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Promise of a low power mobile CPU based embedded system in artificial leg control

R. Hernandez, Fan Zhang, Xiaorong Zhang, He Huang, Qing Yang
2012 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society  
The study results suggest that mobile-CPU-based embedded system is promising for implementing advanced control for powered lower limb prostheses.  ...  This paper presents the design and implementation of a low power embedded system using mobile processor technology (Intel Atom™ Z530 Processor) specifically tailored for a neural-machine interface (NMI  ...  *This research was supported in part by the Department of the Navy (Naval Undersea Warfare Center, Newport, Rhode Island) and NSF/CPS #0931820, NSF#1149385, NIH #RHD064968A, NSF/CCF #0811333 and NSF/CCF  ... 
doi:10.1109/embc.2012.6347178 pmid:23367113 pmcid:PMC3676646 fatcat:lhdwqre6cnfxbnhljmygvxas5i

On Design and Implementation of Neural-Machine Interface for Artificial Legs

Xiaorong Zhang, Yuhong Liu, Fan Zhang, Jin Ren, Yan Lindsay Sun, Qing Yang, He Huang
2012 IEEE Transactions on Industrial Informatics  
The quality of life of leg amputees can be improved dramatically by using a cyber physical system (CPS) that controls artificial legs based on neural signals representing amputees' intended movements.  ...  Integrating the neural deciphering algorithm with the trust management mechanism resulted in a highly accurate and reliable software system for neural control of artificial legs.  ...  Besides high-performance and low-cost, there has also been a technology drive for reliable and low-power GPUs alongside FPGAs and CPUs for embedded applications such as military systems.  ... 
doi:10.1109/tii.2011.2166770 pmid:22389637 pmcid:PMC3290414 fatcat:2j74i4q5ejbxffgl4pduj5kwzy

CPU-less robotics: distributed control of biomorphs

Ralph Etienne-Cummings, M. Anthony Lewis, Mitra Hartmann, Avis H. Cohen, Sunny Bains, Leo J. Irakliotis
2000 Critical Technologies for the Future of Computing  
All well-known demonstrations of sensory guided motor control, such as jugglers and mobile robots, require at least one CPU.  ...  Recently, the availability of fast CPUs have made real-time sensory-motor control possible, however, problems with high power consumption and lack of autonomy still remain.  ...  ACKNOWLEDGEMENTS The authors acknowledge support of Grant No. N00014-99-0984 from ONR to Lewis & Etienne-Cumnungs, NSF Career Grant #9896362 to Etienne-Cummings and NIH grant MH44809 to Cohen.  ... 
doi:10.1117/12.409207 fatcat:gmfjkjcxxfaw5fu42x5secamuq

Continuing progress in augmenting urban search and rescue dogs

Jimmy Tran, Martin Gerdzhev, Alexander Ferworn
2010 Proceedings of the 6th International Wireless Communications and Mobile Computing Conference on ZZZ - IWCMC '10  
The intended purpose of CAT is as a tool for search teams and emergency managers to sense the situation when the dog finds a survivor in a collapsed structure.  ...  Canine Augmentation Technology (CAT) is a telepresence system worn by search canines to be used in Urban Search and Rescue (US&R) operations.  ...  Instead of the dual FOX board configuration, CAT 4.0 used a powerful low-cost Linux-base single board computer called the Beagle board. CAT 4 .0 has only been developed recently.  ... 
doi:10.1145/1815396.1815576 dblp:conf/iwcmc/TranGF10 fatcat:zryooikr7jgmvjpdpb64wigvhe

A Survey of FPGA-Based Robotic Computing [article]

Zishen Wan, Bo Yu, Thomas Yuang Li, Jie Tang, Yuhao Zhu, Yu Wang, Arijit Raychowdhury, Shaoshan Liu
2021 arXiv   pre-print
In this paper, we give an overview of previous work on FPGA-based robotic accelerators covering different stages of the robotic system pipeline.  ...  On the other hand, FPGA-based robotic accelerators are becoming increasingly competitive alternatives, especially in latency-critical and power-limited scenarios.  ...  Low power computing systems are always required to extend the battery life of mobile robots.  ... 
arXiv:2009.06034v3 fatcat:fnp5q5wcyrd2hgpllso22mv2xm

A Wearable System for Articulated Human Pose Tracking Under Uncertainty of Sensor Placement

Xuesu Xiao, Shuayb Zarar
2018 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)  
Based on controlled experiments, we develop a new dataset for such systems comprising over 3 hours of biomechanical motion recordings from 215 trials on 12 test subjects.  ...  We develop a poseestimation approach based on classic kinematics and show that it is insufficient to analyze motion in such a system, leading to mean Euler angle errors of up to ±60 • and standard deviations  ...  CONCLUSIONS By integrating sensors into everyday garments, we proposed a system that overcomes the barriers of low mobility and intrusiveness posed by current inertial motion-capture technologies.  ... 
doi:10.1109/biorob.2018.8487858 dblp:conf/biorob/XiaoZ18 fatcat:u3yjbkvjhzcbfhrhbu4eabzlce

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

Ibrahim Tijjani, Shivesh Kumar, Melya Boukheddimi
2022 Applied Sciences  
This paper presents a survey on the design and control of lower extremity exoskeletons for bipedal walking.  ...  and augment muscle power.  ...  To this end, we can integrate MPC-model-based control with Artificial Intelligence (AI) in the form of adaptive learning as a trade-off to the complex modeling of systems and uncertainties inherent in  ... 
doi:10.3390/app12052395 fatcat:skogwlcvijerpeuagfku4dam5q

A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes [article]

Max Bajracharya, James Borders, Dan Helmick, Thomas Kollar, Michael Laskey, John Leichty, Jeremy Ma, Umashankar Nagarajan, Akiyoshi Ochiai, Josh Petersen, Krishna Shankar, Kevin Stone (+1 others)
2020 arXiv   pre-print
This is enabled by a highly capable mobile manipulation robot, whole-body task space hybrid position/force control, teaching of parameterized primitives linked to a robust learned dense visual embeddings  ...  We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a  ...  The choice of components was based on making the overall system lightweight, compact, and power efficient enough to perform tasks in real homes.  ... 
arXiv:1910.00127v3 fatcat:dg5cpbmcevbvtkh47iwbzgdaha

Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays [article]

Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti, Burak Cizmeci, Douwe Dresscher, Marco Hutter
2021 arXiv   pre-print
In this work, we propose a passive control architecture to haptically teleoperate a legged mobile manipulator, while remaining stable in the presence of time delays and frequency mismatches in the master  ...  The resulting control architecture is demonstrated on a quadrupedal robot with an artificial delay added to the network.  ...  CONCLUSIONS In this paper, we presented an approach to ensure the stability of a haptic teleoperation system for a quadrupedal mobile manipulator.  ... 
arXiv:2108.07658v2 fatcat:d3ca4qzoufanpjobiv3bxbm5sm

Deep Learning-based Vein Localization on Embedded System

Chaoying Tang, Shuhang Xia, Mengen Qian, Biao Wang
2021 IEEE Access  
Beatriz et al. proposed a real time embedded system for a deep learning-based multiple object visual tracking and mobile edge computing application.  ...  In this paper, an end-to-end solution for real time deep learning-based vein localization from color skin images in an embedded and low-power platform was presented.  ...  Author Name: Preparation of Papers for IEEE Access (February 2021)  ... 
doi:10.1109/access.2021.3058014 fatcat:xw6k4ddwsjdhhlohoisbjlpqpi

Critical Design and Control Issues of Indoor Autonomous Mobile Robots: A Review

A. K. Niloy, Anika Shama, Ripon K. Chakrabortty, Michael J. Ryan, Faisal R. Badal, Z. Tasneem, Md H. Ahamed, S. I. Moyeen, Sajal K. Das, Md F. Ali, Md R. Islam, D. K. Saha
2021 IEEE Access  
This article surveys these essential factors of autonomous mobile robots in terms of mathematical modeling, control issues, and challenging factors.  ...  Since it is difficult to find complete coverage of those topics in a single location, this article provides a guideline for researchers entering the field or for innovators in the mobile robotics sector  ...  The inclusion of Deep learning in the reward-based system has seen more promising results in robot navigation.  ... 
doi:10.1109/access.2021.3062557 fatcat:uca6z7zcu5dodexxivjguonshe

Human- Generated Power for Mobile Electronics [chapter]

Joseph Paradiso, Thad Starner
2004 Computer Engineering Series  
In fact, active control of the loading of the generation system may be used to adapt energy recovery based on the type of gait at any given time.  ...  One can imagine a system that examines the user's e-mail, web history, and downloads and, based on this data, continuously updates the user's mobile cache while the device has wired (or low power) connectivity  ... 
doi:10.1201/9781420039559.ch45 fatcat:62lkydl3zfenxei2yqdnej37fy

Ultra Wide Band Body Area Networks: Design and Integration with Computational Clouds [chapter]

Joanna Kołodziej, Daniel Grzonka, Adrian Widłak, Paweł Kisielewicz
2019 Msphere  
The chapter also discusses the state-of-the art in the cloud-based support for data storage and analysis in mobile health monitoring.  ...  Security issues for BANs in general and mobile health monitoring are addressed as a key aspect of the recent developments in the domain.  ...  The key advantages of BTLE are the strength of the Bluetooth brand, the promise of interoperability with Bluetooth radios in mobile phones and low-power operations [66] .  ... 
doi:10.1007/978-3-030-16272-6_10 fatcat:4efpaf3zvzgrzfozii2co27mde

Home Camera-Based Fall Detection System for the Elderly

Koldo de Miguel, Alberto Brunete, Miguel Hernando, Ernesto Gambao
2017 Sensors  
In this paper, we present a new low-cost fall detector for smart homes based on artificial vision algorithms.  ...  In addition, fall detectors based on artificial vision are not yet available on the market.  ...  Our goal is to demonstrate that an embedded low cost system can have as good results as other more powerful and expensive systems.  ... 
doi:10.3390/s17122864 pmid:29232846 pmcid:PMC5751723 fatcat:wpnpciu2uzhjzc26r2vfl772na

Advances in Cyber-Physical Systems Research

Jiafu Wan
2011 KSII Transactions on Internet and Information Systems  
The features of CPSs are described, and the research progress is analyzed using the following aspects: energy management, network security, data transmission and management, model-based design, control  ...  In addition, some classic applications (e.g., integrating intelligent road with unmanned vehicle) are provided to show that the prospects of CPSs are promising.  ...  In [56] , a design and implementation of CPSs for neutrally controlled artificial legs was proposed. Ny et al.  ... 
doi:10.3837/tiis.2011.11.001 fatcat:xdgvem7xbnfv3pbpp42lte6um4
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