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Middle East Conference on Biomedical engineering (MECBME)

作者： M. Parsa Hosseini Hamid Soltanian-Zadeh Shahram Akhlaghpoor Department of Electrical Engineering Islamic Azad University Tehran Iran Department of Radiology Henry Ford Health System Image Analysis and Communications Laboratory Detroit MI USA Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Radiology Tehran University of Medical Sciences Sina Hospital Tehran Iran

Chronic obstructive pulmonary disease (COPD) refers to a group of lung diseases that block airflow and cause a huge degree of human suffering. While there is no cure for COPD and the lung damage that results in this disease cannot be reversed, it is very important to diagnose it as early as possible. Additional to diagnosis, using a mathematical model to estimate severity of disease would be helpful for evaluation of treatment effects. This paper presents a new method for identifying COPD from three-dimensional (3-D) pulmonary X-ray CT images. The method has five main steps. First, corresponding positions of lungs in inspiration and expiration are found based on anatomical structures. Then, lung regions are segmented from the CT images by active contours. Next, the left and right lungs are separated using a sequence of morphological operations. Then, parenchyma variations in each lung are found as a relationship between inspiratory and expiratory states. Finally, a classifier is used to decide about the disease and its severity. A t-test is done to evaluate the results. Twelve patients with variable severity of COPD and twelve normal adults were included in this study. The proposed method may assist radiologists in the detection of COPD as a computer aided diagnosis (CAD) system.

关键词： Lungs Computed tomography Diseases Image segmentation Biomedical imaging Gaussian distribution

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Regressor-free robot joint position tracking with prescribed performance guarantees

Regressor-free robot joint position tracking with prescribed...

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IEEE International Conference on Robotics and Biomimetics

作者： Y. Karayiannidis Z. Doulgeri Center for Autonomous Systems of the Royal Institute of Technology (KTH) Department of Electrical and Computer Engineering Aristotle University of Thessaloniki

ISBN: (纸本)9781457721366

Fast and robust tracking against unknown disturbances is required in many modern complex robotic structures and applications for which knowledge of the full exact nonlinear system is unreasonable to assume. This paper proposes a regressor-free nonlinear controller of low complexity which ensures prescribed performance position error tracking subject to unknown endogenous and exogenous bounded dynamics assuming that joint position and velocity measurements are available. It is theoretically shown and demonstrated by a simulation study that the proposed controller can guarantee tracking of the desired joint position trajectory with a priori determined accuracy, overshoot and speed of response. Preliminary experimental results to a simplified system are promising for validating the controller to more complex structures.

关键词： Motion control Regressor-free controller Prescribed performance Robotic arm

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Assessing lung volumetric variation to detect and stage COPD

Assessing lung volumetric variation to detect and stage COPD

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Middle East Conference on Biomedical engineering (MECBME)

Chronic obstructive pulmonary disease (COPD) is a devastating disease. In this paper, we propose a novel method for scoring of air trapping in the lungs for detection and evaluation of COPD. The proposed method finds volumetric changes of the lungs from inspiration to expiration. To this end, trachea CT images at full inspiration and expiration are compared. For this comparison, the lungs parenchyma in the inspiration and expiration images are found and changes in the surface and volume of the lungs between inspiration and expiration are used to define quantitative measures (features). Using these features, the subjects are classified into two groups of normal class and COPD patients using a Bayesian classifier. In addition, t-tests are applied to evaluate discrimination powers of the features for this classification. The main advantage of the proposed method is its ability to estimate air trapping in the lungs from CT images without human intervention. The proposed method may assists radiologists in the detection of COPD as a computer aided diagnosis (CAD) system. It may also assist them with the scoring of the disease (severity of air trapping in the lungs).

关键词： Lungs Computed tomography Diseases Active contours Image segmentation Charge carrier processes

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VTube: Towards the media rich city life with autonomous vehicular content distribution

VTube: Towards the media rich city life with autonomous vehi...

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IEEE Communications Society Conference on Sensor and Ad Hoc Communications and Networks (SECON)

作者： Tom H. Luan Lin X. Cai Jiming Chen Xuemin Shen Fan Bai Department of Electrical and Computer Engineering University of Waterloo Waterloo ONT Canada State Key Laboratory of Industrial Control Technology University of Zhejiang Hangzhou China Electrical and Controls Integration Laboratory General Motors Global Research and Development Center Warren MI USA

The copious social and user generated contents, like Facebook and Youtube, are re-shaping the way people share, access, and digest information. Although flourishing in Internet, content sharing services are still considered expensive and not ready for mobile users of vehicular networks. In this paper, we propose VTube, an autonomous and cost-effective infrastructure, to facilitate the localized content publish/subscribe in an urban area. VTube relies on the distributed low-cost light-weight storage buffers, namely roadside buffer, installed in the city facilities, such as stores, museums, cafeteria, etc., to cache and publish contents for mobile users. The contents at different storage buffers are then transported to different locations by moving vehicles and cached collaboratively in both vehicles and storage buffers across the city. In this work, we unfold the design of VTube by first presenting the detailed design principles and practices of VTube. Given the content availability and capacity of the buffer storage, we then develop a mathematical model to evaluate the mean download delay of mobile users. Using the delay as an input, we formulate the content replication problem in roadside buffers as a stochastic programming problem to attain the mean system-wide minimum download delay. Finally, we propose a fully distributed random walk based algorithm to solve the optimization problem. Extensive simulations demonstrate that VTube can minimize the download delay of users because of the exploitation of vehicle mobility and distributed buffer storage at different locations.

关键词： Vehicles Buffer storage Cities and towns Delay Availability Optimized production technology Mobile communication

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Dynamic vehicle routing for robotic systems

Dynamic vehicle routing for robotic systems

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作者： Bullo, Francesco Frazzoli, Emilio Pavone, Marco Savla, Ketan Smith, Stephen L. Center for Control Dynamical Systems and Computation Department of Mechanical Engineering University of California in Santa Barbara Santa Barbara CA 93106 United States Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge MA 02139 United States Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 United States Department of Electrical and Computer Engineering University of Waterloo Waterloo ON N2L 3G1 Canada

Recent years have witnessed great advancements in the science and technology of autonomy, robotics, and networking. This paper surveys recent concepts and algorithms for dynamic vehicle routing (DVR), that is, for the automatic planning of optimal multivehicle routes to perform tasks that are generated over time by an exogenous process. We consider a rich variety of scenarios relevant for robotic applications. We begin by reviewing the basic DVR problem: demands for service arrive at random locations at random times and a vehicle travels to provide on-site service while minimizing the expected wait time of the demands. Next, we treat different multivehicle scenarios based on different models for demands (e.g., demands with different priority levels and impatient demands), vehicles (e.g., motion constraints, communication, and sensing capabilities), and tasks. The performance criterion used in these scenarios is either the expected wait time of the demands or the fraction of demands serviced successfully. In each specific DVR scenario, we adopt a rigorous technical approach that relies upon methods from queueing theory, combinatorial optimization, and stochastic geometry. First, we establish fundamental limits on the achievable performance, including limits on stability and quality of service. Second, we design algorithms, and provide provable guarantees on their performance with respect to the fundamental limits. © 2011 IEEE.

关键词： Adaptive algorithms

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Two local observables are sufficient to characterize maximally entangled states of N qubits

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Physical Review A 2011年第2期83卷 022319-022319页

作者： Fengli Yan Ting Gao Eric Chitambar College of Physics Science and Information Engineering and Hebei Advanced Thin Films Laboratory Hebei Normal University Shijiazhuang 050016 China College of Mathematics and Information Science Hebei Normal University Shijiazhuang 050016 China Center for Quantum Information and Quantum Control (CQIQC) Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto Ontario M5S 3G4 Canada

Maximally entangled states (MES) represent a valuable resource in quantum information processing. In N-qubit systems the MES are N-GHZ states [i.e., the collection of |GHZN〉=12(|00…0〉+|11…1〉)] and its local unitary (LU) equivalences. While it is well known that such states are uniquely stabilized by N commuting observables, in this article we consider the minimum number of noncommuting observables needed to characterize an N-qubit MES as the unique common eigenstate. Here, we prove, rather surprisingly, that in this general case any N-GHZ state can be uniquely stabilized by only two observables. Thus, for the task of MES certification, only two correlated measurements are required with each party observing the spin of his or her system along one of two directions.

关键词： Quantum entanglement

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Implementation of sEMG-Based Real-Time Embedded Adaptive Finger Force control for a Prosthetic Hand

Implementation of sEMG-Based Real-Time Embedded Adaptive Fin...

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IEEE Conference on Decision and control

作者： Chandrasekhar Potluri Madhavi Anugolu Yimesker Yihun Parmod Kumar Steve Chiu 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 MCERC College of Engineering Idaho State University Pocatello Idaho 83201 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83209 USA Department of Mechanical and Nuclear Engineering MCERC Idaho State University Pocatello Idaho 83209 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83201 USA

ISBN: (纸本)9781612848006

This paper presents surface electromyographic (sEMG)-based, real-time Model Reference Adaptive control (MRAC) strategy for a prosthetic hand prototype. The proposed design is capable of decoding the prerecorded sEMG signal as well as the sensory force feedback from the sensors to control the force of the prosthetic hand prototype using a PIC 32MX360F512L microcontroller. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system provides the estimated finger forces to be produced as input to the prosthetic hand prototype. A simple MRAC method along with a two stage embedded design is used for the force control of the prosthetic hand. The sensed force at the fingertip is fed back to the controller for real-time operation. The data is transmitted to the computer through an universal asynchronous receiver/transmitter (UART) interface of the proposed embedded design. Results show good performance in controlling the finger force as well as shortcomings of the mechanical design of the prosthetic hand prototype to be addressed in future.

关键词： Prosthetic hand Force control model reference adaptive control Force force feedback Equipment Design Fingers Hydrologic models Embedded design

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Spectral analysis of sEMG signals to investigate skeletal muscle fatigue

Spectral analysis of sEMG signals to investigate skeletal mu...

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IEEE Conference on Decision and control

作者： Parmod Kumar Anish Sebastian Chandrasekhar Potluri Yimesker Yihun Madhavi Anugolu Jim Creelman Alex Urfer D. Subbaram Naidu Marco P. Schoen Measurement and Control Engineering Research Center (MCERC) School of Engineering Idaho State University Pocatello ID USA MCERC School of Engineering 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

ISBN: (纸本)9781612848006;9781612848013

Our recent investigations are focused to develop dynamic models for skeletal muscle force and finger angles for prosthetic hand control using surface electromyographic sEMG as input. Since sEMG is temporal and spatially distributed and is influenced by various factors, muscle fatigue and its related sEMG becomes of importance. This study is an effort to spectrally analyze the sEMG signal during progression of muscle fatigue. The sEMG is captured from the arms of healthy subjects during muscle fatiguing experiments for dynamic and static force levels. Filtered sEMG signal is segmented in five parts with 75% overlap between adjacent segments. The analysis is done using different classical (fast Fourier transform, Welch's averaged modified periodogram), model-based (Yule-Walker, Burg, Covariance and Modified Covariance autoregressive (AR) method), and eigenvector methods (Multiple Signal Classification (MUSIC) and eigenvector spectral estimation method) in frequency domain. Results show that the classical and eigenvector based methods are more sensitive than the model-based methods to fatigue related changes in sEMG signals.

关键词： Muscles Fatigue Force Multiple signal classification Dynamics Estimation Electromyography

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Study of EMS Statements production and Dispatcher Simulation Training for Regional Smart Grid

Study of EMS Statements production and Dispatcher Simulation...

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第八届IEEE信息与自动化国际会议(ICIC 2011)

作者： Xilin Zhang Fan Zhang Xiaojuan Han Shuo Wang Dispatching center Changchun Power Supply Company Changchun 130012China Developing and Planning Department Zhejiang Electric Company Hangzhou China Department of Control and Computer Engineering North China Electrical Power University Beijing 10220 Transformation controlled company Jilin Electric Power Transmission Engineering Corporation Changchu

ISBN: (纸本)9781457702686

From the characteristics in regional grid,the connotation of smart grid and the change of regulation and control integrated management after meeting the requirement of operating monitoring and scheduling management in regional smart grid,statements production of EMS and simulation training of dispatcher in the region smart grid were discussed in this paper.

关键词： EMS simulation training smart grid statement production Smart grids Simulation Training Energy management systems Dispatchers

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AASVMES: An intelligent expert system for realization of Adaptive Autonomy using Support Vector Machine

AASVMES: An intelligent expert system for realization of Ada...

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International Conference on control, Instrumentation, and Automation

作者： N. Hassanpour M. A. Zamani A. Fereidunian H. Lesani Systems and Machines Research Laboratory (SMRL) Control and Intelligent Processing Center of Excellence (CIPCE) School of ECE University of Tehran Tehran Iran Electrical and Computer Engineering Department K. N. Toosi University of Technology Tehran Iran

We earlier introduced a novel framework for realization of Adaptive Autonomy (AA) in human-automation interaction (HAI). This study presents an expert system for realization of AA, using Support Vector Machine (SVM), referred to as Adaptive Autonomy Support Vector Machine Expert System (AASVMES). The proposed system prescribes proper Levels of Automation (LOAs) for various environmental conditions, here modeled as Performance Shaping Factors (PSFs), based on the extracted rules from the experts' judgments. SVM is used as an expert system inference engine. The practical list of PSFs and the judgments of GTEDC's (the Greater Tehran Electric Distribution Company) experts are used as expert system database. The results of implemented AASVMES in response to GTEDC's network are evaluated against the GTEDC experts' judgment. Evaluations show that AASVMES has the ability to predict the proper LOA for GTEDC's Utility Management Automation (UMA) system, which changes in relevance to the changes in PSFs; thus providing an adaptive LOA scheme for UMA.

关键词： Support vector machines Training Expert systems Complexity theory Automation Adaptive systems Humans

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