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Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Journal of Bionic engineering 2020年第6期17卷 1163-1174页

作者： Ning Li Tie Yang Yang Yang Peng Yu Xiujuan Xue Xingang Zhao Guoli Song Imad HElhajj Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Itelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Bejing 100049China Rehabilitation Center for the Disabled Shenyang 110015China Vision and Robotics Lab Department of Electrical and Computer EngineeringAmerican University of BeirutBeirut 11072020Lebanon Emerging Technologies Instinute Department of Industrial&Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong 999077China

Exoskeleton robots have demonstrated the potential to rehabilitate stroke ***,poor human-machine physiological coupling causes unexpected damage to human of muscles and ***,inferior humanoid kinematics control would restrict human natural *** to deal with these problems results in bottlenecks and hinders its *** this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human ***,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological ***,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the *** results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,***,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily *** work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

关键词： stroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model

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Model-matching control for steer-by-wire vehicles with under-actuated structure

Model-matching control for steer-by-wire vehicles with under...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao N. Bajcinca Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) Coimbra Portugal German Aerospace Center (DLR-Oberpfaffenhofen) Germany

The paper presents control architecture for steer-by-wire (SBW) vehicles based on conventional ones. Estimation techniques linked to state space design enter in the control loop. The active observer (AOB) is extended to under-actuated multiple-input-multiple-output (MIMO) systems. Stochastic strategies are presented. Simulation results for the model-matching problem are presented. In the presence of road disturbances (e.g. lateral wind), SBW vehicles have superior performance.

关键词： Gears Spline Actuators Torque Teeth Automotive engineering Road vehicles Mechanical sensors Master-slave Orbital robotics

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Minimum number of information gatherers to ensure full observability of a dynamic social network: A structural systems approach

Minimum number of information gatherers to ensure full obser...

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2014 IEEE Global Conference on Signal and Information Processing, GlobalSIP 2014

作者： Pequito, Sergio Kar, Soummya Aguiar, A. Pedro Department of Electrical and Computer Engineering Carnegie Mellon University PittsburghPA15213 United States Institute for Systems and Robotics Instituto Superior Técnico Technical University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal

ISBN: (纸本)9781479970889

This paper studies the problem of identifying the minimum number of entities (agents), referred to as information gatherers, that are able to infer all the states in a dynamical social network. The information gatherers can be, for instance, service providers and the remaining agents the clients, each comprising several dynamic states associated with the services and personal information. The problem of identifying the minimum number of information gatherers can constitute a way to create coalitions to oversee the entire state of the system, and consequently the behavior of the agents in the social network. The dynamical social network is assumed to be modelled as a linear time-invariant system, and we will make use of the structural systems concept, i.e., by considering only the sparsity pattern (location of zeroes/non-zeroes) of the system coupling matrix. As a consequence, the design guarantees derived hold for almost all numerical parametric realizations of the system. In this paper, we show that this problem is NP-hard: in addition, we provide a reduction of the coalition problem to a minimum set covering problem that, in practice, leads to efficient (polynomial complexity) approximation schemes for solving the coalition problem with guaranteed optimality gaps. Finally, an example is provided which illustrates the analytical findings. © 2014 IEEE.

关键词： Observability

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Shape tracking using centroid-based methods 3rd

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3rd International Workshop on Energy Minimization Methods in computer Vision and Pattern Recognition, EMMCVPR 2001

作者： Abrantes, Arnaldo J. Marques, Jorge S. Department of Electrical and Computer Engineering Instituto Superior de Engenharia de Lisboa Lisbon Portugal Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal

ISBN: (纸本)3540425233

Algorithms for tracking generic 2D object boundaries in a video sequence should not make strong assumptions about the shapes to be tracked. When only a weak prior is at hand, the tracker performance becomes heavily dependent on its ability to detect image features;to classify them as informative (i.e., belonging to the object boundary) or as outliers;and to match the informative features with corresponding model points. Unlike simpler approaches often adopted in tracking problems, this worklo oks at feature classification and matching as two unsupervised learning problems. Consequently, object tracking is converted into a problem of dynamic clustering of data, which is solved using competitive learning algorithms. It is shown that competitive learning is a key technique for obtaining accurate local motion estimates (avoiding aperture problems) and for discarding the outliers. In fact, the competitive learning approach shows several benefits: (i) a gradual propagation of shape information across the model;(ii) the use of shape and noise models competing for explaining the data;and (iii) the possibility of adopting high dimensional feature spaces containing relevant information extracted from the image. This workextends the unified framework proposed by the authors in [1]. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Learning algorithms

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Modeling and SVPWM control of quasi-Z-source inverter

Modeling and SVPWM control of quasi-Z-source inverter

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11th International Conference on electrical Power Quality and Utilisation, EPQU 2011

作者： Liu, Yushan Ge, Baoming Ferreira, Fernando J. T. E. De Almeida, Anibal T. Abu-Rub, Haitham School of Electrical Engineering Beijing Jiaotong University Beijing China Institute of Systems and Robotics University of Coimbra Coimbra Portugal Engineering Institute of Coimbra Polytechnic Institute of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering Texas A and M University at Qatar Doha Qatar

ISBN: (纸本)9781467303798

In today's renewable energy power generation systems, inverters have become key devices connected between energy sources and power grids. The newly presented quasi-Z-source inverter (qZSI) has the unique advantages of boosting DC bus voltage without additional boost link, lower component ratings, as well as constant DC input current compared with the traditional Z-source inverter. To better design the control schemes of this novel topology, the small-signal model is deduced using state variables perturbance mathematical analysis. By this model, the voltage-current closed-loop control of shoot-through duty cycle is designed. The space vector PWM (SVPWM) technique is modified to satisfy the particularity of qZSI. Simulation results certify the correctness and effectiveness of the proposed model and control strategies and demonstrate the applicability of qZSI technology to overcome the disturbances from DC link or AC loads in renewable energy power generation systems. © 2011 IEEE.

关键词： Topology

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Strong convergence to mixed equilibria in fictitious play

Strong convergence to mixed equilibria in fictitious play

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Annual Conference on Information Sciences and systems (CISS)

作者： Brian Swenson Soummya Kar João Xavier Institute for Systems and Robotics (ISR) University of Lisbon Portugal Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Learning processes that converge to mixed-strategy equilibria often exhibit learning only in the weak sense in that the time-averaged empirical distribution of players' actions converges to a set of equilibria. A stronger notion of learning mixed equilibria is to require that players period-by-period strategies converge to a set of equilibria. A simple and intuitive method is considered for adapting algorithms that converge in the weaker sense in order to obtain convergence in the stronger sense. The adaptation is applied to the the well-known fictitious play (FP) algorithm, and the adapted version of FP is shown to converge to the set of Nash equilibria in the stronger sense for games known to have the FP property.

关键词： Games Convergence Robustness Game theory Algorithm design and analysis Heuristic algorithms Joints

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NETWORK OBSERVABILITY AND LOCALIZATION OF SOURCES OF DIFFUSION IN TREE NETWORKS WITH MISSING EDGES

NETWORK OBSERVABILITY AND LOCALIZATION OF SOURCES OF DIFFUSI...

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European Signal Processing Conference

作者： Sabina Zejnilovic Joao Gomes Bruno Sinopoli Carnegie Mellon University Department of Electrical and Computer Engineering Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) University of Lisbon

ISBN: (纸本)9781479946037

In order to quickly curb infections or prevent spreading of rumors, first the source of diffusion needs to be localized. We analyze the problem of source localization, based on infection times of a subset of nodes in incompletely observed tree networks, under a simple propagation model. Our scenario reflects the assumption that having access to all the nodes and full network topology is often not feasible. We evaluate the number of possible topologies that are consistent with the observed incomplete tree. We provide a sufficient condition for the selection of observed nodes, such that correct localization is possible, i.e. the network is observable. Finally, we formulate the source localization problem under these assumptions as a binary linear integer program. We then provide a small simulation example to illustrate the effect of the number of observed nodes on the problem complexity and on the number of possible solutions for the source.

关键词： Network observability Source localization Tree graphs Missing edges

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Cost-efficient built-in repair analysis for embedded memories with on-chip ECC

Cost-efficient built-in repair analysis for embedded memorie...

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International Symposium on Access Spaces

作者： Sun, Hongbin Zhao, Jizhong Wang, Fei Zheng, Nanning Zhang, Tong Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Shaanxi 710049 China Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY 12180 United States

ISBN: (纸本)9781457707179

This paper concerns low-cost implementation of built-in repair analysis (BIRA) for embedded memories. As embedded memories become more and more dominant in system-on-chip (SoC) design, it is very crucial to achieve sufficiently high embedded memory yield. Due to the increasing number of diversified embedded memories on chip, external memory testing and redundancy repair analysis become inadequate and the use of BIRA becomes more attractive and even indispensable. The essential challenge of BIRA design is to how to minimize its unnegligible implementation cost without sacrificing the achievable repair rate. The key feature that distinguishes this work from prior work is that, motivated by the fact that almost all the embedded memories use error correction code (ECC) for soft error tolerance, we propose to appropriately leverage such existing built-in error correction capability to enable very low-cost BIRA implementations while maintaining the same and even higher defect repair rate and the same soft error tolerance. With this underlying theme, this paper presents a specific design solution, and its effectiveness and advantages over existing solutions has been successfully demonstrated using computer simulations. © 2011 IEEE.

关键词： Repair

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Estimation of vehicle velocity and traffic intensity using rectified images

Estimation of vehicle velocity and traffic intensity using r...

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IEEE International Conference on Image Processing

作者： Cristina Maduro Katherine Batista Paulo Peixoto Jorge Batista ISR-Institute of Systems and Robotics Department of Electrical Engineering FCT-Universidade de Coimbra Coimbra Portugal

This paper presents an automatic method to estimate vehicle velocity and determine the number of vehicles per lane using rectified images. This approach requires the knowledge of two lengths on the ground plane and can be applied to highway scenarios that possess fairly straight lanes in areas near the camera. A scale factor is determined, in order to ascertain vehicle velocity in the sought units. This scale factor associates distances traveled on the image plane with distances on the ground plane and can be obtained by identifying the period and location of the striped highway lanes on the rectified background image. Once the previously referred lines are located it is then possible to locate the highway lane boundaries and, therefore, determine the mean vehicle velocity of each lane.

关键词： Cameras Surveillance Automated highways Image restoration robotics and automation Road transportation Road vehicles Video sequences computer vision Image segmentation

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An Information Theoretic Approach to Approximate Reasoning

An Information Theoretic Approach to Approximate Reasoning

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Gottschlich, S.N. Stephanou, H.E. New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY12180-3590 United States

ISBN: (纸本)0780307372

In traditional geometric modeling, it is common to assume that models of objects created are complete and correct. Unfortunately in real life robots and other autonomous machines may have only uncertain knowledge of only a portion of an object's geometry and therefore we need to be able to create object models that are incomplete and uncertain. Towards this end we have developed mechanisms for representing geometric entities in terms of Dempster-Shafer belief functions. To do this we have extended the notion of belief functions to include continuous frames of discernment. A fractal model of the belief functions is developed and information theory concepts are applied for reasoning about a sensor data model vis-a-vis reference object models. An implementation of these concepts and experiments involving them are discussed. © 1992 IEEE.

关键词： Uncertainty analysis

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