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Learning and recognizing behavioral patterns using position and posture of human body and its application to detection of irregular states

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systems and Computers in Japan 2005年第13期36卷 45-56页

作者： Aoki, Shigeki Iwai, Yoshio Onishi, Masaki Kojima, Atsuhiro Fukunaga, Kunio Graduate School of Engineering Osaka Prefecture University Sakai 599-8531 Japan Bio-Mimetic Control Research Center RIKEN Nagoya 463-0003 Japan Library and Science Information Center Osaka Prefecture University Sakai 599-8531 Japan Department of Electronic Control Engineering Kumamoto National College of Technology Japan Robotics Society of Japan Japan Sharp Corporation Japan Bio-Mimetic Control Research Center RIKEN Japan IEEJ Japan Image and Information Media Society Faculty of Liberal Arts and Sciences Osaka Prefecture University Japan Information Processing Society Japan Society for Artificial Intelligence Department of Informatics Faculty of Engineering Institute of Systems Control and Information Engineers Japan IEEE

It is generally considered that human behavior includes both regularities and habits. In this paper, the regularities and habits of behavior are called the behavioral pattern, and we wish to learn and recognize them. The conventional approaches considered behavioral patterns but used only infrared sensors or information about whether electrical appliances were on or off. Thus, it was difficult to recognize in detail how a person was performing motions in the room. In order to realize a procedure for the detailed recognition of motion in ordinary environments, on the other hand, a large number of models must be prepared beforehand. To deal with this problem, this paper proposes the following technique. Motions conducted in the learning period are automatically classified and individual models are constructed. Then, motions can be recognized in detail without preparing a large number of models, and behavioral patterns can be recognized by considering the sequence of motions. In experiments, human motions and behavioral patterns in an indoor environment were learned and recognized, and the effectiveness of the method was demonstrated. © 2005 Wiley Periodicals, Inc.

关键词： Pattern recognition

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A Non-Dexterous Dual Arm Robot's Feasible Orientations Along Desired Trajectories: Analysis & Synthesis

A Non-Dexterous Dual Arm Robot's Feasible Orientations Along...

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IEEE Conference on Decision and control

作者： A. Banerji R.N. Banavar D. Venkatesh Division of Remote Handling & Robotics (DRHR) Bhabha Atomic Research Centre Mumbai India IIT Bombay Mumbai India Systems and Control Engineering Indian Institute of Technology Mumbai India Electronics & Control Section DRHR Bhabha Atomic Research Centre Mumbai India

A dual-arm robotic manipulator needs to maintain its end-effectors' orientations with reference to each other as defined by the task constraints at various locations. To give one example, the task of operating a pair of pliers by rigidly grasping its handles will require that the orientation of the two end-effectors with respect to each other should vary as a function of their respective locations. Due to the wrist joint range limitations, dexterity is very limited and it may not be possible to achieve a desired maneuver along a desired trajectory. We present here a systematic approach to judge the feasibility of such demands and a method to find other reasonable target trajectories or orientations. The approach here is based on simple geometry with little computation load.

关键词： Wrist Manipulators Remote handling Robot kinematics Trajectory Computational geometry Arm control engineering Electric variables control control systems

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Vibration test and analysis of a 20-kW-class ion engine

Vibration test and analysis of a 20-kW-class ion engine

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41st AIAA/ASME/SAE/ASEE Joint Propulsion Conference and Exhibit

作者： Snyder, John Steven Sengupta, Anita Beatty, John S. O'Connell, Michael R. Monheiser, Jeff Juhlin, Nils Sullivan, Brian Collins, Michael Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States Aerojet- General Corporation Redmond WA 98073 United States NovaComp Engineering Inc. Bothell WA 98041 United States Materials Research and Design Inc. Wayne PA 19087 United States Advanced Propulsion Technology Group United States Materials Testing and Contamination Control Group Dynamics Environments Group United States Systems and Technology Development United States

Interest in science objectives at the outer planets, specifically at the moons of Jupiter, has spurred the development of high-power electric propulsion systems under the Prometheus program. As a part of this effort, a J PL-led team has designed, developed, and tested the 20kW-class NEXIS ion engine. This engine is derived from the proven 30-cm NSTAR engine design and incorporates carbon-carbon ion optics technology to achieve long life. Following the successful performance demonstration of a laboratory model thruster, a development Model (DM) thruster was designed and fabricated to meet performance and life objectives as well as to survive dynamic and thermal environments. The DM thruster and ion optics were subjected to random vibration testing at protoflight levels in three axes to validate the design and obtain data for dynamic modeling. The NEXIS DM thruster successfully passed the protoflight random vibration testing. Post-test inspection of the thruster showed no damage to any of the components. Ion optics inspection revealed minor adhesive material loss in non-structural bond joints in a few locations. There were no measurable changes in ion optics grid gap or alignment. Measured thruster natural frequencies were similar to, but not in exact agreement with, the predictions of pre-test modeling results using separate dynamically decoupled models. Post-test modeling efforts are underway and preliminary results have demonstrated the necessity of modeling the thruster and ion optics as an integrated unit. Based on the successful results of vibration testing and performance testing, the NEXIS DM thruster design has been demonstrated to be of flight quality. Copyright © 2005 by the American institute of Aeronautics and Astronautics, Inc.

关键词： Ions

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Analysis of in-space assembly of modular systems

Analysis of in-space assembly of modular systems

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1st Space Exploration Conference: Continuing the Voyage of Discovery

作者： Moses, Roben W. Van Laak, James Johnson, Spencer L. Chytka, Trina M. Amundsen, Ruth M. Dorsey, John T. Doggett, William R. Reeves, John D. Todd, B. Keith Stambolian, Damon B. Moe, Rud V. NASA Langley Research Center Hampton VA 23681 United States National Institute of Aerospace Hampton VA 23681 United States NASA Johnson Space Center Houston TX 77058 United States NASA Kennedy Space Center KSC FL 32899 United States NASA Goddard Space Flight Center Greenbelt MD 20771 United States Exploration Systems Engineering Branch MS 472 United States AIAA United States Systems Management Office MS 165 Mechanical Systems Branch Systems Engineering Directorate MS 468 United States Operations and Mission Requirements Exploration Concepts Branch MS 365 United States AIAA United States Structural and Thermal Systems Branch MS 431 United States Metals and Thermal Structures Branch MS 396 United States Guidance and Controls Branch Research and Technology Directorate MS 161 United States MS 451 Robotics and Crew Systems Operations Division Code DX1 Human Factors Engineering Exploration Operations Integrations Code UB-X Hubble Space Telescope Development Project Code 442

ISBN: (纸本)1563477270

Early system-level life cycle assessments facilitate cost effective optimization of system architectures to enable implementation of both modularity and in-space assembly, two key Exploration systems research & Technology (ESR&T) Strategic Challenges. Experiences with the International Space Station (ISS) demonstrate that the absence of this rigorous analysis can result in increased cost and operational risk. An effort is underway, called Analysis of In-Space Assembly of Modular systems, to produce an innovative analytical methodology, including an evolved analysis toolset and proven processes in a collaborative engineering environment, to support the design and evaluation of proposed concepts. The unique aspect of this work is that it will produce the toolset, techniques and initial products to analyze and compare the detailed, life cycle costs and performance of different implementations of modularity for in-space assembly. A multi-Center team consisting of experienced personnel from the Langley research Center, Johnson Space Center, Kennedy Space Center, and the Goddard Space Flight Center has been formed to bring their resources and experience to this development. At the end of this 30-month effort, the toolset will be ready to support the Exploration Program with an integrated assessment strategy that embodies all life-cycle aspects of the mission from design and manufacturing through operations to enable early and timely selection of an optimum solution among many competing alternatives. Already there are many different designs for crewed missions to the Moon that present competing views of modularity requiring some in-space assembly. The purpose of this paper is to highlight the approach for scoring competing designs.

关键词： Space research

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Feedforward bang-bang control design for electro-pneumatic protection valves

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Periodica Polytechnica Transportation Engineering 2004年第1-2期32卷 3-20页

作者： Németh, Huba Palkovics, László Hangos, Katalin M. Knorr-Bremse Res./Development Centre Major u. 69 H-1119 Budapest Hungary Systems and Control Laboratory Comp./Automation Research Institute Hungarian Academy of Sciences P.O.B. 63 H-1518 Budapest Hungary

A direct method of nonlinear control design is presented in this paper that is based on a simplified hybrid model of the electro-pneumatic protection valve used for circuit pressure limiting function of commercial vehicle air supply systems. The dynamic model analysis is performed to meet the control design requirements, the hybrid behaviour is investigated in more details. The proposed bang-bang controller fulfils the predefined optimality criteria that is achieved by numeric optimization.

关键词： Nonlinear control systems

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Fabrication and engineering technology for lightweight ship structures, Part 1: Distortions and residual stresses in panel fabrication

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Journal of Ship Production 2004年第1期20卷 43-59页

作者： Huang, T.D. Dong, Pingsha DeCan, Larry Harwig, Dennis Kumar, Ramesh Ship Systems Northrup Grumman Corporation New Orleans LA United States Ctr. for Welded Structures Research Battelle Memorial Institute Columbus OH United States Gulf Coast Regn. Mar. Technol. Ctr. University of New Orleans New Orleans LA United States Arc Welding Mat. and Automation Edison Welding Institute Columbus Ohio United States Engineering and Development Center Dimensional Control Systems Inc. Troy MI United States

The engineering and fabrication technology for lightweight ship structure were studied. Ship panel distortion generated through various stages of production had emerged as a major obstacle to the cost-effective fabrication of these lightweight structures. The multidisciplinary approach identified the distortion nature and the key contributing factor to buckling distortions. The major findings and analysis techniques were used to develop improved fabrication processes and effective distortion mitigation techniques are local buckling and dimensional accuracy.

关键词： Shipbuilding

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Extreme ecosystem studies in the deep OCEan: Technological developments EXOCET/D

Extreme ecosystem studies in the deep OCEan: Technological d...

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The Fourteenth International Offshore and Polar Engineering Conference - ISOPE 2004

作者： Sarradin, P.-M. Sarrazin, J. Cadiou, J.F. Olu, K. Desbruyères, D. Rigaud, V. Drogou, J.F. Lecornu, F. Rolin, J.F. Vuillemin, R. Cambon-Bonavita, M.A. Sauter, E. Von Juterzenka, K. Boetius, A. Serrão Santos, R. Colaço, A. Pascoal, A. Oliveira, P. Shillito, B. Zal, F. Schultz, A. Taylor, P. Lane, D. Loke, R.E. Du Buf, H. Waldmann, C. Cormack, A. Sanfilippo, L. Masson, M. Ifremer DRO/EP Plouzané and La Seyne sur Mer France DNIS Plouzané and La Seyne sur Mer France TMSI Plouzané and La Seyne sur Mer France DRV/VP Plouzané and La Seyne sur Mer France AWI Dept. Geosystem and Project Group Deep-Sea Research Bremerhaven Germany Project Group AUV Payload Development and Deep-Sea Gradients Bremerhaven Germany Geosystem Paleoenvironment from Marine Sediments Bremerhaven Germany University of the Azores Horta Portugal Dept. of Electrical Engineering Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal UMR CNRS 7138 Systématique Adaptation et Evolution Université Pierre et Marie Curie Paris France Equipe Ecophysiologie Station Biologique Roscoff France School of Earth Ocean and Planetary Sciences Cardiff University Cardiff United Kingdom Dept. Electrical Electronic and Computer Engineering Heriot-Watt University Edinburgh United Kingdom Dept. of Electronics and Computer Science Vision Laboratory University of Algarve Faro Portugal University of Bremen FB5/MARUM Bremen Germany SeeByte Ltd Edinburgh United Kingdom Systea Srl Anagni Italy CAPSUM Technologie GmbH Trittau Germany

The general objective of EXOCET/D is to develop, implement and test specific instruments aimed at exploring, describing, quantifying and monitoring biodiversity in deep-sea fragmented habitats as well as at identifying links between community structure and environmental dynamics. Onboard experimental devices will complement the approach, enabling experiments on species physiology. The EXOCET/D working fields include: video and acoustic imagery, in situ analysis of physico-chemical factors, quantitative sampling of macro- and micro-organisms, in vivo experiments, integration of multidisciplinary data, implementation on European deep-submersibles and a final phase of technical and scientific validation. Copyright © 2004 by The International Society of Offshore and Polar Engineers.

关键词： Submersibles

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Improvement in the crack opening resistance of frc with low short fibre content

Improvement in the crack opening resistance of frc with low ...

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Role of Cement Science in Sustainable development - International Symposium Celebrating Concrete: People and Practice

作者： Sustersic, J. Zajc, A. Leskovar, I. Dobnikar, V. Institute for Research in Materials and Applications Slovenia Institute for Research in Materials and Applications Ljubljana Slovenia Departrment for Research and Development of the Institute Slovenia RILEM Saudi Arabia Department of Repair Works Department for Quality Assurance and Control Systems

ISBN: (纸本)0727732463

Use of fibre reinforced concrete (FRC) with low content of short fibres is very interesting for many applications. One of such can be slab, designed for cracked stage, and further propagation of cracks can be reduced, significantly with us of such FRC. Applications of steel and polypropylene fibre reinforced concrete (SPFRC) with low content of short fibres confirm these predictions. Some results of preliminary investigations of SPFRC with low content of short fibres will be discussed in the paper.

关键词： Crack propagation

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Upper-limb rehabilitation system using haptic device with basic motion training program

Upper-limb rehabilitation system using haptic device with ba...

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

作者： Y. Takahashi T. Terada K. Inoue Y. Ito H. Lee Y. Ikeda T. Komeda Center of Life Support Technology Shibaura Institute of Technology Saitama Japan Research and Development Division Mitsubishi Precision Company Limited Kanagawa Japan School of Occupational Therapy Tokyo Metropolitan University of Health Sciences Tokyo Japan Postgraduate Course of Functional Control Systems Shibaura Institute of Technology Saitama Japan School of Physical Therapy Tokyo Metropolitan University of Health Sciences Tokyo Japan

A haptic device for the rehabilitation tool system has been developed. It aimed to integrate the motion and sensory therapy without the patients loosing their interests. This rehabilitation tool system consists of a haptic device, a display, a computer and software for training and evaluation. The haptic device provides a virtual force either assist the movement of her/his arm or work against it. The user can feel the virtual force when moving the grip of haptic device. We had preliminary experiment with youth and middle age subjects group and elderly subjects group. It aimed to confirm the functionality of the system and to collect the reference data for evaluation the upper-limb disability. In this paper, we present the experimental results with basic motion training and evaluation program.

关键词： Haptic interfaces Medical treatment Management training Computer displays Servomotors Flat panel displays Software Senior citizens Rehabilitation robotics Liquid crystal displays

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Human systems integration and shipboard damage control

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NAVAL ENGINEERS JOURNAL 2003年第4期115卷 71-79页

作者： Runnerstrom, E ERIC RUNNERSTROM is an executive engineer at MPR Associates. For the last eight years Mr. Runnerstrom has performed research and development engineering for several of the U.S. Navy 's projects to improve firefighting doctrine and to develop and demonstrate technology for damage control with reduced manning. Mr. Runnerstrom also supported the Program Executive Office for the DD 21 acquisition in the areas of HSI and damage control. Prior to working for MPR Associates Mr. Runnerstrom was an engineering duty officer in the U.S. Navy where some of his work involved ship systems survivability. He worked on the survivability features of the DDG 51 design and he developed the Navy 's deactivation diagram-damage tolerance methodology for assessing the survivability of distributed ship systems. Mr. Runnerstrom holds degrees in naval architecture marine engineering and ocean engineering from Webb Institute of Naval Architecture and from Massachusetts Institute of Technology.

As the United States and other maritime nations move towards operating combatant ships with fewer people, human-systems integration (HSI), or human-centered design, is getting increasing attention in new ship designs. Aboard most ships operating today, damage control is a mostly manual, manpower intensive function. Consequently, it is a key area of concern for ship acquisition programs that need to produce ships that will operate with fewer people. Damage control also is critical to the survival of a warship and the safety of the crew. Consequently, it is very important to ship operators. It is no surprise, therefore, that damage control is a key function of concern when designing new ships to operate with fewer people. This paper discusses the state-of-the-art in HSI and damage control aboard ships today as evidenced by the damage control performance of some of today's ships. The paper draws conclusions about the importance of HSI for effective damage control in new ship designs. The successful application of a human-centered design approach in the development of a damage control supervisory control system for the ***'s Damage control Automation for Reduced Manning (DC-ARM) Program is described. Finally, major challenges to achieving effective HSI in new ship designs are presented.

关键词： Shipbuilding

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