Teruyoshi Sadahiro

Motion analysis by experiment and simulation for riding bicycles with children

The purpose of this paper is motion analysis by experiment and simulation for riding bicycles with children. It is very important to think about stability when the bicycle is driving with children. However, such a research is not so performed. Therefore, analysing human motions in the such case by some experiments and simulations, dynamic characteristics of the such case are shown. The modeling of bicycle is performed, and the model is used for the simulations.

Timed-automata-based model for laparoscopic surgery and intraoperative motion recognition of a surgeon as the interface connecting the surgical scenario and the real operating room

Most computer-assisted surgery systems are an isolated standalone system in the operation room with obtrusive and cumbersome wired connections. Surgery data preparation, registration, segmentation, planning, etc. have to be running at one place. Dynamic data acquisition and cooperation during the surgical procedure is not currently possible. We develop the M-CASEngine system which provides a distributed collaborative environment for computer-assisted surgery. It enables the doctors to access and plan the surgery, and actively participate in remote surgeries, share patient information and exchange opinions in real time from anywhere at any time. By utilizing cutting-edge network technologies, the system greatly improves the overall performance of computer-assisted surgery.Linking top-level ontologies and surgical workflows O. Burgert Æ T. Neumuth Æ F. Lempp Æ R. Mudunuri Æ J. Meixensberger Æ G. Strauß Æ A. Dietz Æ P. Jannin Æ H.U. Lemke Innovation Center Computer Assisted Surgery (ICCAS), Leipzig, Germany University Hospital Leipzig, Department of Neurosurgery, Germany University Hospital Leipzig, ENT-Department/Plastic Surgery, Germany University of Rennes, Visages-U746 INSERM, INRIA, France Abstract Surgical Workflows describe the course of surgical interventions Since they are an abstraction from reality one needs unambiguous description of the single items and actions – concepts and relationships – involved in the surgical intervention. Furthermore, for computer aided analysis of surgical workflows, abstractions and relations are needed. These should be comparable between different workflows and surgical disciplines. An ontology can provide an abstract view of the world one wants to represent by using an explicit and formal description. This paper introduces an upper-levelontology based on GOL (General Ontological Language) for representing surgical interventions.

A consideration of human-unicycle model for unicycle operation analysis based on moment balancing point

The unicycle operation is a good exercise for training of the sense of balance, the agility and the ability to coordinate the body according to situations. This paper aims to give an interpretation of the relationship between the moment balancing point (MBP) and the center of pressure (CP) in a riding a unicycle from the human motion viewpoint. This paper shows derivations of Human-Unicycle model motion equations according to the Projection Method, and represents the relationship between the MBP and the CP of the the model by considering structure and constraint reaction forces of the model.

Stabilizing control for linear systems with low resolution sensors

This paper presents a stabilizing control for linear systems with low resolution sensors. The quantization error in low resolution sensors cannot be neglect, and then a stabilizer should take the error into account. The stabilizer may be realized as an event-based controller because measurement is performed when low resolution sensors output quantized values. The measurement output may be a constant value when the ideal output of the plant is within a quantization width. Therefore it is difficult to design a controller and estimator of the systems according to ordinary linear control system designs in the use of the measurement output. This paper proposes a simple controller designed which is based on the generalized holder concept to overcome this problem. The generalized holder consists of a dynamic holder and corrector, and this paper also presents the separation theorem about the pole assignments of both dynamic holder and corrector in our case.

Zero-phase tracking human interface using EMG signals and EMD

In this study, a delay between the start of electromyogram (EMG) signals and the start of actual human motions which is called Electro Mechanical Delay (EMD) is used in order to eliminate a delay such as a mechanical delay and a communication delay in manipulating systems. The man-machine interface to accomplish zero-phase tracking eliminating some delay is proposed in this paper. This interface consists of the nonlinear ARX (NARX) model which estimates human joint angle from EMG signals, and discrete-time model-following controller so that a controlled object tracks human motions. The effectiveness of proposed interface is discussed from viewpoint of phase differences and errors between a human joint angle and the angle of a controlled 1 DOF manipulator.

Wrist angle estimation based on musculoskeletal systems with EMG

The purpose of this study is to develop an estimation method of the wrist angle from the corresponding myoelectric potential (MP). The estimation method would be useful for human-machine interfaces as myoelectric prostheses. In this paper, the model-based estimation method from the MP is considered. Hence two wrist models are introduced and investigated. Those models come from simple observation based on the physical aspect, i.e., musculoskeletal systems. One of them is a one-link model considering the moment arm. The other is illustrated by a multi-body model with a half-moon-shaped rigid body rolling inside a bowl body, and we call it a half-moon-shape model in this paper. The wrist angle estimation is performed by simulating the behavior of the wrist using each derived model with measured MP signals. The effectiveness of those models for the wrist angle estimation is verified through experiments by comparing the results.

A model-based torque estimation for combusion engines and experimental verification

The torque estimation of combustion engines is important for detection of abnormal combustion and misfiring in cylinders. If pressure sensors were available for pressure measurement at each cylinder, the torque estimation would be easier, but those sensors, however, cannot be used generally from cost and spacial viewpoints. Hence this paper considers a torque estimation method using the crank-shaft angle information, which can be used even for commercial cars, instead of pressure sensors. A problem caused by the crankshaft angle is that unexpected vibrations contaminating the angle information, whose frequencies are relatively close to the combustion period, deteriorate the torque-estimation accuracy especially in high engine speed case. This paper focuses on improvement of the estimation accuracy by paying attention to differentiation of the angle with such vibration.

Setting up MATX-based Laboratory Experimental Systems - A Pendulum System with Windows OS -

Abstract This paper presents setting up experimental systems based on M A TX in laboratories and undergraduate school. This configuration has advantages of introduction cost, maintenance fee, easy reconstruction compared with commercial equipments. The advantages and effectiveness of the proposed experimental system configuration are demonstrated in this paper by using a Furuta pendulum system as an example.

Analysis of human's stabilization controller in a unicycle operation using Inverse Regulator Problem of optimal control

A purpose of this study is analyzing a humans controller to understand a mechanism of skill acquation processes for riding a unicycle. In order to analyze the controller, inputs which an operator gives to the unicycle and states of the unicycle are measured and a human-unicycle model as same as the experiment is derived. A weighting matrix to the state is obtained from the states, the inputs and the model solving Inverse Regulator Problem. The humans controller for riding the unicycle is discussed by the obtained weighting matrix.

Detection of Similarity of Trajectory of Center of Gravity in Operating Unicycle Uses Motion Capture System

Riding a unicycle is good exercise to enhance and keep rider’s sense of equilibrium, reflexes and quickness. But a lot of people can not ride a unicycle because its stability. And there are no theoretically to be able to ride a unicycle. A way to do so is that, at first, the model of riding unicycle is simply considered as the cart-pendulum model, then using inputs and outputs obtained by measured data of Motion Capture System(MCS), its controller is able to derived. But a relationship between rider’s body manipulations and movements of center of gravity are not unique. because there a lot of way to make same trajectory of center of gravity by different body manipulations. Therefore, in this paper, to understand a way to ride a unicycle by the relationship, a way to decide the similarity of movements of center of gravity is described.