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2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)

作者： Khalil Ibrahim Ahmed Ramadan Mohamed Abdellatif Ahmed Fath El-Bab Ahmed Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt

This paper describes the development of a dexterous endoscopic robot manipulator for laparoscopic *** mechanisms are used to secure *** manipulators are more reliable compared to wire driven mechanisms that is vulnerable to the wire rupture *** problem of limited bending angles could be overcome in our proposed manipulator that is designed to achieve ± 90 o bending *** proposed manipulator is designed to have four degrees of freedom to facilitate its use and learning by *** 4-DOF parallel mechanism consists of four serials chains;two serial chains consisting of 1P4R （one active prismatic joint and four passive revolute joints） and another two serials chains consisting of 1P5R （one active prismatic joint and five passive revolute joints）.Three linear motors are used for *** linear motors are installed on two serials chains and the other motor is installed on the other two serial chains in order to move together with the same motion.A rotary motor is attached to the base to give 360 o rotation of the *** kinematics of the manipulator is graphically modeled and the performance was investigated via computer *** motion capability of the mechanism was achieved by simulation and the workspace is estimated and the results are *** model was experimentally verified through a real scaled-up prototype that ensured the feasibility of our proposed design for real applications.

关键词： Parallel mechanism endoscopy manipulator minimally invasive surgery

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ANFIS Based Controller for Double Inverted Pendulum System with Payload

ANFIS Based Controller for Double Inverted Pendulum System w...

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2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)

作者： Omar Mehrez Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt

The swing up and stabilization of inverted pendulum systems represents a challenge task for *** more the number of links,the more difficult is to control the ***,we propose a double inverted pendulum system with a payload of significant mass attached to the second *** mass addition is not only to increase the complexity of the control problem,but also has significant effect on the development of applications that are simply modeled with inverted pendulum systems such as humanoid robots and mobile *** ANFIS controller based on the training from an optimal LQR controller is introduced to stabilize the system around the equilibrium *** rule numbers explosion of the ANFIS controller is solved by combining the system variables into only two states;the error and error *** performance of the ANFIS controller is compared with the optimal one,which shows better performance,covering wider range,and much more robustness against disturbances.

关键词： fuzzy control double inverted pendulum with payload fuzzy rules number problem

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Deliberation of value-sympathy model for adaptive service attendant system

Deliberation of value-sympathy model for adaptive service at...

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Annual Conference of Industrial Electronics Society

作者： Satoshi Suzuki Masaya Ando Hiroshi Hashimoto Hajime Asama Department of Robotics and Mechatronics Tokyo Denki University Chiyoda Tokyo Japan Department of Design Chiba Institute of Technology Japan Advanced Institute of Industrial Technology Japan School of Engineering University of Tokyo Japan

For service engineering, a mathematical model of customers is indispensability. This paper presents a design procedure of the service value-sympathy model by utilizing Self-Organizing Map (SOM) to establish a formulation of the model implementable to the service devices. The model is expressed as a mapping function of SOM computed using the questionnaire data on the service recipients, and the questionnaire is designed using results of the qualitative analysis to the service providers. The effectiveness of the design procedure and the modeling method were verified through the case-study of the hotel reception service. Predicting the guest satisfaction using the obtained value-sympathy model, an accuracy of the model and its feasibilities were investigated. Although the matching ratio in the cross-validation was not sufficiently high, a direction to create a new value concerning the service engineering could be shown.

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Thoracic ROM Measurement System with Visual Bio-feedback: System design and Biofeedback Evaluation

Thoracic ROM Measurement System with Visual Bio-feedback: Sy...

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

作者： Takeshi Ando Kazuya Kawamura Junko Fujitani Tomokazu Koike Masashi Fujimoto Masakatsu G. Fujie Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University Department of Rehabilitation Medicine National Center for Global Health and Medicine

ISBN: (纸本)9781424441211

Patients with diseases such as chronic obstructive pulmonary disease (COPD) need to improve their thorax mobility. Thoracic ROM is one of the simplest and most useful indexes to evaluate the respiratory function. In this paper, we have proposed the prototype of a simple thoracic ROM measurement system with real-time visual bio-feedback in the chest expansion test. In this system, the thoracic ROM is measured using a wire-type linear encoder whose wire is wrapped around the thorax. In this paper, firstly, the repeatability and reliability of measured thoracic ROM was confirmed as a first report of the developed prototype. Secondly, we analyzed the effect of the bio-feedback system on the respiratory function. The result of the experiment showed that it was easier to maintain a large and stable thoracic ROM during deep breathing by using the real-time visual biofeedback system of the thoracic ROM.

关键词： Read only memory Visualization Biological control systems Real time systems Current measurement Diseases Prototypes

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The Weight Load Inconsistency Effect on Voluntary Movement Recognition of Essential Tremor Patient

The Weight Load Inconsistency Effect on Voluntary Movement R...

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IEEE International Conference on robotics and Biomimetics

作者： Masatoshi Seki Yuya Matsumoto Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Graduate School of Creative Science and Engineering Waseda University Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Department of Rehabilitation Medicine Juntendo University Graduate School

ISBN: (纸本)9781457721366

Essential Tremor (ET) refers to involuntary movements of a part of the body. ET patients have serious difficulties in performing their daily living activities. Our ultimate goal is to develop a system that can enable ET patients to perform their daily living activities. We are in the process of developing an exoskeletal robot for ET patients. This robot is controlled by estimation of voluntary movement using surface electromyogram (EMG) signal input and a Neural Network (NN) learning algorithm. However, the EMG signal of ET patients contains not only signals from voluntary movements but also noise from involuntary tremors. We have therefore developed a signal processing method to suppress tremor noise present in the surface EMG signal. The proposed filter is based on the hypothesis that tremor noise can be approximated to powered sine wave. It have been confirmed that the proposed filter increases the accuracy of recognition. In this paper, we have focused on the effect of inconsistency of weight load between instruction signal and input signal. When the instruction signal comprised unloaded motion, our voluntary movement estimation method worked stably with the loaded motion's EMG input.

关键词： voluntary movement Activities of Daily Living Essential Tremor Surface Electromyography Fault trees Electromyogram signals Tremor Inconsistency Involuntary Movements Patients Noise Recognition (Psychology) input signal

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Filtering Essential Tremor Noise on surface EMG based on Squared Sine Wave Approximation

Filtering Essential Tremor Noise on surface EMG based on Squ...

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

作者： Masatoshi Seki Yuya Matsumoto Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Graduate School of Creative Science and Engineering Waseda University Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Osaka Japan and Faculty of Science and Engneering Waseda University Faculty of Science and Engineering Waseda University Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Department of Rehabilitation Medicine Juntendo University Graduate School

ISBN: (纸本)9781424441211

Essential Tremor (ET) refers to involuntary movements of a part of the body. ET patients have serious difficulties in performing daily living activities. Our ultimate goal is to develop a system that can enable ET patients to perform daily living activities. We have been developing an exoskeleton robot for ET patients. We make use of the electromyogram (EMG) signal to control this robot. However, the EMG signal of ET patients contains not only signals from voluntary movements but also noise from involuntary tremors. In this paper, we focus on developing a signal processing method to suppress tremor noise present in the surface EMG signal. The proposed filter detected attenuation ratio by the correlation between the last EMG data and one period squared sine wave. The filtered EMG signals indicated that essential tremor noise of the elbow flexed posture while holding a water-filled bottle was suppressed. In addition, voluntary information was less affected by the filter. Welch's t-value test confirmed that ease of extraction of voluntary movement was increased by the proposed filter.

关键词： Surface Electromyography Essential Tremor voluntary movement Activities of Daily Living Electromyogram Noise Fault trees sin Involuntary Movements Patients

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The method of area segmentation of cancer using multispectral image

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ICIC Express Letters 2011年第10期5卷 3859-3864页

作者： Takahashi, Hideya Yamada, Kenji Tareda, Maki Yoshida, Shigeto Zin, Thi Thi Aida, Tahito Graduate School of Engineering Osaka City University 3-3-138 Sugimoto Sumiyoshi-ku Osaka 558-8585 Japan Robotics and Design for Innovative Healthcare Graduate School of Medicine Osaka University 2-2 Yamadaoka Suita Osaka 565-0871 Japan Department of Endoscopy Hiroshima University Hospital 1-2-3 Kasumi Minami-ku Hiroshima 734-8551 Japan

Transnasal endoscopy has recently become a widely accepted screening method in practical application areas of medical endoscopy. Pain tolerance and safety seem to be the greatest advantage of transnasal endoscopy when compared with those of a conventional peroral endoscopy. Although there are some disadvantages such as poor endoscopic images and less illumination caused by downsizing of scopes, as a whole, slim endoscopy is a safe and less invasive tool for screening purposes. On the other hand, flexible spectral imaging color enhancement (FICE) is one of the diagnostic methods using specific light spectra based on spectral image processing technology. FICE provides comparison of spectral images of diseased and surrounding normal areas for enhancement of the contrast by combining wavelengths with greater differences in signals. It is thus in this paper, that we propose a novel method of segmenting tumor region for medical endoscope surgery and investigation by using the narrowband images on several wavelengths. © 2011 ISSN 1881-803X.

关键词： Endoscopy

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Intelligent diagnostic health management of power transmission systems: An experimental validation

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International Journal of COMADEM 2010年第2期13卷 46-58页

作者： Onsy, Ahmed Bicker, Robert Shaw, Brian Mechatronics Group and Design Unit Stephenson Building Newcastle University NE1 7RU United Kingdom School of Mechanical and Systems Engineering United Kingdom Department of Robotics Group School of Mechanical and Systems Engineering United Kingdom Design Unit Gear Technology Centre School of Mechanical and Systems Engineering British Gear Association United Kingdom

Power transmissions are one of the most important parts of any mechanical system, and in order to achieve reliable operation robust and effective maintenance strategies must be used to trace the condition of the operating transmission, classifying faults, and predicting the onset of failure. This paper presents a novel intelligent diagnostic health management system that is able to monitor different gear faults by combining vibration, acoustic emission, and oil debris analysis with fuzzy logic sensory fusion algorithms. An intelligent diagnostic health management system (IDHMS) has been implemented on a back-to-back gearbox and can be adapted to monitor the behaviour of transmission systems in automotive, aircraft, wind turbine, and industrial machinery. The study describes the operation of the online IDHMS under variable conditions and its ability in detecting transmission gear defects and thus preventing sudden unexpected failures. The results support the recent trend in using IDHMSs in CBM strategies. © 2010 COMADEM International.

关键词： Fuzzy logic

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Development of new type incontinence sensor using RFID tag

Development of new type incontinence sensor using RFID tag

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2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010

作者： Yamada, Kenji Toshiaki, Nagakura Ishihara, Ken Takahashi, Rie Ohno, Yuko Ishii, Atsue Shimizu, Sachiko Takahashi, Hideya Shimizu, Eiji Araki, Tomoyuki Robotics and Design for Innovative Healthcare Grad. School of Med. Osaka University Suita Osaka Japan Robot Development Center Panasonic Corporation Kadoma Osaka Japan Grad. School of Med. Osaka University Suita Osaka Japan Grad. School of Engineering Osaka City University Osaka Japan Department of Engineering Hiroshima Institute of Technology Hiroshima Japan

ISBN: (纸本)9781424465880

Disposable diaper is heavy used in care home or hospital. It's often the case that helper doesn't notice that the patient eliminated. This is very discomfort for patient, and bad for the health. They are problem which should be solved. There are conventional incontinence sensor using gas sensor or capped electrode etc. Most of them are large size. So the patient feels something is wrong when he gets on them. It takes a lot of trouble to use because they are not disposable. These sensors are unfamiliar because of those problems. We developed device which make patient's quality of life better. We are writing to suggest that Ultra Small Disposable Defecation Sensor to solve those problem. This sensor is low cost, very small, and comfortable for patient and helper because of disposable. It enables using RFID. ©2010 IEEE.

关键词： Radio frequency identification (RFID)

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Changes of utterances in the skill acquisition of collaborative conveyer task

Changes of utterances in the skill acquisition of collaborat...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Shuichi Nakata Satoshi Suzuki Harumi Kobayashi Hiroshi Igarashi Department of Social-Informatics Graduate School of Science and Engineering Tokyo Denki University Saitama Japan Department of Information-Design School of Science and Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics School of Science and Technology of Future life Tokyo Denki University Tokyo Japan Department of Electrical and Electronic Engineering School of Engineering Tokyo Denki University Tokyo Japan

ISBN: (纸本)9781424448920;9781424448937

Importance of developing human adaptive robots or systems is increasing these days. To accomplish it, we have to clarify features of human-human communication. In this study, we analyzed human speech while completing computerized collaborate task to clarify how humans speak in collaborative work. We extracted questioning speeches from conversations using CLAN, and classified them into four categories according to their content. We investigated whether the number and ratio of each type of questions changed over ten trials. The results indicate that leader role person is sensitive to task planning.

关键词： Collaboration Collaborative work Speech analysis Humans Educational robots Adaptive systems mechatronics Space vehicles Eyes Headphones

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