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Single Trial Detection of Visual Evoked Potential by Using EMD and Wavelet Filtering Method

Chinese Journal of Biomedical engineering(English Edition) 2011年第3期20卷 115-118,124页

作者： HE Ke-ren ZOU Ling TAO Cai-lin MA Zheng-hua ZHOU Tian-tong School of Information Science ＆ Engineering Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System （HIT） Harbin Institute of Technoilogy Harbin 150001 China

Empirical mode decomposition(EMD) is a new signal decomposition method, which could decompose the non-stationary signal into several single-component intrinsic mode functions (IMFs) and each IMF has some physical meanings. This paper studies the single trial extraction of visual evoked potential by combining EMD and wavelet threshold filter. Experimental results showed that the EMD based method can separate the noise out of the event related potentials (ERPs) and effectively extract the weak ERPs in strong background noise, which manifested as the waveform characteristics and root mean square error (RMSE).

关键词： EMD wavelet threshold ERP single trial extraction

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Relationship between social interaction and mental health

Relationship between social interaction and mental health

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IEEE/SICE International Symposium on system Integration

作者： Eisuke Ono Takayuki Nozawa Taiki Ogata Masanari Motohashi Naoki Higo Tetsuro Kobayashi Kunihiro Ishikawa Koji Ara Kazuo Yano Yoshihiro Miyake Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Yokohama Japan Institute of Development Aging and Cancer University of Tohoku Sendai Japan Intelligent Modeling Laboratory University of Tokyo Tokyo Japan Department of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Japan National Institute of Information Tokyo Japan Department of Human System Science Graduate School of Decision Science and Technology Tokyo Institute of Technology Tokyo Japan Central Research Laboratory Hitachi and Limited Tokyo Japan

In order to explore the relationship between human social interaction and mental health, we investigated the correlations between the amount of face-to-face contact time and quantified mental health. Social interaction data were obtained by wearable sensing system for two organizations in Japan. In this study, we regarded face-to-face contact between individuals as social interaction. The mental health of individuals was measured by psychological questionnaire. We found that the social behavioral property of individuals tended to reflect quantified stress in both organizations. The results suggest the possibility that people who experience large amounts of social interaction tend to have less stress.

关键词： Correlation Organizations Particle measurements Stress Atmospheric measurements Psychology Humans

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Sensitivity function of LTI Fractional order dynamic systems with respect to the orders

Sensitivity function of LTI Fractional order dynamic systems...

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作者： Li, Yan Xue, Dingyü Chen, YangQuan School of Control Science and Engineering Shandong University Jinan Shandong 250061 China School of Information Science and Engineering Institute of Robotics and Artificial Intelligent Northeastern Universtiy Shenyang 110004 China Utah State University Logan UT 84341 United States

ISBN: (纸本)9781424474264

Many real natural or man-made dynamic systems can be better characterized using a fractional order dynamic model. Since in such a case the order assumes a non-integer value, it is of interest to consider the effect of small perturbation around the nominal value. It is of practical importance to analyze the influence of the order variations on the system behavior. This paper establishes an analytical method for the analysis of the sensitivity function of LTI fractional order dynamic systems with respect to the orders. The continuous dependent condition of the orders of fractional Green's function is derived, which is proved as a necessary and sufficient condition. The singularity of fractional Green's functions is discussed. Several examples are included for illustration. © 2010 AACC.

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Controller design and real-time fault diagnosis for a humanoid robot

Controller design and real-time fault diagnosis for a humano...

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2010 IEEE International Conference on Automation and Logistics, ICAL 2010

作者： Wang, Xingzhong Yu, Zhangguo Chen, Xuechao School of Power and Mechanical Engineering Wuhan University 8 Donghongnan Road Hongshan Wuhan Hubei 430072 China Institute of Information System China Development and Design Center 268 Wuluo Road Wuchang Wuhan Hubei 430064 China Intelligent Robotics Institute School of Aerospace Science and Technology Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781424483754

An effective controller is crucial for a humanoid robot since a humanoid robot generally has more than thirty DOFs to be controlled in real-time and needs to deal with information of multiple sensors. On the other hand, real-time fault diagnosis is increasingly important for the humanoid robot due to its mechanism and control complexity and inherent instability of risking tipping itself over. In this paper, we propose a distributed controller consisting of the online planning sub-system and the motion control sub-system based on CAN bus and Ethernet for humanoid robots. Moreover, a real-time fault diagnosis method is proposed to observe the most probable faults, such as joint over-limit, force/torque sensor failure, encoder failure, and inertial sensor failure. The effectiveness of our designed controller and fault diagnosis was confirmed by experiments on our newly-built humanoid robot. © 2010 IEEE.

关键词： Failure analysis

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Adaptive Neural Control for Nonlinear Distributed Time-Delay systems with Delay-Dependent Control Gains

Adaptive Neural Control for Nonlinear Distributed Time-Delay...

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第二十九届中国控制会议

作者： HAN Thanh-Trung GE Shuzhi Sam Institute of Intelligent Systems and Information Technology(ISIT) and School of Automation Engineering University of Electronic Science and Technology of China Institute of Intelligent Systems and Information Technology(ISIT) and Robotics Institute University of Electronic Science and Technology of China

This paper addresses the problem of output tracking control for a class of nonlinear distributed time-delay systems whose control gains are delay-dependent and whose uncertainty involves both delay times and system *** intro-duce the framework of using delay-independent control to deal with unknown distributed delay dependence and using switching-based adaptive neural control to deal with unknown delay-dependent control *** control is designed in consideration of a Razumikhin norm condition on retarded functional state entailing efficiency with distributed delay dependence.

关键词： Adaptive Neural Control Distributed Time-delay systems

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Speech recognition based on tree-structured clustering and aspect model in multiple noise environments

Speech recognition based on tree-structured clustering and a...

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作者： Hahm, Seong-Jun Ohkawa, Yuichi Suzuki, Motoyuki Ito, Masashi Makino, Shozo Ito, Akinori Graduate School of Engineering Tohoku University 980-8579 Japan Graduate School of Educational Informatics Tohoku University 980-8576 Japan Institute of Technology and Science University of Tokushima 770-8506 Japan Electronics and Intelligent Systems Tohoku Institute of Technology 982-8577 Japan Intelligent Information System Tohoku Bunka Gakuen University 981-8551 Japan

In this paper, we propose speech recognition by using cluster-specific aspect model based on tree-structured clustering in multiple noise environments. Multi-condition hidden Markov model (MC-HMM) is one of the standard methods for speech recognition in noisy environment. While MC-HMM is pretty simple, it is known to be robust against various noises, thus this method is regarded as a "standard" of noise-robust acoustic model. However, it is difficult to train a model with large number of parameters to represent wide variabilities. We use tree-structured clustering method to avoid this problem. After training cluster models, cluster-specific aspect models are trained by using results of tree-structured clustering. Each cluster-specific aspect model can represent latent characteristic of specific noisy environments included in a certain cluster. The method for adaptation is based on the aspect model, which is a "mixture-of- mixture" model. To realize adaptation using extremely small amount of adaptation data (i.e., a few seconds), we first select the model according to the result of binary search of tree-structure and train a small number of mixture models which can be interpreted as models for "subclusters" of cluster models. The experimental results showed that the adaptation based on the cluster-specific aspect model improved the word accuracy in a heavy noise environment.

关键词： Hidden Markov models

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Fuzzy Hyperbolic H∞ Filter Design for a Class of Nonlinear Discrete-Time Dynamic systems

Fuzzy Hyperbolic H∞ Filter Design for a Class of Nonlinear ...

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The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

作者： Shuxian Lun School of Information Science and Engineering Bohai University Jinzhou 12100 The Key Laboratory of Complex System Intelligent ScienceInstitute of Automatio Chinese Academy of science Beijing 100080 China

This paper studies fuzzy hyperbolic H∞ filter for signal estimation of nonlinear discrete-time systems with state time delay. The fuzzy hyperbolic model (FHM) can be used to establish models for certain unknown complex systems. Furthermore, the main advantage of using the FHM over the Takagi-Sugeno fuzzy model are that no premise structure identification is needed and no completeness design of premise variables space is needed. Also an FHM is a kind of valid global description and nonlinear model in nature. First, FHM is proposed to represent the state-space model for nonlinear discrete-time systems. Next, we design a stable fuzzy H∞ filter based on the FHM, which assures asymptotic stability and a prescribed H∞ index for the filtering error system. A sufficient condition for the existence o such a filter is established through seeking the feasible solutions of a linear mat ix inequality (LMI). Simulation example is provided to illustrate the design procedure of the proposed method.

关键词： Fuzzy hyperbolic H∞ filter Nonlinear system

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An approach for corresponding vertexes of robots and application in formation control

An approach for corresponding vertexes of robots and applica...

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World Congress on intelligent Control and Automation (WCICA)

作者： Wang-bao Xu Xue-bo Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan 114051 China

Determinating corresponding vertexes of robots is the precondition and base for utilizing artificial moment method to control multi-robot formation. In this paper, a new criterion based on generalized assignment problems is proposed to determine corresponding vertexes of robots, and its character is discussed. Then, according to the minimum increment principle, a new method for generalized assignment problems is presented, and the program is given in MATLAB language. Finally, numerical experiments were done. Both theory and results of experiments show that the criterion is as good as the distance-optimization correspondence, and the method has many advantages, such as low time complexity, and solutions being very close to the optimal solution, so they are feasible and valid.

关键词： Lead Control systems Moment methods Mobile robots MATLAB information science

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Sensitivity function of LTI fractional order dynamic systems with respect to the orders

Sensitivity function of LTI fractional order dynamic systems...

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American Control Conference (ACC)

作者： Yan Li Dingyü Dingyü Xue YangQuan Chen Center of Self-Organizing & Intelligent Systems CSOIS Electrical an Computer Engineering Department Utah State University Logan UT USA School of Control Science and Engineering Shandong University Jinan Shandong China Institute of Robotics and Artificial Intelligent School of Information Science and Engineering Northeastern University Shenyang China

关键词： Green's function methods Lyapunov method intelligent robots Sufficient conditions Artificial intelligence Transfer functions Fractional calculus Integral equations Partial differential equations H infinity control

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On-line trajectory generation for a humanoid robot based on combination of off-line patterns

On-line trajectory generation for a humanoid robot based on ...

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2009 IEEE International Conference on information and Automation, ICIA 2009

作者： Yu, Zhangguo Huang, Qiang Chen, Xuechao Xu, Wei Ging, G.L. Kejie, K.L Intelligent Robotics Institute School of Mechatronical Engineering Zhongguancun Haidian Beijing 100081 China School of Information Engineering Southwest University of Science and Technology Sichuan 621010 China

ISBN: (纸本)9781424436088

When a humanoid robot moves in an actual working environment, it is necessary for the robot to generate appropriate locomotion trajectory in real-time to ensure its stability. But it is difficult to solve nonlinear differential equations of stability constraints in real-time to get stable locomotion trajectory. This paper proposed a method to generate stable and smooth locomotion trajectory through linking basic off-line patterns together considering stability constraints. These basic locomotion patterns include forward walk, turn-about, standstill, mark time, etc. In order to move and adapt to different route circumstance, the robot makes a selection of one basic pattern which can be link with the current locomotion pattern according to stability constraints and route requirements. We adopt spline interpolation to link current pattern and newly selected pattern for generating smooth trajectory. The effectiveness of the proposed method was confirmed by experiments on our newly developed humanoid robot. © 2009 IEEE.

关键词： Anthropomorphic robots

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