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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Mitsuru Kawamoto Kiyotaka Kono Yujiro Inouye Koichi Kurumatani CREST Japan Science and Technology Agency Japan Information Technology Research Institute National Institute of Advanced Science and Technology (AIST) Koto-ku Tokyo Japan Kokuritsu Yonago Kogyo Koto Senmon Gakko Yonago Tottori JP Department of Electronic and Control Systems Engineering Shimane University Matsue Shimane Japan

Recently we have developed an eigenvector method (EVM) which can achieve the blind deconvolution (BD) for MIMO systems. The attractive features of the proposed algorithm are that the BD can be achieved by calculating the eigenvectors of a matrix and by using reference signals. However, the performance accuracy of the EVM depends highly on the computational result of the eigenvectors. In this paper, by modifying the EVM, we propose an algorithm which can achieve the BD without calculating the eigenvectors. Then the pseudo-inverse which is needed to carry out the BD is calculated by our proposed matrix pseudo-inversion lemma. Simulation results will be presented for showing the validity of the proposed method.

关键词： Deconvolution MIMO High performance computing control engineering Educational institutions control systems systems engineering and theory Computational modeling Proposals Blind equalizers

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Finite state machine with adaptive electromyogram (EMG) feature extraction to drive meal assistance robot

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on electronics, Information and systems 2009年第2期129卷 308-313+17页

作者： Zhang, Xiu Wang, Xingyu Wang, Bei Sugi, Takenao Nakamura, Masatoshi Department of Automation East China University of Science and Technology 130 Meilong St. Shanghai 200237 China Department of Electrical and Electronic Engineering Faculty of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan

Surface electromyogram (EMG) from elbow, wrist and hand has been widely used as an input of multifunction prostheses for many years. However, for patients with high-level limb deficiencies, muscle activities in upper-limbs are not strong enough to be used as control signals. In this paper, EMG from lower-limbs is acquired and applied to drive a meal assistance robot. An onset detection method with adaptive threshold based on EMG power is proposed to recognize different muscle contractions. Predefined control commands are output by finite state machine (FSM), and applied to operate the robot. The performance of EMG control is compared with joystick control by both objective and subjective indices. The results show that FSM provides the user with an easy-performing control strategy, which successfully operates robots with complicated control commands by limited muscle motions. The high accuracy and comfortableness of the EMG-control meal assistance robot make it feasible for users with upper limbs motor disabilities. © 2009 The Institute of Electrical Engineers of Japan.

关键词： Robots

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Development of a desktop swarm robot system based on pheromone communication

Development of a desktop swarm robot system based on pheromo...

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作者： Kitamura, Naoyuki Nakamichi, Yoshiyuki Fukuda, Koji Advanced Course of Electricity and Control System Engineering Anan National College of Technology 265 Aoki Minobayashi Anan Tokushima 774-0017 Japan Department of Systems and Control Engineering Anan National College of Technology 265 Aoki Minobayashi Anan Tokushima 774-0017 Japan Department of Electronic Control Engineering Gifu National College of Technology 2236-2 Kamimakuwa Motosu Gifu 501-0495 Japan

ISBN: (纸本)9784990288037

Complex and adaptive behavior of population emerges in social insects. Especially in ants, pheromone communication is the key to understanding their swarm intelligence. This paper proposes a swarm robot system based on pheromone communication and reports our current status of development of the robot system. We believe that the system could be used in swarm robotics and complex systems education. ©ISAROB 2009.

关键词： Multipurpose robots

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Feature extraction of light sleep state in polysomnogram by use of conditional probability

Feature extraction of light sleep state in polysomnogram by ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Yoshiyama, Hiroaki Sugi, Takenao Wang, Bei Shirakawa, Shuichiro Nakamura, Masatoshi Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Automation East China University of Science and Technology Shanghai China National Center of Neurology and Psychiatry Tokyo Japan Departmcnt of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

Human sleep stages during whole night are usually classified into six stages based on polysommnographic (PSG) record. Sleep state of human light sleep changes gradually and continuously. In this study, automatic judgment of light sleep state in PSG record was developed. Parameters for characterizing the PSG were calculated from the periodogram and the discriminant function was constructed by using conditional probability Estimated value of wake full level was gradually decreased according to the stage charged from W to S1. In contrast, changing the sleep state from S1 to S2 increased estimated value of sleep level accordingly. © 2009 SICE.

关键词： Sleep research

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Sampled data Errors-in-Variables systems

Sampled data Errors-in-Variables systems

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15th IFAC Symposium on System Identification, SYSID 2009

作者： Agüero, Juan C. Goodwin, Graham C. Söderström, Torsten Yuz, Juan I. ARC Centre for Complex Dynamics Systems and Control School of Electrical Engineering and Computer Science University of Newcastle Australia Department of Information Technology Uppsala University Sweden Department of Electronic Engineering Universidad Técnica Federico Santa María Valparaíso Chile

ISBN: (纸本)9783902661470

Errors-in-Variables systems have been extensively studied in the literature. We study the impact of sampling on a continuous-time errors-in-variables problem. In particular, we study some approximations of a two dimensional (input-output) continuous-time signal spectrum developed from the sampled-data spectrum. Indeed, some of the paper is tutorial in nature. We also explore the possibility of retrieving the underlying continuous-time system from samples of the input and output signals. © 2009 IFAC.

关键词： Errors

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Expert knowledge-based automatic sleep stage determination by multi-valued decision making method

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on electronics, Information and systems 2009年第4期129卷 614-619+6页

作者： Wang, Bei Sugi, Takenao Kawana, Fusae Wang, Xingyu Nakamura, Masatoshi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Automation School of Information Science and Engineering East China University of Science and Technology 130 Meilong St. Shanghai 200237 China Department of Electrical and Electronic Engineering Faculty of Science and Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Clinical Physiology Toranomon Hospital 2-2-2 Toranomon Minato-ku Tokyo 105-8407 Japan

In this study, an expert knowledge-based automatic sleep stage determination system working on a multivalued decision making method is developed. Visual inspection by a qualified clinician is adopted to obtain the expert knowledge database. The expert knowledge database consists of probability density functions of parameters for various sleep stages. Sleep stages are determined automatically according to the conditional probability. Totally, four subjects were participated. The automatic sleep stage determination results showed close agreements with the visual inspection on sleep stages of awake, REM (rapid eye movement), light sleep and deep sleep. The constructed expert knowledge database reflects the distributions of characteristic parameters which can be adaptive to variable sleep data in hospitals. The developed automatic determination technique based on expert knowledge of visual inspection can be an assistant tool enabling further inspection of sleep disorder cases for clinical practice. © 2009 The Institute of Electrical Engineers of Japan.

关键词： Probability density function

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Skill-assist control of omnidirectional wheelchair using human-friendly interface

Skill-assist control of omnidirectional wheelchair using hum...

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IEEE International Conference on Robotics and Biomimetics

作者： Hideo Kitagawa Takanori Miyoshi Kazuhiko Terashima Department of Electronic Control Engineering Gifu National College of Technology Gifu Japan Department of Production Systems Engineering Toyohashi University of Technology Toyohashi Japan

To improve the operability of a power-assist omnidirectional wheelchair driven by attendant, an improved neuro-fuzzy control system and an innovative human-interface using a touch panel was developed. The neuro-fuzzy controller was modified to improve the operability of diagonal motions. Moreover, the touch panel provides easy input and feedback information of the operation to adapt to the individual characteristics of different attendants in real time. The proposed system was tested experimentally with many attendants, and the experimental results show that the system can adapt successfully to the different tendencies of attendants.

关键词： Wheelchairs Fuzzy systems Fuzzy neural networks Vehicles Mobile robots control systems Motion control System testing Hospitals Gravity

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Automatic sleep stage determination for sleep apnea syndrome patients: Multivariate probability distribution based on expert knowledge

Automatic sleep stage determination for sleep apnea syndrome...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Wang, Bei Sugi, Takenao Kawana, Fusae Wang, Xingyu Nakamura, Masatoshi Department of Automation East China University of Science and Technology Shanghai China Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Clinical Physiology Toranomon Hospital Tokyo Japan Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9784907764333

In this study, the multivariate probability distribution was investigated to develop the expert knowledge-based automatic sleep stage determination technique. The ultimate purpose is to develop adaptive automatic sleep stage determination algorithm for clinical practice. Gaussian distribution was adopted to realize automatic parameter selection while Cauchy distribution was adopted to estimate the parameter distribution. The different usage of multivariate probability distribution of Gaussian and Cauchy distribution presented effectiveness for automatic sleep stage determination. © 2009 SICE.

关键词： Sleep research

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The development of driving system with Differential Drive Steering System for omni-directional mobile robot

The development of driving system with Differential Drive St...

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IEEE International Conference on Mechatronics and Automation

作者： Yuki Ueno Takashi Ohno Kazuhiko Terashima Hideo Kitagawa Department of Production Systems Engineering Toyohashi University of Technology Toyohashi Japan Department of Electronic Control Engineering Gifu National College of Technology Kamimakuwa Gifu Japan

Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired to ride across difference in level, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidirectional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show the proposed system is effective for holonomic omnidirectional mobile robots.

关键词： Steering systems Mobile robots Wheels Synchronous motors Tires Vehicles Friction Interference Angular velocity Mechatronics

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Feature extraction of electroencephalogram of photic evoked spikes with slow burst and its automatic detection

Feature extraction of electroencephalogram of photic evoked ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Nishida, Shigeto Sugi, Takenao Ikeda, Akio Nagamine, Takashi Shibasaki, Hiroshi Nakamura, Masatoshi Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka Japan Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Neurology Kyoto University School of Medicine Kyoto Japan Department of System Neuroscience Sapporo Medical University Sapporo Japan Takeda General Hospital Kyoto Japan Department of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

A method for detecting spikes and slow burst in photic evoked electroencephalogram (EEG) was proposed. The spikes were detected by combining methods of the morphological filter and the similarity coefficient in the time domain. The slow burst was detected by using pole of AR model in the frequency domain. The proposed method was applied for the photic evoked EEG data containing spikes and slow burst, and brought satisfactory coincidence with the results interpreted by a qualified electroencephalographer. © 2009 SICE.

关键词： Electroencephalography

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