Professor: Marek A. Perkowski, Electrical Engineering.

CRASH - Computers and Robots to Aid Societies and Humans

Schedule of lectures for summer 2012.

1. Lecture 1. Topic 1.
2. Lecture 2. Topic 2.

TOPIC 1. KINECT-BASED DEVICES FOR BLIND.

TOPIC 2. MICROSCOPE-CAMERA DEVICES FOR BLIND.

TOPIC 3. MELANOMA CANCER IMAGING.

TOPIC 4. CERVICAL CANCER IMAGING.

TOPIC 5. PROSTATE CANCER IMAGING.

TOPIC 6. PSUBOT - AN INTELLIGENT WHEELCHAIR.

1. Paper slides. Choi Jung-Yi presenter. Paper by E. Pressler, J. Scholz and P. Friorini, ``A robotic wheelchair for crowded public environments''. Hardware design. Control architecture. Tactical level. Strategic level. Motion detection and tracking. Motion planning. Velocity obstacle.
   robotic-wheelchair.ppt
   
   
2. Paper slides by Jeong-Su Han. A paper by G. Bourhis et al, ``An Autonomous Vehicle for People with Motor Disabilities.''
   wheelchair-control.ppt
3. Paper slides by Woo Hyun Soo. Paper by Holly A. Yanco on ``Wheelesley: A Robotic Wheelchair System: Indoor Navigation and User Interface.''
   wheelchair-navigation-and-interface.ppt
4. Paper on Legged Wheelchair Mobility as a research issue.
   wheelchair-paper.pdf
5. Paper slides by Y. Ming. Paper by M. Mazo et al on ``An Integrated System for Assisted Mobility.''
   wheelchair.ppt
6. Grant about disability. PSU. Disability.txt
7. Research Abstracts.
   
   
8. Paper slides. Lee Hyong Euk. Guidance System for a Powered Wheelchair. Approach. Kalman filters. Experimental results.
   guidance-for-wheelchair.ppt

TOPIC 7. ROBOTS FOR AUTISTIC CHILDREN.

TOPIC 8. ROBOTS AND CEREBRAL PALSY.

TOPIC 9. SMART HOMES, SWEET HOMES, NURSING AND ELDERLY.

1. University of Bradford. Progression Towards the Intelligent Home. Slides in PPT format.
2. Reinder Bakker. Assistive Technology. Environmental Control System. In PPT format. Another set of slides about Smart Home.
3. Paper. Z.Z. Bien, K. Park, W. Bang, and D. H. Stefanov, ``LARES: An Intelligent Sweet Home for Assisting the Elderly and the Handicapped.'' From KAIST.
   lares.pdf
4. Paper slides by Kim Min-Jung. Presenting paper by A. Lankenau and T. Rofer on ``A Versatile and Safe Mobility assistant''.
   mobility-assistant.ppt
5. Paper by Hyun Keun Park et al on ``A Nursing Robot System for the Elderly and the Disabled.'' from KAIST.
   nursing-robot.pdf

   TOPIC 10. MUSCLES, ELECTRODES AND REHABILITATION ROBOTS.

   1. Lecture 5. Stefanov. Muscles. Mechanical work, energy and power. Positive and negative work of muscles. Muscle mechanical power. Energy flow and storage. Pendulum system with muscles. Muscle mechanics. Basic structure of the muscle contractive element. Recruitment of motor units. Two types of motor units. Series elastic tissues.
      lecture5.ppt
   2. Lecture 6. Stefanov. Muscles continued. The muscle twitch. Muscle modeling. Electromyography. EMG electrodes. Microelectrodes. Relationships between EMG activity and the muscle tension. Electromyographic kinesiology. Recoding of the EMG.
      lecture6.ppt
   3. Lecture 7. Stefanov. Electrodes continued. Polarization of electrodes. EMG amplifiers. Input impedance. Frequency bandwidth. Types of amplifiers. Processing of EMG. Biopotential amplifiers. Bioamplifier circuits. Surge protection of bioamplifiers. Input guarding.
      lecture7.ppt
   4. Lecture 8. Stefanov. Electrodes continued. Biopotential and other amplifiers. ECG. Surface Electromyography. Systems to sense biological parameters. ECG monitoring.
      lecture8.ppt

   TOPIC 11. INTELLIGENT PROSTHESES.

   1. Lecture 9. Stefanov. Electrodes and prostheses. Prosthetics and orthotics.
      lecture9.ppt
   2. Lecture 10. Stefanov. Lower extremity prostheses. Below-the-knee prostheses. Above-the-knee prostheses. Intelligent prostheses. Lower-extremity orthoses.
      lecture10.ppt
   3. Lecture 11. Stefanov. Upper-extremity prostheses. Tomovic's Prosthetic Hand. Stanford/JPL hand. Utah/MIT hand. DRL Hand. Otto Bock's Sensor Hand. Elbow Prosthesis.
      lecture11.ppt
   4. Lecture 12. Stefanov. Adaptive terminal devices. Prodigits. The Southampton Adaptive Hand. Myolectric Controlled UEP. Electric Elbows. Myoelectric Hand Orthosis.
      lecture12.ppt

   TOPIC 12. CONTROL OF PROSTHESES.

   1. Lectures 13 and 14. Stefanov. Feedback in prosthesis control. Prostheses controlled by myoelectric signals (MES). Analog proportional control. Programmable myoelectric control. MyoMicro System. Control Modes. Multifunction Myoelectric Control System. Pattern Recognition.
      lecture13-14.ppt
      
      
   2. Lecture 15. Stefanov. NTU Prosthetic Hand. EMG signal processing. Rutgers University Hand. A Microprocessor based Multi-Function Myoelectric Control System. Prosthetic control by an EEG-based Brain Computer Interface. Intelligent Prosthetic Controller.
      lecture15.ppt

   TOPIC 13. FUNCTIONAL NEURAL SIMULATION.

   1. Lecture 16. Stefanov. Functional Neural Simulation for Movement Restoration (FNS). Response of the locomotor system to FNS. Description of the FNS signal. Block-Diagram of FNS model.
      lecture16.ppt
   2. Lecture 17. Stefanov. Functional Neural Simulation for Movement Restoration (FNS). Upper Extremity FES. Review of FES systems. Bionic Glove. Restoration of standing and walking. Implantable standing FES systems. Hybrid assistive systems.
      lecture17.ppt

   TOPIC 14. WHEELCHAIRS.

   1. Lecture 18. Stefanov. Wheelchairs and personal transportation. Categories of wheelchairs. Patient-transfer systems. Frame design. Center of Gravity. Wheels and casters.
      lecture18.ppt
      
      
   2. Lecture 19. Stefanov. Powered Wheelchairs. Scooters. Schematics. Motors and Servo-Controllers. Full Bridge circuit.
      lecture19.ppt
      
      
   3. Lecture 20. Stefanov. Wheelchairs. Microprocessor control of wheelchairs. Torque loss. Interfaces. Speed control. Control modes and examples.
      lecture20.ppt
      
      
   4. Lecture 21. Stefanov. Wheelchairs cont. Sensor-based control systems. Pre-conditioning. Control strategies. Examples of external sensors. Electromagnetic compatibility of powered wheelchairs. User interfaces. Interesting wheelchair construction examples.
      lecture21.ppt
   5. Lecture 22. Stefanov. Go-to-goal wheelchairs. Non-holonomic kinematics. Comparison of non-holonomic and holonomic kinematics. Kinematic equations of motion. Dead reckoning. Differential steering.
      lecture22.ppt
   6. Lecture 23. Stefanov. Wheelchair kinematics. Rolling wheels. Position estimation. Ackerman steering. Synchro Drive. Mecanum Wheel. Tricycle. Omni-directional drives. Beacon-based localization. Triangularization methods.
      lecture23.ppt
   7. Lecture 24. Stefanov. Omni-directional wheelchairs. Stanford wheel. Mecanum wheel. Omni-directional wheelchair examples. The Vuton. Rollmobs. Omni-directional mechanisms. Stair-climbing, walking and shape-changing wheelchairs.
      lecture24.ppt
   8. Lecture 25. Stefanov. Autonomous Guided Wheelchairs. TAO-1 Intelligent Wheelchair. TinMan Intelligent Wheelchair Controller. Wheelesley system. NavChair. NavBelt. Guide Cane. Drive Assistant. Senario.
      lecture25.ppt
   9. Homeworks.
      homeworks.ppt

   TOPIC 15. FUZZY LOGIC.

   1. Paper slides. S. Fioretti, T. Leo, S. Longhi. Use of Fuzzy Logic!! ``A Navigation System for Increasing the Autonomy and the Security of a Powered Wheelchair''. Design criteria. Navigation system. User Interface. Experimental Results. Fuzzy Logic.
      Fuzzy-Wheelchair-Navigation.ppt

   TOPIC 16. ASSISTIVE TECHNOLOGIES.

   1. Paper. Masao Saito. Expanding Welfare Concept and Assistive Technology.
      Saito-paper.pdf
   2. Paper. B. Allen, Bus Systems in Three Tiered World Experience from the ICAN Project. (integrating various assistive technologies).
      Allen paper. pdf

   TOPIC 17. HUMAN MOTION ANALYSIS.

   1. Paper. G. Ferrigno, N.A. Borghese, A. Pedotti, ``Pattern Recognition in 3D automatic human motion analysis.''
      Ferrigno_paper.pdf

      TOPIC 17. PARAPLEGICS.

      1. Paper by Minzly et al, ``Computer-Controlled portable simulator for paraplegic patients.''
         Minzly_paper.pdf