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SICE Annual Conference

作者： Saiful Anuar ABU BAKAR Ryosuke MASUDA Hiromu HASHIMOTO Takeshi INABA Hishamuddin JAMALUDDIN Roslan ABD. RAHMAN Pakharuddin MOHD. SAMIN Department of Applied Computer Engineering Department of Mechanical Engineering Tokai University Department of System Dynamics and Control Universiti Teknologi Malaysia Department of Automotive Engineering Universiti Teknologi Malaysia

ISBN: (纸本)9781467322591

This paper presents the investigation on the performance of active suspension system in the electric vehicle (EV) conversion, controlled by the stability augmentation system algorithm [9] and a newly proposed SAS-Skyhook algorithm. The evaluations were done using a validated 7-degrees-freedom (7DOF) of vehicle's ride model. The mathematical modelling of the vehicle model is described. A worst case scenario of random road profiles was considered to evaluate the performance of the active suspension system. The method of subjecting the random road profiles input is also described. It was found that in general, the active suspension improved the EV conversion's ride comfort performance significantly, compared to the passive suspension system. In terms of the comparison between the active suspension system controlled by the SAS and SAS-Skyhook algorithms, the ride comfort performance provided by the SAS-Skyhook algorithm is the most significant.

关键词： Electric Vehicle Conversion Ride Comfort Active Suspension system

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Feature extraction of motor imagery in BCI with approximate entropy

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Journal of Computational Information systems 2012年第6期8卷 2485-2491页

作者： Fang, Yonghui Chen, Minyou Zheng, Xufei Harrison, Robert F State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing 400044 China School of Electronic and Information Engineering Southwest University Chongqing 400715 China College of Computer Science Sichuan University Chengdu 610065 China Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

Approximate Entropy (ApEn) is a regularity statistic that quantifies the unpredictability of fluctuations in a time series and can classify complex systems. This study, ApEn is used to extract features from motor imagery Electroencephalogram (EEC) that containing two motor imagery tasks. This method is different from the traditional way to get the character from EEC. Appropriate parameters must been chosen for different dataset. Two datasets are used in this paper. One comes from BCI Competion2003, the other from the lab of Electromagnetic theory and artincal intelligence, Chongqing University. The results show that ApEn can extract different features in left-hand and right-hand motor imagery EEC efficiently. Comparison between ApEn and Fast Fourier Transform (FFT) shows that ApEn has good capability to the two imagery tasks Brain computer Interface. © 2012 Binary Information Press.

关键词： Electroencephalography

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Interpolation of Orientation Distribution Functions (ODFs) in Q-ball Imaging

Interpolation of Orientation Distribution Functions (ODFs) i...

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Iranian Conference of Biomedical engineering

作者： Maryam Afzali Emad Fatemizadeh Hamid Soltanian-Zadeh Department of Electrical Engineering Biomedical Signal and Image Processing Laboratory(BiSIPL) Sharif University of Technology Tehran Iran Control and Intelligent Processing Center of Excellence(CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran & Image Analysis Laboratory Radiology Department Henry Ford Health System Detroit Michigan USA

ISBN: (纸本)9781467331289

Diffusion tensor magnetic resonance imaging (DTMRI) is a non-invasive method for investigating the brain white matter structure. It can be used to evaluate fiber bundles in the brain but in the regions with crossing fibers, it fails. To resolve this problem, high angular resolution diffusion imaging (HARDI) with a large number of diffusion encoding directions is used and for reconstruction, the Q-ball method is applied. In this method, orientation distribution function (ODF) of fibers can be calculated. Mathematical models play a crucial role in the field of ODF. For instance, in registering Q-ball images for applications like group analysis or atlas construction, one needs to interpolate ODFs. To this end, principal diffusion directions (PDDs) of each ODF are needed. In this paper, PDDs are defined as vectors that connect the corresponding local maxima of ODF values. Then, ODFs are interpolated using PDDs. The proposed method is evaluated and compared with previous protocols. Experimental results show that the proposed interpolation algorithm preserves the principal direction of fiber tracts without producing any deviations in the tracts. It is shown that changes in the entropy of the interpolated ODFs are almost linear and the bloating effect (blurring of the principal directions) can be removed.

关键词： High angular resolution diffusion imaging (HARDI) Q-ball imaging Orientation distribution function (ODF) Interpolation Principal diffusion direction (PDD)

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Unconstrained Measurement system for Scratching by Limb and Estimation of Scratching Area

Unconstrained Measurement System for Scratching by Limb and ...

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International Conference on Intelligent Computational systems(ICICS’2012);International Conference on Mechanical,Automotive and Materials engineering(ICMAME’2012);International Conference on Electronics,Biomedical engineering and its Applications(ICEBEA’2012);International Conference on Ecological,Environmental and Biological Sciences(ICEEBS’2012);International Conference on Business,Economics,Management and Behavioral Sciences (ICBEMBS’2012);International Conference on Applied Mathematics and Pharmaceutical Sciences(ICAMPS’2012)

作者： Toshihiro.Shino Yosuke.Kurihara Syoko.Nukaya Kajiro.Watanabe Hiroshi.Tanaka the Graduate School of Hosei University the Dept. of Computer and Information Science Faculty of Science and Technology Seikei University the Division of Advanced Therapeutical Sciences Tokyo Medical and Dental University the System Control Engineering Department Faculty of Engineering Hosei University the University Center for Information Medicine Tokyo Medical and Dental University

This paper describes an unconstrained measurement system for scratching motion. We have proposed an unconstrained bed monitoring system by piezoceramic sensors that could detect heartbeat respiration and body movement. The system could measure the bed vibrations due to the motion of the person on the bed. In this paper, we apply this unconstrained bed sensing method to the system for detecting scratching motion. The proposed sensors are placed under the bed feet. When the subject is lying on the bed, the output signals from the sensors are proportional to the magnitude of the vibration due to the body movement of the subject. Hence, it is possible to detect the subject's scratching motion from the output signals. Furthermore, also with output signals from the three ceramic sensors, the proposed system can detect the direction of the body movement, which enables us to estimate the scratched area. We evaluated three scratching motions using the proposed system in the validity experiment as follows: Case 1 is the subject's scratching the right cheek with right hand;Case 2 is the subject's scratching the back after turning over, and;Case 3 is the subject's scratching the shin with another foot. As the results of the experiment, we identified the scratching signals that enable the determination when the scratching occurred. Furthermore, the difference among the amplitudes of the output signals enabled us to estimate where the subject scratched.

关键词： body movement, itchy, piezoceramics, scratching unconstrained bed monitoring.

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Impaired Resting State Networks in Temporal Lobe Epilepsy: A Resting State fMRI Study

Impaired Resting State Networks in Temporal Lobe Epilepsy: A...

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Iranian Conference of Biomedical engineering

作者： Marzie Fereidouni Hamid Soltanian-Zadeh Quan Jiang Kost V. Elisevich Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University of Tehran Tehran Iran NMR Laboratory Department of Neurology Henry Ford Hospital Detroit Michigan USA epartment of Clinical Neurosciences Spectrum Health System Grand Rapids Michigan USA

ISBN: (纸本)9781467331289

Temporal lobe epilepsy (TLE) is the most common type of human refractory epilepsy and can cause widespread impairments in brain functionality. Previous studies show functional and structural abnormalities in different regions of TLE patients' brain in comparison with normal subjects. However, limited studies have been done on connectivity abnormalities of resting state networks (RSN) in TLE patients and most of them studied default mode network (DMN) only. In this paper, nine independent spatial maps of the brain were identified by applying independent component analysis (ICA) on functional magnetic resonance images (fMRI) of the subjects. These maps were classified into four resting state networks: visual network, auditory network, default mode network, and attention network (including right and left fronto-parietal networks and core network). Functional connectivity between time courses of the nine components were computed and then compared between TLE patients and healthy subjects. Results show that there are significant between-group differences in functional connectivity among different brain networks including decrease in functional connections of visual cortex with two other networks, DMN and attention network, and decrease in functional connectivity between DMN and left fronto-parietal network. An increase in functional connectivity between DMN and core network and also between right fronto-parietal network and auditory network is observed.

关键词： Temporal lobe epilepsy Functional connectivity Resting state networks

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Voxel-based treatment prediction of glioblastoma multiform tumor using diffusion tensor imaging

Voxel-based treatment prediction of glioblastoma multiform t...

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IEEE EMBS International Conference on Information Technology Applications in Biomedicine (ITAB)

作者： Hadi Sabahi Hamid Soltanian-Zadeh Lisa Scarpace Tom Mikkelsen Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Image Analysis Laboratory Radiology Department Henry Ford Hospital Detroit MI USA Hermelin Brain Tumor Research Center Neurosurgery Department Henry Ford Health System Detroit MI USA

This paper proposes a method to predict the effect of Bevacizumab therapy on Glioblastoma Multiform (GBM) tumors. The prediction is critical for effective treatment planning. The proposed method is developed and evaluated using Diffusion Tensor Imaging (DTI) and post-contrast T1-weighted Magnetic Resonance Images (pc-T1-MRI) of 14 patients with GBM tumors gathered before and after the treatment. First, the proposed method calculates diffusion anisotropy indices (DAI) of all voxels in the brain. These diffusion anisotropy indices are Fractional Anisotropy (FA), Mean Diffusivity (MD), Relative Anisotropy (RA), and Volume Ratio (VR). Then, it registers post-treatment pc-T1-MRI and pre-treatment DAI maps to pre-treatment pc-T1-MRI. Next, it uses a thresholding method to segment the tumor from pc-T1-MRI studies. Comparing Gd-enhanced voxels of the pre- and post-treatment pc-T1-MRI, the DAIs of the tumor are labeled based on their response to the treatment. The voxels of 7 patients are randomly selected to train 4 classifiers (ANN, SVM, KNN, and ANFIS) and then all voxels of the other 7 patients are used to test them. For each classifier, four performance measures (sensitivity, specificity, positive predictive value, and accuracy) are calculated. Experimental results show that the ANFIS is more accurate than the other classifiers in predicting the treatment response.

关键词： Support vector machines Noise Magnetic resonance imaging Sensitivity Tumors Biomedical imaging Artificial neural networks

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control of robotic systems for safe interaction with human operators

Control of robotic systems for safe interaction with human o...

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22nd International Joint Conference on Artificial Intelligence, IJCAI 2011

作者： Ding, Hao Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9781577355120

Human Robot Interaction (HRI) is an active field of integrating and embedding different techniques in artificial intelligence. This paper describes my research topic on: control of Robotic systems for Safe Interaction with Human Operators. It consists of online motion generation for robotic manipulators interactingwith dynamic obstacles and humans using a moving horizon scheme, modeling and long term prediction of human motion using probabilistic models and reachability analysis, and development of an HRI demonstration platform.

关键词： Human robot interaction

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Comparing approximations of the value function for entry time optimal control

Comparing approximations of the value function for entry tim...

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作者： Rungger, Matthias Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9783902661937

A fundamental quantity of the solution of an optimal control problem is the value function, i.e., the optimal cost-to-go function. In the general case, the function is not known exactly, but need to be approximated numerically. Most approaches to numerical approximation of the value function follow a procedure of three steps: first, the original continuous problem formulation is fully discretized;second, the discretized finite optimal control problem is solved by a shortest-path algorithm, and as third step, the solution is projected back from the finite space onto the continuous state space by using an interpolating function. This paper investigates the differences of discretization schemes and interpolating functions in this context. The performance of the computed approximations is evaluated in terms of an a-posteriori error, which is obtained from the approximating value functions. The convergence of the approximations to the true value function is proved for all considered schemes for the case that the discretization parameters are decreased to zero. © 2011 IFAC.

关键词： Approximation algorithms

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Model-based adaptive frequency estimator for gear crack fault detection

Model-based adaptive frequency estimator for gear crack faul...

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作者： McDonald, Geoff Zhao, Qing Advanced Control System Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

ISBN: (纸本)9781457700804

Detection of gear cracks from vibration data is a difficult task. This paper investigates an alternative to the linear predictor residual fault detection based on the nonlinear adaptive control system concept of frequency estimators. The frequency estimator model takes advantage of the sinusoidal nature of vibration and adapts the system model during operation. The low-computational requirements, no-priori knowledge, sinusoidal-based prediction, and on-line model adaption makes this model ideal for on-line gear crack fault detection. Performance is evaluated through both synthetic and experimental data while comparing to the autoregressive linear predictor model. © 2011 AACC American Automatic control Council.

关键词： Fault detection

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Mixed-integer programming for optimal path planning of robotic manipulators

Mixed-integer programming for optimal path planning of robot...

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2011 7th IEEE International Conference on Automation Science and engineering, CASE 2011

作者： Ding, Hao Reißig, Gunther Groß, Dominic Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany Germany

ISBN: (纸本)9781457717307

One of the fundamental problems in the field of robotic motion planning is to safely and efficiently drive the end effector of a robotic manipulator to a specified goal position. Here, safety refers to the requirement that the robotic manipulator must have no collision with surrounding obstacles, and efficiency requires that some predefined cost function is minimized. In addition, kinematic and dynamic constraints have to be satisfied. These requirements lead to non-convex optimization problems, which may be approximated by mixed-integer linear programs (MILPs). The solution of the latter, however, is often intolerably complex due to a huge number of binary decision variables. In the present paper, we consider motion planning scenarios with polyhedral obstacles and velocity constraints for the joint positions of the robotic manipulator. We provide a geometric result whose application leads to MILPs with drastically reduced numbers of binary decision variables. Computational efficiency is demonstrated for two- and three-link manipulators interacting with obstacles, where the number of simplex steps during the MILP solution is reduced by a factor of roughly 200 over previous methods. We also demonstrate the application of the proposed method to an industrial robot. © 2011 IEEE.

关键词： Cost functions

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