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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Bin Zhou Zhao-Yan Li Zongli Lin Center for Control Theory and Guidance Technology Harbin Institute of Technology P.O. Box 416 Har Department of Mathematics Harbin Institute of Technology Harbin 150001 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box

The existing low gain feedback, which is a parameterized family of stabilizing state feedback gains whose magnitudes approach zero as the parameter decreases to zero, has been designed in very specific ways. In this paper, by recognizing the l∞ and l2 slow peaking phenomenon that exists in discrete-time systems under low gain feedback, more general notions of l∞ and l2 norm vanishment are considered so as to provide a full characterization of the nonexistence of slow peaking phenomenon in some measured signals. Low gain feedback that does not lead to l∞ and l2 slow peaking in the control input are respectively referred to as l∞ and l2 low gain feedback. Based on the notions of l∞ and l2 vanishment, not only can the existing low gain feedback been recognized as an l∞ low gain feedback, but also a new design approach referred to as the l2 low gain feedback approach is developed for discrete-time linear systems. Parallel to the effectiveness of l∞ low gain feedback in magnitude constrained control, the l2 low gain feedback is instrumental in the control of discrete-time systems with control energy constraints. The notions of l∞ and l2-vanishment also result in a systematic approach to the design of l∞ and l2 low gain feedback by providing a family of solutions including those resulting from the existing design methods.

关键词： Slow peaking phenomenon l∞ and l2 norm vanishment l∞ and l2 low gain feedback constrained control.

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Fusion of Spectral Models for Dynamic Modeling of sEMG and Skeletal Muscle Force

Fusion of Spectral Models for Dynamic Modeling of sEMG and S...

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

作者： Chandrasekhar Potluri Madhavi Anugolu Steve Chiu Alex Urfer Marco P. Schoen D. Subbaram Naidu Measurement and Control Engineering Research Center (MCERC) Idaho State University Pocatello Idaho 83201 USA MCERC Idaho State University Pocatello Idaho 83201 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83201 USA Department of Physical and Occupational Therapy Idaho State University Pocatello Idaho 83209 Department of Mechanical Engineering MCERC Idaho State University Pocatello Idaho 83201 USA

ISBN: (纸本)9781424441198

In this paper, we present a method of combining spectral models using a Kullback Information Criterion (KIC) data fusion algorithm. Surface Electromyographic (sEMG) signals and their corresponding skeletal muscle force signals are acquired from three sensors and pre-processed using a Half-Gaussian filter and a Chebyshev Type- II filter, respectively. Spectral models - Spectral Analysis (SPA), Empirical Transfer Function Estimate (ETFE), Spectral Analysis with Frequency Dependent Resolution (SPFRD) - are extracted from sEMG signals as input and skeletal muscle force as output signal. These signals are then employed in a System Identification (SI) routine to establish the dynamic models relating the input and output. After the individual models are extracted, the models are fused by a probability based KIC fusion algorithm. The results show that the SPFRD spectral models perform better than SPA and ETFE models in modeling the frequency content of the sEMG/skeletal muscle force data.

关键词： spectral models using Kullback Information sEMG signals

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Portable noninvasive system for oral cancer diagnosis

Portable noninvasive system for oral cancer diagnosis

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IEEE SENSORS

作者： Chin-Siang Yang Mang Ou-Yang Yao-Fang Hsieh Yu-Ta Chen Jin-Chern Chiou Jeng-Ren Duann Ming-Hsui Tsai Shun-De Wu Cheng-Chung Lee Institute of Electrical Control Engineering National Chiao-Tung University Hsinchu City Taiwan Department of Electrical and Computer Engineering National Chiao-Tung University Hsinchu City Taiwan Department of Optics and Photonics National Central University Chungli City Taiwan Biornedical Engineer Center China Medical University Taichung City Taiwan Department of Otolaryngology China Medical University Taichung City Taiwan Department of Mechatronic Technology Taiwan Normal University Taipei City Taiwan

ISBN: (纸本)9781457717666

This study presents a portable noninvasive detection system which can get the image of specific spectral immediately, that promote to oral cancer diagnosis. According to research literature show the performance called autofluorescence of cells after exciting by specific wave band of light. It is different of the spectrum distribution for lesions of epithelial cells and normal cells after fluorescence excite, that is a basis of diagnosing to oral cancer. The convenient equipment for detection of oral cancer is modified for existing handheld microscope. From Fig.1, the UV LED illuminates to the surface of object and excites the cells which produce fluorescent reaction and showed the image with specific wavelength. The image passes through the central channel and filter out unwanted spectral by the selection of filter, and focused by the focus lens on the image sensor, therefore we can achieve the specific wavelength image via fluorescence reaction.

关键词： Cancer Educational institutions Light emitting diodes Optical filters Cities and towns Fluorescence Information filtering

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Impaired Resting State Networks in Temporal Lobe Epilepsy: A Resting State fMRI Study

Impaired Resting State Networks in Temporal Lobe Epilepsy: A...

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Iranian Conference of Biomedical engineering

作者： Marzie Fereidouni Hamid Soltanian-Zadeh Quan Jiang Kost V. Elisevich Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran NMR Laboratory Department of Neurology Henry Ford Hospital Detroit Michigan USA epartment of Clinical Neurosciences Spectrum Health System Grand Rapids Michigan USA

ISBN: (纸本)9781467331289

Temporal lobe epilepsy (TLE) is the most common type of human refractory epilepsy and can cause widespread impairments in brain functionality. Previous studies show functional and structural abnormalities in different regions of TLE patients' brain in comparison with normal subjects. However, limited studies have been done on connectivity abnormalities of resting state networks (RSN) in TLE patients and most of them studied default mode network (DMN) only. In this paper, nine independent spatial maps of the brain were identified by applying independent component analysis (ICA) on functional magnetic resonance images (fMRI) of the subjects. These maps were classified into four resting state networks: visual network, auditory network, default mode network, and attention network (including right and left fronto-parietal networks and core network). Functional connectivity between time courses of the nine components were computed and then compared between TLE patients and healthy subjects. Results show that there are significant between-group differences in functional connectivity among different brain networks including decrease in functional connections of visual cortex with two other networks, DMN and attention network, and decrease in functional connectivity between DMN and left fronto-parietal network. An increase in functional connectivity between DMN and core network and also between right fronto-parietal network and auditory network is observed.

关键词： Temporal lobe epilepsy Functional connectivity Resting state networks

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Towards an Ontology for autonomous Robots

Towards an Ontology for Autonomous Robots

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton Canada ONERA - University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions.

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

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COMPLEXITY ANALYSIS OF NETWORK-BASED DYNAMICAL SYSTEMS

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Journal of Systems Science & Complexity 2011年第3期24卷 413-432页

作者： Guofeng ZHANG Long WANG Tongwen CHEN School of Electronic Engineering University of Electronic Science and Technology of China Chengdu 610054 China. Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing 100871 China Department of Electrical and Computer Engineering University of Alberta Edmonton Alberta T6G 2V4 Canada

This paper investigates the nonlinear dynamics of network-based dynamical systems where network communication channels of finite data rates are inserted into the closed loops of the control systems. The authors analyze the bifurcation and chaotic behavior of the non-smooth dynamical systems. The authors first prove that for almost all system parameters there are no periodic orbits. This result distinguishes this type of non-smooth dynamical systems from many others exhibiting border-collision bifurcations. Next, the authors show analytically that the chaotic sets are separated from the region containing the line segment of all fixed points with a finite distance. Finally, the authors employ a simple model to highlight that both the number of clients sharing a common network channel and fluctuations in the available network bandwidth have significant influence on the performance of such dynamical systems.

关键词： Bifurcation feedback network-based dynamical system non-convexity periodicity.

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Fast outcome prediction based on slow cause estimation: A human inspired approach in air hockey game

Fast outcome prediction based on slow cause estimation: A hu...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Ghazvini, S.A. Moradi, H. Ahmadabadi, M. Nili Araabi, B. School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

ISBN: (纸本)9781457721373

In this paper, we present an approach, inspired by human behavior, in predicting the state of a high speed object based on the state of another object that causes such a high speed, e.g. predicting the state of a high speed puck which is hit by a lower speed paddle in the air hockey game. The proposed approach eliminates the need for high speed sensors, such as high speed cameras and grabbers, for capturing and processing high speed motions. This approach has been implemented and tested on an air hockey simulator and in real images taken by an off-the-shelf camera. The results show that the low speed of a paddle in the air hockey can be easily captured by an off-the-shelf camera and then the state of the puck, which is the speed and its pose, after being hit by the paddle can be calculated. © 2011 IEEE.

关键词： High speed cameras

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A multi-robot system for dome inspection and maintenance: Concept and stability analysis

A multi-robot system for dome inspection and maintenance: Co...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Nejadfard, A. Moradi, H. Ahmadabadi, M. Nili School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

ISBN: (纸本)9781457721373

In this paper a novel approach based on multi-robot cooperation is introduced for inspection and repair of dome structures. In this application, three robots which can be extended to more, connect to each other by three strings and cooperate such that all the robots are stable and at least one robot have access to all parts of the dome. The mathematical model of the system is derived and a systematic methodology is developed to find an optimal configuration, based on minimizing the strings' tensions or maximizing the stability, using Particle Swarm Optimization (PSO) algorithm and quadratic programming. The simulation results prove that there exists a stable path to fully sweep the surface of a dome. The experimental results on a small scale prototype validate these findings. © 2011 IEEE.

关键词： Multipurpose robots

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Automatic organs' detection in WCE

Automatic organs' detection in WCE

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International Symposium on Artificial Intelligence and Signal Processing (AISP)

作者： Omid Haji-Maghsoudi Alireza Talebpour Hamid Soltanian-Zadeh Navid Haji-maghsoodi Department of Radiation Medicine Shahid Beheshti University of Tehran Tehran Iran Radiology Image Analysis Laboratory Henry Ford Hospital Detroit MI USA Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Mechatronics Sharif University of Tehran Tehran Iran

Wireless capsule endoscopy (WCE) views the entire gastrointestinal (GI) tract. A main problem associated with this novel device is that too many frames must be reviewed by physicians. Thus it is essential to find an automatic and intelligent method to help physicians. One of the problems in WCE is its difficulty to distinguish among different organ's tissues. So, we introduce two novel algorithms which are able to classify main organs (among esophagus, stomach, small bowel and colon) in WCE's frames. In order to obtain our aim, we use statistic features (Haralick features) and non-statistic features (different diagrams and Gabor filter banks), colored features and non-colored features. Our experimental studies indicate good results that are shown in conclusion.

关键词： Level set Medical services Gabor filters Active contours Wireless communication Optical wavelength conversion Esophagus

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Phase encoding schemes for measurement-device-independent quantum key distribution with basis-dependent flaw

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Physical Review A 2012年第4期85卷 042307-042307页

作者： Kiyoshi Tamaki Hoi-Kwong Lo Chi-Hang Fred Fung Bing Qi NTT Basic Research Laboratories NTT Corporation 3-1 Morinosato Wakamiya Atsugi-Shi Kanagawa 243-0198 Japan National Institute of Information and Communications Technology 4-2-1 Nukui-Kita Koganei Tokyo 184-8795 Japan Center for Quantum Information and Quantum Control Department of Electrical & Computer Engineering and Department of Physics University of Toronto Toronto Ontario M5S 3G4 Canada Department of Physics and Center of Computational and Theoretical Physics University of Hong Kong Pokfulam Road Hong Kong

In this paper, we study the unconditional security of the so-called measurement-device-independent quantum key distribution (MDIQKD) with the basis-dependent flaw in the context of phase encoding schemes. We propose two schemes for the phase encoding: The first one employs a phase locking technique with the use of non-phase-randomized coherent pulses, and the second one uses conversion of standard Bennett-Brassard 1984 (BB84) phase encoding pulses into polarization modes. We prove the unconditional security of these schemes and we also simulate the key generation rate based on simple device models that accommodate imperfections. Our simulation results show the feasibility of these schemes with current technologies and highlight the importance of the state preparation with good fidelity between the density matrices in the two bases. Since the basis-dependent flaw is a problem not only for MDIQKD but also for standard quantum key distribution (QKD), our work highlights the importance of an accurate signal source in practical QKD systems.

关键词： Quantum cryptography

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