The electro-encephalogram (EEG) is useful for clinical diagnosis and in biomedical research. EEG signals, however, especially those recorded from frontal channels, often contain strong electro-oculogram (EOG) artifacts produced by eye movements. Existing regression-based methods for removing EOG artifacts require various procedures for preprocessing and… (More)
Differences between magnetic responses to red-green chromatic gratings and yellow-black luminance gratings were: (1) response waveforms differed considerably; (2) at some recording sites the chromatic grating response was considerably greater than the sum of responses to the red and green components of the chromatic grating; (3) the latencies of the… (More)
A method is proposed to simulate the propagation of a broadband ultrasound pulse in a lossy medium whose attenuation exhibits a power law frequency dependence. Using a bank of Gaussian filters, the broadband pulse is first decomposed into narrowband components. The effects of the attenuation and dispersion are then applied to each component based on the… (More)
This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage.… (More)
This study sought to determine whether the quality of enzyme preparations can be determined from their melting curves, which may easily be obtained using a fluorescent probe and a standard reverse transcription-polymerase chain reaction (RT-PCR) machine. Thermal melt data on 31 recombinant enzymes from Plasmodium parasites were acquired by incrementally… (More)
This paper summarizes self-reports made by many of the DARPA Robotics Challenge teams on how much autonomy was used and why errors occurred. We also include observations about commonalities and differences in robot behavior across teams, and discuss lessons learned.
A general framework for designing an optimum control strategy for the Hemopump is described. An objective function was defined that includes four membership functions, each constructed based on the desired values of one of the four members: stroke volume, mean left atrial pressure, aortic diastolic pressure and mean pump rotation speed. The Hemopump was… (More)
— We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC), focusing on our strategy to avoid failures that required physical human intervention. We implemented safety features in our controller to detect potential catastrophic failures, stop the current behavior, and allow remote intervention by a human supervisor. Our safety methods and… (More)