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Access control models a systematic review

Studies in Health Technology and Informatics 2019年 261卷 246-252页

作者： Gazzarata, Giorgia Blobel, Bernd Department of Informatics Bioengineering Robotics and System Engineering University of Genoa Italy Medical Faculty University of Regensburg Germany EHealth Competence Center Bavaria Deggendorf Institute of Technology Germany First Medical Faculty Charles University Prague Czech Republic

Within a healthcare environment, organizational, legal, functional, social, ethical, and technical requirements must be met. In that context, security and safety are important challenges, which highly influence user acceptance. In such a complex scenario, privilege management and access control are critical for data security and patients' privacy. On the other end, the appropriate use of care data should not be prevented by data protection measures. In order to enable an adequate use of data, all the policies ruling the care process must be harmonized. In order to pursue this aim, the health system's architecture must be formally described at the required level of granularity using a system theory based architectural model. The resulting representation can be used as a mean to compare the different access control models governing the different parts of the distributed environment and to perform policy harmonization. © 2019 The authors and IOS Press. All rights reserved.

关键词： Access control models

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Equivalent circuit simulation model of cantilevered piezoelectric bimorph energy harvester

Equivalent circuit simulation model of cantilevered piezoele...

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2011 International Conference on Mechanical engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the equivalent circuit model is identified from FE transducer model and the parameters of the resistance, capacitance and inductance in the equivalent circuit model are identified from FE actuator model. To valid the equivalent circuit simulation model, the power output values are compared with those obtained from the coupled piezoelectric-circuit finite element analysis. The results demonstrate the accuracy of the equivalent circuit simulation model. © (2012) Trans Tech Publications, Switzerland.

关键词： Equivalent circuits

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Optimization design for complex pipelines inside electromechanical products based on flow resistance loss

Optimization design for complex pipelines inside electromech...

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2014 IEEE International Conference on Information and Automation, ICIA 2014

作者： Haibo, Feng Yili, Fu Lyi, L. School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479941001

Optimization design for complex pipelines inside electromechanical products is a very difficult task within complex products such as cars, planes, ships and rockets. Thus, an optimization design for complex pipelines is proposed based on the flow resistance loss in this paper. The basic framework of the design includes three parts like pre-processing, evalution model and optimization search algorithm. Firstly, Monte Carlo pre-processing model is established to effectively reduce the complexity of the optimizaton design. Also, flow resistance loss model of complex pipelines with branches is constructed to evaluate design. Moreover, a novel particle swarm optimization (PSO) algorithm is presented to find an approximate optimal design. Finally, the comparison experiments and examples demonstrate that the optimization design is effective and practical.

关键词： Algorithm design and analysis Equations Mathematical model Monte Carlo methods Optimization Pipelines Resistance Flow resistance loss Monte Carlo Optimization design Preprocessing mode

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Motion estimation for a mobile robot based on real-time stereo vision system

Motion estimation for a mobile robot based on real-time ster...

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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Zhongli, Wang Xueshan, Gao Baochang, Zhang Hao, Wu State Key Lab. of Robotics and System Harbin Institute of Technology Harbin China School of Computer Science Beijing Institute of Technology Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China School of Automation Science and Electric Engineering Beihang University Beijing China

ISBN: (纸本)9781424441310

Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time stereo vision system, a two-stage method is used for fast floor plane extraction. Then all the points belong to the floor plane are transformed from disparity space to Euclidean space, and a simple least squares method is employed to fit the floor plane. The fitting parameters of the floor plane are used for the pose estimation of the onboard stereo vision system. Finally, the motion of the mobile robot is estimated with the tracking results of the points on floor plane. The proposed motion estimation method is intended to be used in the motion control of a wheeled mobile robot. Experimental results in real environments are presented. ©2009 IEEE.

关键词： Mobile robots

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Study of gait symmetry quantification and its application to intelligent prosthetic leg development

Study of gait symmetry quantification and its application to...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Fei Kim, Kijun Wen, Shiguang Wang, Yaning Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781457721373

Human bipedal walking is symmetrical, stable and efficiency optimal. To clarify the essential relationship in human gait, accelerometers and rate gyroscopes are mounted on waist and lower extremities of subject to acquire kinematics information during walking. By employing Principal Component Analysis (PCA), kinematics signals of one side are reconstructed using that of opposite side. The reconstructed signals match the acquired ones very well, which verifies the existence of strong linear correlations in healthy human gait. To evaluate the symmetry of gait quantitatively, several classical temporal-spatial features for gait calculated by algorithms involving autocorrelation function are selected for construction of quantitative criterions by combining with symmetry indices. For the validation of gait symmetry quantification scheme, level walking experiments including healthy human subjects and human-intelligent prosthetic leg coupling system are conducted. Results indicate the correctness and effectiveness of the proposed scheme and gait symmetry analysis shows great potential in the field of bio-medical rehabilitation. © 2011 IEEE.

关键词： Principal component analysis

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Parallel layout design of pipeline system for complex products based on ant colony algorithm

Parallel layout design of pipeline system for complex produc...

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11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

作者： Haibo, Feng Yili, Fu Liyi, Li School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479939787

The layout design of pipeline system is of great significance for improving the development cycle and quality of complex products. Thus, an optimization approach for the layout design of pipeline system in complex products is presented to address layout problem of pipeline system. In the approach presented, preprocessing model is constructed first, and then the parallel layout design method is proposed based on ant colony algorithm. Finally, simulation test and an example are performed to show effectiveness of the method. © 2014 IEEE.

关键词： Product design

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Normal form augmentation approach to adaptive control of space robot systems

Normal form augmentation approach to adaptive control of spa...

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Proceedings of the IEEE International Conference on robotics and Automation

作者： Gu, Y.-L. Xu, Y. Department of Elec. & System Engineering Oakland University Rochester MI United States The Robotics Institute Carnegie Mellon University Pittsburgh PA United States

ISBN: (纸本)0818634529

In this paper, we model a free-floating space robot system as an extended robot which is composed of a pseudo-arm representing the base motion resulting from six hyperthetic passive joints, and a real robot arm. The model allows us to categorize the space robot as an under-actuated system, and reveal fundamental properties of the system. Through input-output linearization of the model, we demonstrate a non-trivial internal dynamics, and propose an adaptive control scheme based on a normal form augmentation approach. This approach overcomes two fundamental difficulties in adaptive control design of space robot systems, i.e., nonlinear parameterization of the dynamic equation, and uncertainty of kinematic mapping from Cartesian space to joint space.

关键词： Adaptive control systems

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Direction estimation of uncorrelated and coherent narrowband signals with uniform linear array

Direction estimation of uncorrelated and coherent narrowband...

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International Symposium on Access Spaces

作者： Wang, Guangmin Xin, Jingmin Ge, Chenyang Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xian 710049 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781457707179

In this paper, an effective direction-of-arrival (DOA) estimation method is proposed with a uniform linear array (ULA) when uncorrelated and coherent signals coexist. The direction-of-arrivals (DOAs) of uncorrelated signals and coherent signals are estimated in two steps. The DOAs of uncorrelated signals are estimated using conventional subspace method firstly, then the information of the uncorrelated signals can be eliminated by using matrix difference technique, and finally the coherent signals are decorrelated to be estimated. The theoretical analysis and simulation results show that the proposed method is effective. © 2011 IEEE.

关键词： Direction of arrival

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A Local Dynamic Path Planning Approach for WMRs Based on Fuzzy Dual CHOMP 9

A Local Dynamic Path Planning Approach for WMRs Based on Fuz...

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9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent systems, CYBER 2019

作者： Li, Zhi Ding, Liang You, Bo Gao, Haibo Mechanical Power Engineering College Harbin University of Science and Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728107691

Wheeled mobile robots (WMRs) are widely utilized in exploration tasks on different planets. The path planning technique is required to guide a WMR to a target point or region. A new path planning method in a dynamic environment is proposed. The method improves the original dual Covariant Hamiltonian Optimization for Motion Planning (CHOMP) method by a fuzzy reasoning module and Nonmonotone Gradient Projection Algorithm (NGPA). Thus, this method can achieve low cost paths while maintaining the accessibility of each path nodes. The method to establish local dynamic cost map based on a new velocity-based artificial potential field (VAPF) is proposed as the environment for path planning. Thus, the low cost paths can guide a WMR away from obstacles. Results of the simulations show that the path planning method can dynamically generate a smooth path for a WMR to avoid obstacles. © 2019 IEEE.

关键词： Mobile robots

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Multi-channel data acquisition and CAN communication system based on single-chip microcomputer

Multi-channel data acquisition and CAN communication system ...

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2013 2nd International Conference on Manufacturing engineering and Process, ICMEP 2013

作者： Wang, Jian Ping Jiao, Guo Tai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronic Engineering North University of China Taiyuan 030051 China

ISBN: (纸本)9783037857076

Aimed at the problem that the traditional data acquisition system design with low efficiency and high cost. It is proposed that the C8051F040 microcontroller is based on the integrated A/D converter and CAN controller;utilize dynamic control simulation input quantity into the built-in A/D converter, process and store the data through the micro-processing unit, and use integrated CAN controller to transmit the data. From schematic's design to the board's development, we have achieved the functions that acquisition of multi-channel data combined with CAN network communication through hardware and software debugging. The design of this product is small, powerful and wide used. It has good application and development prospects. © (2013) Trans Tech Publications, Switzerland.

关键词： Data acquisition

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