Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915692
Sumit Aole, I. Elamvazuthi, Laxman Waghmare, B. Patre, Tushar Bhaskarwar, Tindyo Prasetyo
Exoskeletons are developed to ease the process of rehabilitation by helping in the recovery of muscle strength and dysfunctional activities after mishaps, accidents, and spinal cord injuries. The intention of this paper is to present an Active Disturbance Rejection Control technique applied to Upper limb robotic rehabilitation exoskeletons that reinforced the rehabilitation process. The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.
{"title":"ADRC for Upper Limb Exoskeleton: A Simulation Study","authors":"Sumit Aole, I. Elamvazuthi, Laxman Waghmare, B. Patre, Tushar Bhaskarwar, Tindyo Prasetyo","doi":"10.1109/ROMA55875.2022.9915692","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915692","url":null,"abstract":"Exoskeletons are developed to ease the process of rehabilitation by helping in the recovery of muscle strength and dysfunctional activities after mishaps, accidents, and spinal cord injuries. The intention of this paper is to present an Active Disturbance Rejection Control technique applied to Upper limb robotic rehabilitation exoskeletons that reinforced the rehabilitation process. The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131342237","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 : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915672
Khairunnisa Johar, N. Zakaria, F. A. Hanapiah, N. M. Hashim, Nurul Atiqah Othman, C. Y. Low, J. Yee
Objective: To quantify range of velocity dependent and range of time during slow and fast stretch of upper limb spasticity assessment using Modified Ashworth Scale (MAS). Methods: This study involved 53 patients with upper limb spasticity from MAS 0,1,1+ and 2 and with two raters. The wireless electro goniometer sensor is used to measure angle attached onto the patient’s arm. From the measured of angle value, value of velocity and acceleration were calculated. The assessment is done by manually, where the examiner does three slow stretches and three fast stretches consecutively upon the patient’s forearm. The differences in time and velocity between slow and fast stretch is evaluated and compared inter-rater to prove the hypothesis. Results: There is significant different inter-rater, average maximum velocities during slow and fast stretch were $61.4181 pm 23.5910^{circ}/mathrm{s}$ and $336.1577pm 72.4637circ/mathrm{s}$, respectively (mean ± SD). For the MAS level situation, there is no significant different on velocity value. In addition, range of time during slow stretch is 0.5s to 5.3s and for the fast stretch is 0.1s to 0.7s. Conclusions: The velocity value of the slow and fast stretch had a significant effect on the inter-rater but the pattern of acceleration value is highly dependent on the velocity. Different situation with MAS level, the velocity of slow and fast stretch had no significant effect.
{"title":"Velocity-Dependent Analysis During Spasticity Assessment","authors":"Khairunnisa Johar, N. Zakaria, F. A. Hanapiah, N. M. Hashim, Nurul Atiqah Othman, C. Y. Low, J. Yee","doi":"10.1109/ROMA55875.2022.9915672","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915672","url":null,"abstract":"Objective: To quantify range of velocity dependent and range of time during slow and fast stretch of upper limb spasticity assessment using Modified Ashworth Scale (MAS). Methods: This study involved 53 patients with upper limb spasticity from MAS 0,1,1+ and 2 and with two raters. The wireless electro goniometer sensor is used to measure angle attached onto the patient’s arm. From the measured of angle value, value of velocity and acceleration were calculated. The assessment is done by manually, where the examiner does three slow stretches and three fast stretches consecutively upon the patient’s forearm. The differences in time and velocity between slow and fast stretch is evaluated and compared inter-rater to prove the hypothesis. Results: There is significant different inter-rater, average maximum velocities during slow and fast stretch were $61.4181 pm 23.5910^{circ}/mathrm{s}$ and $336.1577pm 72.4637circ/mathrm{s}$, respectively (mean ± SD). For the MAS level situation, there is no significant different on velocity value. In addition, range of time during slow stretch is 0.5s to 5.3s and for the fast stretch is 0.1s to 0.7s. Conclusions: The velocity value of the slow and fast stretch had a significant effect on the inter-rater but the pattern of acceleration value is highly dependent on the velocity. Different situation with MAS level, the velocity of slow and fast stretch had no significant effect.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"209 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122433259","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 : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915663
Kai Jie Lim, L. W. Chong, S. Morris, Boon-Han Lim, M. Fahmi, C. Palanichamy
In a battery storage based standalone PV system, lifespan of battery is usually short due to irregular charging pattern and frequent deep charging cycles. This project proposes a rule-based control strategy with mean-average filter for standalone LAB and SC. Also, the battery lifetime is estimated using rain-flow counting battery lifetime model to calculate life-cycle cost of proposed HESS included initial cost and replacement cost of LAB and SC. The results highlights that the proposed system effectively extend lead-acid battery lifetime by 14.8% from 3.25 years to 3.73 years. However, this study also reveals that the proposed HESS is 5.36% more expensive than the conventional standalone system lead-acid battery in term of life-cycle cost.
{"title":"Battery Lifetime And Life Cycle Cost Analysis Of Battery-Supercapacitor Hybrid Energy Storage System For Standalone Power System","authors":"Kai Jie Lim, L. W. Chong, S. Morris, Boon-Han Lim, M. Fahmi, C. Palanichamy","doi":"10.1109/ROMA55875.2022.9915663","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915663","url":null,"abstract":"In a battery storage based standalone PV system, lifespan of battery is usually short due to irregular charging pattern and frequent deep charging cycles. This project proposes a rule-based control strategy with mean-average filter for standalone LAB and SC. Also, the battery lifetime is estimated using rain-flow counting battery lifetime model to calculate life-cycle cost of proposed HESS included initial cost and replacement cost of LAB and SC. The results highlights that the proposed system effectively extend lead-acid battery lifetime by 14.8% from 3.25 years to 3.73 years. However, this study also reveals that the proposed HESS is 5.36% more expensive than the conventional standalone system lead-acid battery in term of life-cycle cost.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"203 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123321541","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 : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915659
M. F. Yahya, A. A. Yusof, M. Nor, M. F. Miskon
Quadrotor operates on a limited amount of battery capacity. To overcome this limitation, docking is required so that the quadrotor is able to recharge the battery to full capacity. One of the ways to achieve docking is by means of visual servoing. Some of the commonly used visual servoing methods are position-based visual servoing (PBVS) and image-based visual servoing (IBVS). However, these methods stop working when there is no resemblance of target features between acquired image and desired image. Such problem arises when the target features from acquired image are out of image plane or disoriented due to quadrotor’s skewed position or appeared to be disfigured due to bad weather conditions. To solve this problem, a switching reference IBVS method is proposed in this study. The underlying concept of the proposed method is to switch the desired target features to match the currently acquired target features. During simulation, the proposed method is robust under the effect of missing target features.
{"title":"Switching Reference Image-Based Visual Servoing of Quadrotor for Homing and Docking on the Wall","authors":"M. F. Yahya, A. A. Yusof, M. Nor, M. F. Miskon","doi":"10.1109/ROMA55875.2022.9915659","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915659","url":null,"abstract":"Quadrotor operates on a limited amount of battery capacity. To overcome this limitation, docking is required so that the quadrotor is able to recharge the battery to full capacity. One of the ways to achieve docking is by means of visual servoing. Some of the commonly used visual servoing methods are position-based visual servoing (PBVS) and image-based visual servoing (IBVS). However, these methods stop working when there is no resemblance of target features between acquired image and desired image. Such problem arises when the target features from acquired image are out of image plane or disoriented due to quadrotor’s skewed position or appeared to be disfigured due to bad weather conditions. To solve this problem, a switching reference IBVS method is proposed in this study. The underlying concept of the proposed method is to switch the desired target features to match the currently acquired target features. During simulation, the proposed method is robust under the effect of missing target features.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129095954","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 : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915701
Syed Saad Azhar Ali, Y. Hafeez, Tajol Ariffin, Syed Hasan Adil, H. Amin, Tang Tong Boon
Neurofeedback training has various therapeutic effects to mitigate the mental illness such as stress, anxiety, and depression. Neurofeedback is a non-invasive self-training of brain with the help of auditory or visual input stimulus. The enhancement to neurofeedback stimulus content can help to improve the efficacy of neurofeedback training. Therefore, in this study, the game stimulus content is enhanced to find the effect of enhanced parameters towards the efficacy of neurofeedback. The enhanced parameters include the changing of background, colour contrast, and background music. The neurofeedback training sessions are performed to mitigate the stress among university students. The electroencephalogram (EEG) data is recorded and feedback from the participants are also taken. The graphical and statistical analysis of the results of the neurofeedback training using alpha asymmetry show the effectiveness of neurofeedback towards mitigation of stress.
{"title":"Effect of Enhanced Neurofeedback Stimulus Content on Frontal Alpha Asymmetry","authors":"Syed Saad Azhar Ali, Y. Hafeez, Tajol Ariffin, Syed Hasan Adil, H. Amin, Tang Tong Boon","doi":"10.1109/ROMA55875.2022.9915701","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915701","url":null,"abstract":"Neurofeedback training has various therapeutic effects to mitigate the mental illness such as stress, anxiety, and depression. Neurofeedback is a non-invasive self-training of brain with the help of auditory or visual input stimulus. The enhancement to neurofeedback stimulus content can help to improve the efficacy of neurofeedback training. Therefore, in this study, the game stimulus content is enhanced to find the effect of enhanced parameters towards the efficacy of neurofeedback. The enhanced parameters include the changing of background, colour contrast, and background music. The neurofeedback training sessions are performed to mitigate the stress among university students. The electroencephalogram (EEG) data is recorded and feedback from the participants are also taken. The graphical and statistical analysis of the results of the neurofeedback training using alpha asymmetry show the effectiveness of neurofeedback towards mitigation of stress.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131182520","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 : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915694
Nik Amalia Nadirah Binti Nik Rashidi, L. I. Izhar, P. Sebastian, I. Elamvazuthi, S. Idris
Stress is a major problem among university students due to the circumstances from internal as well as external such as relationship problems, low self-confidence, and academic pressure. We administered self-report questionnaires and acquired peripheral physiological signals to observe the effectiveness of a brief mindfulness-based intervention (MI) in improving relaxation and thus reducing stress. It was found that skin conductance (SC) showed significant change with p=0.0016 after MI unlike blood volume pulse (BVP) and respiratory rate (RR), even though both were found to be slightly better than that before MI during the resting states and Stroop Task. SC can thus be a potential indicator for the effectiveness of MI in helping the student subjects to cope with stress better and to improve their relaxation and attention levels.
{"title":"Effectiveness of Brief Mindfulness-based Intervention among Students with High Neuroticism based on Peripheral Physiological Data: A Preliminary Study","authors":"Nik Amalia Nadirah Binti Nik Rashidi, L. I. Izhar, P. Sebastian, I. Elamvazuthi, S. Idris","doi":"10.1109/ROMA55875.2022.9915694","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915694","url":null,"abstract":"Stress is a major problem among university students due to the circumstances from internal as well as external such as relationship problems, low self-confidence, and academic pressure. We administered self-report questionnaires and acquired peripheral physiological signals to observe the effectiveness of a brief mindfulness-based intervention (MI) in improving relaxation and thus reducing stress. It was found that skin conductance (SC) showed significant change with p=0.0016 after MI unlike blood volume pulse (BVP) and respiratory rate (RR), even though both were found to be slightly better than that before MI during the resting states and Stroop Task. SC can thus be a potential indicator for the effectiveness of MI in helping the student subjects to cope with stress better and to improve their relaxation and attention levels.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116949213","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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