Intelligent rehabilitation system is an active research topic.It is motivated by the increased number of limb disabled patients.Human motion tracking is the key technology of intelligent rehabilitation system,because ...Intelligent rehabilitation system is an active research topic.It is motivated by the increased number of limb disabled patients.Human motion tracking is the key technology of intelligent rehabilitation system,because the movement of limb disabled patients needs to be localized and learned so that any undesired motion behavior can be corrected in order to reach an expectation.This paper introduces a real-time tracking system of human hand motion,specifically intent to be used for home rehabilitation.Vision sensor(camera)is employed in this system to track the hand movement,and the improved Camshift algorithm and Kalman filter are used to implement dynamic hand tracking in the video.CAMSHIFT algorithm is able to track any kind of target colors by building a histogram distribution of the H channel in HSV color space from the region of interests selected by users at the initial stage.Kalman filter is able to predict hand location in one image frame based on its location data detected in the previous frame.The experimental results show that this system can track 2D hand motion and has acceptable accuracy by using the two algorithms properly.The new algorithm proposed in this paper can not only deal with the skin color interference problems,but also deal well with the track of complex background.展开更多
A robot landmark navigation system based on monocular camera was researched theoretically and experimentally.First the landmark setting and its data structure in programming was given;then the coordinates of them gett...A robot landmark navigation system based on monocular camera was researched theoretically and experimentally.First the landmark setting and its data structure in programming was given;then the coordinates of them getting by robot and global localization of the robot was described;finally experiments based on Pioneer III mobile robot show that this system can work well at different topographic situation without lose of signposts.展开更多
Fuzzy logic has attracted the attention of structural control engineers during the last few years,because fuzzy logic can handle nonlinearities,uncertainties,and heuristic knowledge effectively and easily.In this pape...Fuzzy logic has attracted the attention of structural control engineers during the last few years,because fuzzy logic can handle nonlinearities,uncertainties,and heuristic knowledge effectively and easily.In this paper,a self-Tuning fuzzy-PID control method which used the technology of the fuzzy control and PID control unified is presented.These techniques can visualize the results and processes for structure stress.These techniques will also provide convenience for engineers and users,and have high practical values.The MATLAB simulation result shows that the system precision and the efficiency are very high and the static error is small,and robustness was also validated.展开更多
基金supported by the project of the research of Ad Hoc net routing algorithm based on Antcolony algorithm in multi-robots system (CSTC,2008BB2081)
文摘Intelligent rehabilitation system is an active research topic.It is motivated by the increased number of limb disabled patients.Human motion tracking is the key technology of intelligent rehabilitation system,because the movement of limb disabled patients needs to be localized and learned so that any undesired motion behavior can be corrected in order to reach an expectation.This paper introduces a real-time tracking system of human hand motion,specifically intent to be used for home rehabilitation.Vision sensor(camera)is employed in this system to track the hand movement,and the improved Camshift algorithm and Kalman filter are used to implement dynamic hand tracking in the video.CAMSHIFT algorithm is able to track any kind of target colors by building a histogram distribution of the H channel in HSV color space from the region of interests selected by users at the initial stage.Kalman filter is able to predict hand location in one image frame based on its location data detected in the previous frame.The experimental results show that this system can track 2D hand motion and has acceptable accuracy by using the two algorithms properly.The new algorithm proposed in this paper can not only deal with the skin color interference problems,but also deal well with the track of complex background.
基金supported by the project of 'the research of Ad Hoc net routing algorithm base-on Antcolony algorithm in several robots' system(CSTC,2008BB2081)
文摘A robot landmark navigation system based on monocular camera was researched theoretically and experimentally.First the landmark setting and its data structure in programming was given;then the coordinates of them getting by robot and global localization of the robot was described;finally experiments based on Pioneer III mobile robot show that this system can work well at different topographic situation without lose of signposts.
基金supported by Chongqing Bureau of Foreign Experts Affairs ( Project number:20075000028)
文摘Fuzzy logic has attracted the attention of structural control engineers during the last few years,because fuzzy logic can handle nonlinearities,uncertainties,and heuristic knowledge effectively and easily.In this paper,a self-Tuning fuzzy-PID control method which used the technology of the fuzzy control and PID control unified is presented.These techniques can visualize the results and processes for structure stress.These techniques will also provide convenience for engineers and users,and have high practical values.The MATLAB simulation result shows that the system precision and the efficiency are very high and the static error is small,and robustness was also validated.
