Advanced Materials Research Vol. 902

Abstract: In this paper, we present a virtual prototype for a Upper-Limb Rehabilitation Robotic System is review, where the conflict of stability for a non-linear system its implemented, using as a model a double inverted pendulum and its response in Matlab - SimMechanics. It demonstrates the ability and ease of using new computerized tools where simulation and modeling of a system becomes an important utility to understand control concepts and carry them out in a controlled environment, it also can be of great help ensuring the complete characterization of a system, in which it can also result in experimental results. A soft trajectory follower PID controller is implemented to provide individual rehabilitation movements in a 2 DoF robotic system.

Abstract: With the combination of the extension method and multi-agent, the assemble process of the motor and its subassembly was analyzed to build the corresponding Agent and multi-Agent System model; The architecture of the flexible assembly line was established based on the established model. Finally, with the technology of fieldbus and industrial control, a flexible assembly line control system was developed based on the Profibus-DP and it provided the effective solution for the combination of theory and practical application and the applicable model for the establishment of the architecture of the flexible assembly line.

Abstract: Double Inverted pendulum as an important object of study on robotics and aviation field, is also a major platform for teaching and scientific research.Usually double Inverted pendulum modeling is usually will be linearized processing system, ignoring the effect of the angle of system. But the realization of double inverted pendulum is a nonlinear system, the angle affect the stability control. From the actual situation of double Inverted pendulum motion, double Inverted pendulum system of the input space is divided into 9 sub-space, by T-S fuzzy and feedback gain matrix to select the corresponding state equation, making the system more close to its dynamic performance. The multi mode adaptive control and T-S fuzzy method of combining the successful implementation of double inverted pendulum system simulation and real-time control.The number of rules they use far less than Mamdani fuzzy, but also successfully resolved the fuzzy control algorithm due to the presence of multiple variables and the resulting "rule explosion problem".

Abstract: A magnetic localization and orientation system is used to track the movement of the capsule endoscope during the gastrointestinal examination process. The system is made of a magnetic sensors array collecting the intensity of the magnetic field from a magnet in the capsule. In this paper, we try to optimize the sensor arrangement of wearable model that likes elliptical cylinder around the human body, to improve the tracking precision. Different sensor arrangement schemes are evaluated, and the tracking accuracy can be significantly increased with the appropriate arrangement. In addition, we presented a real time localization algorithm to compute uncertain 3D locus for estimating the tracing performance of the capsule.

Abstract: In light of the integrated control of language, music and motion rhythm by human brain, the paper proposes a preliminary scheme to overcome a long-standing obstacle in the design paradigm of contemporary intelligent robot, i.e., by employing a set of simulated rhythm sensing systems and without changing the hard drive capacity, it offers a solution to the contradiction between synchronization of perception, planning and execution and excessive calculation task, thus fulfilling the long dream of "bottleneck breaking through"

Abstract: By the need of graphical analyzing and sharing about statistical data, drawing of statistic chart based on .net is studied. In all kinds of methods, the chart based on OWC component is widely favored by the developers, and it mainly focused on the implementation steps. But in most of the researches, data is directly bound with the program, and it reduces the reusability of the program, causing a great deal of redundancy. Therefore, general class of statistical chart based on OWC is developed based on .Net, which implements the separation of data and drawing. In addition, by using the AJAX technique, condition setting according to need is provided without refreshing the page, which improves the running speed of program.

Abstract: The traditional task allocation method is applied in the certain environments that the relationships between tasks and the execution abilities of agents are determined. This paper analyses the uncertain factors caused by uncertain environments. These factors exist in the process of task decomposition and execution, such as the uncertainty of tasks, their relationships and agents execution. Then an uncertain task allocation method based on genetic algorithm is presented. According to the structure of the decomposition tree, this paper puts forward a probabilistic reasoning algorithm for calculating fitness. To the end, an example is given to illustrate the effectiveness of fitness calculation algorithm.

Abstract: Microscopic image sharpness metric is very sensitive to illumination changes, so the research of sharpness metric methods which have better robustness to illumination is required. A new method which utilized the specialty of different orientation of Local Binary Pattern (LBP) is proposed. Firstly, the effective information and judge orientation of them at fixed region of the image is extracted. Secondly, different connected pattern is adopted to deal with different orientation region and the most robust LBP image is gotten. Finally, the sharpness metric is measured from the LBP image. The experiment results show that this method can inhibit the influence of illumination to microscopic image sharpness metric, and the stability can be improved by 83.89% averagely and 99.90% maximum.

Abstract: As a conventional signal denoising method, wavelet thresholding denoising has problems including selection of basis vectors and poor denoising effect. EMD is an expansion of basis functions that are signal-dependent, but with the problem of mode mixing. In order to solve these problems, a denoising method based on EEMD and interval-thresholding strategy, an adaptive signal processing method is proposed, which can achieve good effects for signal denoising. Firstly, investigated signal is decomposed into IMFs by EEMD adaptively. Then, each IMF is denoising by interval-thresholding method based on sparse code shrinkage. Lastly, the denoised signal is reconstructed by denoised IMFs. Moreover, the presented method is validated by numerical simulation experiment.

Abstract: SVG has good interaction, and its content can be dynamically added or deleted, but the change disappears immediately after the graphic is closed, and cant be saved, which brings more inconvenience to users. In this paper, the dynamic storage of SVG is studied, and the implementation principle is analyzed, then two dynamic SVG storage methods are introduced, which are based on traditional Ajax and based on Ajaxpro respectively. Practice proved that the method base on Ajaxpro, which broke the length limit of transfer parameters and the special character limit in traditional Ajax, has a better prospect.