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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Neurofeedback(NF)training is an operant conditioning procedure which regulates brain activity for human cognition,peak performance and health *** paper briefly introduces the new progress in neurofeedback research in optimizing cognition and behavior performance including memory,peripheral vision,physical balance and brain computer interface(BCI)in our research group.

关键词： neurofeedback alpha beta/theta ratio brain computer interface cognition

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Alpha down-regulation neurofeedback effects in short term memory performance

Alpha down-regulation neurofeedback effects in short term me...

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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Qi Tang Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Research objective: Regulation of brain activity by neurofeedback(NF)training has been widely applied in treatment of human psychological disorders,improvement of human cognitive performance and recently enhancement of brain-computer interfaces(BCIs)***,no study has investigated whether training the same EEG feature but with different training direction has the reverse effects on some *** alpha neurofeedback,it has been demonstrated that alpha up-regulation NF has positive effects on short term memory enhancement while alpha down-regulation NF could improve steady state visual evoked potential BCI ***,it is unknown whether alpha down-regulation NF has side effects on short term ***,this study aimed to investigate: 1)whether multi-session NF training can decrease alpha activity and 2)whether this NF training has side effects in cognitive test of short term ***: A total of 19 participants performed 10 sessions of individualized alpha down-regulation neurofeedback training with 5 sessions per *** session had three 1-min trials with an interval of 5 s between two consecutive *** and after the 5 sessions of NF training in each day,three 30-s eyes open and three 30-s eyes closed resting baselines were recorded.9 in 19 participants performed forward and backward digit span as short term memory assessment before and after all training *** were trained to decrease their amplitude in individual alpha band(IAB)which is defined as band ranges from peak alpha frequency(PAF)-4 Hz to PAF+2 ***: 14 out of total 19 subjects could decrease the training parameter,their IAB amplitude,over training *** terms of the cognitive performance,neither forward nor backward digit span performance had significant change between before and after the alpha down-regulation neurofeedback training,indicating that this type of training has no side effects in short term ***

关键词： neurofeedback down-regulation short term memory individual alpha band peak alpha frequency

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Applying probabilistic Mixture Models to semantic place classification in mobile robotics

Applying probabilistic Mixture Models to semantic place clas...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： C. Premebida D. R. Faria F. A. Souza U. Nunes Department of Electrical and Computer Engineering’ Institute of Systems and Robotics University of Coimbra Portugal Dept. of Electrical Engineering Univ. Federal of Ceara Brazil

In this paper a study is made of the problem of classifying scenarios, in terms of semantic categories, based on data gathered from sensors mounted on-board mobile robots operating indoors. Once the data are transformed to feature space, supervised classification is performed by a probabilistic approach called Dynamic Bayesian Mixture Models (DBMM). This approach combines class-conditional probabilities from supervised learning models and incorporates past inferences. In this work, several experiments on multi-class semantic place classification are reported based on publicly available datasets. Such experiments were conducted in a such way that generalization aspects are emphasized, which is particularly important in real-world applications. Benchmark results show the effectiveness and competitive performance of the DBMM method, in terms of classification rates, using features extracted from 2D range data and from a RGB-D (Kinect) sensor.

关键词： Feature extraction Semantics Robot kinematics Mixture models Sensors Probabilistic logic

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Mitigation of variations in environmental conditions by SoPC architecture adaptation

Mitigation of variations in environmental conditions by SoPC...

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NASA/ESA Conference on Adaptive Hardware and Systems (AHS)

作者： Victor Dumitriu Lev Kirischian Valeri Kirischian Department of Electrical and Computer Engineering Ryerson University Toronto Canada MDA Corporation Embedded Systems Robotics and Automation Brampton Canada

Run-time reconfigurable computing systems can offer increased flexibility when compared with traditional systems, a feature which can make them attractive for space-borne computing applications. This flexibility can allow a system to adapt to changes in operating conditions, such as reductions in available power, reductions in available resources (wither due to increases in task deployment, or due to permanent faults) or changes in required performance (processing rate). A unified mechanism which allows such adaptations is presented in this paper, based on the concept of architectural variants for a given algorithm; the different architectures exhibit different resource utilization, performance and power consumption attributes. This allows the system to meet various constraints through the judicious selection and deployment of an architecture variant by the appropriate reconfiguration of an implemented System-on Programmable Chip (SoPC). The adaptive capabilities of the proposed mechanism are experimentally tested on the Xilinx Kintex-7 FPGA platform (KC-705) using a video processing application aimed at 720p video streams. Three different versions of the application algorithm are implemented, allowing for performance variations between 3 and 300+ frames/second, while exhibiting a large power consumption range (from 1 mW to 81 mW).

关键词： Power demand computer architecture Circuit faults Adders Clocks Field programmable gate arrays Time-frequency analysis

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A Radial Basis Function Method for Direct Trajectory Optimization

A Radial Basis Function Method for Direct Trajectory Optimiz...

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American Control Conference

作者： Hossein Mirinejad Tamer Inanc Autonomous Robotics and Control Systems (ARCS) Lab Department of Electrical and Computer Engineering University of Louisville Louisville KY 40292 USA

ISBN: (纸本)9781479917730

This paper presents a radial basis function (RBF) method to directly solve an optimal control problem with state and control constraints. The proposed method transcribes the optimal control problem into a nonlinear programming (NLP) problem via RBF parameterization of states and controls along with unequal discretization at shifted Legendre-Gauss-Lobatto (LGL) nodes. The advantage of the method is its flexibility to choose among various RBF functions for parameterization. In fact, regardless of the number of nodes and how they are selected, any RBF with invertible Gram matrix (coefficient matrix) can be arbitrarily chosen for the unique approximation of states and controls. Numerical results are provided to verify the efficiency of the method.

关键词： trajectory optimization Radial basis function Optimal control parameterization Ganglia State control Standing Orders

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Integrating spatial concepts into a probabilistic concept web

Integrating spatial concepts into a probabilistic concept we...

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International Conference on Advanced robotics (ICAR)

作者： Hande Çelikkanat Erol Şahin Sinan Kalkan Department of Computer Engineering Middle East Technical University Turkey Robotics Institute Carnegie Mellon University Pittsburgh PA USA

In this paper, we study the learning and representation of grounded spatial concepts in a probabilistic concept web that connects them with other noun, adjective, and verb concepts. Specifically, we focus on the prepositional spatial concepts, such as “on”, “below”, “left”, “right”, “in front of” and “behind”. In our prior work (Celikkanat et al., 2015), inspired from the distributed highly-connected conceptual representation in human brain, we proposed using Markov Random Field for modeling a concept web on a humanoid robot. For adequately expressing the unidirectional (i.e., non-symmetric) nature of the spatial propositions, in this work, we propose a extension of the Markov Random Field into a simple hybrid Markov Random Field model, allowing both undirected and directed connections between concepts. We demonstrate that our humanoid robot, iCub, is able to (i) extract meaningful spatial concepts in addition to noun, adjective and verb concepts from a scene using the proposed model, (ii) correct wrong initial predictions using the connectedness of the concept web, and (iii) respond correctly to queries involving spatial concepts, such as ball-left-of-the-cup.

关键词： Markov random fields Feature extraction Indexes Visualization Prototypes Training Probabilistic logic

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Analysis and Design of Electric Power Grids with p-Robustness Guarantees using a Structural Hybrid System Approach

Analysis and Design of Electric Power Grids with p-Robustnes...

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European Control Conference

作者： Guilherme Ramos Sergio Pequito A. Pedro Aguiar Soummya Kar Institute for Systems and Robotics Instituto Superior Tecnico Technical University of Lisbon Department of Electrical and Computer Engineering Carnegie Mellon University

ISBN: (纸本)9781467371605

In this paper, we address the analysis of resilience properties related to electric power grids modeled as a (large) dynamical system. To this end, we introduce the notion of p-robustness as the capability of ensuring the proper functioning of the electric power grids, in the sense of guaranteeing generic controllability of the associated dynamical system, under arbitrary p transmission line failures. Then, we provide conditions under which the electric power grid is p-robust, and an algorithm that determines the minimum number of transmission lines in the electric power grid that is need to add in order to transform a non-robust (0-robust) electric power grid into a 1-robust electric power grid. Further, we discuss how the methodology can be extended to ensure p-robustness with a relatively small number of additional transmission lines. We present an illustrative example of the proposed analysis and methodology using the IEEE 39-bus system, whose dynamical model is described by 127 state variables.

关键词： electric power grids Power grids Transmission Lines hybrid systems DYNAMICAL SYSTEMS kinetic model Analysis Power cables State variable

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Designing of microcontroller based Syringe Pump with variable and low delivery rates for the administration of small volumes

Designing of microcontroller based Syringe Pump with variabl...

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International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Muhammad Ahmed Khan Sameed Tehami Osama Mazhar Electrical Engineering & Information Technology Technische Hochschule Ingolstadt Ingolstadt Germany Computer Vision and Robotics University of Burgundy Burgundy France

Delivering medications and fluids intravenously is a common practice in modern medical procedures. Administering medications or fluids directly into a patient's blood circulation results in a predictable and immediate absorption of the drug or fluid administered, this may play a vital role in the treatment of certain acute conditions which require immediate action by drugs or fluids. Syringe Pumps are highly useful in delivering a precise quantity of the substance at specific periods of time as required. This research presents a proposal to create a cost effective working prototype of syringe pump for variable and low delivery rates for the administration of small volumes. The presented Syringe Pump utilizes a lead-screw mechanism that is driven by a stepper motor which itself is controlled by an electronic circuit based on an 89S52 microcontroller that works as the brain of the system and controls all other peripherals like LCD, Keypad and other components. Due to the possibility of the complete prototyping of the syringe pump locally from the electronic hardware designing to the code writing and to the mechanical assembly designing and fabrication it allows us in future to modify this design in accordance to the need of any related industry at home letting off the dependency on manufacturers from other parts of the world and may even allow us to export this cheaper product abroad.

关键词： Hardware Software Microcontrollers Pumps Algorithm design and analysis Drugs

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Hardware and software designing of USB based plug n play data acquisition device with C# and LabView compatibility

Hardware and software designing of USB based plug n play dat...

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International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Sameed Tehami Muhammad Ahmed Khan Osama Mazhar Electrical Engineering & Information Technology Technische Hochschule Ingolstadt Ingolstadt Germany Computer Vision and Robotics University of Burgundy Burgundy France

As interdisciplinary sciences getting popular with every passing day, the need of electronic devices interfacing with a PC is also increasing. Very useful products (Arduino, RasberryPi, etc) made their way in commercial market to cater such needs however they require programming skills, specific IDE's (integrated development environments) and lack compatibility with useful tools such as NI (National Instrument) LabView[1] and C#. Since these two (C# and LabView) are supposed to be widely used for their user friendliness, but unfortunately are not prioritised as a development option due to lack of supporting hardware which is either too expensive, rare or too complex. Hence in this research the data acquisition device (DAQ) has been designed and developed to provide a hassle free solution for those who choose LabView to avoid programming or programmers who want to control and observe electronic devices such as sensors/actuators as a part of their research projects. This device is connected to PC over USB and interfaces with C# and LabView using a Direct Link Library (.dll file). It can control up to 8 Digital Inputs, 8 Digital outputs, 8 Analog Inputs and 2 Analog (PWM) outputs. Moreover some Virtual Instruments such as 4 Channel Oscilloscope, Function Generator, Logic Analyzer and PID controller has also been developed in C# to cater the needs of students and researchers.

关键词： Data acquisition Universal Serial Bus Hardware Software Prototypes Nickel Libraries

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Novel Efficient Technologies in Europe for Axle Bearing Condition Monitoring – the MAXBE Project

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Transportation Research Procedia 2016年 14卷 635-644页

作者： Cecília Vale Cristiana Bonifácio Jorge Seabra Rui Calçada Nadia Mazzino Massara Elisa Stefano Terribile Davide Anguita Emanuele Fumeo Carlos Saborido Tom Vanhonacker Edwin De Donder Michael Laeremans Frederik Vermeulen Diarmuid Grimes Construct-LESE Faculty of Engineering of University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal Ansaldo STS S.p.A. Via Paolo Mantovani 3-5 16151 Genoa Italy Department of Computer Science Bioengineering Robotics and Systems Engineering (DIBRIS) Polytechnic School of University of Genoa Via all’Opera Pia 13 16145 Genoa Italy COMSA EMTE Edificio Numancia 1 Viriat 47 08014 Barcelona Spain Dynamics Structures and Systems International Jules Vandenbemptlaan 71 3001 Leuven Belgium Vlaamse Vervoermaatschappij De Lijn Grotehondstraat 58 2018 Antwerp Belgium I-MOSS N.V. Corbielaan 5 3060 Bertem Belgium Insight Center for Data Analytics Department of Computer Science University College Cork Cork Ireland

Axle bearing damage with possible catastrophic failures can cause severe disruptions or even dangerous derailments, potentially causing loss of human life and leading to significant costs for railway infrastructure managers and rolling stock operators. Consequently the axle bearing damage process has safety and economic implications on the exploitation of railways systems. Therefore it has been the object of intense attention by railway authorities as proved by the selection of this topic by the European Commission in calls for research proposals. The MAXBE Project ( http://***/ ), a EU-funded project, appears in this context and its main goal is to develop and to demonstrate innovative and efficient technologies which can be used for the onboard and wayside condition monitoring of axle bearings. The MAXBE (interoperable monitoring, diagnosis and maintenance strategies for axle bearings) project focuses on detecting axle bearing failure modes at an early stage by combining new and existing monitoring techniques and on characterizing the axle bearing degradation process. The consortium for the MAXBE project comprises 18 partners from 8 member states, representing operators, railway administrations, axle bearing manufactures, key players in the railway community and experts in the field of monitoring, maintenance and rolling stock. The University of Porto is coordinating this research project that kicked-off in November 2012 and it is completed on October 2015. Both on-board and wayside systems are explored in the project since there is a need for defining the requirement for the onboard equipment and the range of working temperatures of the axle bearing for the wayside systems. The developed monitoring systems consider strain gauges, high frequency accelerometers, temperature sensors and acoustic emission. To get a robust technology to support the decision making of the responsible stakeholders synchronized measurements from onboard and wayside monito

关键词： axle bearings condition monitoring system diagnosis condition-based maintenance

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