tackle the problems originating from the imprecisions of the available dynamic model of the system to be controlled and the swinging phenomenon. In the simulation investigations presented a simple model consisting of two connected masspoints is considered: one of them can directly by controlled by control forces, the other one (in the role of the payload) is dragged by the controlled point via an elastic spring. The control considers the 4th time-derivative of the trajectory of the dragged system.

关键词： Degrees of freedom (mechanics)

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Scaling reduction of port-Hamiltonian systems for numerical calculation

Scaling reduction of port-Hamiltonian systems for numerical ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Nishida, Gou Ichishima, Daiji Kashima, Kenji Fujimoto, Kenji Yamakita, Masaki Maschke, Bernhard Ikeura, Ryojun Robotic Motion Lab. Advanced Science Institute RIKEN Japan Research and Development Center Sumitomo Heavy Industries Ltd. Japan Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology Japan Department of Mechanical Science and Engineering Graduate School of Engineering Nagoya University Japan Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Japan Laboratoire d'Automatique et de Génie des Procédés UMR CNRS 5007 Université Claude Bernard Lyon 1 France Department of Mechanical Engineering Mie University Denmark

ISBN: (纸本)9784907764333

We present a novel reduction method of port-Hamiltonian systems by a renormalization group. The reduced system is suitable for a fast numerical calculation in a mesoscopic scale. Especially, we aim at the development of renormalized molecular dynamics with controls. First, we define a renormalized Hamiltonian with coarse graining. Next, we introduce a renormalized canonical Hamiltonian system. Moreover, we clarify the relationship between the renormalized Hamiltonian system and a Dirac structure. Finally, we obtain necessary conditions of boundary connections for each renormalized Hamiltonian system with different scales. © 2009 SICE.

关键词： Hamiltonians

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Proposal for artificial bone formation using powder-layered manufacturing: Surface and internal chemical composition of formed artificial bone

Transactions of Japanese Society for Medical and Biological ...

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Transactions of Japanese Society for Medical and Biological engineering 2009年第4期47卷 359-365页

作者： Yamazawa, Kenji Hashizume, Daisuke Nakao, Aiko Anzai, Masahiro Narahara, Hiroyuki Suzuki, Hiroshi Rapid Engineering Team Advanced Technology Support Division Riken Japan Cooperative Support Team Advanced Technology Support Division Riken Japan Advanced Engineering Team Advanced Technology Support Division Riken Japan Department of Mechanical Information Science and Technology Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Japan

In this study, we proposed a powder-layered manufacturing process, a type of rapid prototyping technique, to produce desired bone shapes for transplants using biomaterial powder. In the experiments, we used conventional inkjet-type equipment and orthopedic filling-paste powder (BIOPEX), mainly containing alphatribasic calcium phosphate as the forming material. To solidify the powder, we used a sodium chondroitin sulfate? dibasic sodium succinate anhydride aqueous solution as the binder liquid. This paper discusses the results of investigations on the internal and surface chemical characteristics of formed artificial bones, formed artificial bones hardened by immersion process, and paste type artificial bones used in clinical applications, to determine the suitability of the immersion conditions. The bones were immersed for five hours in immersion fluid made of water and binder liquid at 90 °C?To analyze the chemical constituent, X-ray diffraction and X-ray photoelectron spectroscopy were used. The results showed that the hydrate reaction caused by the application of the binder fluid during forming enhances hydroxyapatite (HA) concentration by about 6.5 times. With samples immersed in water, HA was found internally as well as from the surface, the quantity of which was about 80?, 11 times more than conventional paste type artificial bone. On the other hand, with the samples immersed in the binder fluid, no HA crystals were detected internally. The percentages of P and Ca present on the surface were minute. Given the high quantities of C, O, and Na present, the immersion process is thought to have formed a thin layer of binder fluid. These results from the experimental samples indicate that immersion in binder fluid which showed no problems in terms of chemistry and strength is most appropriate for clinical applications.

关键词： X ray photoelectron spectroscopy

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Neuro-physiological features related to subjective evaluation and performance assessment during sustained mental calculation and rest break

Transactions of Japanese Society for Medical and Biological ...

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Transactions of Japanese Society for Medical and Biological engineering 2009年第2期47卷 148-153页

作者： Chen, Lanlan Sugi, Takenao Shirakawa, Shuichiro Zou, Junzhong Nakamura, Masatoshi Department of Automation East China University of Science and Technology China Department of Advanced Systems Control Engineering Saga University Japan National Center of Neurology and Psychiatry Japan

Neuro-physiological measures especially EEG analysis is helpful to understand underlying mechanisms of mental fatigue during sustained mental work. In this research, a work-rest schedule containing mental calculation and music rest break was designed. Neuro-physiological measures were related with subjective evaluation and performance assessment. Individual EEG characteristics and common EEG features were analyzed. It is found that theta and alpha rhythm are highly related with concentration, alertness and drowsy during mental work. Faster EEG frequency bands reflect higher alertness level after taking a rest. Subjective evaluation and performance assessment support EEG findings. The results from subjective evidence and objective evidence indicate that a short break (e.g. 15 min per 2 hrs) in sustained mental work can counteract the accumulation of mental fatigue and improve work efficiency.

关键词： Physiological models

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R &D at the Laboratory for control systems and Automation of the Korea advanced Institute of science and Technology

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Robotica 2009年第4期8卷 333-338页

作者： Hyung S. Cho Laboratory for Control Systems and Automation Department of Production Engineering Korea Advanced Institute of Science and Technology P. O. Box 150 Cheongryang Seoul (Republic of Korea)

This paper describes the research activities at the Laboratory for control systems and Automation (LCA) which is a section of the Production department of Korea advanced Institute of science and Technology (KAIST). LCA's research activities are focused on providing fundamental technologies to cope with the current trends in manufacturing automation. The R & D activities at the laboratory cover diverse areas. The research activities at the laboratory are classified into three sections—robotics and automation, fluid servo control, and manufacturing process control. Detailed explanations are given here on robotics and its application to automation. As a laboratory belonging to a nation's leading educational institution, LCA also conducts active educational activities. Such educational programs are also introduced in detail.

关键词： Robotic manipulator Flexible manufacturing system Automated Guided Vehicle Teleoperator Assembly system Fuzzy control Expert control Neural network

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