2019 7th International Conference on Robotics and Mechatronics (ICRoM)最新文献_第6页

A Secure Face Anti-spoofing Approach Using Deep Learning 基于深度学习的安全人脸防欺骗方法

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071842

Meysam Safarzadeh, Mohammad Ghasemi, Javad Khoramdel, Ali Najafi Ardekany

引用次数: 0

Optimal Sensor Configuration for Activity Recognition during Whole-body Exercises 最佳传感器配置的活动识别在全身运动

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071849

A. Nasrabadi, Ahmad R. Eslaminia, Amir M. Soufi Enayati, L. Alibiglou, S. Behzadipour

{"title":"Optimal Sensor Configuration for Activity Recognition during Whole-body Exercises","authors":"A. Nasrabadi, Ahmad R. Eslaminia, Amir M. Soufi Enayati, L. Alibiglou, S. Behzadipour","doi":"10.1109/ICRoM48714.2019.9071849","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071849","url":null,"abstract":"Advances in wearable devices with inertial measurement units (IMUs) for the detection of different motor activities and monitoring training tasks have important applications in tele-rehabilitation. These technologies can play an effective role in improving the quality of life for people with progressive movement disorders such as Parkinson's disease (PD). Considering cost, simplicity, and practicality, a smaller and more efficient number of IMUs that can accurately recognize the type of movement is preferable. The purpose of the current study was to design an affordable and accurate wearable device with IMUs to detect thirty four different motor activities in a customized training program called LSVT-BIG11Lee Silverman Voice Technique-Big https://www.lsvtglobal.com/LSVtbig[1], which is usually used for people with PD. Nine neurologically healthy individuals performed all 34 tasks. The collected data were processed in windows of 2.5 seconds. Eight features in time and frequency domains and discrete wavelet transforms were calculated. Dimension reduction was performed using the PCA22Principal Component Analysis algorithm. NM33Nearest Mean, RBF44Radial Basis Function, SVM55Support Vector Machine, and k-NN66k-Nearest Neighbors classifiers were then trained and used to recognize the activity. A genetic algorithm was utilized to decide which sensors and signals took part in the classification to produce the best accuracy. Our results showed that the four sensors installed on the left shank, right thigh, left forearm, and right arm provided the optimal number and arrangement to achieve a precision of 94.3% and sensitivity of 93.4% using NM classification. Also, an adaptation algorithm was utilized in order to maintain the quality of recognition for new users.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130515272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Hand Prosthesis: Finger Localization Based on Forearm Ultrasound Imaging 手部假体:基于前臂超声成像的手指定位

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071794

Amir Samadi, Mohammad-Reza Azizi, S. Kashef, M. Akbarzadeh-T., Alireza Akbarzadeh-T, A. Moradi

{"title":"Hand Prosthesis: Finger Localization Based on Forearm Ultrasound Imaging","authors":"Amir Samadi, Mohammad-Reza Azizi, S. Kashef, M. Akbarzadeh-T., Alireza Akbarzadeh-T, A. Moradi","doi":"10.1109/ICRoM48714.2019.9071794","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071794","url":null,"abstract":"With the advancement in mechanical characteristics of prosthetic hands, the need to develop a novel control strategy is crucial. Although surface electromyography (sEMG) is a functional human-machine interface method in various commercial prostheses, it has practical limitations such as a low signal-to-noise ratio. This paper focuses on the forearm ultrasound imaging method to recognize individual finger movement. In contrast to other published research, dedicated to only discriminating hand gestures, we present a method to control hand prostheses by the angles of each finger. By taking ultrasound imaging from a healthy male subject while flexing and extending his finger, and labeling them through attaching a checkerboard to the fingers, the FUMUS (Ferdowsi University UltraSound) images are produced. Due to the ability of convolutional neural network to extract features, we design an end-to-end system for each of four deep convolutional neural networks named Visual Geometry Group Networks (VGG–16 and −19), MobileNet V1 and V2 and used 90% of our dataset to train the networks and validate their performance in recognizing the label of new forearm ultrasound images. Results show approximately 1 degree Mean Absolute Error (MAE) between the labels of the unseen 10% dataset to neural networks and the exact label of them.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132118981","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling and simulation of the first phase of the viscoelastic biological particles considering simultaneous roughness of tip, particle, and substrate 考虑尖端、颗粒和基底同时粗糙度的粘弹性生物颗粒第一阶段的建模与仿真

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071800

Z. Rastegar

{"title":"Modeling and simulation of the first phase of the viscoelastic biological particles considering simultaneous roughness of tip, particle, and substrate","authors":"Z. Rastegar","doi":"10.1109/ICRoM48714.2019.9071800","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071800","url":null,"abstract":"In recent years, atomic force microscopy as a basic tool for nanoparticles displacement and manufacturing of intended subjects from atoms and molecules has attracted researchers in different fields such as drug delivery, tissue engineering and etc. Manipulation simulation of the AFM nanorobot is a fundamental tool for controlled and accurate displacement of subjects and particles in different scales. Since passing from macro to micro and nanoscales causes the increased ratio of the area to volume consequently surface forces such as friction and adhesion become more important. According to the surface roughness in contact, critical time and force have been extracted in this paper considering particle and substrate roughness simultaneously to find out the effect of the surface roughness on critical parameters. Therefore, developed rough models for viscoelastic state have been used and asperities radius using experimental test on cancer cells has been extracted to increase simulation accuracy. Results show that the critical force for the elastic, rough viscoelastic and viscoelastic models have higher magnitudes respectively. This difference between elastic and viscoelastic models are completely obvious but between two viscoelastic models are less.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134163572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Impedance Control of a Knee Prosthesis with Frictional Torque Estimation 基于摩擦转矩估计的膝关节假体阻抗控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071875

Shavan Jannati, A. Yousefi-Koma, M. Ayati, S. Rezaeian

引用次数: 0

An Efficient Bio-Inspired Strategy for Motion Control of a Fish Robot to Swim in Different Forward Velocities 一种高效的仿生鱼机器人不同前进速度运动控制策略

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071828

M. A. Shahri, Ali Rouhollahi, M. N. Ahmadabadi

引用次数: 0

A Fast Trajectory Tracking Control Design for Autonomous Driving 自动驾驶快速轨迹跟踪控制设计

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071867

H. B. Jond, J. Platoš

引用次数: 1

Optimal Design and Dynamic Analysis of a Hybrid Manipulator for Intra-ocular Surgeries 混合式眼内手术机械臂的优化设计与动力学分析

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071888

H. Hayati, M. Taefi, M. Khosravi, H. Talebi

{"title":"Optimal Design and Dynamic Analysis of a Hybrid Manipulator for Intra-ocular Surgeries","authors":"H. Hayati, M. Taefi, M. Khosravi, H. Talebi","doi":"10.1109/ICRoM48714.2019.9071888","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071888","url":null,"abstract":"This study aims to develop a new robot for vitreo-retinal eye surgery applications, referred to as PERSIS (Precise Robotic System for Intraocular Surgeries). It consists of a linear mechanism coupled to a parallelogram mechanism that has a remote center of motion (RCM) point. The RCM point is employed for manipulating the surgical instrument about this fixed point, where it acts as a pivoting point. Moreover, as the insertion point of the robot is fixed, a gantry mechanism is designed to add three translational Degrees of Freedom (DOF) to the RCM mechanism. According to the above description, the optimal design of the proposed mechanism to achieve superior performance in eye surgery is critical. Therefore, the optimal design of 6DOF mechanism based on the constrained nonlinear optimization is performed according to the requirements of vitreo-retinal surgery and dimensions relevant to the anthropometry of the human head. Moreover, in the eye surgeon robot, due to the accuracy required in routing the surgical instrument, having a relatively accurate description of the robot dynamic equations is necessary. In this paper, a closed-form of equations of motion for PERSIS is generated. Instead of computing the coupled dynamics directly, dynamic equations of the parallelogram and the gantry mechanism are calculated separately and then, dynamic equations of the proposed hybrid mechanism are calculated.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129915506","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Modified Patient-Cooperative Robot-Aided Gait Rehabilitation Algorithm Based on Path Control 一种改进的基于路径控制的患者-协作机器人辅助步态康复算法

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071862

Asghar Mahmoodi Khomami, F. Najafi

{"title":"A Modified Patient-Cooperative Robot-Aided Gait Rehabilitation Algorithm Based on Path Control","authors":"Asghar Mahmoodi Khomami, F. Najafi","doi":"10.1109/ICRoM48714.2019.9071862","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071862","url":null,"abstract":"Spinal cord injury, brain stroke, and MS are some of the most important causes of moving disabilities. One of the most common disabilities is gait disorder. Gait rehabilitation exercises can help patients regain their moving abilities. The use of robots in the rehabilitation process of patients with moving disabilities is increasing due to the difficulties of traditional rehabilitation methods. The main challenge of using robots in rehabilitation is designing a control system that helps patients only when they need it. This goal can be achieved using “assist-as-needed” control strategies. In this paper, a new control system for the University of Guilan Rehabilitation Robot is introduced. This control method is based on the “path control” method which is an assist-as-needed control strategy used for gait rehabilitation robot LOKOMAT. Unlike the path control method, the proposed control system uses an equation to calculate the support torques generated by the system while the patient's position remains inside the “virtual tunnel” around the reference trajectory. Finally, a simulation is carried out to evaluate the effects of using the proposed method on the system.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129058075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Observation of a Magnetic Particle Moving in a Fluid Using Extended Kalman Filter 用扩展卡尔曼滤波观察磁粒子在流体中的运动

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071850

Alireza Mazinani, H. N. Pishkenari

{"title":"Observation of a Magnetic Particle Moving in a Fluid Using Extended Kalman Filter","authors":"Alireza Mazinani, H. N. Pishkenari","doi":"10.1109/ICRoM48714.2019.9071850","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071850","url":null,"abstract":"Endoscopy is a medical operation in which a camera is sent into the patient's body and the physician starts taking pictures at specified times. In the traditional endoscopic procedure, a camera is sent into the body by a guiding wire. This can cause severe pain to the patient. In the newer method, a camera is mounted on a small capsule and the patient swallows the capsule. Then the camera inside the capsule starts taking photos and sends them out. This procedure, in addition to being painless, allows the physician to access the innermost parts of the body or the digestive tract. In capsule endoscopy, unlike the older method, one has to find the position and orientation of the capsule at any given moment. This helps the physician know which part of the digestive system each picture belongs to. Capsule positional information can also be used as an input for external control systems. Control of the capsule and finding its position and direction is done using magnetic fields. In this paper, a magnetic dipole is considered inside a small capsule that will achieve the position of the capsule using an array of magnetic sensors. It is also possible to obtain a more accurate positioning of the capsule using the dynamics of the capsule motion and the Kalman filter.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115736366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1