An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine sy...
详细信息
An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine system, with both controlling the human arm. Initially, the machine is the main controller of the arm. As the patient improves, the human control of the arm increases, and the machine control of the arm decreases. The system combines the skills of professional therapists with a sensor-integrated orthosis and a real-time graphics system to ensure proper interaction and cooperation with the patient in order to achieve the goals of therapy. It uses the expertise of the therapists, which is incorporated into its knowledge system, while monitoring the sensory information from the patient, including the force, motion, and electromyogram (EMG) signals. The treatment-related tasks are displayed on the real-time graphic system to increase the interest and enhance the motivation of the patient. Such a system can be used to improve the rehabilitation process for stroke patients.< >
Based on the integral manifold concept, a controller is designed that achieves asymptotic tracking and disturbance rejection in a class of nonlinear systems. If the given nonlinear MIMO plant is exponentially stable a...
详细信息
Based on the integral manifold concept, a controller is designed that achieves asymptotic tracking and disturbance rejection in a class of nonlinear systems. If the given nonlinear MIMO plant is exponentially stable and has a nonvanishing I/O gain, we show that the control governed by a low gain nonlinear compensator solves this robust servomechanism problem. We also show how the range of initial conditions determines the servo rate of a successful tracking process.
Diverse ASIC programs have been established in more than 100 universities across the United States. In most schools, however, the focus is placed on full-custom VLSI rather than semicustom VLSI design. An emerging inf...
详细信息
Diverse ASIC programs have been established in more than 100 universities across the United States. In most schools, however, the focus is placed on full-custom VLSI rather than semicustom VLSI design. An emerging infrastructure in VLSI seems to favor the first of the two mentioned design styles. A familiarization with these types of rapid prototyping by the prospective electrical engineers is an important issue in education. A treatment of this issue is presented.< >
Two algorithms for depth estimation are presented. The first algorithm simply looks for the focus level that maximizes the focus measure at each image point. The second algorithm uses a Gaussian model to interpolate t...
详细信息
Two algorithms for depth estimation are presented. The first algorithm simply looks for the focus level that maximizes the focus measure at each image point. The second algorithm uses a Gaussian model to interpolate the focus measures to obtain more accurate depth estimates. The algorithms were implemented and tested on surfaces of different roughness and reflectance properties. The results indicate that the shape-from-focus method may be applied to a variety of industrial vision problems.< >
The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the ro...
详细信息
The objective of this study is to develop a method for mobile robot motion planning in the presence of moving obstacles. The concept of traversability vectors is used to analyze the spatial relationship between the robot and moving obstacles. Given a predefined path, the occupancy of the path by moving obstacles can be detected and registered on the constraint map. Obstacles on this map represent time constraints on the robot motion along the path. A search algorithm is then developed to coordinate the robot motion. Simulation results for this approach are discussed.< >
This work extends our previous effort in visualizing the spatial aspect of relativistic effects, and treats the phenomenon of time dilation; an inherent temporal effect of special ***, we demonstrate through still-fra...
ISBN:
(纸本)9780897914123
This work extends our previous effort in visualizing the spatial aspect of relativistic effects, and treats the phenomenon of time dilation; an inherent temporal effect of special ***, we demonstrate through still-frame images and live animations that in observing the viewing independent time dilation, the finite light transit time involved in performing the observation makes the observed time dilation also depend on the viewing *** we introduce the physics of special relativity into ray-tracing and make time to pass as a ray travels through space, we are able to link the spatial and temporal dimensions in a fundamental and consistent way in our simulations, and generate images that reveal the spatial and temporal properties of the 4D geometry of *** exploration highlights the interplay of the imaging process and the imaged physical events in producing the final images. It reveals a richly detailed physical reality which the mathematical language of thought experiment in relatively does not directly provide.
The authors extend their previous effort in visualizing the spatial aspect of relativistic effects, and treat the phenomenon of time dilation, an inherent temporal effect of special relativity. Here, the authors demon...
详细信息
The authors extend their previous effort in visualizing the spatial aspect of relativistic effects, and treat the phenomenon of time dilation, an inherent temporal effect of special relativity. Here, the authors demonstrate through still-frame images and live animations that, in observing the viewing-independent time dilation, the finite light transit time involved in performing the observation makes the observed time dilation also depend on the viewing condition. As the authors introduce the physics of special relativity into ray-tracing and make time to pass as a ray travels through space, they are able to link the spatial and temporal dimensions in a fundamental and consistent way in their simulations, and generate images that reveal the spatial and temporal properties of the 4D geometry of spacetime. The present exploration highlights the interplay of the imaging process and the imaged physical events in producing the final images.< >
Relaxation labeling uses contextual information for finding consistent labelings of graphs. Although relaxation labeling is parallel and iterative, the complexity of updating with standard rules is too costly for prac...
详细信息
Relaxation labeling uses contextual information for finding consistent labelings of graphs. Although relaxation labeling is parallel and iterative, the complexity of updating with standard rules is too costly for practical implementation. A description is given of a computationally more efficient updating rule that utilizes radial projection instead of normal projection to avoid the complexities incurred by previous update rules when boundaries to the labeling space are encountered. This reduction in complexity is achieved by first restricting support vectors to the positive quadrant, and then using radial projection onto the constraint instead of normal projection. Crucial order information is conserved through smooth convergence towards the optimum and a rate of convergence proportional to the magnitudes of the support functions.
An approach is described for curve inference that is based on curvature information. The inference procedure is divided into two stages: a trace inference stage, which is the subject of the present work, and a curve s...
详细信息
An approach is described for curve inference that is based on curvature information. The inference procedure is divided into two stages: a trace inference stage, which is the subject of the present work, and a curve synthesis stage. It is shown that recovery of the trace of a curve requires estimating local models for the curve at the same time, and that tangent and curvature information are sufficient. These make it possible to specify powerful constraints between estimated tangents to a curve, in terms of a neighborhood relationship called cocircularity, and between curvature estimates, in terms of a curvature consistency relation. Because all curve information is quantized, special care must be taken to obtain accurate estimates of trace points, tangents, and curvatures. This issue is addressed specifically to the introduction of a smoothness constraint and a maximum curvature constraint. The procedure is applied to two types of images: artificial images designed to evaluate curvature and noise sensitivity, and natural images.
暂无评论