Search results for: Kinemic gait data

Authors: Md. Masum Billah, Mohiuddin Ahmed, Soheli Farhana

Abstract:

In modern day disaster recovery mission has become one of the top priorities in any natural disaster management regime. Smart autonomous robots may play a significant role in such missions, including search for life under earth quake hit rubbles, Tsunami hit islands, de-mining in war affected areas and many other such situations. In this paper current state of many walking robots are compared and advantages of hexapod systems against wheeled robots are described. In our research we have selected a hexapod spider robot; we are developing focusing mainly on efficient navigation method in different terrain using apposite gait of locomotion, which will make it faster and at the same time energy efficient to navigate and negotiate difficult terrain. This paper describes the method of terrain negotiation navigation in a hazardous field.

Keywords: Walking robots, locomotion, hexapod robot, gait, hazardous field.

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Authors: Dabiri Y, Najarian S, Eslami M R., Zahedi S, Moser D, Shirzad E, Allami M

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The effect of muscle loss due to transfemoral amputation, on energy expenditure of hip joint and individual residual muscles was simulated. During swing phase of gait, with each muscle as an ideal force generator, the lower extremity was modeled as a two-degree of freedom linkage, for which hip and knee were joints. According to results, muscle loss will not lead to higher energy expenditure of hip joint, as long as other parameters of limb remain unaffected. This finding maybe due to the role of biarticular muscles in hip and knee joints motion. Moreover, if hip flexors are removed from the residual limb, residual flexors, and if hip extensors are removed, residual extensors will do more work. In line with the common practice in transfemoral amputation, this result demonstrates during transfemoral amputation, it is important to maintain the length of residual limb as much as possible.

Keywords: Amputation Level, Simulation, Transfemoral Amputee.

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Authors: M.R. Safizadeh, M. Hussein, K. F. Samat, M.S. Che Kob, M.S. Yaacob, M.Z. Md Zain

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The aim of this paper is to present the kinematic analysis and mechanism design of an assistive robotic leg for hemiplegic and hemiparetic patients. In this work, the priority is to design and develop the lightweight, effective and single driver mechanism on the basis of experimental hip and knee angles- data for walking speed of 1 km/h. A mechanism of cam-follower with three links is suggested for this purpose. The kinematic analysis is carried out and analysed using commercialized MATLAB software based on the prototype-s links sizes and kinematic relationships. In order to verify the kinematic analysis of the prototype, kinematic analysis data are compared with the experimental data. A good agreement between them proves that the anthropomorphic design of the lower extremity exoskeleton follows the human walking gait.

Keywords: Kinematic analysis, assistive robotic leg, lower extremity exoskeleton, cam-follower mechanism.

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

Abstract:

The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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Authors: D. Hişam, S. İkizoğlu

Abstract:

Identifying the problem behind balance disorder is one of the most interesting topics in medical literature. This study has considerably enhanced the development of artificial intelligence (AI) algorithms applying multiple machine learning (ML) models to sensory data on gait collected from humans to classify between normal people and those suffering from Vestibular System (VS) problems. Although AI is widely utilized as a diagnostic tool in medicine, AI models have not been used to perform feature extraction and identify VS disorders through training on raw data. In this study, three ML models, the Random Forest Classifier (RF), Extreme Gradient Boosting (XGB), and K-Nearest Neighbor (KNN), have been trained to detect VS disorder, and the performance comparison of the algorithms has been made using accuracy, recall, precision, and f1-score. With an accuracy of 95.28 %, Random Forest (RF) Classifier was the most accurate model.

Keywords: Vestibular disorder, machine learning, random forest classifier, k-nearest neighbor, extreme gradient boosting.

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Authors: Jobin Varghese, V. M. Akhil, P. K. Rajendrakumar, K. S. Sivanandan

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The major contributor to the human locomotion is the knee flexion and extension. During heel strike, a huge amount of energy is transmitted through the leg towards knee joint, which in fact is damped at heel and leg muscles. During high shocks, although it is damped to a certain extent, the balance force transmits towards knee joint which could damage the knee. Due to the vital function of the knee joint, it should be protected against damage due to additional load acting on it. This work concentrates on the development of spring mass damper system which exactly replicates the stiffness at the heel and muscles and the objective function is optimized to minimize the force acting at the knee joint. Further, the data collected using force plate are put into the model to verify its integrity and are found to be in good agreement.

Keywords: Spring, mass, damper, impact, knee joint.

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Authors: Hataitep Wongsuwarn, Djitt Laowattana

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This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots. Secondly, this paper presents a new approach neuro-fuzzy system. We have included some simulating results from our computational intelligence technique that will be applied to our humanoid robot. Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.

Keywords: Biped Robot, Computational Intelligence, Static and Dynamic Walking, Gait Synthesis, Neuro-Fuzzy System.

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Authors: Abu Bakar Munir, Siti Hajar Mohd Yasin, Firdaus Muhammad-Sukki

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This paper seeks to analyse the benefits of big data and more importantly the challenges it pose to the subject of privacy and data protection. First, the nature of big data will be briefly deliberated before presenting the potential of big data in the present days. Afterwards, the issue of privacy and data protection is highlighted before discussing the challenges of implementing this issue in big data. In conclusion, the paper will put forward the debate on the adequacy of the existing legal framework in protecting personal data in the era of big data.

Keywords: Big data, data protection, information, privacy.

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Authors: Azadeh Rouhandeh, Chris Joslin, Zhen Qu, Yuu Ono

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The centre of rotation of the hip joint is needed for an accurate simulation of the joint performance in many applications such as pre-operative planning simulation, human gait analysis, and hip joint disorders. In human movement analysis, the hip joint center can be estimated using a functional method based on the relative motion of the femur to pelvis measured using reflective markers attached to the skin surface. The principal source of errors in estimation of hip joint centre location using functional methods is soft tissue artefacts due to the relative motion between the markers and bone. One of the main objectives in human movement analysis is the assessment of soft tissue artefact as the accuracy of functional methods depends upon it. Various studies have described the movement of soft tissue artefact invasively, such as intra-cortical pins, external fixators, percutaneous skeletal trackers, and Roentgen photogrammetry. The goal of this study is to present a non-invasive method to assess the displacements of the markers relative to the underlying bone using optical motion capture data and tissue thickness from ultrasound measurements during flexion, extension, and abduction (all with knee extended) of the hip joint. Results show that the artefact skin marker displacements are non-linear and larger in areas closer to the hip joint. Also marker displacements are dependent on the movement type and relatively larger in abduction movement. The quantification of soft tissue artefacts can be used as a basis for a correction procedure for hip joint kinematics.

Keywords: Hip joint centre, motion capture, soft tissue artefact, ultrasound depth measurement.

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Authors: Kasra Afsahi, Maryam Soheilifar, S. Hossein Hosseini

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Background: There is growing evidence that Cerebral Vascular Accident (CVA) can be a consequence of COVID-19 infection. Understanding novel treatment approaches is important in optimizing patient outcomes. Case: This case explores the use of Virtual Reality (VR) in the treatment of a 23-year-old COVID-positive female presenting with left hemiparesis in August 2020. Imaging showed right globus pallidus, thalamus, and internal capsule ischemic stroke. Conventional rehabilitation was started two weeks later, with VR included. This game-based VR technology developed for stroke patients was based on upper extremity exercises and functions for stroke. Physical examination showed left hemiparesis with muscle strength 3/5 in the upper extremity and 4/5 in the lower extremity. The range of motion of the shoulder was 90-100 degrees. The speech exam showed a mild decrease in fluency. Mild lower lip dynamic asymmetry was seen. Babinski was positive on the left. Gait speed was decreased (75 steps per minute). Intervention: Our game-based VR system was developed based on upper extremity physiotherapy exercises for post-stroke patients to increase the active, voluntary movement of the upper extremity joints and improve the function. The conventional program was initiated with active exercises, shoulder sanding for joint ROMs, walking shoulder, shoulder wheel, and combination movements of the shoulder, elbow, and wrist joints, alternative flexion-extension, pronation-supination movements, Pegboard and Purdo pegboard exercises. Also, fine movements included smart gloves, biofeedback, finger ladder, and writing. The difficulty of the game increased at each stage of the practice with progress in patient performances. Outcome: After 6 weeks of treatment, gait and speech were normal and upper extremity strength was improved to near normal status. No adverse effects were noted. Conclusion: This case suggests that VR is a useful tool in the treatment of a patient with COVID-19 related CVA. The safety of developed instruments for such cases provides approaches to improve the therapeutic outcomes and prognosis as well as increased satisfaction rate among patients.

Keywords: COVID-19, stroke, virtual reality, rehabilitation.

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Authors: S. B. Kotsiantis, D. Kanellopoulos, P. E. Pintelas

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Many factors affect the success of Machine Learning (ML) on a given task. The representation and quality of the instance data is first and foremost. If there is much irrelevant and redundant information present or noisy and unreliable data, then knowledge discovery during the training phase is more difficult. It is well known that data preparation and filtering steps take considerable amount of processing time in ML problems. Data pre-processing includes data cleaning, normalization, transformation, feature extraction and selection, etc. The product of data pre-processing is the final training set. It would be nice if a single sequence of data pre-processing algorithms had the best performance for each data set but this is not happened. Thus, we present the most well know algorithms for each step of data pre-processing so that one achieves the best performance for their data set.

Keywords: Data mining, feature selection, data cleaning.

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Authors: Faisal Kalota

Abstract:

Big Data and analytics have gained a huge momentum in recent years. Big Data feeds into the field of Learning Analytics (LA) that may allow academic institutions to better understand the learners’ needs and proactively address them. Hence, it is important to have an understanding of Big Data and its applications. The purpose of this descriptive paper is to provide an overview of Big Data, the technologies used in Big Data, and some of the applications of Big Data in education. Additionally, it discusses some of the concerns related to Big Data and current research trends. While Big Data can provide big benefits, it is important that institutions understand their own needs, infrastructure, resources, and limitation before jumping on the Big Data bandwagon.

Keywords: Analytics, Big Data in Education, Hadoop, Learning Analytics.

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Authors: Omid Heydarnia, Akbar Allahverdizadeh, Behnam Dadashzadeh, M. R. Sayyed Noorani

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Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: Underactuated system, biped robot, fuzzy control, partial feedback linearization.

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Authors: Yang Bao, Shi Wei Deng, Wang Qun Lin

Abstract:

This paper introduces the concept and principle of data cleaning, analyzes the types and causes of dirty data, and proposes several key steps of typical cleaning process, puts forward a well scalability and versatility data cleaning framework, in view of data with attribute dependency relation, designs several of violation data discovery algorithms by formal formula, which can obtain inconsistent data to all target columns with condition attribute dependent no matter data is structured (SQL) or unstructured (NoSql), and gives 6 data cleaning methods based on these algorithms.

Keywords: Data cleaning, dependency rules, violation data discovery, data repair.

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Authors: N. Parimala, P. Pahwa

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OLAP uses multidimensional structures, to provide access to data for analysis. Traditionally, OLAP operations are more focused on retrieving data from a single data mart. An exception is the drill across operator. This, however, is restricted to retrieving facts on common dimensions of the multiple data marts. Our concern is to define further operations while retrieving data from multiple data marts. Towards this, we have defined six operations which coalesce data marts. While doing so we consider the common as well as the non-common dimensions of the data marts.

Keywords: Data warehouse, Dimension, OLAP, Star Schema.

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Authors: Hoda A. Abdel Hafez

Abstract:

Mining big data represents a big challenge nowadays. Many types of research are concerned with mining massive amounts of data and big data streams. Mining big data faces a lot of challenges including scalability, speed, heterogeneity, accuracy, provenance and privacy. In telecommunication industry, mining big data is like a mining for gold; it represents a big opportunity and maximizing the revenue streams in this industry. This paper discusses the characteristics of big data (volume, variety, velocity and veracity), data mining techniques and tools for handling very large data sets, mining big data in telecommunication and the benefits and opportunities gained from them.

Keywords: Mining Big Data, Big Data, Machine learning, Data Streams, Telecommunication.

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Authors: S. Vidhya, S. Sarumathi, N. Shanthi

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Over the past era, there have been a lot of efforts and studies are carried out in growing proficient tools for performing various tasks in big data. Recently big data have gotten a lot of publicity for their good reasons. Due to the large and complex collection of datasets it is difficult to process on traditional data processing applications. This concern turns to be further mandatory for producing various tools in big data. Moreover, the main aim of big data analytics is to utilize the advanced analytic techniques besides very huge, different datasets which contain diverse sizes from terabytes to zettabytes and diverse types such as structured or unstructured and batch or streaming. Big data is useful for data sets where their size or type is away from the capability of traditional relational databases for capturing, managing and processing the data with low-latency. Thus the out coming challenges tend to the occurrence of powerful big data tools. In this survey, a various collection of big data tools are illustrated and also compared with the salient features.

Keywords: Big data, Big data analytics, Business analytics, Data analysis, Data visualization, Data discovery.

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Authors: Tetsuya Furukawa, Masahiro Kuzunishi

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Collected data must be organized to be utilized efficiently, and hierarchical classification of data is efficient approach to organize data. When data is classified to multiple categories or annotated with a set of labels, users request multi-labeled data by giving a set of labels. There are several interpretations of the data expressed by a set of labels. This paper discusses which data is expressed by a set of labels by introducing orders for sets of labels and shows that there are four types of orders, which are characterized by whether the labels of expressed data includes every label of the given set of labels within the range of the set. Desirable properties of the orders, data is also expressed by the higher set of labels and different sets of labels express different data, are discussed for the orders.

Keywords: Classification Hierarchies, Multi-labeled Data, Multiple Classificaiton, Orders of Sets of Labels

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Authors: Toyoyuki Honjo, Takeshi Hayashi, Akinori Nagano, Zhi-Wei Luo

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For stable bipedal gait generation on the level floor, efficient restoring of mechanical energy lost by heel collision at the ground is necessary. Parametric excitation principle is one of the solutions. We dealt with the robot-s total center of mass as an inverted pendulum to consider the total dynamics of the robot. Parametrically excited walking requires the use of continuous target trajectory that is close to discontinuous optimal trajectory. In this paper, we proposed the new target trajectory based on a position in the walking direction. We surveyed relations between walking performance and the parameters that form the target trajectory via numerical simulations. As a result, it was found that our target trajectory has the similar characteristics of a parametrically excited inverted pendulum.

Keywords: Dynamic Bipedal Walking, Parametric Excitation, Target Trajectory Design.

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Authors: Tomas Luneckas, Dainius Udris

Abstract:

In this paper a simple terrain evaluation method for hexapod robot is introduced. This method is based on feet coordinate evaluation when all are on the ground. Depending on the feet coordinate differences the local terrain evaluation is possible. Terrain evaluation is necessary for right gait selection and/or body position correction. For terrain roughness evaluation three planes are plotted: two of them as definition points use opposite feet coordinates, third coincides with the robot body plane. The leaning angle of body plane is evaluated measuring gravity force using three-axis accelerometer. Terrain roughness evaluation method is based on angle estimation between normal vectors of these planes. Aim of this work is to present a simple method for embedded robot controller, allowing to find the best further movement settings.

Keywords: Hexapod robot, pose estimation, terrain evaluation, terrain roughness.

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Authors: Iman Zangeneh, Mostafa Moradi, Ali Mokhtarbaf

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The necessity of ever-increasing use of distributed data in computer networks is obvious for all. One technique that is performed on the distributed data for increasing of efficiency and reliablity is data rplication. In this paper, after introducing this technique and its advantages, we will examine some dynamic data replication. We will examine their characteristies for some overus scenario and the we will propose some suggestion for their improvement.

Keywords: data replication, data hiding, consistency, dynamicdata replication strategy

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Authors: Rakkrit Duangsoithong, Jermphiphut Jaruenpunyasak, Alba Garcia

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The use of foot recognition can be applied in many medical fields such as the gait pattern analysis and the knee exercises of patients in rehabilitation. Generally, a camera-based foot recognition system is intended to capture a patient image in a controlled room and background to recognize the foot in the limited views. However, this system can be inconvenient to monitor the knee exercises at home. In order to overcome these problems, this paper proposes to use the deep learning method using Convolutional Neural Networks (CNNs) for foot recognition. The results are compared with the traditional classification method using LBP and HOG features with kNN and SVM classifiers. According to the results, deep learning method provides better accuracy but with higher complexity to recognize the foot images from online databases than the traditional classification method.

Keywords: Convolutional neural networks, deep learning, foot recognition, knee rehabilitation.

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Authors: Jihyun Song, Kyeongjoo Kim, Minsoo Lee

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Due to the development of information technology and wireless Internet technology, various data are being generated in various fields. These data are advantageous in that they provide real-time information to the users themselves. However, when the data are accumulated and analyzed, more various information can be extracted. In addition, development and dissemination of boards such as Arduino and Raspberry Pie have made it possible to easily test various sensors, and it is possible to collect sensor data directly by using database application tools such as MySQL. These directly collected data can be used for various research and can be useful as data for data mining. However, there are many difficulties in using the board to collect data, and there are many difficulties in using it when the user is not a computer programmer, or when using it for the first time. Even if data are collected, lack of expert knowledge or experience may cause difficulties in data analysis and visualization. In this paper, we aim to construct a library for sensor data collection and analysis to overcome these problems.

Keywords: Clustering, data mining, DBSCAN, k-means, k-medoids, sensor data.

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Authors: Syed Iftikhar Hussain Shah, Vasilis Peristeras, Ioannis Magnisalis

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Organizations, including governments, generate (big) data that are high in volume, velocity, veracity, and come from a variety of sources. Public Administrations are using (big) data, implementing base registries, and enforcing data sharing within the entire government to deliver (big) data related integrated services, provision of insights to users, and for good governance. Government (Big) data ecosystem actors represent distinct entities that provide data, consume data, manipulate data to offer paid services, and extend data services like data storage, hosting services to other actors. In this research work, we perform a systematic literature review. The key objectives of this paper are to propose a robust definition of government (big) data ecosystem and a classification of government (big) data ecosystem actors and their roles. We showcase a graphical view of actors, roles, and their relationship in the government (big) data ecosystem. We also discuss our research findings. We did not find too much published research articles about the government (big) data ecosystem, including its definition and classification of actors and their roles. Therefore, we lent ideas for the government (big) data ecosystem from numerous areas that include scientific research data, humanitarian data, open government data, industry data, in the literature.

Keywords: Big data, big data ecosystem, classification of big data actors, big data actors roles, definition of government (big) data ecosystem, data-driven government, eGovernment, gaps in data ecosystems, government (big) data, public administration, systematic literature review.

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Authors: Younies Mahmoud, Mai Mabrouk, Elsayed Sallam

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Analyzing DNA microarray data sets is a great challenge, which faces the bioinformaticians due to the complication of using statistical and machine learning techniques. The challenge will be doubled if the microarray data sets contain missing data, which happens regularly because these techniques cannot deal with missing data. One of the most important data analysis process on the microarray data set is feature selection. This process finds the most important genes that affect certain disease. In this paper, we introduce a technique for imputing the missing data in microarray data sets while performing feature selection.

Keywords: DNA microarray, feature selection, missing data, bioinformatics.

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Authors: M. Volpini, D. Alves, A. Horta, M. Borges, P. Reis

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The gait pattern in people that present motor limitations foment the demand for auxiliary locomotion devices. These artifacts for movement assistance vary according to its shape, size and functional features, following the clinical applications desired. Among the ortheses of lower limbs, the ankle-foot orthesis aims to improve the ability to walk in people with different neuromuscular limitations, although they do not always answer patients' expectations for their aesthetic and functional characteristics. The purpose of this study is to explore the possibility of using new design in additive manufacturer to reproduce the shape and functional features of a ankle-foot orthesis in an efficient and modern way. Therefore, this work presents a study about the performance of the mechanical forces through the analysis of finite elements in an ankle-foot orthesis. It will be demonstrated a study of distribution of the stress on the orthopedic device in orthostatism and during the movement in the course of patient's walk.

Keywords: Additive manufacture, new designs, orthoses, finite elements.

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Authors: Petr Vcelak, Jana Kleckova

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Our Medicine-oriented research is based on a medical data set of real patients. It is a security problem to share patient private data with peoples other than clinician or hospital staff. We have to remove person identification information from medical data. The medical data without private data are available after a de-identification process for any research purposes. In this paper, we introduce an universal automatic rule-based de-identification application to do all this stuff on an heterogeneous medical data. A patient private identification is replaced by an unique identification number, even in burnedin annotation in pixel data. The identical identification is used for all patient medical data, so it keeps relationships in a data. Hospital can take an advantage of a research feedback based on results.

Keywords: DASTA, De-identification, DICOM, Health Level Seven, Medical data, OCR, Personal data

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Authors: Masahiro Kuzunishi, Tetsuya Furukawa, Ke Lu

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Classifying data hierarchically is an efficient approach to analyze data. Data is usually classified into multiple categories, or annotated with a set of labels. To analyze multi-labeled data, such data must be specified by giving a set of labels as a semantic range. There are some certain purposes to analyze data. This paper shows which multi-labeled data should be the target to be analyzed for those purposes, and discusses the role of a label against a set of labels by investigating the change when a label is added to the set of labels. These discussions give the methods for the advanced analysis of multi-labeled data, which are based on the role of a label against a semantic range.

Keywords: Classification Hierarchies, Data Analysis, Multilabeled Data, Orders of Sets of Labels

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Authors: Woong Hee Kim, Ilhwan Park

Abstract:

Steganography is the art of hiding and transmitting data through apparently innocuous carriers in an effort to conceal the existence of the data. A lot of steganography algorithms have been proposed recently. Many of them use the digital image data as a carrier. In data hiding scheme of halftoning and coordinate projection, still image data is used as a carrier, and the data of carrier image are modified for data embedding. In this paper, we present three features for analysis of data hiding via halftoning and coordinate projection. Also, we present a classifier using the proposed three features.

Keywords: Steganography, steganalysis, digital halftoning, data hiding.

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Authors: Noura Meshaan Al-Otaibi, Amin Yousef Noaman

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Nowadays scientific data is inevitably digital and stored in a wide variety of formats in heterogeneous systems. Scientists need to access an integrated view of remote or local heterogeneous data sources with advanced data accessing, analyzing, and visualization tools. This research suggests the use of Service Oriented Architecture (SOA) to integrate biological data from different data sources. This work shows SOA will solve the problems that facing integration process and if the biologist scientists can access the biological data in easier way. There are several methods to implement SOA but web service is the most popular method. The Microsoft .Net Framework used to implement proposed architecture.

Keywords: Bioinformatics, Biological data, Data Integration, SOA and Web Services.

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