2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献_第6页

Using heterogeneous sensory measurements in a compliant magnetic localization system for medical intervention 在医疗干预的磁定位系统中使用异质感觉测量

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222521

Zhenglong Sun, S. Foong, L. Marechal, T. Teo, U-Xuan Tan, A. Shabbir

{"title":"Using heterogeneous sensory measurements in a compliant magnetic localization system for medical intervention","authors":"Zhenglong Sun, S. Foong, L. Marechal, T. Teo, U-Xuan Tan, A. Shabbir","doi":"10.1109/AIM.2015.7222521","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222521","url":null,"abstract":"In many medical intervention procedures, passive magnetic tracking technology has found favor in continuous localization of medical instruments and tools inside the human body. By utilizing a small permanent magnet as a passive source, it requires no dedicated power supply or wire connection into the body. Past researches usually adopt rigid structures to restrict the movement of sensors, as the precise positional information of the homogeneous magnetic sensors play an important role in the accuracy of traditional inverse optimization algorithms. In this paper, we investigate methods to enable the sensing system to be used for the nasogastric (NG) tube localization in a compliant setting, such that the device can conform around the patient for improved ergonomics and comfort. Such a system, which now contains additional sensors required to sense the active compliance, will contain a non-homogeneous sensor assembly producing heterogeneous sensory information. Two methods are proposed and evaluated: one is a modified inverse optimization method using a deformation model in series with the magnetic field model; the other is a direct forward Artificial Neural Network (ANN) method. The efficacy of both methods were evaluated and compared by numerical simulation and experiments. Advantages and disadvantages of both methods were discussed at the end.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117345051","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: 7

Gait measurement and evaluation system for diagnosis of elderly people's gait condition to prevent fall 用于诊断老年人步态状况预防跌倒的步态测量与评价系统

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222617

Tomotaka Ito, Satoru Umise, Hiromu Hoshi, Mizue Suzuki, Shigeki Tani

{"title":"Gait measurement and evaluation system for diagnosis of elderly people's gait condition to prevent fall","authors":"Tomotaka Ito, Satoru Umise, Hiromu Hoshi, Mizue Suzuki, Shigeki Tani","doi":"10.1109/AIM.2015.7222617","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222617","url":null,"abstract":"Recently, the population ratio of elderly people is increasing rapidly and so, to improve the QOL of elderly people is a today's important social issue. Most urgent problem is how to prevent the gradual decrease of the walking ability and how to prevent `fall down'. In clinical gait analysis, a quantitative and effective evaluation of a human lower limb movement is very important in order to provide an appropriate exercise and rehabilitation program which matches the individual walking condition. Therefore, we have proposed a “Gait measurement and evaluation system” which can be applied for clinical gait analysis. In this paper, we conducted gait measurement and diagnosis experiments for elderly people who attended the preventive care class in aged welfare facilities in order to confirm the effectiveness of the proposed system and to investigate the factor of elderly people's fall. In the experiments, we investigated the year-by-year improvement/deterioration of elderly people's gait condition and also analyzed the striding movement over a virtual obstacle to reveal the differences of the individual walking performance. The experimental results illustrate the validity of the propose approach.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122033441","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: 3

QR-code based Localization for Indoor Mobile Robot with validation using a 3D optical tracking instrument 基于qr码的室内移动机器人定位方法及三维光学跟踪仪验证

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222664

S. Lee, G. Tewolde, Jongil Lim, Jaerock Kwon

{"title":"QR-code based Localization for Indoor Mobile Robot with validation using a 3D optical tracking instrument","authors":"S. Lee, G. Tewolde, Jongil Lim, Jaerock Kwon","doi":"10.1109/AIM.2015.7222664","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222664","url":null,"abstract":"This paper addresses effective artificial landmark based indoor localization technique for mobile robotics applications. In the proposed approach, QR-codes are strategically placed in the operating environment, attached to the ceiling; they are used as artificial landmarks for providing reference points to aid the robot localization. The vision processing, robot localization and navigation tasks are all carried out on an Android Smartphone mounted on the mobile robotic platform; by taking advantage of the computational power, the built-in sensing, and the communication capabilities of the Smartphone. The Smartphone detects and recognizes the QR-codes to calculate the approximate global location of the robot. The pixel coordinate information in the image of QR-code is also used to enhance the position estimate in the real-world environment. Furthermore, the QR-code orientation in the image view is used to calculate the mobile robot's heading direction. An NDI 3D optical tracking instrument is used for validation of the effectiveness and feasibility of the proposed method. This paper demonstrates successful implementation of the QR-code based localization strategy and the experimental evaluation of its performance in actual environment.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122041920","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: 19

An application of user-friendly control for a Respiratory Rehabilitation and Assistance Robot 呼吸康复辅助机器人的用户友好控制应用

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222573

Sang-Yoep Lee, Useok Jeong, Kyu-Jin Cho

{"title":"An application of user-friendly control for a Respiratory Rehabilitation and Assistance Robot","authors":"Sang-Yoep Lee, Useok Jeong, Kyu-Jin Cho","doi":"10.1109/AIM.2015.7222573","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222573","url":null,"abstract":"To treat patients suffering from dysfunction of the abdominal muscles, positive pressure devices that can inject air directly into a patient's mouth have been developed. But injection of air requires blocking of a patient's mouth with an air mask or air hose, which causes the patient additional inconvenience in talking and in breathing with their own mouth. The Respiratory Rehabilitation and Assistance Robot was developed to provide ventilation assistance without hindering patients from talking and breathing with their own mouth. The basic principle of the robot is a negative pressure assistance, using an abdomen pressuring part to push the abdomen of the user and help the user to exhale. The robot is mainly manipulated with an attached joystick. But without an additional control routine to govern the amount of force applied when the joystick is moved, usability and safety issues occur. In this research, linear, logarithmic, and exponential profiles that modify the joystick trajectory were tested to advance maneuverability of the robot conditioning the joystick signal. Through experiments, we found that logarithmic profiles with certain shape factors improve both usability and safety.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124002923","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: 2

Wave-based load disturbance observer for robust enhancement of reflected wave rejection-based vibration control 基于波动的负载扰动观测器，增强了基于反射波抑制的振动控制鲁棒性

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222689

E. Saito, S. Katsura

引用次数: 3

Development of a novel low-cost au-printed SERS paper substrate for point-of-care application 一种新型低成本的金印SERS纸基板的开发

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222589

W. Kim, H. K. Park, S. Choi

引用次数: 1

Path following control of an off-road track vehicle towing a steerable driven implement 牵引着可操纵驱动装置的越野车辆的路径跟踪控制

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222621

Javad Taghia, Stanley Lam, J. Katupitiya

{"title":"Path following control of an off-road track vehicle towing a steerable driven implement","authors":"Javad Taghia, Stanley Lam, J. Katupitiya","doi":"10.1109/AIM.2015.7222621","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222621","url":null,"abstract":"In this paper, nonlinear controllers are designed for an accurate path-following of a track vehicle towing an active implement, which is steered and driven, in off-road terrains like farms where longitudinal and lateral slips at front tracks and rear steerable wheels are inevitable. These controllers are based on path offset values and a partial dynamic model. The controller is designed to minimize the lon-gitudinal force at the hitch point and steer the track vehicle and the implement's wheels for an accurate path-following. Error vectors are introduced to combine the measured longitudinal force at the hitch point and the path offset values for both the track vehicle and the implement. Afterwards, two pairs of virtual states are introduced and nonlinear contracting sliding mode controllers are designed to control the error values. The two cases of the track vehicle without the implement control and the track vehicle with the implement control are compared using dynamic simulations. The results show improvements in the path-following accuracy and the drivability of the whole system when the track vehicle control and the steering and drive force controller of the implement is enabled on simulated off-road terrains.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129901257","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: 2

Sensor guided robot path generation for repair of buoyancy module 传感器引导机器人浮力模块修复路径生成

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222774

Di Deng, W. Sam, P. Y. Tao, T. M. Lubecki

引用次数: 0

Appearance-based localization using Group LASSO regression with an indoor experiment 基于外观的分组LASSO回归定位与室内实验

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222667

Huan N. Do, Jongeun Choi, C. Lim, T. Maiti

引用次数: 4

Research on dynamic transmission characteristics of box-like structures based on a hybrid model method 基于混合模型方法的箱形结构动态传动特性研究

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222700

Weijin Gao, Liang Wang

引用次数: 2