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Hand motor control is quite complex and measurement of hand kinematics is therefore of high interest in many fields. A new measurement system based on miniature inertial and magnetic sensors, the PowerGlove, has been developed. In the near future, the PowerGlove will be applied to study finger interdependency in healthy elderly and to objectively quantify hand motor symptoms in Parkinson's disease...
This paper firstly introduces the research status of gradient projection method (GPM) of redundant manipulator, then presents a 7-DOF (degree of freedom) redundant manipulator composes of a 3-DOF shoulder joint, a 1-DOF elbow joint, and a 3-DOF wrist joint. Different from many other 7-DOF redundant manipulators, shoulder and wrist joints of the manipulator presented in paper are not spherical joints...
For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper,...
This paper presents Security Constraint Unit Commitment (SCUC) backup plan considering single contingency. The proposed method leads solution to obtain optimal units and reserve schedule. In equivalent linear expression of the problem, shedding costs are used to avoid divergence and resolve congestion problem. Obtained load shedding in contingency case are utilized to achieve an optimal reserve requirements...
It is known that human controls muscles for hand poses in a coordinated manner and the coordination is referred to as a postural synergy. Using postural synergies, dexterous grasping tasks could be accomplished on a prosthetic hand via only a few (usually two) control inputs. Instead of implementing postural synergies digitally, this paper presents the design of a simple continuum mechanism for implementing...
When we touch a human body, the flesh yields to our touch and we feel a sensation of softness. In virtual training systems for medical procedures such as palpation, the display of softness at the fingertips is essential. This paper proposes a softness-display device using a flexible sheet, and we present the concept of softness display at multiple fingers by combining the developed softness-display...
This work aims to extend the application field of the constraint-based control framework called iTaSC (instantaneous task specification using constraints) toward manipulation tasks. iTaSC offers two advantages with respect to other methods: the ability to specify tasks in different spaces (and not only in Cartesian coordinates as for the Task Frame Formalism), and the treatment of geometric uncertainties...
This paper designs a new five-fingered robotic hand with a camera. Several morphological features of the human hand are integrated to improve the appearance of the hand. The drive system of this hand is under-actuated to eliminate the weight of the hand and to embed all the actuators inside the palm. Despite of this under-actuation, this hand can grasp objects in several different ways. In addition,...
In this paper, a scheme based on 1-D nested lattice quantization followed by multi-level distributed arithmetic coding (MLDAC) as the Slepian-Wolf (SW) code is proposed for the lossy source coding of continuous sources. This system can be employed in distributed video and image coding applications. The output of the quantizer is first converted to binary, and then the SW coding is applied on each...
A leg extender exoskeleton is very useful when doing work involving tall shelves, looking around for security, etc. Therefore, we developed an exoskeleton with an active ankle joint. Its weight is approximately 12 kg and it extends the leg length by 40 cm. The operational feeling of exoskeleton may depend on the link length configuration. In this pager, the Linearity Index is introduced to realize...
Efficient delivery of video sequences over best effort networks is challenged by delay variations and packet losses which occur due to congestion at intermediate routers in addition to the stringent quality of service (QoS) requirements of video applications. In this paper, we propose a joint path diversity and priority-based queuing scheme for video streaming over best effort networks like the Internet...
This paper proposes an efficient detection of absolute robot arm position using dual incremental encoders. We considers a robot joint comprising a motor, a reducer, two encoder, and motor driver. An incremental(first) encoder provides motor rotor position or input position of reducer while another incremental(second) encoder does output position of reducer. A table is made where a relationship between...
Non-contiguous OFDM is a promising technique for cognitive radio systems. Nevertheless, the sidelobes of the OFDM-modulated tones cause the out-of-band power (OBP) which can induce large interference to the incumbent communication systems. Another major drawback of OFDM-based systems is the high peak-to-average power ratio (PAPR). In this paper, two algorithms are proposed to jointly reduce the OBP...
This paper considers a three-echelon supply chain inventory problem consisting of single manufacturer, distributor and retailer. In the system under discussion, the manufacturer produces a product and supplies it to the distributor and it is also allowed to direct shipping to supplier facing a deterministic demand but the time span of delivery is relatively short. We develop some scenario to accommodate...
Dynamic manipulation of flexible objects is needed for factory automation and in the food industry. In this paper, as one example of dynamic manipulation, we focus on a thin, circular, flexible object, and we propose an entirely new strategy for rotating and holding such an object. We confirmed the feasibility of this manipulation with the proposed method through simulations. We implemented the proposed...
Exoskeleton manipulators are used for different applications in robotic field. Human motion is highly complicated and flexible; therefore obtain human like motion from exoskeleton manipulator becomes a challenge to researches in this field. This paper presents an improvement of dexterity measure as a result of adding redundancy to upper limb exoskeleton manipulator. Proposed manipulator has four degree...
High Efficiency Video Coding (HEVC) has recently been standardized with a significant improvement of coding efficiency compared to its preceding video coding standards. To achieve high coding efficiency improvements, HEVC adopts deeper hierarchical block coding structures of coding unit (CU), prediction unit (PU) and transform unit (TU), to better adapt the complex texture and motion natures of various...
In this paper, we present a novel electronic health records (EMR) retrieval system that helps to reduce manual in work in cohort identification. Our system effectively uses medical domain knowledge to enhance retrieval performance. In particular, our system first maps raw text of EMR and EMR queries from the text space to concept unique identifiers in the medical concept space, and then searches in...
Partitioning data into a finite number of k homogenous and separate clusters (groups) without use of prior knowledge is carried out by some unsupervised partitioning algorithm like the k-means clustering algorithm. To evaluate these resultant clusters for finding optimal number of clusters, properties such as cluster density, size, shape and separability are typically examined by some cluster validation...
In this paper, we investigate the risk dependence structure problem of the rate of return series in China stock market between Shanghai Shenzhen 300 index and the portfolio index of ETFs using mixture copula approach. The portfolio index of ETFs is formulated through a combination of Shanghai 180 ETF, Shanghai 50 ETF and Shenzhen 100 ETF. Five elementary copulas family are used to construct the mixture...
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