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10th International Conference on Informatics in Control, Automation and robotics, ICINCO 2013

作者： She, Jinhua Nakamura, Hitoshi Makino, Koji Ohyama, Yasuhiro Hashimoto, Hiroshi Wu, Min Graduate School of Bionics Computer and Media Sciences Tokyo University of Technology 1404-1 Katakura Hachioji Tokyo 192-0982 Japan Interdisciplinary Graduate School of Medical and Engineering University of Yamanashi 4-3-11 Takeda Kofu 400-8511 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo 140-0011 Japan School of Information Science and Engineering Central South University Changsha 410083 China

ISBN: (纸本)9789898565716

Maximum heart rate (MHR) is commonly used to estimate exercise intensity with the Karvonen formula, and there are several methods of calculating it. In this study, we used pedaling experiments on a cycle ergometer to evaluate methods of determining MHR in order to select the ones most suitable for the Karvonen formula. In the experiments, 43 subjects rode an aerobike. The results show that, for people in their 20s, two methods are suitable for estimating exercise intensity with the Karvonen formula. The main physical parameters affecting exercise intensity were also extracted, based on the experimental results.

关键词： Heart

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End-Point Regulation of a Flexible Robotic Manipulator under the Unknown Spatiotemporally Varying Disturbance

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IFAC Proceedings Volumes 2013年第20期46卷 713-718页

作者： Shuang Zhang Wei He Chang Liu Deqing Huang Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ UK

In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control.

关键词： Flexible robotic manipulator distributed parameter system boundary control

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Optimal real-time trajectory planning for a fixed wing vehicle in 3D dynamic environment

Optimal real-time trajectory planning for a fixed wing vehic...

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IEEE International Conference on robotics and Biomimetics

作者： Wenhao Luo Jun Peng Jing Wang Department of Automation Shanghai Jiao Tong University School of Information Science and Engineering Central South University Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

ISBN: (纸本)9781479927456

In this paper, an on-line motion planner is described to determine an optimal and collision-free trajectory for fixed wing vehicles moving in a 3D space populated with static hills and movable obstacles. The proposed method is mainly based on the polynomial parameterization of trajectories, which is beneficial to explicitly consider the kinematic constraints and the geometric constraints resulted from obstacles. The near shortest trajectory is chosen by optimizing a performance index with respect to path length. By design, the optimal trajectory planning could boil down to solve a constrained optimization problem with respect to three adjustable path parameters, which can be well handled in a transformed 3D parameter space. The resultant trajectories satisfy all boundary conditions and the analytically derived control inputs are always smooth to be implemented on real-time planning. computer simulation results verify the effectiveness of the proposed approach.

关键词： Vehicles Trajectory Planning Vehicle dynamics Collision avoidance Three-dimensional displays Kinematics

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Erratum to: Methods for evaluating medical tests and biomarkers

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Diagnostic and prognostic research 2017年第1期1卷 11页

作者： Gowri Gopalakrishna Miranda Langendam Rob Scholten Patrick Bossuyt Mariska Leeflang Anna Noel-Storr James Thomas Iain Marshall Byron Wallace Penny Whiting Clare Davenport Gowri GopalaKrishna Isabel de Salis Sue Mallett Robert Wolff Richard Riley Marie Westwood Jos Kleinen Gary Collins Hans Reitsma Karel Moons Antonia Zapf Annika Hoyer Katharina Kramer Oliver Kuss J Ensor J J Deeks E C Martin R D Riley Gerta Rücker Susanne Steinhauser Martin Schumacher Joie Ensor Kym Snell Brian Willis Thomas Debray Jon Deeks Lavinia Ferrante di Ruffano Sian Taylor-Phillips Chris Hyde Stuart A Taylor Gauraang Batnagar Lavinia Ferrante Di Ruffano Farah Seedat Aileen Clarke Sarah Byron Frances Nixon Rebecca Albrow Thomas Walker Carla Deakin Zhivko Zhelev Harriet Hunt Yaling Yang Lucy Abel James Buchanan Thomas Fanshawe Bethany Shinkins Laure Wynants Jan Verbakel Sabine Van Huffel Dirk Timmerman Ben Van Calster Aeliko Zwinderman Jason Oke Jack O'Sullivan Rafael Perera Brian Nicholson Hannah L Bromley Tracy E Roberts Adele Francis Denniis Petrie G Bruce Mann Kinga Malottki Holly Smith Lucinda Billingham Alice Sitch Oke Gerke Mie Holm-Vilstrup Eivind Antonsen Segtnan Ulrich Halekoh Poul Flemming Høilund-Carlsen Bernard G Francq Jac Dinnes Julie Parkes Walter Gregory Jenny Hewison Doug Altman William Rosenberg Peter Selby Julien Asselineau Paul Perez Aïssatou Paye Emilie Bessede Cécile Proust-Lima Christiana Naaktgeboren Joris de Groot Anne Rutjes Johannes Reitsma Emmanuel Ogundimu Jonathan Cook Yannick Le Manach Yvonne Vergouwe Romin Pajouheshnia Rolf Groenwold Karen Moons Linda Peelen Daan Nieboer Bavo De Cock Micael J Pencina Ewout W Steyerberg Jennifer Cooper Nick Parsons Chris Stinton Steve Smith Andy Dickens Rachel Jordan Alexandra Enocson David Fitzmaurice Peymane Adab Charles Boachie Gaj Vidmar Karoline Freeman Martin Connock Rachel Court Carl Moons Jessica Harris Andrew Mumford Zoe Plummer Kurtis Lee Barnaby Reeves Chris Rogers Veerle Verheyden Gianni D Angelini Gavin J Murphy Jeremy Huddy Melody Ni Katherine Good Graham Cooke 1Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands. 2Cochrane Netherlands Julius Center for Health Sciences and Primary Care University Medical Center Utrecht Utrecht Netherlands. 234Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands. 49Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands. 3Cochrane Dementia and Cognitive Improvement Group University of Oxford Oxford UK. 4EPPI-Centre Department of Social Science University College London London UK. 5Division of Health and Social Care Research King's College London London UK. 6College of Computer and Information Science Northeastern University Boston USA. 13University Hospitals Bristol NHS Foundation Trust School of Social and Community Medicine Bristol UK. 275Institute of Applied Health Research University of Birmingham Birmingham UK. 9Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands. 10School of Social and Community Medicine University of Bristol Bristol UK. 179Institute of Applied Health Research University of Birmingham Birmingham UK. 12Kleijnen Systematic Reviews Ltd York UK. 25Research Institute for Primary Care and Health Sciences Keele University Keele UK. 188Centre for Statistics in Medicine Nuffield Department of Orthopaedics Rheumatology and Musculoskeletal Sciences University of Oxford Oxford UK. 191Julius Center for Health Sciences and Primary Care University Medical Center Utrecht 3584 CG Utrecht Netherlands. 237Julius Center for Health Sciences and Primary Care University Medical Center Utrecht 3584 CG Utrecht Netherlands. 18Department of Medical Statistics University Medical Center Göttingen Göttingen Germany. 19Institute for B

[This corrects the article DOI: 10.1186/s41512-016-0001-y.].

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Impact response measurement of contact lenses 5

Impact response measurement of contact lenses

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5th International Conference on Advanced Micro-Device engineering, AMDE 2013

作者： Watanabe, Kazuhide Miyashita, Naoki Bin, Du Hong Irisa, Kyohei Takita, Akihiro Yamaguchi, Takao Carcasona, Edwin Mitatha, Somsak Fujii, Yusaku Education Program of Electronics and Infomatics Mathematics and Physics Gunma University 1-5-1 Tenjin-cho Kiryu Gunma376-8515 Japan Department of Electronics Faculty of Engineering Gunma University 1-5-1 Tenjin-cho Kiryu Gunma376-8515 Japan Education Program of Mechanical Science and Technology School of Science and Technology Gunma University 1-5-1 Tenjin-cho Kiryu Gunma376-8515 Japan Department of Electronics Graduate School of Engineering Gunma University 1-5-1 Tenjin-cho Kiryu376-8515 Japan Division of Mechanical Science and Technology Faculty of Science and Technology Gunma University 1-5-1 Tenjin-cho Kiryu Gunma376-8515 Japan Department of Mechanical Engineering University of San Carlos Cebu City230-0100 Philippines Hybrid Computing Research Laboratory School of Computer Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang Chalongkrung Road Bangkok Thailand

ISBN: (纸本)9783038354659

Impact response of contact lenses is measured using the Levitation Mass Method (LMM). In the LMM, a small mass collides with contact lenses and the impact force is measured with high accuracy as the inertial force of the moving part. A pneumatic linear bearing is used to achieve linear motion with sufficiently small friction acting on the moving part. Hysteresis loop and consumed energy as mechanical characteristics of contact lenses are also calculated.. © (2015) Trans Tech Publications, Switzerland.

关键词： Contact lenses

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Nuclear cardiology image enhancement using wavelet transform analysis

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Physica Medica 2014年 30卷 e30-e30页

作者： A. Poulakis S. Angelakis G. Fountos G.S. Panagiotakis I. Asteriadis I. Valais Department of Biomedical Engineering Technological Educational Institute of Athens 12210 Athens Greece Biomedical Informatics and Technology Graduate Program School of Computer Science University of Crete Department of Medical Physics Medical School University of Patras 265 00 Patras Greece Department of Nuclear Medicine General Hospital of Kavala 65 500 Kavala Greece

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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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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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Flocking Control for Multi-agent Systems with Communication Optimization

Flocking Control for Multi-agent Systems with Communication ...

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American Control Conference

作者： Heng Li Jun Peng Weirong Liu Jing Wang Jiangang Liu Zhiwu Huang School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha 410075 China Computer Engineering Program Bethune-Cookman University Daytona Beach FL 32114 USA

ISBN: (纸本)9781479901777

In this paper, we consider the flocking control and communication optimization problem for multi-agent systems in a realistic communication environment. In flocking control, it is common to specify the formation by setting the separation distance between neighboring agents and then design the control to maintain the desired formation. However, since communication quality will generally change during flocking in a physical environment, a predefined separation distance might not always be the desired communication distance. In this paper, a distributed scheme integrating potential function and extremum seeking algorithm is proposed to obtain the desired separation distance between neighboring agents in real time. A comprehensive performance index related to the environment is proposed, which captures a trade-off between formation tasks and communication quality. Since it is difficult to calculate the gradient of the performance in physical environments, an adaptive model-free extremum seeking algorithm is designed to solve for the optimal separation distances, which calls for no knowledge of the gradient of performance function. We illustrate the proposed method through simulations.

关键词： Communication Optimization multi-agent systems realistic communication environment Multi-agent systems FLOCKING communication quality extremum seeking algorithm communication distance Standing Orders Gradient potential function

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Towards empathic artificial tutors 13

Towards empathic artificial tutors

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Amol Deshmukh Ginevra Castellano Arvid Kappas Wolmet Barendregt Fernando Nabais Ana Paiva Tiago Ribeiro Iolanda Leite Ruth Aylett School of Mathematical and Computer Science Heriot-Watt University Edinburgh UK School of Electronic Electrical and Computer Engineering University of Birmingham UK Jacobs University Bremen Germany University of Gothenburg Sweden YDreams Robotics S.A Portugal GAIPS INESC-ID Instituto Superior Tecnico Lisboa Portugal

In this paper we discuss how the EMOTE project will design, develop and evaluate a new generation of artificial embodied tutors that have perceptive capabilities to engage in empathic interactions with learners in a s... 详细信息

ISBN: (纸本)9781467330558

关键词： Robots Educational institutions Biological system modeling computers Human-robot interaction Adaptation models Psychology

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