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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Wang, Hang Liu, Ye Zhang, Hao Li, Junhua Zhang, Liqing MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9783642420535

BCI-FES therapy has been proved to be an effective way to help post-stroke patients restore motor function of paralyzed limbs. In the existing BCI-FES system, patients can only asynchronously receive feedback in the form of FES or robot-assisted arm movements, and such a system does not provide a positive feedback corresponding to patient's motor imagery. In this work, we propose a causal related BCI-FES rehabilitation training platform, consisting top-down and bottom-up causal chains to achieve a better rehabilitation performance. We compare our system with a popular BCI-FES system on EEG data recorded from ten patients divided in two groups. The results show that almost all patients have achieved improvements in the motor function recovery after our training. © Springer-Verlag 2013.

关键词： Patient treatment

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Hidden Markov model for action recognition using joint angle acceleration

Hidden Markov model for action recognition using joint angle...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Huang, Sha Zhang, Liqing MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9783642420504

This paper proposes a recognition method of human actions in video by adding new features, the joint angle acceleration to the feature space. In this method, human body is described as three-dimensional skeletons. The features consist of vectors of several important joint angles on the human body and the joint angle accelerations are also considered as a part of features. Hidden Markov Model (HMM) is used as classification scheme. The HMM models are trained by sequences extracted from the CMU graphics lab motion capture database 1. This method is invariant to scale, coordinate system and transition. A system is implemented to recognize 4 different types of actions (walk, run, jump and jumping jack) both on the dataset of CMU and Weizmann[7]. Each video clip contains a single action type. The experimental results show excellent performance of the proposed approach. A maximum 10.3% accuracy gain can be achieved by our method compared with the method without considering acceleration. © Springer-Verlag 2013.

关键词： Hidden Markov models

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UMPCA based feature extraction for ECG

UMPCA based feature extraction for ECG

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10th International Symposium on Neural Networks, ISNN 2013

作者： Li, Dong Huang, Kai Zhang, Hanlin Zhang, Liqing MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9783642390647

In this paper, we propose an algorithm for 12-leads ECG signals feature extraction by Uncorrelated Multilinear Principal Component Analysis(UMPCA). However, traditional algorithms usually base on 2-leads ECG signals and do not efficiently work out for 12-leads signals. Our algorithm aims at the natural 12-leads ECG signals. We firstly do the Short Time Fourier Transformation(STFT) on the raw ECG data and obtain 3rd-order tensors in the spatial-spectral- temporal domain, then take UMPCA to find a Tensor-to-Vector Projection(TVP) for feature extraction. Finally the Support Vector Machine(SVM) classifier is applied to achieve a high accuracy with these features. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Tensors

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The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

The CPG gait generate method of the quadruped robot based on...

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2013 2nd International Conference on Micro Nano Devices, Structure and computing systems, MNDSCS 2013

作者： Wang, Cheng Gao, Junyao Duan, Xingguang Liu, Yi Li, Xin Xu, Zhe Sun, Wentao Intelligent Robotics Institute China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9783037856420

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization. © (2013) Trans Tech Publications, Switzerland.

关键词： Learning algorithms

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Scaling and correlation of human movements in cyberspace and physical space

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Physical Review E 2014年第5期90卷 050802(R)-050802(R)页

作者： Zhi-Dan Zhao Zi-Gang Huang Liang Huang Huan Liu Ying-Cheng Lai Web Sciences Center University of Electronic Science and Technology of China Chengdu 610054 China School of Electrical Computer and Energy Engineering Arizona State University Tempe Arizona 85287 USA Institute of Computational Physics and Complex Systems and Key Laboratory for Magnetism and Magnetic Materials of MOE Lanzhou University Lanzhou Gansu 730000 China School of Computing Informatics and Decision Systems Engineering Arizona State University Tempe Arizona 85287 USA Department of Physics Arizona State University Tempe Arizona 85287 USA

Understanding the dynamics of human movements is key to issues of significant current interest such as behavioral prediction, recommendation, and control of epidemic spreading. We collect and analyze big data sets of human movements in both cyberspace (through browsing of websites) and physical space (through mobile towers) and find a superlinear scaling relation between the mean frequency of visit 〈f〉 and its fluctuation σ:σ∼〈f〉β with β≈1.2. The probability distribution of the visiting frequency is found to be a stretched exponential function. We develop a model incorporating two essential ingredients, preferential return and exploration, and show that these are necessary for generating the scaling relation extracted from real data. A striking finding is that human movements in cyberspace and physical space are strongly correlated, indicating a distinctive behavioral identifying characteristic and implying that the behaviors in one space can be used to predict those in the other.

关键词： CYBERSPACE CORRELATION (Statistics) HUMAN mechanics BEHAVIORAL research PREDICTION models EPIDEMIOLOGY -- Mathematical models

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Sensor fault detection with online sparse least squares support vector machine

Sensor fault detection with online sparse least squares supp...

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32nd Chinese Control Conference, CCC 2013

作者： Su, Guo Fang, Deng Jian, Sun Li, Fengmei School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

ISBN: (纸本)9789881563835

In this paper, we present the theory of online sparse least squares support vector machine (OS-LSSVM) for prediction and propose a predictor with OS-LSSVM to detect sensor fault. The principle of the predictor and its online algorithm are introduced. Compared with the traditional least squares support vector machine (LSSVM), OS-LSSVM has an advantage on training speed owing to the online training algorithm based on the base vector set. The real-time output data of sensor is employed as the training vector to establish the regression model. This method is compared with the LSSVM predictor in the experiment. Three typical faults of sensors are investigated and the simulation result indicates that the OS-LSSVM predictor can diagnose sensor fault accurately and rapidly, thus it is especially suitable for online sensor fault detection. © 2013 TCCT, CAA.

关键词： Vectors

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Synchronization in complex networks and its application - A survey of recent advances and challenges

Synchronization in complex networks and its application - A ...

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作者： Tang, Yang Qian, Feng Gao, Huijun Kurths, Jürgen Potsdam Institute for Climate Impact Research Potsdam14473 Germany Institute of Physics Humboldt University of Berlin Berlin12489 Germany Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150080 China Institute for Complex Systems and Mathematical Biology University of Aberdeen AberdeenAB24 3UE United Kingdom Department of Control Theory Nizhny Novgorod State University Gagarin Avenue 23 Nizhny Novgorod606950 Russia King Abdulaziz University Jeddah21589 Saudi Arabia

complex networks have, in recent years, brought many innovative impacts to large-scale systems. However, great challenges also come forth due to distinct complex situations and imperative requirements in human life nowadays. This paper attempts to present an overview of recent progress of synchronization of complex dynamical networks and its applications. We focus on robustness of synchronization, controllability and observability of complex networks and synchronization of multiplex networks. Then, we review several applications of synchronization in complex networks, especially in neuroscience and power grids. The present limitations are summarized and future trends are explored and tentatively highlighted. © 2014 Elsevier Ltd. All rights reserved.

关键词： Synchronization

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Controlling mobile Spykee robot using Emotiv Neuro headset

Controlling mobile Spykee robot using Emotiv Neuro headset

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32nd Chinese Control Conference, CCC 2013

作者： Grude, Simon Freeland, Matthew Yang, Chenguang Ma, Hongbin School of Computing and Mathematics University of Plymouth Plymouth PL4 8AA United Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China

ISBN: (纸本)9789881563835

This paper investigates controlling the commercialized Spykee mobile robot, using only brain electroencephalography (EEG) signals transmitted by the Emotiv Epoc Neuro Headset. The Spykee robot is equipped with a wireless communication protocol to control it. Both visualization and motor control methods have been carried out and analyzed in order to control the robot with accuracy. All the fourteen channels on the Emotiv headset have been utilized and the pattern recognition has been done by the echo state network (ESN). Four different actions (moving forward/backward and turning left/right) have been achieved to control the robot reaching an arbitrary target on the floor. © 2013 TCCT, CAA.

关键词： Electroencephalography

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TRANSDUCTIVE NONNEGATIVE MATRIX FACTORIZATION FOR SEMI-SUPERVISED HIGH-PERFORMANCE SPEECH SEPARATION

TRANSDUCTIVE NONNEGATIVE MATRIX FACTORIZATION FOR SEMI-SUPER...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Naiyang Guan Long Lan Dacheng Tao Zhigang Luo Xuejun Yang Science and Technology on Parallel and Distributed Processing Laboratory School of Computer Science National University of Defense Technology Changsha Hunan 410073 China Centre for Quantum Computation and Intelligent Systems FEIT University of Technology Sydney Sydney NSW 2007 Australia State Key Laboratory of High Performance Computing National University of Defense Technology Changsha Hunan 410073 China

ISBN: (纸本)9781479928941

Regarding the non-negativity property of the magnitude spectrogram of speech signals, nonnegative matrix factorization (NMF) has obtained promising performance for speech separation by independently learning a dictionary on the speech signals of each known speaker. However, traditional NM-F fails to represent the mixture signals accurately because the dictionaries for speakers are learned in the absence of mixture signals. In this paper, we propose a new transductive NMF algorithm (TNMF) to jointly learn a dictionary on both speech signals of each speaker and the mixture signals to be separated. Since TNMF learns a more descriptive dictionary by encoding the mixture signals than that learned by NMF, it significantly boosts the separation performance. Experiments results on a popular TIMIT dataset show that the proposed TNMF-based methods outperform traditional NMF-based methods for separating the monophonic mixtures of speech signals of known speakers.

关键词： Speech Dictionaries as Topic Loudspeakers NMF protocol signals mixtures factorization HIGH-PERFORMANCE

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