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Development of electric cart for improving walking ability — application of control theory to assistive technology

Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： Jinhua SHE Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

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Influence of road environmental elements on pedestrian and cyclist road crossing behaviour

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SICE Journal of Control, Measurement, and System Integration 2021年第2期14卷 50-58页

作者： Saito, Yuichi Kochi, Fuma Itoh, Makoto Fushima, Takesato Sugano, Takashi Yamamoto, Yasunori Faculty of Engineering Information and Systems University of Tsukuba Tsukuba Japan Master's Program in Risk and Resilience Engineering University of Tsukuba Tsukuba Japan Mazda Motor Corporation Hiroshima Japan

The pedestrian and cyclist-related accident fatality rate is higher than that of other traffic accidents. One of the pedestrian behaviours that leads to traffic accidents is the act of moving rapidly onto the road from a blind spot without warning. Expert drivers practice hazard-anticipatory driving and will naturally seek to reduce uncertainty by attempting to fit their current driving context into a pre-existing category. Risk management is the process of identifying hazards and assessing and controlling risks to attain safety. The purpose of this study was to evaluate the influence that driving context-altering road environmental elements exert on the road-crossing behaviour of pedestrians and cyclists. Thus, this study attempted to identify covert hazards (obscured pedestrians and cyclists). A logistic regression analysis was employed along with data from the near-miss incident database, in which approximately 140,000 near-crash-relevant events were registered in 2017. By using the logistic regression analysis along with the annotations recorded in the database, we constructed a predictive model to identify covert hazards. The study demonstrated the feasibility of using a set of environmental elements that shape the driving context to construct a predictive model that identifies covert hazards. © 2021 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Database systems

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Parallel Control System PD-SMCNN for Robust Autonomous Mini-Quadcopter 23

Parallel Control System PD-SMCNN for Robust Autonomous Mini-...

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23rd International Seminar on Intelligent Technology and Its Applications, ISITIA 2022

作者： Wahyuadnyana, Kadek Dwi Darwito, Purwadi Agus Physics Engineering Master Program Faculty of Industrial Technology and Systems Engineering Surabaya Indonesia Faculty of Industrial Technology and Systems Engineering Physics Engineering Department Surabaya Indonesia

ISBN: (数字)9781665460811

ISBN: (纸本)9781665460811

A parallel control system with proportional-derivative (PD) and sliding mode control-neural network (SMCNN) has been designed to control the position and attitude of mini-quadcopter parrot mambo mini-drone (PMD). This PDSMCNN control scheme is implemented in the PMD system through a 3D environment using MATLAB-Simulink, which represented the real conditions. The PD controller is used to reach the minimum value of the gain for the PMD getting to take-off, while the SMC as a robust controller is adjusted using a backpropagation neural network (NN) to make the PMD more robust regarding an external disturbance. The software and hardware simulation have been conducted to validate the proposed controller with a mission plan as an input. Based on the simulation results, the PD controller shows an overshoot of 26.7% then becomes 0% of overshoot when the PD-SMCNN controller is implemented. From the hardware simulation results, it is found that the PD controller has 45.1% of robustness and the PD-SMCNN controller has 100% of robustness in the absence of external disturbance. Next, it is found that the PD controller has 26.9% of robustness and the PD-SMCNN has 74.8% of robustness in the presence of external disturbance. Based on these results, indicates that the proposed PD-SMCNN controller is superior to the PD controller in terms of robustness. © 2022 IEEE.

关键词： Neural networks

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Toward Parallelization Technique for Stream-based Lossless Data Compression

Toward Parallelization Technique for Stream-based Lossless D...

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2023 IEEE International Conference on Big Data, BigData 2023

作者： Kato, Taiki Yamagiwa, Shinichi Wada, Koichi Master's Program in Computer Science Degree Program in Systems and Information Engineering University of Tsukuba Ibalaki Tsukuba Japan University of Tsukuba Faculty of Engineering Information and Systems Ibalaki Tsukuba Japan

ISBN: (纸本)9798350324457

IoT edge platform has become popular in various distributed environments. The edge devices need to communicate BigData among them or with the cloud servers by collaborating with AI technologies for finding events from the applications. Those devices exchange data streams from such as distributed sensors and remote image/video devices. We focus on an acceleration technique for the communication performance using a stream-based lossless data compression technology. This paper proposes a parallelization technique for the compression process in a software environment running on a multicore processor. The technique invokes concurrent compression processes assigned to multiple threads with splitting a data stream to chunks. The paper exposes three scheduling methods for assigning the chunks to the threads: in-order, hybrid and out-of-order. As an original data order of chunks must be obtained in decompression side, the proposed technique introduces packeting mechanisms in each chunk by adding headers to support the scheduling methods. Through experimental performance evaluations, we discuss the packeting overhead focusing on compression ratio and speedup by the parallelization with three scheduling methods. © 2023 IEEE.

关键词： Data Stream IoT Lossless Data Compression Multi-Threading Parallelization

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Performance Enhancement of Stream-Based Decompression Process by Notifying Compression Buffer Size 28

Performance Enhancement of Stream-Based Decompression Proces...

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28th IEEE Symposium on Computers and Communications, ISCC 2023

作者： Kato, Taiki Yamagiwa, Shinichi Marumo, Koichi University of Tsukuba Master's Program in Computer Science Degree Program in Systems and Information Engineering Ibalaki Tsukuba Japan University of Tsukuba Faculty of Engineering Information and Systems Ibalaki Tsukuba Japan

ISBN: (纸本)9798350300482

This paper focuses on a performance enhancement of communication performance by compressing data stream. ASE coding is an effective lossless data compression method for data stream. The software implementation of the coding/decoding method inevitably meets a performance mismatch in memory and storage devices. In the compressor side, it is predictable to decide the size of an original data block and is available to process a flexible buffer memory. However, the decompressor is not able to predict the buffer size because the original data size is not obvious before the decompression. This causes a performance mismatch in the filesystem level. This paper proposes a novel method to address the performance mismatch by applying a notification mechanism of compression size from the compressor. This paper describes the mechanism focusing on the system call usage. Through experimental evaluations, we show the performance improvement of the decompression performance for handling data stream. © 2023 IEEE.

关键词： Virtual storage

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Topic activation analysis for document streams based on document arrival rate and relevance 05

Topic activation analysis for document streams based on docu...

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20th Annual ACM Symposium on Applied Computing

作者： Cui, Chunhua Kitagawa, Hiroyuki Master's Program in Science and Engineering University of Tsukuba Graduate School of Systems and Information Engineering Center for Computational Sciences University of Tsukuba

ISBN: (纸本)9781581139648

With the advance of network technology in recent years, the dissemination and exchange of massive documents has become commonplace. Accordingly, the importance of content analysis techniques is increasing. Topic analysis in large-scale document streams such as E-mails and news articles is an important research issue. This paper addresses techniques for "topic activation analysis" for document streams. For example, when news articles with a strong relationship to a given topic arrive frequently in a news stream, we can regard the activation level of the topic as high. In [I], Kleinberg proposed a method for analyzing document streams. Although the main objective of his method was to detect bursts of topics, it can also be used for topic activation analysis. His method, however, has a serious limitation in that it only looks at the arrival rate of documents and ignores the degree of relevance for each document. Another limitation is that his method is "batch-oriented." This paper first proposes a novel topic activation analysis scheme that incorporates both document arrival rate and relevance to address the first problem. It then presents an incremental scheme more appropriate for a document streaming environment. The proposed schemes are validated by experiments using real CNN news articles. Copyright 2005 ACM.

关键词： Computer networks

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Hybrid Cryptography on Wireless Sensor Network: A Systematic Literature Review 3

Hybrid Cryptography on Wireless Sensor Network: A Systematic...

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3rd International Conference on Information Management and Technology, ICIMTech 2018

作者： Gandara, R. Benny Wang, Gunawan Utama, Ditdit Nugeraha Mereu Buana University Master Program of Electrical Engineering Jakarta Indonesia Information Systems Management Department Bina Nusantara University BINUS Graduate Program-Master of Information Systems Management Jakarta11480 Indonesia Computer Science Department Bina Nusantara University BINUS Graduate Program-Master of Computer Science Jakarta11480 Indonesia

ISBN: (纸本)9781538658215

Wireless technology gradual growth in the latest years has facilitated it to bridge its applications operated extensively in many types of industry. Wireless sensor network (WSN) technology brings several benefits over traditional wired technology by reason of the lower cost, immense flexibility escalation, and scalability which is able to be obtained from the old-style one. However, in its application WSN still experience some constraints on resource limitations in the form: processor, memory and energy, and any more challenges that related to availability, reliability and security. Based on its benefits, limitation, and challenges, and also three systematic stages, the review study was performed. The result of study was portrayed in this paper. It is regarding investigation result of hybrid cryptography (HC, as one of defense methods) realized for WSN to methodically increase the security level and decrease the resources usage. The result concluded that HC was proven in escalating the security defense level and downgrading the resources use on WSN compared to symmetric and asymmetric algorithms. © 2018 IEEE.

关键词： Wireless sensor networks

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Robot Tele-Operation / Teaching System using VR Device 10

Robot Tele-Operation / Teaching System using VR Device

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10th IEEE International Conference on Cybernetics and Intelligent systems and IEEE Conference on Robotics, Automation and Mechatronics, CIS-RAM 2023

作者： Ohsato, Minami Aiyama, Yasumichi Master's Program in Systems and Information Engineering Tsukuba Japan University of Tsukuba Inst. of Systemsand Information Engineering Tsukuba Japan

ISBN: (纸本)9798350303087

This paper proposes a "robot tele-teaching system using a VR device"as a new robot teaching method to replace the conventional robot teaching method. Currently we still need teach-pendant to teach industrial robots. It is very inconvenient method. Our novel method consists of two robots and a VR device. One robot is on site instead of the operator. A stereo camera is attached to its end of the robot, which realizes a 3D positionand posture obtained from HMD. The operator can then view the images through the HMD as if he/she are on site. The other manipulating robot is equipped with a gripper and can follow the position and orientation of the gripper-like input device held by the operator. This system is equipped with a correction and auto-teaching function that uses the geometric characteristics of the work object. This significantly reduces the time required for operation. In addition, the teaching points obtained by this system have been successfully used for playback in a real environment. © 2023 IEEE.

关键词： Manipulators

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Radiomics in liver research: A paradigm shift in disease detection and staging

European Journal of Radiology Artificial Intelligence

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European Journal of Radiology Artificial Intelligence 2025年 2卷 100016-100016页

作者： Le, Minh Huu Nhat Kha, Hien Quang Tran, Nghia Minh Nguyen, Phat Ky Huynh, Han H. Huynh, Phat Kim Lam, Han Le, Nguyen Quoc Khanh International Master/Ph.D. Program in Medicine College of Medicine Taipei Medical University Taipei Taiwan AIBioMed Research Group Taipei Medical University Taipei 110 Taiwan Translational Science and Precision Medicine Talent Cultivation Program College of Medical Science and Technology Taipei Medical University Taipei 110 Taiwan International Master Program for Translational Science College of Medical Science and Technology Taipei Medical University Taipei 110 Taiwan Department of Industrial and Systems Engineering North Carolina A&T State University USA Industrial & Management Systems Engineering Department University of South Florida Tampa FL 33620 USA In-Service Master Program in Artificial Intelligence in Medicine College of Medicine Taipei Medical University Taipei 110 Taiwan Translational Imaging Research Center Taipei Medical University Hospital Taipei 110 Taiwan

AbstractThis narrative review explores radiomics in the broader context of liver disease research, an interdisciplinary field bridging medical imaging, oncology, and data science. It begins with an introduction to data analysis techniques, from foundational methods like descriptive statistics, comparative and regression analysis, and survival analysis, to advanced approaches like machine learning (ML), meta-analysis, and bioinformatics. Contextualizing these methodologies within liver disease research enhances our understanding of liver diseases. The focus is on radiomics, an emerging field, which is first placed in historical context before its applications are explained across fatty liver diseases (FLD), fibrosis, cirrhosis, and liver cancers. The role of radiomics in early detection, disease staging, and outcome prediction, particularly as a non-invasive alternative to liver biopsy, is analyzed in-depth. Current imaging modalities for liver cancer diagnosis are also examined, highlighting their advantages and limitations. Alongside radiomics, these imaging tools enable comprehensive liver assessment. Lastly, the integration of radiomics with other data types, especially genomic data, is explored, emphasizing its role in a holistic approach to liver disease management. The review concludes with a forward-looking perspective on future directions and advancements in radiomics and liver cancer research, addressing the challenges and opportunities in the field. It underscores the transformative impact of these developments on liver cancer research, patient care, personalized medicine, and clinical decision-making.

关键词： AFP alpha-fetoprotein AI artificial intelligence AST aspartate transaminase AUC area under the curve CCrCC clear cell renal cell carcinoma CEUS contrast-enhanced ultrasound CNNs convolutional neural networks DCNN deep convoluted neural network DOR diagnostic odds ratio FLD fatty liver disease GWAS genome-wide association studies HCC hepatocellular carcinoma MAFLD metabolic associated fatty liver disease ML machine learning MRE magnetic resonance elastography NAFLD nonalcoholic fatty liver disease NASH nonalcoholic steatohepatitis NPV negative predictive value PPV positive predictive value VCTE vibration-controlled transient elastography Radiomics Liver disease Cancer Non-invasive diagnostic techniques Presicion medicine Deep learning Machine learning

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Vibration-based classification of road damages: Gyroscope data and a simple neural network model 2

Vibration-based classification of road damages: Gyroscope da...

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2nd International Conference on Eco engineering Development 2018, ICEED 2018

作者： Gunawan, Fergyanto E. Herriyandi Soewito, Benfano Mauritsius, Tuga Surantha, Nico Industrial Engineering Department BINUS Graduate Program - Master of Industrial Engineering Bina Nusantara University Jakarta11480 Indonesia Computer Science Department BINUS Graduate Program - Master of Computer Science Bina Nusantara University Jakarta11480 Indonesia Information Systems Management Department BINUS Graduate Program - Master of Information Systems Management Bina Nusantara University Jakarta11480 Indonesia

A system for automatic detection of road damages is essential for logistics management. At the core of the system lies an algorithm for classification of damages. This work intends to establish such an algorithm. In the current proposal, the algorithm receives data of the probe vehicle rate of rotations, extracts statistics descriptive from the data to produce a feature vector, and finally, feeds the vector to a simple-three-layer neural network to classify the damages. The types of damages are limited to four cases: normal, pothole, speed bump, and expansion joint. For the development, a probe vehicle is used to produce 400 empirical data involving those four damage cases. By using Monte Carlo approach, the established neural network model is evaluated. The results show that the approach is able to classify the cases with 85% accuracy. The study also finds that the rates of pitch and roll to be the determining factors. © 2018 Institute of Physics Publishing. All rights reserved.

关键词： Neural network models

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