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2014 International Conference on Mechatronics and Mechanical engineering, ICMME 2014

作者： Boiadjiev, George Delchev, Kamen Boiadjiev, Tony Zagurski, Kazimir Kastelov, Rumen Analytical Mechanics Department Sofia University Sofia Bulgaria Institute of Mechanics - BAS Sofia Bulgaria Institute of Information and Communication Technologies – BAS Sofia Bulgaria Institute of System Engineering and Robotics – BAS Sofia Bulgaria Orthopaedic Trauma Clinic University Hospital for Emergency Medicine PIROGOV Sofia Bulgaria

ISBN: (纸本)9783038352921

This paper discusses a problem appeared by drill bit bending during bone drilling in the orthopedic surgery, where precision is needed for screws to be implanted. The bone surface has a specific shape and the drill bit may slip a little along the bone before the process start, when a large thrust force is applied by hand-drilling. That could be seen and correct by the surgeon. But he can’t see inside – where the second cortex drilling starts. The drill bit bending leads to the worse screw fixation and even to the bone damage – if the drill bit stays off broken inside. To solve this problem an active force control is made by robot application. Experiments and results are presented. © (2014) Trans Tech Publications, Switzerland.

关键词： Bone

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Neurofeedback for the treatment of schizophrenia: Case study

Neurofeedback for the treatment of schizophrenia: Case study

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2012 10th IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement systems, VECIMS 2012

作者： Nan, Wenya Chang, Lanshin Rodrigues, Joao Pedro Wan, Feng Mak, Peng Un Mak, Pui-In Vai, Mang I. Rosa, Agostinho Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China Department of Psychology Faculty of Social Sciences and Humanities University of Macau China Department of Bioengineering LaSEEB-System and Robotics Institute Technical University of Lisbon Portugal

ISBN: (纸本)9781457717574

The paper presents a case report of the therapy by neurofeedback training of a chronic female schizophrenia outpatient. The purpose of the neurofeedback training was to enhance cognition, memory and behavioral performance. We used an intensive approach. All the training sessions were performed during 4 consecutive days. The results showed that the patient learnt to increase individual alpha amplitude and simultaneously decrease beta2 (20-30 Hz) amplitude at P4 site during active state over sessions. The individual alpha increased 74.73% and beta2 decreased 13.73%. The short term memory was enhanced after training. Her mood had positive change and her speech was much clearer than before. She started to associate the meaning of her life and illness. These results support that neurofeedback is not only a feasible therapy for schizophrenia but also positive results could be obtained using a much more intensive training sessions than the one reported in the literature. © 2012 IEEE.

关键词： Neurofeedback Schizophrenia activity state Hercules

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Measuring Risk Dependencies Due to Two Natural Disasters by Bivariate Copula

Measuring Risk Dependencies Due to Two Natural Disasters by ...

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2012 3rd International Conference on Education and Management Technology (ICEMT 2012)

作者： Plamena Zlateva Dimiter Velev Institute of System Engineering and Robotics-BAS SofiaBulgaria University of National and World Economy SofiaBulgaria

The bivariate copula potentiality for measuring risk dependencies due to occurrence of two natural disasters is *** bivariate copula essentials are *** copula dependence measures(concordance,Kendall's tau,Spearman's rho,positively quadrant dependent,tail dependence)are *** results about the measuring risk dependencies can support the stakeholders to take more informed decisions regarding the efficient allocation of the available funding for the improvement of risk management with respect to natural disasters.A concept for implementing the bivariate copula models as a part of a Web integrated information system for risk management of natural disasters is outlined.

关键词： bivariate copula,risk dependencies,Kendall's tau,Spearman's rho,natural disasters

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Planar Pose Estimation for General Cameras using Known 3D Lines

Planar Pose Estimation for General Cameras using Known 3D Li...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Pedro Miraldo Helder Araujo Institute for System and Robotics Departments of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781479969357

In this article, we address the pose estimation for planar motion under the framework of generalized camera models. We assume the knowledge of the coordinates of 3D straight lines in the world coordinate system. Pose is estimated using the images of the 3D lines. This approach does not require the determination of correspondences between pixels and 3D world points. Instead, and for each pixel, it is only required that we determine to which 3D line it is associated with. Instead of identifying individual pixels, it is only necessary to establish correspondences between the pixels that belong to the images of the 3D lines, and the 3D lines. Moreover and using the assumption that the motion is planar, this paper presents a novel method for the computation of the pose using general imaging devices and assuming the knowledge of the coordinates of 3D straight lines. The approach is evaluated and validated using both synthetic data and real images. The experiments are performed using a mobile robot equipped with a non-central camera.

关键词： pixel Planar Coordinate system Cameras Coordinates pose estimation Three Dimensions Straight lines synthetic data Mobile robots

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Study on simulation of multimodule space station intra-vehicular navigation: a survey

Study on simulation of multimodule space station intra-vehic...

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2013 International Conference on Biomedical engineering and Environmental engineering (ICBEEE 2013)

作者： Lei Zhu Yingxue Yao State Key Laboratory of Robotics and System (HIT) School of Mechanical and Electrical Engineering Harbin Institute of Technology

Simulation is a reasonable approach and important basis for studies and trainings of astronauts' multimodule space station intra-vehicular navigation. Based on the introduction of the main simulation effect required, the research progress of multimodule space station intra-vehicular navigation simulation was summarized and analyzed from three aspects: limitations of traditional intra-vehicular activity(IVA) simulation methods, development of virtual reality(VR)-based multimodule space station intra-vehicular navigation simulation, and shortcomings existing in the VR-based simulation methods. Research production and deficiency in areas of the obligatory and/or automatic spatial updating verification and the effect of subjects' posture on the navigation simulation were studied emphatically. At last, the research directions in future were pointed out.

关键词： multimodule space station IVA navigation simulation of intravehicular navigation obligatory and/or automatic spatial updating

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Teleoperation of the Tiangong-2 Space Manipulator system

Teleoperation of the Tiangong-2 Space Manipulator System

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IEEE International Conference on robotics and Biomimetics

作者： Chongyang Li Zainan Jiang Yang Liu Ziqi Liu Hegao Cai State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

In this paper, we would present the structure of the teleoperation system of the Tiangong-2 Space Manipulator system. The system consist of on-orbit teleoperation and on-ground skill learning subsystem, and they meet the requirements of different tasks. Then, we also represented the key technology, the calibration method of the CyberGlve, of the two subsystem. And the experiments showed the methods are effective.

关键词： Conferences Biomimetics Manipulators Calibration Task analysis

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Bidirectional Guided Policy Search for Aircraft Maneuver

Bidirectional Guided Policy Search for Aircraft Maneuver

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International Conference on Information, Communication and Networks (ICICN)

作者： Yunfan Wang Xian Guo Kuihua Huang Xuebo Zhang Institute of Robotics and Automatic Information System Nankai University Tianjin China College of System Engineering University of Defense Technology Changsha China

The flight control problem of UAV is a relatively complex problem because of its large state space and the complex dynamics model, and it requires real-time control in the flight process. But the traditional control method can not meet the requirements. A good solution is to use the deep reinforcement learning method based on neural network for training, which can use the powerful nonlinear fitting ability of neural network to learn a better strategy. However, this model-free reinforcement learning method needs to explore a very large state action space, leading to low learning efficiency. In this paper, a method is proposed to train neural network policy by using bidirectional guided policy search under the framework of guided policy search (GPS). Specifically, least squares method is used to estimate the local time-varying linear model, and then the model-based optimal control method is used to improve the local policy. Global neural network is guided to search policy parameters by local policy in a manner of supervised training. The initial nominal trajectory required by the optimal control algorithm can be generated by neural network because of its generalized reasoning ability. This bidirectional guided policy search algorithm can improve the results of both the optimal control algorithm and the neural network policy in an iterative manner. Finally, our neural network strategy is tested in the simulation environment, which can realize the maneuvering control of UAV in any state. On this basis, it will also be conducive to the training of higher-level and more complex flight strategies.

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A Path Planning Algorithm of Spray Robot based on 3D Point Cloud

A Path Planning Algorithm of Spray Robot based on 3D Point C...

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International Conference on Communications, Information system and Computer engineering (CISCE)

作者： Jubo Yang Minxiu Kong Rundong Wang School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

The following topics are dealt with: learning (artificial intelligence); feature extraction; neural nets; diseases; convolutional neural nets; computer aided instruction; power engineering computing; teaching; educati... 详细信息

ISBN: (数字)9781728197616

ISBN: (纸本)9781728197623

关键词： Three-dimensional displays Spraying Robot sensing systems Robots Robot kinematics Covariance matrices Gravity

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Enterprise 2.0 Knowledge Management Development Trends

Enterprise 2.0 Knowledge Management Development Trends

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2012 International Conference on Economics, Business Innovation（ICEBI 2012）

作者： Dimiter Velev Plamena Zlateva University of National and World Economy Sofia Bulgaria Institute of System Engineering and Robotics - BAS Sofia Bulgaria

The paper attempts to summarize the latest and future trends in the development of knowledge management particularly in the Enterprise 2.0 technology. A short description of the technology and its features are given. The classical definition of knowledge management is presented which is further related with its position in the area of Enterprise 2.0. The observed current problems in knowledge management are discussed. Several major trends have been identified and analyzed regarding the knowledge management transformation of into social business. The use of the Cloud Computing technology as a natural extension of the development of the Enterprise 2.0 knowledge management is proposed.

关键词： Web 2.0, Enterprise 2.0, Knowledge Management, Cloud Computing

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Improving convergence of ICP for registering RGB-D images using hierarchical index

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Journal of Computational Information systems 2015年第1期11卷 27-35页

作者： Li, Xingdong Wang, Pengfei Zha, Fusheng Li, Mantian Guo, Wei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

Relative 6 DOF pose transformation is necessary for registering two RGB-D images. Although the Iterative Closest Point (ICP) algorithm has been widely used to solve the relative pose, it would be enhanced significantly if the characteristic of its application object has been fully considered. This paper concentrates on improving the convergence of ICP for estimating the pose transformation between two RGB-D images, and the divergence problem is avoided. A hierarchical index is proposed to search corresponding point used by ICP. A measurement of convergence rate is firstly proposed for comparison. ©, 2014, Journal of Computational Information systems. All right reserved.

关键词： Iterative methods

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