A five-fingered underactuated prosthetic hand controlled by surface EMG (electromyographic) signals is presented in this paper. The prosthetic hand was designed with simplicity, lightweight and dexterity on the requir...A five-fingered underactuated prosthetic hand controlled by surface EMG (electromyographic) signals is presented in this paper. The prosthetic hand was designed with simplicity, lightweight and dexterity on the requirement of anthropomorphic hands. Underactuated self-adaptive theory was adopted to decrease the number of motors and weight. The control part of the prosthetic hand was based on a surface EMG motion pattern classifier which combines LM-based (Levenberg-Marquardt) neural network with the parametric AR (autoregressive) model. This motion pattern classifier can successfully identify the flexions of the thumb, the index finger and the middle finger by measuring the surface EMG signals through two electrodes mounted on the flexor digitorum profundus and flexor pollicis longus. Furthermore, via continuously controlling a single finger's motion, the five-fingered underactuated prosthetic hand can achieve more prehensile postures such as power grasp, centralized grip, fingertip grasp, cylindrical grasp, etc. The experimental results show that the classifier has a great potential application to the control of bionic man-machine systems because of its fast learning speed, high recognition capability and strong robustness.展开更多
According to the characteristics of dynamic firing in pulse coupled neural network (PCNN) and regional configuration in retinal blood vessel network, a new method combined with simplified PCNN and fast 2D-Otsu algorit...According to the characteristics of dynamic firing in pulse coupled neural network (PCNN) and regional configuration in retinal blood vessel network, a new method combined with simplified PCNN and fast 2D-Otsu algorithm was proposed for automated retinal blood vessels segmentation. Firstly, 2D Gaussian matched filter was used to enhance the retinal images and simplified PCNN was employed to segment the blood vessels by firing neighborhood neurons. Then, fast 2D-Otsu algorithm was introduced to search the best segmentation results and iteration times with less computation time. Finally, the whole vessel network was obtained via analyzing the regional connectivity. Experiments implemented on the public Hoover database indicate that this new method gets a 0.803 5 true positive rate and a 0.028 0 false positive rate on an average. According to the test results, compared with Hoover algorithm and method of PCNN and 1D-Otsu, the proposed method shows much better performance.展开更多
A nonlinear model predictive control problem based on pseudo-linear neural network (PNN) is discussed, in which the second order on-line optimization method is adopted. The recursive computation of Jacobian matrix is ...A nonlinear model predictive control problem based on pseudo-linear neural network (PNN) is discussed, in which the second order on-line optimization method is adopted. The recursive computation of Jacobian matrix is investigated. The stability of the closed loop model predictive control system is analyzed based on Lyapunov theory to obtain the sufficient condition for the asymptotical stability of the neural predictive control system. A simulation was carried out for an exothermic first-order reaction in a continuous stirred tank reactor.It is demonstrated that the proposed control strategy is applicable to some of nonlinear systems.展开更多
Retinal degenerative diseases may induce the degeneration of outer retina and in turn,blindness.Nevertheless,due to the maintenance of inner retina,the coding and processing of visual neurons responses are still able ...Retinal degenerative diseases may induce the degeneration of outer retina and in turn,blindness.Nevertheless,due to the maintenance of inner retina,the coding and processing of visual neurons responses are still able to be executed naturally.Therefore,an effective retinal prosthesis device may be developed by mimicking the function of outer retina:transferring the visual light into artificial stimulus and delivering the stimulus to the retina aiming to evoke the neural responses.As two main developing directions for current retinal prosthesis,epiretinal(ER)and subretinal(SR)prosthesis are both undergoing experimental stage and possessing advantages and limitations.Further investigations in power supply,biocompatibility,etc.are still required.Additionally,suprachoroidal transretinal stimulation(STS)and neurotransmitter-induced stimulation as some other alternatives in retinal prosthesis are also considered as promising research directions,although they are not mature enough to be applied commercially,either.展开更多
This paper obtains the 1-soliton solution by the ansatz method for the proposed model that governs the propagation of solitons through the neurons. This model is an improved one that describes the solitons in neurosci...This paper obtains the 1-soliton solution by the ansatz method for the proposed model that governs the propagation of solitons through the neurons. This model is an improved one that describes the solitons in neurosciences more accurately. The ansatz method is applied to obtain the 1-soliton solution to the model. The Lie symmetry analysis is subsequently applied to obtain the conservation laws for the model.展开更多
基金the National Natural Science Foundation of China (Grant No. 50435040)Development Programfor Outstanding Young Teachers in Har-bin Institute of Technology(Grant No. HITQNJS.2007.011)
文摘A five-fingered underactuated prosthetic hand controlled by surface EMG (electromyographic) signals is presented in this paper. The prosthetic hand was designed with simplicity, lightweight and dexterity on the requirement of anthropomorphic hands. Underactuated self-adaptive theory was adopted to decrease the number of motors and weight. The control part of the prosthetic hand was based on a surface EMG motion pattern classifier which combines LM-based (Levenberg-Marquardt) neural network with the parametric AR (autoregressive) model. This motion pattern classifier can successfully identify the flexions of the thumb, the index finger and the middle finger by measuring the surface EMG signals through two electrodes mounted on the flexor digitorum profundus and flexor pollicis longus. Furthermore, via continuously controlling a single finger's motion, the five-fingered underactuated prosthetic hand can achieve more prehensile postures such as power grasp, centralized grip, fingertip grasp, cylindrical grasp, etc. The experimental results show that the classifier has a great potential application to the control of bionic man-machine systems because of its fast learning speed, high recognition capability and strong robustness.
基金Project (60872081) supported by the National Natural Science Foundation of ChinaProject (50051) supported by the Program for New Century Excellent Talents in UniversityProject (4092034) supported by the Natural Science Foundation of Beijing
文摘According to the characteristics of dynamic firing in pulse coupled neural network (PCNN) and regional configuration in retinal blood vessel network, a new method combined with simplified PCNN and fast 2D-Otsu algorithm was proposed for automated retinal blood vessels segmentation. Firstly, 2D Gaussian matched filter was used to enhance the retinal images and simplified PCNN was employed to segment the blood vessels by firing neighborhood neurons. Then, fast 2D-Otsu algorithm was introduced to search the best segmentation results and iteration times with less computation time. Finally, the whole vessel network was obtained via analyzing the regional connectivity. Experiments implemented on the public Hoover database indicate that this new method gets a 0.803 5 true positive rate and a 0.028 0 false positive rate on an average. According to the test results, compared with Hoover algorithm and method of PCNN and 1D-Otsu, the proposed method shows much better performance.
文摘A nonlinear model predictive control problem based on pseudo-linear neural network (PNN) is discussed, in which the second order on-line optimization method is adopted. The recursive computation of Jacobian matrix is investigated. The stability of the closed loop model predictive control system is analyzed based on Lyapunov theory to obtain the sufficient condition for the asymptotical stability of the neural predictive control system. A simulation was carried out for an exothermic first-order reaction in a continuous stirred tank reactor.It is demonstrated that the proposed control strategy is applicable to some of nonlinear systems.
文摘Retinal degenerative diseases may induce the degeneration of outer retina and in turn,blindness.Nevertheless,due to the maintenance of inner retina,the coding and processing of visual neurons responses are still able to be executed naturally.Therefore,an effective retinal prosthesis device may be developed by mimicking the function of outer retina:transferring the visual light into artificial stimulus and delivering the stimulus to the retina aiming to evoke the neural responses.As two main developing directions for current retinal prosthesis,epiretinal(ER)and subretinal(SR)prosthesis are both undergoing experimental stage and possessing advantages and limitations.Further investigations in power supply,biocompatibility,etc.are still required.Additionally,suprachoroidal transretinal stimulation(STS)and neurotransmitter-induced stimulation as some other alternatives in retinal prosthesis are also considered as promising research directions,although they are not mature enough to be applied commercially,either.
文摘This paper obtains the 1-soliton solution by the ansatz method for the proposed model that governs the propagation of solitons through the neurons. This model is an improved one that describes the solitons in neurosciences more accurately. The ansatz method is applied to obtain the 1-soliton solution to the model. The Lie symmetry analysis is subsequently applied to obtain the conservation laws for the model.
