Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413395
Noman Naseer, K. Hong
Research in brain-computer interface (BCI) has increased recently. It allows the user to communicate with a computer/external device through the process of thinking. Functional near-infrared spectroscopy (fNIRS) is a relatively new non-invasive optical imaging modality that can be used to measure cortical brain activities. The main advantages of using this technique are relatively low cost, safety, portability and wearability. In this paper we propose to apply fNIRS to measure different brain activities during thinking task and body motion task. For thinking experiment the human subjects were asked to solve simple arithmetic calculations. For the body motion task, the subjects were asked to tap finger after regular intervals of time. Continuous-wave imaging system (DYNOT: dynamic near-infrared optical tomography) was used to image each subject's prefrontal cortex during the arithmetic task and motor cortex during the finger tapping task. Our results of fNIRS signal analysis showed different patterns of hemodynamic response for the different tasks that can be used to recognize the brain tasks. Using Fisher's linear discriminant analysis we were able to distinguish clearly between the different brain activities with an average accuracy of above 80%. This idea can be used to directly control a robot through thinking process or through movement of the body using fNIRS.
{"title":"Functional near-infrared spectroscopy based brain activity classification for development of a brain-computer interface","authors":"Noman Naseer, K. Hong","doi":"10.1109/ICRAI.2012.6413395","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413395","url":null,"abstract":"Research in brain-computer interface (BCI) has increased recently. It allows the user to communicate with a computer/external device through the process of thinking. Functional near-infrared spectroscopy (fNIRS) is a relatively new non-invasive optical imaging modality that can be used to measure cortical brain activities. The main advantages of using this technique are relatively low cost, safety, portability and wearability. In this paper we propose to apply fNIRS to measure different brain activities during thinking task and body motion task. For thinking experiment the human subjects were asked to solve simple arithmetic calculations. For the body motion task, the subjects were asked to tap finger after regular intervals of time. Continuous-wave imaging system (DYNOT: dynamic near-infrared optical tomography) was used to image each subject's prefrontal cortex during the arithmetic task and motor cortex during the finger tapping task. Our results of fNIRS signal analysis showed different patterns of hemodynamic response for the different tasks that can be used to recognize the brain tasks. Using Fisher's linear discriminant analysis we were able to distinguish clearly between the different brain activities with an average accuracy of above 80%. This idea can be used to directly control a robot through thinking process or through movement of the body using fNIRS.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125089666","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413389
M. Khan, A. Wajdan, M. Khan, H. Ali, J. Iqbal, U. Shahbaz, N. Rashid
This paper presents the design of a low cost and portable EMG circuit for signal acquisition and signal processing of surface EMG along with motor control and drive circuitry. The proposed circuitry was successfully tested on a prosthetic arm. The paper discusses various approaches that were tested and highlights the best possible approach. The highlighted approach is best for acquiring a high fidelity EMG signal, increase its SNR and process the signal into a form best suited for motor control via a microcontroller. The paper further discusses the use of various types of surface electrodes and the variety of components that can be used in the circuitry depending upon their availability in the local market and their economic aspect.
{"title":"Design of low cost and portable EMG circuitry for use in active prosthesis applications","authors":"M. Khan, A. Wajdan, M. Khan, H. Ali, J. Iqbal, U. Shahbaz, N. Rashid","doi":"10.1109/ICRAI.2012.6413389","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413389","url":null,"abstract":"This paper presents the design of a low cost and portable EMG circuit for signal acquisition and signal processing of surface EMG along with motor control and drive circuitry. The proposed circuitry was successfully tested on a prosthetic arm. The paper discusses various approaches that were tested and highlights the best possible approach. The highlighted approach is best for acquiring a high fidelity EMG signal, increase its SNR and process the signal into a form best suited for motor control via a microcontroller. The paper further discusses the use of various types of surface electrodes and the variety of components that can be used in the circuitry depending upon their availability in the local market and their economic aspect.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121366637","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413387
A. Rehman, N. Masood, S. Arif, U. Shahbaz, F. Sarwar, K. Maqsood, M. Imran, M. Pasha
Fires are very dangerous and detrimental to life, property, and the environment. They spread rapidly and indiscriminately obliterate all things in their path. Fighting fires entails undeniable danger to life and the majority of suppression systems used to control them is at a broad-spectrum or macro scale. We present the design, fabrication, and testing of an autonomous fire extinguishing system. This system provides a unique solution to the problem of fires and their destruction by targeting the initial ignition of the fire and suppressing it before it starts to increase in intensity and range. The presented system detects, targets, and extinguishes a fire within a working space by using heat sensors, a flow control system, servo motors, and a water extinguishing gun. The system scans its workspace through motors and uses thermopile arrays to detect heat concentration gradients in its range. After the detection of the fire, the system then locks on to the target by extrapolating its location. Efficiency of the system, suppression accuracy, response time, power consumption, and work space area are also documented and presented in this paper. Future considerations and recommendations are highlighted to advance the system's design, efficiency, and scope. This is an indigenous solution to fire fighting in world and it is to make environment a healthier and safer place for the future.
{"title":"Autonomous fire extinguishing system","authors":"A. Rehman, N. Masood, S. Arif, U. Shahbaz, F. Sarwar, K. Maqsood, M. Imran, M. Pasha","doi":"10.1109/ICRAI.2012.6413387","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413387","url":null,"abstract":"Fires are very dangerous and detrimental to life, property, and the environment. They spread rapidly and indiscriminately obliterate all things in their path. Fighting fires entails undeniable danger to life and the majority of suppression systems used to control them is at a broad-spectrum or macro scale. We present the design, fabrication, and testing of an autonomous fire extinguishing system. This system provides a unique solution to the problem of fires and their destruction by targeting the initial ignition of the fire and suppressing it before it starts to increase in intensity and range. The presented system detects, targets, and extinguishes a fire within a working space by using heat sensors, a flow control system, servo motors, and a water extinguishing gun. The system scans its workspace through motors and uses thermopile arrays to detect heat concentration gradients in its range. After the detection of the fire, the system then locks on to the target by extrapolating its location. Efficiency of the system, suppression accuracy, response time, power consumption, and work space area are also documented and presented in this paper. Future considerations and recommendations are highlighted to advance the system's design, efficiency, and scope. This is an indigenous solution to fire fighting in world and it is to make environment a healthier and safer place for the future.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122755278","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413401
N. Mehdi, F. Malik, A. I. Bhatti, N. Qaiser
We present sampled-data version of dynamic surface control for a benchmark underactuated mechanical system in strict feedback form. Continuous time control law has been discretized in the first place and then applied to control inertia wheel pendulum. Performance comparison has also been made between sampled data and continuous time versions. Simulation results illustrate that sampled data version recovers the performance of continuous time dynamic surface control for reasonably small sampling time.
{"title":"Sampled data dynamic surface control for inertia wheel pendulum","authors":"N. Mehdi, F. Malik, A. I. Bhatti, N. Qaiser","doi":"10.1109/ICRAI.2012.6413401","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413401","url":null,"abstract":"We present sampled-data version of dynamic surface control for a benchmark underactuated mechanical system in strict feedback form. Continuous time control law has been discretized in the first place and then applied to control inertia wheel pendulum. Performance comparison has also been made between sampled data and continuous time versions. Simulation results illustrate that sampled data version recovers the performance of continuous time dynamic surface control for reasonably small sampling time.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"329 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115949959","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413403
Sohail Anjum, Nabeel Kamal, Umar Shahbaz Khan, Javaid Iqbal, Umar Izhar, Nasir Rasheed, Muhammad Aleem Khan
This paper describes the design of a non-conventional chain drive mechanism for a mini-robot. A mini-robot named RUDYCUDY™ was designed. Chain drives are normally used when power or motion or both of them are to be transferred over a short distance. Various systems were available in the markets that had certain standards. To drive small scale robots no standard chain was available. In this study a roller chain was designed because of its simplicity, strength, ability to work in harsh environment and little requirement for lubrication.
{"title":"Design of non-conventional chain drive mechanism for a mini-robot","authors":"Sohail Anjum, Nabeel Kamal, Umar Shahbaz Khan, Javaid Iqbal, Umar Izhar, Nasir Rasheed, Muhammad Aleem Khan","doi":"10.1109/ICRAI.2012.6413403","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413403","url":null,"abstract":"This paper describes the design of a non-conventional chain drive mechanism for a mini-robot. A mini-robot named RUDYCUDY™ was designed. Chain drives are normally used when power or motion or both of them are to be transferred over a short distance. Various systems were available in the markets that had certain standards. To drive small scale robots no standard chain was available. In this study a roller chain was designed because of its simplicity, strength, ability to work in harsh environment and little requirement for lubrication.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126735861","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413402
H. Iqbal, A. Ali, D. Lee
This paper discusses optimization of the 4 links of an 8 DOF haptic master device in order to minimize dynamics effects of the device on human hand during minimally invasive surgical operation. In minimally invasive surgery, because of limited information from surgical scene, sensation of feedback force and manipulability of device are important factors to be accounted. Therefore, optimization of the device is required for improved efficiency of surgical procedures. To achieve this purpose, physical meaning of a new global performance index is introduced. That index is responsible to minimize the residual force on human hand after implementing the dynamics compensation of the device by a controller.
{"title":"Residual force based optimization of 8 DOF haptic master device","authors":"H. Iqbal, A. Ali, D. Lee","doi":"10.1109/ICRAI.2012.6413402","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413402","url":null,"abstract":"This paper discusses optimization of the 4 links of an 8 DOF haptic master device in order to minimize dynamics effects of the device on human hand during minimally invasive surgical operation. In minimally invasive surgery, because of limited information from surgical scene, sensation of feedback force and manipulability of device are important factors to be accounted. Therefore, optimization of the device is required for improved efficiency of surgical procedures. To achieve this purpose, physical meaning of a new global performance index is introduced. That index is responsible to minimize the residual force on human hand after implementing the dynamics compensation of the device by a controller.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"159 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127329766","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413377
S. Soomro, M. A. Javed, F. Memon
Vehicle Number Recognition (VNR) is an image processing technology which uses efficient algorithms to detect the vehicle number from real time images. The objective is to design an efficient Vehicle Number Recognition System & to implement it for automatic toll tax collection. The system detects the vehicle first and then captures the image of the front view of the vehicle. Vehicle number plate is localized & characters are segmented. The system is designed for grayscale images so it detects the number plate regardless of its color. Template matching technique is used for character recognition. The resulting vehicle number is then compared with the available database of all the vehicles so as to come up with information about the vehicle type & to charge toll tax accordingly. The system is then allowed to open road barrier for the vehicle & generate toll tax receipt. The vehicle information (such as passing time, date, toll amount) is also stored in the database to maintain the record. The hardware & software integrated system is implemented & a working prototype model is developed. Experiments show that system successfully detects and recognize the vehicle number plate of real images of Pakistani vehicles.
{"title":"Vehicle Number Recognition system for automatic toll tax collection","authors":"S. Soomro, M. A. Javed, F. Memon","doi":"10.1109/ICRAI.2012.6413377","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413377","url":null,"abstract":"Vehicle Number Recognition (VNR) is an image processing technology which uses efficient algorithms to detect the vehicle number from real time images. The objective is to design an efficient Vehicle Number Recognition System & to implement it for automatic toll tax collection. The system detects the vehicle first and then captures the image of the front view of the vehicle. Vehicle number plate is localized & characters are segmented. The system is designed for grayscale images so it detects the number plate regardless of its color. Template matching technique is used for character recognition. The resulting vehicle number is then compared with the available database of all the vehicles so as to come up with information about the vehicle type & to charge toll tax accordingly. The system is then allowed to open road barrier for the vehicle & generate toll tax receipt. The vehicle information (such as passing time, date, toll amount) is also stored in the database to maintain the record. The hardware & software integrated system is implemented & a working prototype model is developed. Experiments show that system successfully detects and recognize the vehicle number plate of real images of Pakistani vehicles.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128460042","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413383
T. Mahmood, K. Rohail
This paper is the second part of our work. In the companion paper, we have highlighted the need to analyze terrorism events in Pakistan, in order to extract patterns which could provide useful information to counter terrorism authorities. We identified two different combinations for our analysis, i.e., “Terrorism Event - Terrorism Target” and “Terrorism Event - Terrorism Method”. In the companion paper, we presented some results for clustering with the Event - Target combination. In this paper, we present the remaining analysis for this combination, along with the complete analysis of the Event-Method combination.
{"title":"Analyzing terrorist events in Pakistan to support counter-terrorism - Events, methods and targets","authors":"T. Mahmood, K. Rohail","doi":"10.1109/ICRAI.2012.6413383","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413383","url":null,"abstract":"This paper is the second part of our work. In the companion paper, we have highlighted the need to analyze terrorism events in Pakistan, in order to extract patterns which could provide useful information to counter terrorism authorities. We identified two different combinations for our analysis, i.e., “Terrorism Event - Terrorism Target” and “Terrorism Event - Terrorism Method”. In the companion paper, we presented some results for clustering with the Event - Target combination. In this paper, we present the remaining analysis for this combination, along with the complete analysis of the Event-Method combination.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117174501","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413400
M. Nagrial, J. Rizk, A. Hellany
Magnetic gears can offer many advantages such as improved reliability, overload protection and physical isolation and non-contact transmission. Rare-Earth permanent magnets have been employed in the design of magnetic gears. This paper deals with the use of rare-earth magnets in the design of magnet gears. The paper describes analysis, design of magnetic gears and their performance.
{"title":"Design and performance of magnetic gears using rare-earth permanent magnets","authors":"M. Nagrial, J. Rizk, A. Hellany","doi":"10.1109/ICRAI.2012.6413400","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413400","url":null,"abstract":"Magnetic gears can offer many advantages such as improved reliability, overload protection and physical isolation and non-contact transmission. Rare-Earth permanent magnets have been employed in the design of magnetic gears. This paper deals with the use of rare-earth magnets in the design of magnet gears. The paper describes analysis, design of magnetic gears and their performance.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129324219","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}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413410
K. Naveed, J. Iqbal, Habib ur Rehman
This Paper emphasizes on the ever increasing need of better communication medium between a human and a robot in order to control it precisely. Brain Computer Interface (BCI) is the most suitable mean of communication between them, especially for the rehabilitation of disabled people and for accomplishment of sophisticated tasks like surgery, rehabilitation and operations etc. This paper in depth reviews the state of-the-art of BCI systems for robotics which can be named as Brain Robot Interface (BRI). Various BRIs reported in the literature have been presented by categorizing them. The past, present and future of the subject area has been discussed in detail. Finally, the paper comments on contribution of BCI in the area of robotics.
{"title":"Brain controlled human robot interface","authors":"K. Naveed, J. Iqbal, Habib ur Rehman","doi":"10.1109/ICRAI.2012.6413410","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413410","url":null,"abstract":"This Paper emphasizes on the ever increasing need of better communication medium between a human and a robot in order to control it precisely. Brain Computer Interface (BCI) is the most suitable mean of communication between them, especially for the rehabilitation of disabled people and for accomplishment of sophisticated tasks like surgery, rehabilitation and operations etc. This paper in depth reviews the state of-the-art of BCI systems for robotics which can be named as Brain Robot Interface (BRI). Various BRIs reported in the literature have been presented by categorizing them. The past, present and future of the subject area has been discussed in detail. Finally, the paper comments on contribution of BCI in the area of robotics.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127699497","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}
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