Pub Date : 2010-05-07DOI: 10.1109/LISAT.2010.5478274
Edward Teaw, Guofeng Hou, Michael Gouzman, K. W. Tang, Amy Kesluk, Matthew Kane, Jason Farrell
With the aging of the baby boomers, it is predicted that the US population over age 65 will grow from its 1999 level of 34.6 million persons to approximately 82 million in 2050, a 137% increase. The most rapid surge in our senior population will take place between 2011 and 2030. During this 19-year interval, seniors will expand from 13% of our population to 22% of our population. In this project, our goal is to design a wireless sensor system, the Health Tracker 2000, that can monitors users' vital signs and notifies relatives and medical personnel of their location during life threatening situations. The Health Tracker 2000 combines wireless sensor networks, existing RFID (radio frequency identification) and vital sign monitoring technology to simultaneously monitor vital signs while keeping track of the users' location. The use of wireless technology makes it possible to install the system in all types of homes and facilities. Radio frequency waves can travel through walls and fabric, sending the vital sign and location information to a central monitoring computer via a miniature transmitter network. Such information can easily be accessed from any location over the Internet.
{"title":"A wireless health monitoring system","authors":"Edward Teaw, Guofeng Hou, Michael Gouzman, K. W. Tang, Amy Kesluk, Matthew Kane, Jason Farrell","doi":"10.1109/LISAT.2010.5478274","DOIUrl":"https://doi.org/10.1109/LISAT.2010.5478274","url":null,"abstract":"With the aging of the baby boomers, it is predicted that the US population over age 65 will grow from its 1999 level of 34.6 million persons to approximately 82 million in 2050, a 137% increase. The most rapid surge in our senior population will take place between 2011 and 2030. During this 19-year interval, seniors will expand from 13% of our population to 22% of our population. In this project, our goal is to design a wireless sensor system, the Health Tracker 2000, that can monitors users' vital signs and notifies relatives and medical personnel of their location during life threatening situations. The Health Tracker 2000 combines wireless sensor networks, existing RFID (radio frequency identification) and vital sign monitoring technology to simultaneously monitor vital signs while keeping track of the users' location. The use of wireless technology makes it possible to install the system in all types of homes and facilities. Radio frequency waves can travel through walls and fabric, sending the vital sign and location information to a central monitoring computer via a miniature transmitter network. Such information can easily be accessed from any location over the Internet.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128080387","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 : 2005-12-01DOI: 10.1109/ICIA.2005.1635150
Yangmin Li, Xin Chen
In case of a group of robots keeping certain shape passing through a special environment, members of the robots must change their relative positions in formation in order to avoid obstacles or to resume a predetermined formation shape after passing by. Due to sensor constraints and communication barrier, the interaction topologies describing interactions among robots maybe change with time. Therefore, to realize formation under sensor constraints, we propose a local control strategy which ensures the formation converge to the predetermined formation pattern even if interaction topologies are dynamic. At last a path planning method using particle swarm optimization is adopted and a navigation strategy for multi-robot formation is proposed and implemented.
{"title":"Leader-formation navigation with sensor constraints","authors":"Yangmin Li, Xin Chen","doi":"10.1109/ICIA.2005.1635150","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635150","url":null,"abstract":"In case of a group of robots keeping certain shape passing through a special environment, members of the robots must change their relative positions in formation in order to avoid obstacles or to resume a predetermined formation shape after passing by. Due to sensor constraints and communication barrier, the interaction topologies describing interactions among robots maybe change with time. Therefore, to realize formation under sensor constraints, we propose a local control strategy which ensures the formation converge to the predetermined formation pattern even if interaction topologies are dynamic. At last a path planning method using particle swarm optimization is adopted and a navigation strategy for multi-robot formation is proposed and implemented.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129883074","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 : 2005-12-01DOI: 10.1109/ICIA.2005.1635047
Aiguo Song, D. Morris, J. Colgate
Haptic exploration of remote object plays an important role in teleoperation system. This paper proposes a novel method to realize the softness display for telemanipulation of soft environment without direct force feedback, which is based on stiffness control of elastic element and damp control of magnetic field. This method can produce softness sensation with wide range from very soft to hard to the human fingertip. And a new control structure for hapticly telemanipulating the soft environment by using the softness display devices is presented, which send dynamics parameters of soft environment identified on line back to the master site instead of direct force feedback. The parameters are used to control the softness display, which can let human operator feel the softness of remote environment when his fingertip jiggles the button of the softness display device.
{"title":"Haptic telemanipulation of soft environment without direct force feedback","authors":"Aiguo Song, D. Morris, J. Colgate","doi":"10.1109/ICIA.2005.1635047","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635047","url":null,"abstract":"Haptic exploration of remote object plays an important role in teleoperation system. This paper proposes a novel method to realize the softness display for telemanipulation of soft environment without direct force feedback, which is based on stiffness control of elastic element and damp control of magnetic field. This method can produce softness sensation with wide range from very soft to hard to the human fingertip. And a new control structure for hapticly telemanipulating the soft environment by using the softness display devices is presented, which send dynamics parameters of soft environment identified on line back to the master site instead of direct force feedback. The parameters are used to control the softness display, which can let human operator feel the softness of remote environment when his fingertip jiggles the button of the softness display device.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121124349","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 : 2005-06-01DOI: 10.1109/ICIA.2005.1635072
Huiyu Zhou, Huosheng Hu
A new motion tracking framework has been developed to estimate the position and orientation of human upper limb. This method fuses data from on-board accelerometers and gyroscopes, which are accommodated in a commercially available inertial sensor MT9. Human upper limb motion can be represented by a kinematic chain in which six joint variables are to be considered: three for the shoulder and three for the elbow. Based on measurements of the inertial sensor placed on the wrist, we then obtain the positions of the wrist and elbow. An extended Kalman filter then fuses the data from these sensors in order to reduce errors and noise in measurements. Preliminary results demonstrate the favorable performance of the proposed strategy.
{"title":"Kinematic model aided inertial motion tracking of human upper limb","authors":"Huiyu Zhou, Huosheng Hu","doi":"10.1109/ICIA.2005.1635072","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635072","url":null,"abstract":"A new motion tracking framework has been developed to estimate the position and orientation of human upper limb. This method fuses data from on-board accelerometers and gyroscopes, which are accommodated in a commercially available inertial sensor MT9. Human upper limb motion can be represented by a kinematic chain in which six joint variables are to be considered: three for the shoulder and three for the elbow. Based on measurements of the inertial sensor placed on the wrist, we then obtain the positions of the wrist and elbow. An extended Kalman filter then fuses the data from these sensors in order to reduce errors and noise in measurements. Preliminary results demonstrate the favorable performance of the proposed strategy.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123267130","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 : 2005-06-01DOI: 10.1109/ICIA.2005.1635045
Yi Zhang, Hai Hu, H. Zhou
During the rehabilitation process, the movements of the post-stroke patients need to be localized and learned so that incorrect movements can be instantly identified and modified. This is vital and necessary for patients to recover and improve their mobility toward normal life. This paper presents an adaptive Kalman filter algorithm for position estimation of patients' movements. In order to improve the performance of dynamic performance of the filter, a modified adaptive filtering algorithm is investigated. The feasibility and efficiency of the proposed adaptive algorithm is verified by simulation results.
{"title":"Study on adaptive Kalman filtering algorithms in human movement tracking","authors":"Yi Zhang, Hai Hu, H. Zhou","doi":"10.1109/ICIA.2005.1635045","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635045","url":null,"abstract":"During the rehabilitation process, the movements of the post-stroke patients need to be localized and learned so that incorrect movements can be instantly identified and modified. This is vital and necessary for patients to recover and improve their mobility toward normal life. This paper presents an adaptive Kalman filter algorithm for position estimation of patients' movements. In order to improve the performance of dynamic performance of the filter, a modified adaptive filtering algorithm is investigated. The feasibility and efficiency of the proposed adaptive algorithm is verified by simulation results.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"181 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126012537","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 : 1900-01-01DOI: 10.1109/ICIA.2005.1635145
Weimin Zhang, Qiang Huang, Peng Du, Jianxi Li, Kejie Li
Humanoid robots are expected to take an important role in human daily environments such as offices, homes and hospitals. The flexibility of the humanoid motion is a fundamental requirement for human-robot interaction. In this paper, a compliance control for humanoid grasping objects is proposed. The force/torque of the end-effector is measured by a 6-axis force sensor located at the wrist. Using the proposed method, it is possible for the humanoid robot to grasp the object with a small interference force and keeping the desired hand's posture. The effectiveness of the proposed method is illustrated through the experiment of object grasping.
{"title":"Compliance control of a humanoid arm based on force feedback","authors":"Weimin Zhang, Qiang Huang, Peng Du, Jianxi Li, Kejie Li","doi":"10.1109/ICIA.2005.1635145","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635145","url":null,"abstract":"Humanoid robots are expected to take an important role in human daily environments such as offices, homes and hospitals. The flexibility of the humanoid motion is a fundamental requirement for human-robot interaction. In this paper, a compliance control for humanoid grasping objects is proposed. The force/torque of the end-effector is measured by a 6-axis force sensor located at the wrist. Using the proposed method, it is possible for the humanoid robot to grasp the object with a small interference force and keeping the desired hand's posture. The effectiveness of the proposed method is illustrated through the experiment of object grasping.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121817305","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 : 1900-01-01DOI: 10.1109/ICIA.2005.1635064
Junjie Chen, Weiyi Huang, Aiguo Song
A new design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is simply described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.
{"title":"Design of new research platform of telepresence telerobot system","authors":"Junjie Chen, Weiyi Huang, Aiguo Song","doi":"10.1109/ICIA.2005.1635064","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635064","url":null,"abstract":"A new design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is simply described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117234827","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 : 1900-01-01DOI: 10.1109/ICIA.2005.1635103
Li Wenqing, Zhang Tianshu, Gao Minguang, Xu Liang
This article describes the experiment of airborne Fourier transform infrared (FTIR) spectrometer detecting the background radiation of earth and atmosphere. Considering the atmospheric absorbance and emission, the relation between radiation measured by FTIR and surface emissivity was analysed and theoretic expression was given. It was proved that the background radiation lie on four parameters. Measured spectra which collected under various conditions were analysed and spectral characters of background radiation were described.
{"title":"The measurement of infrared radiation of Earth and atmosphere by airborne FTIR spectrometer","authors":"Li Wenqing, Zhang Tianshu, Gao Minguang, Xu Liang","doi":"10.1109/ICIA.2005.1635103","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635103","url":null,"abstract":"This article describes the experiment of airborne Fourier transform infrared (FTIR) spectrometer detecting the background radiation of earth and atmosphere. Considering the atmospheric absorbance and emission, the relation between radiation measured by FTIR and surface emissivity was analysed and theoretic expression was given. It was proved that the background radiation lie on four parameters. Measured spectra which collected under various conditions were analysed and spectral characters of background radiation were described.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"29 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120860446","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 : 1900-01-01DOI: 10.1109/ICIA.2005.1635093
Paolo Dario, M. Carrozza, Lucia Beccai, C. Laschi, Barbara Mazzolai, A. Menciassi, S. Micera
The aim of this paper is to discuss an ideal design procedure for biologically-inspired artificial sensors. The main steps of this procedure are the following: (1) analysis of force and position sensors in animals and humans; (2) design and implementation of biologically-inspired sensors in innovative biorobotic and biomechatronic systems (e.g., antropomorphic robots, animaloids, and prostheses). According to this sequence, the first part of the paper is dedicated to the presentation of some features of force and motion sensors in animals and humans. Then, some applications of biologically-inspired systems to sense force and position in different robots are illustrated and discussed.
{"title":"Design, fabrication and applications of biomimetic sensors in biorobotics","authors":"Paolo Dario, M. Carrozza, Lucia Beccai, C. Laschi, Barbara Mazzolai, A. Menciassi, S. Micera","doi":"10.1109/ICIA.2005.1635093","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635093","url":null,"abstract":"The aim of this paper is to discuss an ideal design procedure for biologically-inspired artificial sensors. The main steps of this procedure are the following: (1) analysis of force and position sensors in animals and humans; (2) design and implementation of biologically-inspired sensors in innovative biorobotic and biomechatronic systems (e.g., antropomorphic robots, animaloids, and prostheses). According to this sequence, the first part of the paper is dedicated to the presentation of some features of force and motion sensors in animals and humans. Then, some applications of biologically-inspired systems to sense force and position in different robots are illustrated and discussed.","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126830619","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 : 1900-01-01DOI: 10.1109/ICIA.2005.1635142
Changjiang Zhang, Jinshan Wang, Xiaodong Wang
Employing discrete stationary wavelet transform (DSWT) and generalized cross validation (GCV), an efficient denoising algorithm for infrared image is proposed. Asymptotical optimal threshold can be obtained, without knowing the variance of noise, only employing the known input image data. Having implemented DSWT to an infrared image, additive Gauss white noise (AGWN), 1/f noise and multiplicative noise (MN) can be suppressed efficiently in the high frequency sub-bands of each decomposition level respectively. Experimental results show that the new algorithm can reduce efficiently the AGWN and 1/f noise in the infrared image while keeps the detail information of targets well. In performance index and visual quality, the new algorithm is more excellent than the de-noising algorithm based on discrete orthogonal wavelet transform (DOWT) and the conditional median value filter (MVF).
{"title":"An efficient de-noising algorithm for infrared image","authors":"Changjiang Zhang, Jinshan Wang, Xiaodong Wang","doi":"10.1109/ICIA.2005.1635142","DOIUrl":"https://doi.org/10.1109/ICIA.2005.1635142","url":null,"abstract":"Employing discrete stationary wavelet transform (DSWT) and generalized cross validation (GCV), an efficient denoising algorithm for infrared image is proposed. Asymptotical optimal threshold can be obtained, without knowing the variance of noise, only employing the known input image data. Having implemented DSWT to an infrared image, additive Gauss white noise (AGWN), 1/f noise and multiplicative noise (MN) can be suppressed efficiently in the high frequency sub-bands of each decomposition level respectively. Experimental results show that the new algorithm can reduce efficiently the AGWN and 1/f noise in the infrared image while keeps the detail information of targets well. In performance index and visual quality, the new algorithm is more excellent than the de-noising algorithm based on discrete orthogonal wavelet transform (DOWT) and the conditional median value filter (MVF).","PeriodicalId":136611,"journal":{"name":"2005 IEEE International Conference on Information Acquisition","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122452233","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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