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Control of a rehabilitation robotic exoskeleton based on intentional reaching direction

Control of a rehabilitation robotic exoskeleton based on int...

21st Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010

作者： Huo, Weiguang Huang, Jian Wang, Yongji Wu, Jun Key Lab of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9781424479962

An upper limb robotic exoskeleton of three degrees of freedom (DOF) is designed for the patients who survived stroke and the elderly who have not enough strength to move their limbs freely. Particular attention is paid to the realization of a intention-driven robotic control approach, by which the robotic exoskeleton can assist the user moving his/her arm freely to where he/she intends to go. A force sensing system made of multiple force sensing resisters (FSRs) is embedded in the robotic exoskeleton. A static force model of the upper limb in a relaxed state is obtained when the user wears the exoskeleton. A hybrid model is proposed to describe the behavior modes of human upper limb motion. Filtering technology is designed to infer the intended moving direction of upper limb based on the measured force information and the static force model. The motion intention of user's upper limb can be online estimated using the filter and a mode transition detector. Guided by the inferred intention, an admittance control strategy is assumed to control the motors of each DOF. The effectiveness of proposed robotic system and control approaches is evaluated by experiments. ©2010 IEEE.

关键词： Degrees of freedom (mechanics)

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Partical swarm optimization based unequal loss protection of embedded video streams

Partical swarm optimization based unequal loss protection of...

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International Conference on Communication Technology (ICCT)

作者： Jiajing Hu Dong Hu The key Laboratory of image processing and image communications of Jiangsu Province Nanjing University of Posts and Telecommunications Nanjing China

This paper presents a new scheme for optimal packetization of scalable multimedia data over lossy network. By assigning an unequal amount of forward error correction (FEC) bits to each segment of transmission packets, the proposed algorithm protects a progressive bitstream generated by a three-dimensional set partitioning in hierarchical trees (3-D SPIHT) algorithm. The partical swarm optimization (PSO) algorithm is used to reasonably allocate bits between source coding and channel coding across packets. Experimental results show that the proposed algorithm provides close to optimal average peak signal-to-noise ratio performance and that its' running time is significantly lower than that of previously known solution.

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Real-time foreground detection based on tempo-spatial consistency validation and Gaussian mixture model

Real-time foreground detection based on tempo-spatial consis...

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2010 IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB 2010

作者： Yan, Qing Xu, Yi Yang, Xiaokang Traversoni, Leonardo Institute of Image Communication and Information Processing Shanghai Key Lab. of Digital Media Processing and Transmission Shanghai Jiao Tong University Shanghai China Ciencias Bsicas e Ingenieria Mexico Mexico

ISBN: (纸本)9781424444625

Robust foreground detection is a fundamental precursor of many video processing applications. Although various approaches were advanced, there still exist many factors making detection very challenging: 1) Dynamic background with gradual brightness changes, camera movement and large amount of noises. 2) Sharp illumination changes caused by shadows, light on-off, and so on. 3) Real-time requirement for practical systems. To overcome these problems, a new approach is proposed in this paper. It is based on the background of conventional Gaussian Mixed Model, incorporating tempo-spatial consistency validation to search genuine foreground seeds, so that foreground segments can be reliably acquired using region growth method. Experiments demonstrate that our approach achieves better performance than conventional GMM approach in detection accuracy, adaptability to sudden illumination changes and computation time.

关键词： Gaussian distribution

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Adaptive Mutation particle filter based on diversity guidance

Adaptive Mutation particle filter based on diversity guidanc...

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International Conference on Machine Learning and Cybernetics

作者： Yu, Jin-Xia Tang, Yong-Li Liu, Wen-Jing College of Computer Science and Technology Henan Polytechnic University Jiaozuo 454003 China Jiangsu Provincial Key Lab of Image Processing and Image Communication Nanjing University of Posts and Communication Nanjing 210003 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9781424465262

Aimed at the deficiency of the resampling algorithm in PF, diversity measures ESS (effective sample size) and PDF (population diversity factor) are evaluated respectively. Combined with the estimation result, diversity measures PDF is used for adaptively tuning the resampling threshold. By integrating the operation of particle mutation after resampling into PF and using the above mechanism of diversity guidance, the AMPF algorithm (Adaptive Mutation PF) is presented so as to assure the diversity of particle sets. With the simulation program using matlab 7.0 to track a single target motion from a fixed visual observation points, the performance of diversity measures and AMPF are evaluated and the validity of the proposed method is verified. © 2010 IEEE.

关键词： Monte Carlo methods

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Research on diversity measure in particle filter

Research on diversity measure in particle filter

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2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010

作者： Yu, Jinxia Tang, Yongli Liu, Wenjing College of Computer Science and Technology Henan Polytechnic University Jiaozuo 454003 China Jiangsu Provincial Key Lab of Image Processing and Image Communication Nanjing University of Posts and Communication Nanjing 210003 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9780769540771

It is very important to find diversity measure when to perform a resampling step in particle filter. By analyzing the inherent deficiency in resampling algorithm of particle filter, some diversity measures including effective sample size, population diversity factor and particle swarm diversity measure are introduced. Then combined with the simulation program using matlab 7.0 to track a single target motion from a fixed visual observation points, the performance of diversity measures in resampling algorithm of PF are evaluated. © 2010 IEEE.

关键词： Monte Carlo methods

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Simulation of realistic infrared texture of grassland

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2011年第12 SUPPL.期32卷 103-108页

作者： Liu, Qian Zhu, Feng Hao, Yingming Shenyang Institute of Automation Chinese Acad. of Sci. Shenyang 110016 China Graduate School of the Chinese Acad. of Sci. Beijing 110080 China Key Laboratory of Opto-Electronics Information Processing Chinese Acad. of Sci. Shenyang 110016 China Key Lab. of Image Understanding and Computer Vision Liaoning Shenyang 110016 China

A new method is introduced to simulate realistic infrared texture of grassland. First, the radiative temperature of grassland is solved by integrating material composition, environmental and meteorological factors. As the spectroscopic properties of grass and soil vary greatly, the infrared radiation characteristics are computed respectively. Next, the texture structure of grassland is modeled based on the analysis of spatial distribution of natural grassland. Finally, the infrared radiance of grass and soil are mapped to image space and a realistic grassland texture is generated. Experiment results show that similar visual features exhibit between simulated textures and actual grassland textures, which justifies the effectiveness of the proposed method.

关键词： Infrared radiation

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Adaptive resampling in particle filter based on diversity measures

Adaptive resampling in particle filter based on diversity me...

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International Conference on Computer Science and Education

作者： Yu, Jin-Xia Liu, Wen-Jing Tang, Yong-Li College of Computer Science and Technology Henan Polytechnic University Jiaozuo 454003 China Jiangsu Provincial Key Lab. of Image Processing and Image Communication Nanjing University of Posts and Communication Nanjing 210003 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9781424460052

It is very important to find a criterion when to perform a resampling step. Aimed at this problem, an adaptive resampling algorithm in particle filter based on diversity measures is presented. Based on the analysis and comparison of two diversity measures that are effective sample size (ESS) and population diversity factor(PDF), the resampling algorithm based on ESS is introduced. On the basis of that, PDF is used for adaptively tuning the resampling threshold. At last, with the simulation program using matlab 7.0 to track a single target motion from a fixed visual observation points, the performance of the proposed algorithm is evaluated and its validity is verified. ©2010 IEEE.

关键词： MATlab

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A video tracking system for limb motion measurement in small animals

A video tracking system for limb motion measurement in small...

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2010 International Conference on Optoelectronics and image processing, ICOIP 2010

作者： Xu, Qi Cai, Cong Zhou, Houlun Ren, Hangkong KEY Lab. of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Department of Anatomy Tongji Medical College Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769542522

Motion analysis can provide useful information for biomedical researches. In this paper, we have presented a video tracking system for limb motion measurement in small animals. The system employs a consumer-grade video camera to record the locomotion of a rat, which can reduce the cost of the system. Three matching methods are available for different application. Moreover, a new algorithm to forecast the joint positions based on the polynomial fitting and improved Kalman filtering algorithms has been proposed, not only for limiting the region of matching, but also for marker occlusion and various maneuverability of the limb. Two methods are also applied to detect mismatch for ensuring a reliable tracking. Once 2D markers positions are collected, kinematic characteristics of the motion can be derived. Finally, the experimental results of the tracking system are presented. © 2010 IEEE.

关键词： Motion analysis

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Hessian based image structure adaptive gradient vector flow for parametric active contours

Hessian based image structure adaptive gradient vector flow ...

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2010 17th IEEE International Conference on image processing, ICIP 2010

作者： Wang, Y.Q. Chen, W.F. Yu, T.L. Zhang, Y.T. Tianjin Key Lab. of Intelligent Computing and Novel Software Technology Tianjin University of Technology Tianjin 300191 China Key Lab. of Image Processing Southern Medical University Guangzhou 510515 China Dept. of Radiology General Hospital Tianjin Medical University Tianjin 300052 China

ISBN: (纸本)9781424479948

Active contours have been one of the most successful methods for image segmentation during the last two decades, but one of the shortcomings of being unable to converge to concavity is a handicap to its effectiveness. In order to address this issue, the gradient vector flow (GVF) was put forth. Although there have been a great number of works on GVF, the image structure has seldom been incorporated into GVF algorithm. In this work, the image structure characterized by the Hessian matrix is incorporated into the GVF algorithm by reformulating the smoothness constraint of GVF into matrix form. In this way, the associated diffusion PDEs are anisotropic and the modified GVF snake can converge to very long concavity and preserve weak edge simultaneously. Experiments and comparisons are presented to demonstrate the properties of the proposed strategies. © 2010 IEEE.

关键词： image segmentation

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Modeling of McKibben Pneumatic Artificial Muscles Using Optimized Echo State Networks

Modeling of McKibben Pneumatic Artificial Muscles Using Opti...

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The 8th World Congress on Intelligent Control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Hanying Zhou Yongji Wang Kexin Xing Key Lab for Image Processing &Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology

In conventional techniques for modeling Pneumatic artificial muscle, there are difficulties such as poor knowledge of the process, inaccurate process or complexity of the resulting mathematical model. Trying to solve these problems, this study investigates the method of establishing the model using a novel network—Echo State Network (ESN). We introduce the mechanism of this net and apply it to our modeling work. The relevant parameters of the net were optimized using Particle Swarm Optimization (PSO). Then we get the simulation results which reveal that it can get quite satisfactory results.

关键词： Training Trajectory Muscles Data models Mathematical model Force Artificial neural networks

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