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Quantitative human and robot motion comparison for enabling assistive device evaluation

Quantitative human and robot motion comparison for enabling ...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Dana Kulić Muhammad Choudry Gentiane Venture Kanako Miura Eiichi Yoshida Electrical and Computer Engineering Department University of Waterloo Canada Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology Tokyo Japan CNRS-AIST JRL (Joint Robotics Laboratory) AIST Tsukuba Japan

A promising new application area for humanoid robots is in the area of assistive device testing. Humanoid robots can facilitate the experimental evaluation of assistive devices by providing repeatable, measurable, human-like motion while removing the difficulties and potential safety hazards associated with human trials. To ensure that the humanoid robot is providing a valid test platform, the robot must move in a similar way as a human while wearing the assistive device. This challenge is made difficult due to the inherent variability in human motion. In this paper, we propose an approach for a quantitative comparison between human and robot motion that identifies both the difference magnitude and the difference location, and explicitly handles both spatial and temporal variability of human motion. The proposed approach is demonstrated on data from robot gait and sagittal plane lifting.

关键词： Hidden Markov models Joints Assistive devices Humanoid robots Robot motion Computational modeling

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Real-time navigation for a humanoid robot using particle filter

Real-time navigation for a humanoid robot using particle fil...

引用

2nd International Conference on engineering and Technology Innovation 2012, ICETI 2012

作者： Baltes, Jacky Cheng, Chi Tai Lau, Meng Cheng Espínola, Andrés Autonomous Agents Lab Department of Computer Science University of Manitoba Winnipeg MB R3T 2N2 Canada Department of Electrical Engineering Tamkang University Tamsui Dist. New Taipei City 25137 Taiwan Mobile Robotics and Automated Systems Laboratory Universidad La Salle Benjamin Franklin 47 Mexico DF Mexico

ISBN: (纸本)9783037856123

This paper presents a practical real-time visual navigation system, including a vision system, a particle filter (PF) based localization system, and a path planning system, for humanoid robots in an indoor environment. A neural network (NN) converter system is used to solve the image distortion problem. The monocular vision system detects objects of interest in the scene, calculating their position in the image, and converting the position in the image to real world coordinates. The PF localization system estimates the current position by the robot's motion model and corrects the estimated position by using feedback from the data gathered by the vision system. The path planning system determines the next motion based on the result of the localization system. This paper uses a tree-like path planning method which not only guides the robot to the destination but also avoids obstacles at the same time. The navigation method allows a user to assign several different target destinations to the robot simultaneously. The proposed method is implemented on a humanoid robot "ROBOTIS DARwIn-OP", an open platform humanoid robot. The effectiveness of the system is demonstrated in an empirical evaluation. © (2013) Trans Tech Publications, Switzerland.

关键词： Bandpass filters

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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COMPRESSIVE SENSING-BASED IMAGE DENOISING USING ADAPTIVE MULTIPLE SAMPLING AND OPTIMAL ERROR TOLERANCE

COMPRESSIVE SENSING-BASED IMAGE DENOISING USING ADAPTIVE MUL...

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IEEE International Conference on Acoustics, Speech, and Signal Processing

作者： Wonseok Kang Eunsung Lee Eunjung Chea Aggelos K. Katsaggelos Joonki Paik Image Processing and Intelligent Systems Laboratory Graduate School of Advanced Imaging Science Multimedia and Film Seoul Chung-Ang University Korea Department of Electrical Engineering and Computer Science Northwestern University Evanston IL 60208 USA

ISBN: (纸本)9781479903573

In this paper, we present a compressive sensing-based image denoising algorithm using spatially adaptive image representation and estimation of optimal error tolerance based on sparse signal analysis. The proposed method performs block-based multiple compressive sampling after decomposing the sparse signal into feature and non-feature regions using simple statistical analysis. For minimization of recovery error and number of iterations, the modified OMP method estimates the optimal error tolerance using the average variance in the recovery step. Experimental results demonstrate that the proposed denoising algorithm better removes noise without undesired artifacts than existing state-of-the-art methods in terms of both objective (PSNR/SSIM) and subjective measures. Processing time of the proposed method is 5 to 10 times faster than the standard OMP-based method.

关键词： Tolerances physiologic tolerance Sampling system recovery image denoising image representation images Signal analysis Statistical analysis Statistical methods image denoising algorithm

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An Automatic Electroencephalography Blinking Artefact Detection and Removal Method Based on Template Matching and Ensemble Empirical Mode Decomposition

An Automatic Electroencephalography Blinking Artefact Detect...

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

作者： Paschalis A. Bizopoulos Tarik Al-Ani Dimitrios G. Tsalikakis Alexandros T. Tzallas Dimitrios D. Koutsouris Dimitrios I. Fotiadis Department Informatique et Telecommunication ESIEE-Paris LISV-Universite de Versailles Saint-Quentin-en-Yvelines Department of Informatics and Telecommunications Engineering University of Western Macedonia Unit of Medical Technology and Intelligent Information Systems Biomedical Engineering Laboratory School of Electrical and Computer Engineering National Technical University of Athens (NTUA) Unit of Medical Technology and Intelligent Information Systems Faculty of Material Science and Engineering University of Ioannina

ISBN: (纸本)9781457702150

Electrooculographic (EOG) artefacts are one of the most common causes of Electroencephalogram (EEG) distortion. In this paper, we propose a method for EOG Blinking Artefacts (BAs) detection and removal from EEG. Normalized Correlation Coefficient (NCC), based on a predetermined BA template library was used for detecting the BA. Ensemble Empirical Mode Decomposition (EEMD) was applied to the contaminated region and a statistical algorithm determined which Intrinsic Mode Functions (IMFs) correspond to the BA. The proposed method was applied in simulated EEG signals, which were contaminated with artificially created EOG BAs, increasing the Signal-to-Error Ratio (SER) of the EEG Contaminated Region (CR) by 35dB on average.

关键词： TEMPLATE MATCHING Empirical mode decomposition Artifacts Blinking handicrafts

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Cellular Neural Network Based Situational Awareness System for Power Grids

Cellular Neural Network Based Situational Awareness System f...

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International Joint Conference on Neural Networks

作者： Karthikeyan Balasubramaniam Ganesh Kumar Venayagamoorthy Neville Watson Real-Time Power and Intelligent Systems Laboratory Holcombe Dept. of Elect. and Computer Engg. Clemson University Clemson SC 29634 USA Department of Electrical Engineering University of Canterbury Christchurch New Zealand.

ISBN: (纸本)9781467361279

Situational awareness (SA) in simple terms is to understand the current state of the system and based on that understanding predict how system states are to evolve over time. Predictive modeling of power systems using conventional methods is time consuming and hence not well suited for real-time operation. In this study, neural network (NN) based non-linear predictor is used to predict states of power system for future time instance. Required control signals are computed based on predicted state variables and control set points. In order to reduce computation the problem is decoupled and solved in a cellular array of NNs. The cellular neural network (CNN) framework allows for accurate prediction with only minimal information exchange between neighboring predictors. The predicted states are then used in computing stability metrics that give proximity to point of instability. The situational awareness platform developed using CNN framework extracts information from data for the next time instance i.e. a step ahead of time and maps this data with geographical coordinates of power system components. The geographic information system (GIS) provides a visual indication of operating status of individual components as well as that of the entire system.

关键词： Power Grids SA NN Power grids Cellular neural networks situational awareness Awareness power systems State variable cellular arrays REAL TIME OPERATION geographical coordinates CONTROL SIGNAL

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An Investigation on the Accuracy of Regional Ocean Models Through Field Trials

An Investigation on the Accuracy of Regional Ocean Models Th...

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IEEE International Conference on robotics and Automation

作者： Ryan N. Smith Kimia Nazarzadeh Jonathan Kelly Gaurav S. Sukhatme School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia. Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02142 USA. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA 90089 USA.

ISBN: (纸本)9781467356404

Recent efforts in mission planning for underwater vehicles have utilised predictive models to aid in navigation, optimal path planning and drive opportunistic sampling. Although these models provide information at a unprecedented resolutions and have proven to increase accuracy and effectiveness in multiple campaigns, most are deterministic in nature. Thus, predictions cannot be incorporated into probabilistic planning frameworks, nor do they provide any metric on the variance or confidence of the output variables. In this paper, we provide an initial investigation into determining the confidence of ocean model predictions based on the results of multiple field deployments of two autonomous underwater vehicles. For multiple missions of two autonomous gliders conducted over a two-month period in 2011, we compare actual vehicle executions to simulations of the same missions through the Regional Ocean Modeling System in an ocean region off the coast of southern California. This comparison provides a qualitative analysis of the current velocity predictions for areas within the selected deployment region. Ultimately, we present a spatial heat-map of the correlation between the ocean model predictions and the actual mission executions. Knowing where the model provides unreliable predictions can be incorporated into planners to increase the utility and application of the deterministic estimations.

关键词： Regional Ocean Models Through Field Trials mission planning underwater vehicles

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Key-frame extraction for video captured by smart phones

Key-frame extraction for video captured by smart phones

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IEEE International Conference on robotics and Biomimetics

作者： Shuangshuang Ji Huaping Liu Bin Wang Fuchun Sun School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai China Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Beijing P.R.China Beijing Baidu Netcom Science Technology Co. Ltd

ISBN: (纸本)9781479927456

In this paper, the key-frame extraction for video clips which are captured by smart phones are investigated. A weighted temporal consistent fuzzy clustering technology is used to cluster the video frames. The image-level feature and the orientation information are combined into the feature vector and the accelerate values are used to determine the weight. Such a method sufficiently exploits the spatio-temporal characterizes of the video clips captured by smart phones. The algorithm is implemented in a Sumsung Nexus S smart phone and we make an extensive experimental validation.

关键词： Smart phones Accelerometers Feature extraction intelligent sensors Acceleration Vectors

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Real-Time Simulation for Active and Reactive Power Control of Doubly Fed Induction Generator

Real-Time Simulation for Active and Reactive Power Control o...

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North American Power Symposium

作者： Rabindra Maharjan Sukumar Kamalasadan Power Energy and Intelligent Systems Laboratory (PEISL) Department of Electrical and Computer Engineering University of North Carolina at Charlotte

ISBN: (纸本)9781479912537

In this paper real-time modeling and simulation of complete closed loop control of doubly fed induction generator (DFIG) for wind generation system is presented. Decoupled active power and reactive power control of DFIG is realized using the flux oriented vector control. Inner and outer loop controller at rotor side and the grid side converter is presented for the closed loop control of the DFIG using real-time digital simulator. The simulation is carried on OPAL-RT digital simulator which is based on RT-LAB platform with the models build in Simulink. Further full closed loop models are evaluated in an experimental test bed for the step response of active and reactive power (P and Q) change. The real-time modeling and evaluation shows the capability of fully closed loop control and has greater impact on real-world applications.

关键词： Doubly Fed Induction Generator (DFIG) Vector control Real time simulation

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Day Ahead Scheduling of Distribution System With Distributed Energy Resources Considering Demand Response and Energy Storage

Day Ahead Scheduling of Distribution System With Distributed...

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North American Power Symposium

作者： Mojtaba Khanabadi Sukumar Kamalasadan Power Energy and Intelligent Systems Laboratory (PEISL) Department of Electrical and Computer Engineering University of North Carolina at Charlotte

ISBN: (纸本)9781479912537

This paper propose a method for day-ahead optimization of distribution system with Distributed Energy Resources (DER's) and energy storage devices that allows a) increase market efficiency and b) damping the variations of DER's. The objective is to utilize energy storage to damp the variations in the grid considering market price and to increase the grid efficiency. First, the implementation of day-ahead optimization that will determine which generation unit including DER's should be utilized using next 24 hour load taking into consideration of renewable energy generation forecasting is discussed. Next, the utilization of energy storage to damp the energy variations in the grid is evaluated. The problem is formulated as Nonlinear Programming (NLP) with the objective of maximizing the social welfare of the grid. The results show that the proposed method can successfully fulfill the overall objectives.

关键词： energy storage distributed energy resources dispensing system Demand-Responsive Grid computing Energy sources absorption of shock Social Welfare Energy storage devices dinitrophenyl-aminopropyl-methylamine

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