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International Symposium on Micromechatronics and Human Science (MHS)

作者： Weiguang Huo Jian Huang Yongji Wang Jun Wu Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan China

An upper limb robotic exoskeleton of three degrees of freedom (DOF) is designed for the patients who survived stroke and the elderly who have not enough strength to move their limbs freely. Particular attention is paid to the realization of a intention-driven robotic control approach, by which the robotic exoskeleton can assist the user moving his/her arm freely to where he/she intends to go. A force sensing system made of multiple force sensing resisters (FSRs) is embedded in the robotic exoskeleton. A static force model of the upper limb in a relaxed state is obtained when the user wears the exoskeleton. A hybrid model is proposed to describe the behavior modes of human upper limb motion. Filtering technology is designed to infer the intended moving direction of upper limb based on the measured force information and the static force model. The motion intention of user's upper limb can be online estimated using the filter and a mode transition detector. Guided by the inferred intention, an admittance control strategy is assumed to control the motors of each DOF. The effectiveness of proposed robotic system and control approaches is evaluated by experiments.

关键词： Exoskeletons Joints Robot sensing systems

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The research in a plantar pressure measuring system connected with EEG

The research in a plantar pressure measuring system connecte...

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International Conference on Signal processing Proceedings (ICSP)

作者： Li Wei Qiu Hong Huang Yue Chen Xi Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology China

The paper presents a foot pressure measuring system connected with EEG It can quantify the relationship between human gait cycle and EEG signals. Understanding the relationship will help in the prevention of potential motor dysfunction disease and the development of rehabilitation tools. The whole system is composed of three parts: EEG signal acquisition, foot landing signal acquisition and the synchronization of these two signals. EEG signal can be acquired by Neuroscan EEG system. The plantar pressure measuring system (PPMS) is designed in details. With PVDF piezoelectric film sensor insole, PPMS could measure the plantar pressure precisely, and send a TTL signal as a mark to EEG system synchronously with EEG signal when the foot contacts the ground at beginning of each gait cycle. The experiment results shows that EEG signals are in line with human gait cycle on dynamic response. From that, some potential diseases can be predict, such as dyskinesia, peripheral neuropathy, neurological disorder, musculoskeletal disease and so on. It can also be used to monitor improvements in rehabilitation.

关键词： Electroencephalography Humans Foot Pressure measurement Low pass filters Diseases Piezoelectric films

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Small universal asynchronous spiking neural P systems

Small universal asynchronous spiking neural P systems

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Linqiang Pan Xiangxiang Zeng Xinyi Zhang Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China

Looking for small universal computing devices is a natural and well investigated topic in computer science. Recently, this topic started to be considered also in the framework of (synchronized) spiking neural P systems. In this work, it is focused on small universal spiking neural P systems working in a non-synchronized manner. Specifically, it is proved that there is an asynchronous spiking neural P system with 76 neurons that is equivalent to a universal register machine for computing functions. As generator of sets of numbers, a universal asynchronous spiking neural P system with 75 neurons is constructed.

关键词： Variable speed drives Neurons

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An improved optimal guidance law with impact angle constraints based on genetic algorithms

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International Journal of Modelling, Identification and control 2010年第1-2期10卷 94-100页

作者： Zheng, Zongzhun Wang, Yongji Wu, Hao Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan Hubei Province 430074 China

In this paper, an improved formulation of optimal guidance law (OGL) based on genetic algorithms (GAs) is proposed. Linear quadratic optimal control theory is derived to consider terminal velocity maximisation, also GAs are employed to search weight coefficient matrix of the linear quadratic performance index optimum process problem. In the GAs, a combination of the roulette wheel and elitism methods is adopted, and penalty function is added to performance index. Consequently, terminal position accuracy and impact angle constraints are satisfied. Numerical simulation results illustrate that the proposed OGL based on GAs shows better performance compared with conventional method and is rather robust. Copyright © 2010 Inderscience Enterprises Ltd.

关键词： Genetic algorithms

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Upper limb rehabilitation robot integrated with motion intention recognition and virtual reality environment

Upper limb rehabilitation robot integrated with motion inten...

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Chinese control Conference (CCC)

作者： Jun Wu Jian Huan Yongji Wang Key Laboratory of Image Processing and Intelligent Control Department of Control Science & Engineering Huazhong University of Science and Technology Wuhan 430074 China

Robotic-assisted therapy is of benefit to the recovery of upper limb motor function for the patients survived stoke. Whereas, there are few emphases on the patients' motion intention during the rehabilitation process. The goal of this study is to combine the control strategies based on patients' motion intention with an upper limb rehabilitation robot to improve the recovery for the patients. In this paper, we propose an integrated robot-assist rehabilitation system, in which a 3 degree-of-freedom (DOF) exoskeletal rehabilitation robot, an EMG-based intention recognition module and a VR game environment are seamlessly combined. According toharacteristics of EMG signals, the wavelet package analysis approach is applied to extract the features of EMG. The node energy is used to construct the feature vector instead of the original coefficients of wavelet package decomposition to resolve the time-invariance problem. Then feature projection results in the singularity problem of with-in scatter matrix during the feature dimension reduction. To overcome the disadvantage of the with-in scatter matrix, this paper uses a recursive algorithm which is proposed in our previous work. The reduced feature vector is recognized by a neural network classifier and the output of the classifier is used for the control inputs. Preliminary experiments are also performed to implement the control of the rehabilitation robotic system by using the proposed EMG reorganization method, together with a dart game realized in the virtual reality environment. Experimental results show that the performance of motion intention recognition is satisfactory and the entire integrated system is feasible.

关键词： Robots Feature extraction Electromyography Classification algorithms Wavelet packets Games

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A new roadmap constitution method based on dividing grid and level-set

A new roadmap constitution method based on dividing grid and...

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International Symposium on Intelligence Information processing and Trusted Computing

作者： Li, Shidong Ding, Mingyue Cai, Chao Institute for Information Engineering of Hubei University for Nationalities Enshi Hubei China Institute for Pattern Recognition and Artificial Intelligence National Lab. for Multi-spectral Information Processing Technologies HUST Wuhan China College of Life Science and Technology Image Processing and Intelligent Control Key Laboratory of Education Ministry of China HUST Wuhan China

ISBN: (纸本)9780769541969

Roadmap methods were widely used in route planning fields, both for robots and unmanned aircrafts. Traditional roadmap is constituted by connecting the vertexes of convex obstacle, which is related to the locations of start and goal of route, so the roadmap can not be reused when anyone of start and goal changed. Absence of reusability reduces the efficiency of route planning by using roadmap. A new roadmap constitution method was proposed in this paper, which is build on dividing the 2D configuration space into multi-scale grids and setting nodes of roadmap on grid boundary using Level-Set method, same method was used to construct the map cells of roadmap between any two nodes lays on same grid . The roadmap constituted with new method can be reused when the start or goal was changed;it is efficient for replanning problem. © 2010 IEEE.

关键词： Reusability

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Symport/antiport P systems with look-ahead mode

Symport/antiport P systems with look-ahead mode

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Yun Jiang Shuo Wang Jinbang Xu Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China

The look-ahead is a forbidding condition formalized by a set of forbidden rules that are checked after all assignment of objects to rules are done. The look-ahead mode can decrease the inherent non-determinism of P systems and helps to the practical implementation of P systems on computers. In this work, the computational power of P systems with symport/antiport rules working in the look-ahead mode are investigated. Communication P systems with 3 membranes and the weight of symport and antiport rules being 2 and 1, respectively, working in the look-ahead mode, can recognize any recursively enumerable languages; a characterization of context-sensitive languages is obtained by communication P systems with 2 membranes working in the look-ahead mode.

关键词： Biomembranes Variable speed drives

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Upper limb rehabilitation robot integrated with motion intention recognition and virtual reality environment

Upper limb rehabilitation robot integrated with motion inten...

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作者： Wu, Jun Huan, Jian Wang, Yongji Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9787894631046

关键词： Virtual reality

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Object tracking in infrared image sequence by Monte-Carlo method

Object tracking in infrared image sequence by Monte-Carlo me...

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Congress on image and Signal processing, CISP

作者： Qianli Ma Min Wang Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Image Processing and Intelligent Control Key Laboratory Educational Ministry of China Wuhan China

This paper presents a robust tracking algorithm for infrared objects in the image sequence, which is based on particle filer. Particle filter is a powerful tool for tracking especially in non-Gaussian condition, but the selection of samples is still a challenging problem. According to the frame-to-frame correlation, two basic assumptions are proposed. Borrowing the idea from Sequence Importance Sampling, Monte-Carlo method will be applied to solve the well-known shortcomings of Particle filter in this paper. Technologically, the proposed algorithm could also track multiple objects successfully. The experimental result has demonstrated its feasibility and validity.

关键词： Particle filters Monte Carlo methods Prediction algorithms Histograms Bayesian methods image sequences Signal processing algorithms

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Study of high-resolution range profile for monostatic MIMO radar based on SIAR

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Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics 2010年第4期32卷 734-739+763页

作者： Zhao, Guang-Hui Chen, Bai-Xiao Gao, Zhao-Zhao Intelligent Perception and Image Understanding Key Lab of Ministry of Education of China Xidian Univ. Xi'an 710071 China National Key Lab for Radar Signal Processing Xidian Univ. Xi'an 710071 China National Information Control Laboratory Chengdu 610036 China

Conventional pulse compression use a periodical echo of single receive antenna, which is modulated by a certain carrier-frequency, in other words, single spectrum is exploited. But for MIMO radar, as the multi-carrier-frequency signals are transmitted simultaneously, if the spectrum of the target echo after channel separation can be combined to form the whole band spectrum echo, the corresponding range resolution can improve several times as compared with the conventional method, and it will be more convenient for follow-up detection and tracking. Considering the difference between the frequency modulation band and the interval between the adjacent frequencies, the spectrum joint after channel separation will be overlapped or spaced. The methods of spectrum moving of each echo and the spectrum extrapolation with Root-MUSIC algorithm are proposed, by which high-resolution range profile of the target is obtained. Simulation results verify the validity of these methods.

关键词： Multiple signal classification

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