The paper presents a method to determine a position of objects in three dimentional coordinates. The proposed method uses a vision-based localization using two low cost cameras. The formulation is derived by using a p...
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The paper presents a method to determine a position of objects in three dimentional coordinates. The proposed method uses a vision-based localization using two low cost cameras. The formulation is derived by using a pin-hole camera principal to project a location of a point in a 2D image into 3D space. This method can be used for indoor unmanned aerial vehicles localization to provide position information for control and navigation purposes.
This paper presents an application of altitude control for quadrotor. The proposed control algorithm is a model based non linear control using a vision-based localization system. The control function is derived from t...
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This paper presents an application of altitude control for quadrotor. The proposed control algorithm is a model based non linear control using a vision-based localization system. The control function is derived from the dynamical system of the quadrotor. In the experiment, parameter adjustment is carried out by observing dynamic performances. Experimental shows that the quadrotor can produce satisfactory response by using the system arrangement.
We propose a novel assistive wheelchair based on a concept of a passive robotics. Our proposed wheelchair consists of a frame, casters, wheels and servo brakes. Our wheelchair system estimates the trajectory its user ...
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ISBN:
(纸本)9781479902255
We propose a novel assistive wheelchair based on a concept of a passive robotics. Our proposed wheelchair consists of a frame, casters, wheels and servo brakes. Our wheelchair system estimates the trajectory its user wants to go using the characteristic of the rowing motion and realizes the estimated tracks by controlling a torque of the servo brake. Our system requires no actuators, and its mechanism is simple and low cost. There is no risk by malfunction of servomotors and patients can use it intuitively because they use our wheelchair passively with their own intentional force. Our key ideas are two topics. One is the development of novel passive-type assistive wheelchair which is suitable for a practical use. The other key topic is a novel driving assistance algorithm with estimation of the user's intention. For realizing this estimation, we use the minimum jerk trajectory model, which expresses a typical human movement. Our proposed system compares a beginning part of rowing motion by the user and this trajectory model, and estimates the whole rowing motion which will be performed. Using our proposed system, the user can drive our wheelchair with natural feeling. We test our proposed assistance system by the experiments with our prototype and verify its effectiveness.
O1 Regulation of genes by telomere length over long distances Jerry W. Shay O2 The microtubule destabilizer KIF2A regulates the postnatal establishment of neuronal circuits in addition to prenatal cell survival, cell ...
O1 Regulation of genes by telomere length over long distances Jerry W. Shay O2 The microtubule destabilizer KIF2A regulates the postnatal establishment of neuronal circuits in addition to prenatal cell survival, cell migration, and axon elongation, and its loss leading to malformation of cortical development and severe epilepsy Noriko Homma, Ruyun Zhou, Muhammad Imran Naseer, Adeel G. Chaudhary, Mohammed Al-Qahtani, Nobutaka Hirokawa O3 Integration of metagenomics and metabolomics in gut microbiome research Maryam Goudarzi, Albert J. Fornace Jr. O4 A unique integrated system to discern pathogenesis of central nervous system tumors Saleh Baeesa, Deema Hussain, Mohammed Bangash, Fahad Alghamdi, Hans-Juergen Schulten, Angel Carracedo, Ishaq Khan, Hanadi Qashqari, Nawal Madkhali, Mohamad Saka, Kulvinder S. Saini, Awatif Jamal, Jaudah Al-Maghrabi, Adel Abuzenadah, Adeel Chaudhary, Mohammed Al Qahtani, Ghazi Damanhouri O5 RPL27A is a target of miR-595 and deficiency contributes to ribosomal dysgenesis Heba Alkhatabi O6 Next generation DNA sequencing panels for haemostatic and platelet disorders and for Fanconi anaemia in routine diagnostic service Anne Goodeve, Laura Crookes, Nikolas Niksic, Nicholas Beauchamp O7 Targeted sequencing panels and their utilization in personalized medicine Adel M. Abuzenadah O8 International biobanking in the era of precision medicine Jim Vaught O9 Biobank and biodata for clinical and forensic applications Bruce Budowle, Mourad Assidi, Abdelbaset Buhmeida O10 Tissue microarray technique: a powerful adjunct tool for molecular profiling of solid tumors Jaudah Al-Maghrabi O11 The CEGMR biobanking unit: achievements, challenges and future plans Abdelbaset Buhmeida, Mourad Assidi, Leena Merdad O12 Phylomedicine of tumors Sudhir Kumar, Sayaka Miura, Karen Gomez O13 Clinical implementation of pharmacogenomics for colorectal cancer treatment Angel Carracedo, Mahmood Rasool O14 From association to causality: translation of GWAS findings for genomic me
For reducing a risk of pressure sore caused by long period sitting on a wheelchair, a patient is required to depressurize buttocks by changing the posture suitably. Thus, we have been developed an automatic depressuri...
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ISBN:
(纸本)9781467360210
For reducing a risk of pressure sore caused by long period sitting on a wheelchair, a patient is required to depressurize buttocks by changing the posture suitably. Thus, we have been developed an automatic depressurization motion assistance system for a seated patient on a wheelchair. In our previous work, we developed a sitting surface coordination system which can lift or incline and assists a depressurization motion of a patient. However, in some cases, it is difficult to change his posture suitably for patients who do not have enough physical strength in their upper body using our proposed device. Therefore, in this paper, we propose a novel posture coordination assistance system for a wheelchair user. Our system consists of the adjustable sitting surface and novel proposed adjustable backrest. These two devices coordinate the sitting posture of the patient automatically. Our key ideas are two topics. One topic is mechanical design of the adjustable backrest for practical use. We realize small mechanism which enables easy implementation to a general wheelchair without special reconstruction. The other topic is a natural posture coordination scheme using the sitting surface and the backrest. We analyze buttocks depressurization operation by a nursing specialist and drive our proposed devices for realizing it. The performance of our system is verified by experiments using our prototype.
Dynamometer is an automotive device that is used to perform engine testing. From this test, engine information such as power, torque, and emition can be obtained for design and analysis purposes. Eddy brakes dynamomet...
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Dynamometer is an automotive device that is used to perform engine testing. From this test, engine information such as power, torque, and emition can be obtained for design and analysis purposes. Eddy brakes dynamometer is considered because it is considerably more effective and controllable. In order to design a brakes control system based on state space approach, a state space model is required. ADALINE (Adaptive Linear Network) method is selected to identify state space model of the system from input-output data. The state space based PID controller is then applied by selecting the appropriate parameters using Ackerman pole placement method. Simulation and experimental results show that the closed loop responses satisfiy the design requirements.
The number of active users in a cell in the WCDMA system is very limited and influenced by co-channel interference and fading radio channels. Power control is needed to reduce interference by reducing the effects of n...
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The number of active users in a cell in the WCDMA system is very limited and influenced by co-channel interference and fading radio channels. Power control is needed to reduce interference by reducing the effects of near-far problem, co-channel interference and fading channels. WCDMA system is required power control that works fast and precisely because radio channels are changing randomly. Fuzzy Genetic Algorithm (FGA) gives the correct solution to the dynamic decision making problem under non-linear conditions, based on simple rules. This paper presents application of adaptive SIR based power control using the FGA on uplink WCDMA system, and compared to fixed step size method using computer simulation. The results confirmed that use of FGA on the SIR-based Power Control for WCDMA systems increases the number of active users while maintaining QoS standards. This is shown by the decline in value of outage probability compared to fixed step methods. Average outage probability at fixed power control step is 0.270036 while the FGA power control is 0.18465.
Landfill (TPA) Sukawinatan Palembang is an open dumping system which covers an area of 25 hectares. This system may bring an environmental damage to the surrounding area because it does not provide leachate treatment....
Landfill (TPA) Sukawinatan Palembang is an open dumping system which covers an area of 25 hectares. This system may bring an environmental damage to the surrounding area because it does not provide leachate treatment. Leachate is the landfill waste that dissolves many compounds that contain pollutants from both organic substances and heavy metal origin. This paper presents the results of laboratory analysis on samples of leachate as well as shallow groundwater from the surrounding area. The results were compared to established quality standards to evaluate whether the leachate has influenced the quality of the shallow groundwater in the surrounding area. The results show that there are some indications that the quality of groundwater has been polluted by the leachate of both organic substances and heavy metals produced by the Sukawinatan landfill.
Since the structure and D.O.F. of human and machine are different, the motion of human and machine is essentially different. This study defines "Pseudo Human Motion" as approximated machine's motions ref...
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Since the structure and D.O.F. of human and machine are different, the motion of human and machine is essentially different. This study defines "Pseudo Human Motion" as approximated machine's motions referring to the standard human motion. If the pseudo human motion is realized, the operation of complex machine becomes easy, because the motion of complex machine becomes human-like motion. In order to realize pseudo human motion, we derive the standard human motion which is to be a model for the machine's motion. For this purpose, we measured the human motions of plural subjects by using motion capture system. The human motion is different in each subject about the motion time, therefore it is difficult to directly use measured human motion as a standard human motion. We adopts following solutions for this problem. The fundamental components of each subject are extracted from measured human motion data by using DFT(Discrete Fourier Transform). And the fundamental components are plotted on the phase plane. There are no big differences among the human motion of each subject on the phase plane. Thus we do ellipse fitting to the each subject motion on the phase plane, and we call it the standard human motion. This ellipse trajectory, which is standard human motion, can evaluate motions even if different motion in time domain, and can absorb different motion cycle and amplitude caused by individual physical characteristics and peculiarities.
This paper proposes a robust multiplexed model predictive control (MMPC) for a bake plate control system. The bake plate is a multi-inputs multi-outputs (MIMO) system which is required to have uniform temperature. In ...
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