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检索条件"机构=Measurement and Control Engineering ResearchCenter and the Department of Mechanical Engineering"

共 268 条记录，以下是131-140 订阅

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Towards smart prosthetic hand: Adaptive probability based skeletan muscle fatigue model

Towards smart prosthetic hand: Adaptive probability based sk...

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Parmod Kumar Anish Sebastian Chandrasekhar Potluri Alex Urfer D. Subbaram Naidu Marco P. Schoen Measurement and Control Engineering Research Center (MCERC) Idaho State University Pocatello ID USA MCERC College of Engineering Idaho State University Pocatello ID USA Department of Physical and Occupational Therapy Idaho State University Pocatello ID USA Department of Electrical Engineering MCERC Idaho State University Pocatello ID USA Department of Mechanical Engineering MCERC Idaho State University Pocatello ID USA

Skeletal muscle force can be estimated using surface electromyographic (sEMG) . Usually, the surface location for the sensors is near the respective muscle motor unit points. Skeletal muscles generate a spatial EMG signal, which causes cross talk between different sEMG signal sensors. In this study, an array of three sEMG sensors is used to capture the information of muscle dynamics in terms of sEMG signals. The recorded sEMG signals are filtered utilizing optimized nonlinear Half-Gaussian Bayesian filters parameters, and the muscle force signal using a Chebyshev type-II filter. The filter optimization is accomplished using Genetic Algorithms. Three discrete time state-space muscle fatigue models are obtained using system identification and modal transformation for three sets of sensors for single motor unit. The outputs of these three muscle fatigue models are fused with a probabilistic Kullback Information Criterion (KIC) for model selection. The final fused output is estimated with an adaptive probability of KIC, which provides improved force estimates.

关键词： Muscles Mathematical model Electromyography Force Fatigue Sensors Computational modeling

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Insulation Monitoring For Suspension Insulator Using Electromagnetic Signal Processing

Insulation Monitoring For Suspension Insulator Using Electro...

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IEEE PES Asia-Pacific Power and Energy engineering Conference (APPEEC)

作者： Ying Liu Chi Xie Nian Liu Bo Li Department of Wireless and Electronics School of Electronics and Information Sichuan University Chengdu Sichuan China Department of Measurement and Control School of Mechanical Manufacture Sichuan University Chengdu Sichuan China Department of Electrical Engineering School of Electrical and Information Sichuan University Chengdu Sichuan China

Suspension insulator strings are used in high voltage transmission lines and substations widely and they are important for the power system on insulation. This paper introduces the principle of monitoring the insulation deficiency of composite insulators for transmission line using electric field processing method. The electric field method can be used to detect the faulty insulator of suspension insulator string in transmission lines. We adopt the method to detect the composite insulator, and the electric field processing method can be used to analyze the axial electric field distribution of composite insulators. For detecting the insulation deficiency of composite insulators, the monitoring system is also presented.

关键词： Monitoring Signal processing Dielectrics and electrical insulation Cable insulation Electric variables measurement Power transmission lines Power system faults Contamination Flashover Distortion measurement

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Frequency domain surface EMG sensor fusion for estimating finger forces

Frequency domain surface EMG sensor fusion for estimating fi...

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Chandrasekhar Potluri Parmod Kumar Madhavi Anugolu Alex Urfer Steve Chiu D. Subbaram Naidu Marco P. Schoen Measurement and Control Engineering Research Center MCERC Idaho State University Pocatello ID USA MCERC Idaho State University Pocatello ID USA Department of Physical and Occupational Therapy Idaho State University Pocatello ID USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello ID USA Department of Mechanical Engineering MCERC Idaho State University Pocatello ID USA

Extracting or estimating skeletal hand/finger forces using surface electro myographic (sEMG) signals poses many challenges due to cross-talk, noise, and a temporal and spatially modulated signal characteristics. Normal sEMG measurements are based on single sensor data. In this paper, array sensors are used along with a proposed sensor fusion scheme that result in a simple Multi-Input-Single-Output (MISO) transfer function. Experimental data is used along with system identification to find this MISO system. A Genetic Algorithm (GA) approach is employed to optimize the characteristics of the MISO system. The proposed fusion-based approach is tested experimentally and indicates improvement in finger/hand force estimation.

关键词： Force Electromyography Muscles Transfer functions Sensor fusion Force measurement

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sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand

sEMG based fuzzy control strategy with ANFIS path planning f...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Chandrasekhar Potluri Parmod Kumar Madhavi Anugolu Steve Chiu Alex Urfer Marco P. Schoen D. Subbaram Naidu Measurement and Control Engineering Research Center MCERC College of Engineering Idaho State University Pocatello ID USA MCERC College of Engineering Idaho State University Pocatello ID USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello ID USA Department of Physical and Occupational Therapy Idaho State University Pocatello ID USA Department of Mechanical and Nuclear Engineering MCERC Idaho State University Pocatello ID USA Department of Electrical Engineering and computer science MCERC Idaho State University Pocatello ID USA

This paper presents an intelligent adaptive neurofuzzy inference system (ANFIS) based fuzzy Mamdani controller for a multifingered prosthetic hand. The objective of the controller is to move the finger joint angles along predetermined paths representing a grasping motion. The initiation of the grasping task is evaluated via EMG-entropy data, measured at the forearm of the prosthetic user. In addition to the motion control, the finger force is regulated with a Fuzzy logic controller. Simulation results indicate good performance of the proposed controller. Results show that the outputs follow the hand/finger force and given reference trajectory closely.

关键词： Entropy Force Fingers Electromyography Fuzzy logic Indexes Prosthetic hand

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Study of online 3D vision coordinate measuring system *** equipments

Study of online 3D vision coordinate measuring system *** eq...

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4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Optical Test and measurement Technology and Equipment

作者： Xu, Qiaoyu Cheb, Rensheng School of Mechanical and Electrical Engineering Henan University of Science and Technology Luoyang 471003 China Department of Automatic Measurement and Control Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780819475435

To solve the problem of online measuring large-scale equipments, the paper proposes a stereo vision coordinate measuring system based on optical bar with the function of measuring and calibration, which overcomes the weakness of the existing vision measuring systems that instability without restriction during the measuring process and lower measuring precision. The system adopts the optical bar as the imaging object and obtains the 3D coordinate of the measured object with the images of the optical feature points on the optical bar got by the two cameras which are arbitrarily played. During the measuring process, the extrinsic parameters of the stereo vision system are calculated timly with the measuring data to monitor the measuring system state. Key technologies influencing system precision include the design of the calibration pattern and calibration arithmetic of the camera intrinsic parameters and the extrinsic parameters online calibration of stereo vision system, and stereo vision measuring model, etc. We deeply study these technologies, propose the corresponding schemes, reduce their effect and improve the system precision. The experiment result shows that the system can expediently satisfy high accuracy online measuring of large-scale equipments, and the maximum measuring error is 0.11mm. © 2009 SPIE.

关键词： Calibration

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Hybrid control Strategy for Five-Fingered Smart Prosthetic Hand

Hybrid Control Strategy for Five-Fingered Smart Prosthetic H...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Cheng-Hung Chen D.Subbaram Naidu Alba Perez-Gracia Marco P.Schoen IEEE the Measurement and Control Engineering Research Center and the Department of Biological Sciences Idaho State University the Measurement and Control Engineering Research Center and the Department of Electrical Engineering Idaho State University the Measurement and Control Engineering Research Center and the Department of Mechanical Engineering Idaho State University

This paper presents a hybrid of soft computing or control technique of adaptive neuro-fuzzy inference system(ANFIS) and hard computing or control technique of finite-time linear quadratic optimal control for the 14 degrees of freedom(DOFs), five-fingered smart prosthetic hand. In particular,ANFIS is used for inverse kinematics, and the optimal control is used for feedback linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative(PID) controller showed enhanced performance.

关键词： Prosthetic Hand Optimal control PID control Adaptive Neuro-Fuzzy Inference System Hybrid control

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Mobile robots with active IR-optical sensing for remote gas detection and source localization

Mobile robots with active IR-optical sensing for remote gas ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Werner Baetz Andreas Kroll Gero Bonow Faculty of Mechanical Engineering Measurement and Control Department University of Kassel Kassel Germany

While other robots use in-situ measurements for gas leak detection and localization, we propose to apply remote sensing. It is easier and safer to conduct, permits rapid scans and is applicable to leak sources high up. An IR-optical sensor is used, exploiting spectral absorption effects of gases. Tailored leak detection and localization strategies are proposed. A simulation environment with a 3D model of the gas concentration field is used for developing and testing the detection and localization strategies. The system performance is demonstrated in a case study with a chemical plant.

关键词： Mobile robots Robot sensing systems Leak detection Pollution measurement Inspection Robotics and automation Remote sensing Service robots Industrial plants Personnel

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On autonomous detection of pressured air and gas leaks using passive IR-thermography for mobile robot application

On autonomous detection of pressured air and gas leaks using...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Andreas Kroll Werner Baetz Daniel Peretzki Faculty of Mechanical Engineering Measurement and Control Department University of Kassel Kassel Germany

Today, pressured air and gas leaks are typically detected using in-situ sensor technology. In this contribution the application of passive IR-thermography is proposed to permit remote leak detection by assessing the resulting temperature profile disturbance due to expansion of pressured gas. Remote measurements are advantageous as they are easier and safer to conduct. Scanning high-rise objects can be achieved using a ground-bound system without requiring complex climbing. In the paper a novel method for automated leak detection by feature extraction and pattern recognition is presented. This enables autonomous mobile robots with remote leak detection capability.

关键词： Leak detection Mobile robots Inspection Pattern recognition Robotics and automation Personnel Atmosphere Laboratories Noise measurement Area measurement

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Remote wireless low cost RT process control using windows PLC by MATLAB/Simulink throw the REX control system

Remote wireless low cost RT process control using windows PL...

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2009 5th IEEE GCC Conference and Exhibition, GCC 2009

作者： Krejcar, Ondrej Konarik, Petr VSB-Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Department of Measurement and Control Centre for Applied Cybernetics 17. listopadu 15 708 33 Ostrava-Poruba Czech Republic VSB-Technical University of Ostrava Faculty of Mechanical Engineering Department of Control System and Instrumentation 17. listopadu 15 708 33 Ostrava-Poruba Czech Republic

ISBN: (纸本)9781424438853

Paper shows direct connection and implementation way of designed control schemas of prepared applications to an industrial WinPLC. Paper deals with industrial realization of feedback control of demanding applications on their control, control algorithms and visualization together with design, implementation and real time control from MATLAB/Simulink Environment. Described is a way to produce a permanent solution in control applications that are fully prepared, designed and implemented directly from MATLAB/Simulink to the target control platform. As a part, the mentioned solution is using a multiplatform control system REX as a bridge between MATLAB and target platforms. These methods allow minimizing costs of development of control of applications, because it produces target permanent realizations in comparison to classical development methods that usually need expensive real time measurement cards and produce only one purpose development solution. As next benefit the application is created for visualization the data from RT database during the measurement and control process. This last benefit produce an interesting data from real control process to give a next reason to use of WinCon solution.

关键词： Visualization

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Low Cost RT Process control Using Windows PLC by MATLAB/Simulink Throw the REX control System by Secured Wireless Network

Low Cost RT Process Control Using Windows PLC by MATLAB/Simu...

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ICONS International Conference on Systems

作者： Ondrej Krejcar Petr Konarik Department of Measurement and Control Centre for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava-Poruba Department of Measurement and Control Centre for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava-Poruba Czech Republic Department of Control System and Instrumentation VSB-Technical University of Ostrava Faculty of Mechanical Engineering Ostrava-Poruba Czech Republic

Paper deals with industrial realization of feedback control of demanding applications on theirs control, control algorithms and visualization together with real time control from MATLAB/Simulink Environment. Paper shows direct connection and implementation way of designed control schemas of prepared applications to an industrial WinPLC. Described is a way to produce a permanent solution in control applications that are fully prepared, designed and implemented directly from MATLAB/Simulink to the target control platform. As a part, the mentioned solution is using a multiplatform control system REX as a bridge between MATLAB and target platforms. These methods allow minimizing costs of development of control of applications, because it produces target permanent realizations in comparison to classical development methods that usually need expensive real time measurement cards and produce only one purpose development solution.

关键词： Costs Process control Programmable control MATLAB control systems Wireless networks Electrical equipment industry Industrial control Pulp and paper industry Feedback control

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