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Electrode localization in 3D Ultrasound images using 3D phase grouping and Randomized Hough transform

Electrode localization in 3D Ultrasound images using 3D phas...

引用

International Conference on Genetic and Evolutionary Computing

作者： Qiu, Wu Ding, Mingyue Yuchi, Ming School of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769542812

A method to locate the axis of radio frequency ablation electrode(RFAE) in 3D Ultrasound(US) image is presented based on 3D phase-grouping in this paper. Firstly, all voxels in 3D US images are categorized into different groups which are called Line Support Region(LSR) according to the outer products of adjacent orientation vectors. And then, the RFAE axis is extracted with 3D Randomized Hough transform in the maximal LSR, instead of least squares fitting method;Finally, the endpoint of the RFAE axis is determined by searching along the axis with the probability distribution of voxels. The proposed method was tested in synthetic and 3D US agar phantom datas, the results are promising. © 2010 IEEE.

关键词： Hough transforms

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Observer-Based Adaptive Tracking control of Rigid-Link Flexible-Joint Robot Manipulators

Observer-Based Adaptive Tracking Control of Rigid-Link Flexi...

引用

第二十九届中国控制会议

作者： Philippe POIGNET Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology

Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot *** works on control of rigid-link flexible-joint(RLFJ)robot in literature have assumed that the kinematics of the robot is known *** have been few results that can deal with the kinematics uncertainty in RLFJ *** this paper,we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the RLFJ robot *** observers are designed to avoid accelerations measurement due to the fourth-order overall system *** stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.

关键词： Kinematics Uncertainty,Flexible Joint,Adaptive control,Robot Manipulator,Asymptotic Stability

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Unified restoration method for different degraded images

Unified restoration method for different degraded images

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2010 International Conference on Optoelectronics and image processing, ICOIP 2010

作者： Hong, Hanyu Li, Liangcheng Yan, Luxin Zhang, Tianxu Laboratory for Image Processing and Intelligent Control Wuhan Institute of Technology Wuhan 430074 China Institute for Pattern Recognition and AI Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780769542522

Blurred images are caused by many factors such as defocus, motion, and atmospheric turbulence. Due to the unknown various factors that cannot be distinguished in the blurred image, it is necessary to propose a unified method for image restoration. In order to solve this problem, a unified restoration method for different degraded images is presented, in which we use edge information of blurred image to predict the blur mode. It operates by locally predicting a sharp image using edge information of blurred image and establishes a nonlinear and spatial anisotropic regularization function from the prediction sharp image and the blurred image. Then we can estimate the point spread function (PSF) and recover the blurred image quickly. A series of restoration experiments for different blured images have been performed to verify the effectiveness of the proposed method. © 2010 IEEE.

关键词： Restoration

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A video tracking system for limb motion measurement in small animals

A video tracking system for limb motion measurement in small...

引用

2010 International Conference on Optoelectronics and image processing, ICOIP 2010

作者： Xu, Qi Cai, Cong Zhou, Houlun Ren, Hangkong KEY Lab. of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Department of Anatomy Tongji Medical College Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769542522

Motion analysis can provide useful information for biomedical researches. In this paper, we have presented a video tracking system for limb motion measurement in small animals. The system employs a consumer-grade video camera to record the locomotion of a rat, which can reduce the cost of the system. Three matching methods are available for different application. Moreover, a new algorithm to forecast the joint positions based on the polynomial fitting and improved Kalman filtering algorithms has been proposed, not only for limiting the region of matching, but also for marker occlusion and various maneuverability of the limb. Two methods are also applied to detect mismatch for ensuring a reliable tracking. Once 2D markers positions are collected, kinematic characteristics of the motion can be derived. Finally, the experimental results of the tracking system are presented. © 2010 IEEE.

关键词： Motion analysis

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control reconfiguration of new strap-on boosted launch vehicle [PRC] with deadlocked swing engines

Control reconfiguration of new strap-on boosted launch vehic...

引用

International Conference on Modelling, Identification and control (ICMIC)

作者： Lei Liu Biao Yin Yongji Wang Zhixiang Deng Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

To enhance the reliability of launch vehicle attitude control systems and prevent the control invalidation caused by swing engine deadlock, a control reconfiguration of fault-tolerant control is proposed. Firstly, the coupling identity between the channels is discussed based on the dynamic model of the vehicle. Then, under the assumption of no rolling motion, we study the swing angles reconfiguration method based on the moment balance principle, and then deduce the relationship between the swing angle of the deadlocked engines and the engines still operate well. From the rationality analysis, the safe bound of the deadlocked engine and reconfiguration conditions are proposed under several assumptions. Finally, the numerical simulation of rocket attitude control based on the discussed reconfiguration strategy is given to demonstrate that the variance of the control affect by the deadlocked engine could be rectified by other booster-engines effectively.

关键词： Engines Power capacitors Variable speed drives System recovery

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control of a rehabilitation robotic exoskeleton based on intentional reaching direction

Control of a rehabilitation robotic exoskeleton based on int...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Weiguang Huo Jian Huang Yongji Wang Jun Wu Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan China

An upper limb robotic exoskeleton of three degrees of freedom (DOF) is designed for the patients who survived stroke and the elderly who have not enough strength to move their limbs freely. Particular attention is paid to the realization of a intention-driven robotic control approach, by which the robotic exoskeleton can assist the user moving his/her arm freely to where he/she intends to go. A force sensing system made of multiple force sensing resisters (FSRs) is embedded in the robotic exoskeleton. A static force model of the upper limb in a relaxed state is obtained when the user wears the exoskeleton. A hybrid model is proposed to describe the behavior modes of human upper limb motion. Filtering technology is designed to infer the intended moving direction of upper limb based on the measured force information and the static force model. The motion intention of user's upper limb can be online estimated using the filter and a mode transition detector. Guided by the inferred intention, an admittance control strategy is assumed to control the motors of each DOF. The effectiveness of proposed robotic system and control approaches is evaluated by experiments.

关键词： Exoskeletons Joints Robot sensing systems

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An image Segmentation Approach Based on Graph Theory and Optimal Threshold Model

An Image Segmentation Approach Based on Graph Theory and Opt...

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International Conference on Wireless Communications, Networking and Mobile Computing (WiCom)

作者： Xiangyun Guo Xiuhua Zhang Hanyu Hong Laboratory of Image Processing and Intelligent Control Wuhan Institute of Technology Hubei China

Since the threshold segmentation methods can't divide the interested objects from intricate background perfectly, in this paper, we proposed a new method that combined graph theory with optimal threshold method. With this method we have made a good integration of the two methods above to ensure that the segment results have smooth boundary and complete regions. Through a lot of experiments, we can draw the conclusion that the proposed method can extract the objects from intricate background perfectly and meet the need of applications.

关键词： Pixel image segmentation image edge detection Billets Graph theory Algorithm design and analysis Computational modeling

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Fast marine route planning for UAV using improved sparse A * algorithm

Fast marine route planning for UAV using improved sparse A *...

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International Conference on Genetic and Evolutionary Computing

作者： Yang, Xin Ding, Ming-Yue Zhou, Cheng-Ping Huazhong Unvi. of Sci. and Tech. Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Wuhan 430074 Hubei China School of Life Science and Technology Huazhong Unvi. of Sci. and Tech. Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Wuhan 430074 Hubei China Huazhong Unvi. of Sci. and Tech. State Key Laboratory for Multi-spectral Information Processing Technologies Wuhan 430074 Hubei China

ISBN: (纸本)9780769542812

This paper focuses on route planning, especially for unmanned aircrafts in marine environment. Firstly, new heuristic information is adopted such as threat-zone, turn maneuver and forbid-zone based on voyage heuristic information. Then, the cost function is normalized to obtain more flexible and reasonable routes. Finally, an improved sparse A* search algorithm is employed to enhance the planning efficiency and reduce the planning time. Experiment results showed that the improved algorithm for aircraft in maritime environment could find a combinational optimum route quickly, which detoured threat-zones, with fewer turn maneuver, totally avoiding forbid-zones, and shorter voyage. © 2010 IEEE.

关键词： Cost functions

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The research in a plantar pressure measuring system connected with EEG

The research in a plantar pressure measuring system connecte...

引用

International Conference on Signal processing Proceedings (ICSP)

作者： Li Wei Qiu Hong Huang Yue Chen Xi Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology China

The paper presents a foot pressure measuring system connected with EEG It can quantify the relationship between human gait cycle and EEG signals. Understanding the relationship will help in the prevention of potential motor dysfunction disease and the development of rehabilitation tools. The whole system is composed of three parts: EEG signal acquisition, foot landing signal acquisition and the synchronization of these two signals. EEG signal can be acquired by Neuroscan EEG system. The plantar pressure measuring system (PPMS) is designed in details. With PVDF piezoelectric film sensor insole, PPMS could measure the plantar pressure precisely, and send a TTL signal as a mark to EEG system synchronously with EEG signal when the foot contacts the ground at beginning of each gait cycle. The experiment results shows that EEG signals are in line with human gait cycle on dynamic response. From that, some potential diseases can be predict, such as dyskinesia, peripheral neuropathy, neurological disorder, musculoskeletal disease and so on. It can also be used to monitor improvements in rehabilitation.

关键词： Electroencephalography Humans Foot Pressure measurement Low pass filters Diseases Piezoelectric films

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Small universal asynchronous spiking neural P systems

Small universal asynchronous spiking neural P systems

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Linqiang Pan Xiangxiang Zeng Xinyi Zhang Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China

Looking for small universal computing devices is a natural and well investigated topic in computer science. Recently, this topic started to be considered also in the framework of (synchronized) spiking neural P systems. In this work, it is focused on small universal spiking neural P systems working in a non-synchronized manner. Specifically, it is proved that there is an asynchronous spiking neural P system with 76 neurons that is equivalent to a universal register machine for computing functions. As generator of sets of numbers, a universal asynchronous spiking neural P system with 75 neurons is constructed.

关键词： Variable speed drives Neurons

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