Application of a Customized Optical Force Sensor to a Cable-Driven Leg Exoskeleton

2021 ◽  
Author(s):  
Jiaxu Huang ◽  
Rand Hidayah ◽  
Sunil Agrawal ◽  
Jorge A. Diez ◽  
Nicolas García-Aracil
Keyword(s):  
Root Mean Square Error ◽  
Mean Square Error ◽  
Force Sensor ◽  
Optical Force ◽  
Robotic Systems ◽  
Sensor Calibration ◽  
Manufacturing Cost ◽  
Mean Square ◽  
Validation Tests ◽  
Force Profiles

Abstract In this paper, a customized optical force sensor is developed for an application with a cable-driven leg exoskeleton. Sensors are vital components of cable-driven, exoskeletal robotic systems, which require real-time and accurate measurement of cable tensions. While these systems’ accuracy is a consideration, the added weight, volume, and complexity of the system must is an essential part of widespread adoption for wearable applications. These sensors can also be costly, which is undesirable. An optical force sensor has the advantages of being lightweight, lower in manufacturing cost, and easy to incorporate within the exoskeleton architecture. We designed a sensor to accommodate the expected force profiles and magnitudes during gait while wearing the Cable-Driven Active Leg Exoskeleton (C-ALEX) during a walking task. We carried out four different calibration tests with dynamic loading of the sensors from 10N to 40N. Once a sensor calibration was established, the optical sensor’s performance was compared to a traditional load cell in validation tests. Both components were used in an assist-as-needed force controller in a walking task with a user, with the optical force sensor incorporated into the C-ALEX exoskeleton arms. Comparing the sensor responses to the command tension forces, the results show a root-mean-square error (RMSE) of 0.9595N ± 0.5360N.

scholarly journals Estimation of Apple Flowering Frost Loss for Fruit Yield Based on Gridded Meteorological and Remote Sensing Data in Luochuan, Shaanxi Province, China

2021 ◽  
Vol 13 (9) ◽  
pp. 1630
Author(s):  
Yaohui Zhu ◽  
Guijun Yang ◽  
Hao Yang ◽  
Fa Zhao ◽  
Shaoyu Han ◽  
...  
Keyword(s):  
Remote Sensing ◽  
Root Mean Square Error ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Minimum Temperature ◽  
Price Regulation ◽  
Flowering Period ◽  
Mean Square ◽  
Prevention Measures ◽  
Agricultural Insurance

With the increase in the frequency of extreme weather events in recent years, apple growing areas in the Loess Plateau frequently encounter frost during flowering. Accurately assessing the frost loss in orchards during the flowering period is of great significance for optimizing disaster prevention measures, market apple price regulation, agricultural insurance, and government subsidy programs. The previous research on orchard frost disasters is mainly focused on early risk warning. Therefore, to effectively quantify orchard frost loss, this paper proposes a frost loss assessment model constructed using meteorological and remote sensing information and applies this model to the regional-scale assessment of orchard fruit loss after frost. As an example, this article examines a frost event that occurred during the apple flowering period in Luochuan County, Northwestern China, on 17 April 2020. A multivariable linear regression (MLR) model was constructed based on the orchard planting years, the number of flowering days, and the chill accumulation before frost, as well as the minimum temperature and daily temperature difference on the day of frost. Then, the model simulation accuracy was verified using the leave-one-out cross-validation (LOOCV) method, and the coefficient of determination (R2), the root mean square error (RMSE), and the normalized root mean square error (NRMSE) were 0.69, 18.76%, and 18.76%, respectively. Additionally, the extended Fourier amplitude sensitivity test (EFAST) method was used for the sensitivity analysis of the model parameters. The results show that the simulated apple orchard fruit number reduction ratio is highly sensitive to the minimum temperature on the day of frost, and the chill accumulation and planting years before the frost, with sensitivity values of ≥0.74, ≥0.25, and ≥0.15, respectively. This research can not only assist governments in optimizing traditional orchard frost prevention measures and market price regulation but can also provide a reference for agricultural insurance companies to formulate plans for compensation after frost.

scholarly journals Low Cost Automatic Reconstruction of Tree Structure by AdQSM with Terrestrial Close-Range Photogrammetry

Forests ◽  
2021 ◽  
Vol 12 (8) ◽  
pp. 1020
Author(s):  
Yanqi Dong ◽  
Guangpeng Fan ◽  
Zhiwu Zhou ◽  
Jincheng Liu ◽  
Yongguo Wang ◽  
...  
Keyword(s):  
Root Mean Square Error ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Low Cost ◽  
Reference Value ◽  
Tree Height ◽  
Point Clouds ◽  
Tree Structure ◽  
Mean Square ◽  
Tree Model

The quantitative structure model (QSM) contains the branch geometry and attributes of the tree. AdQSM is a new, accurate, and detailed tree QSM. In this paper, an automatic modeling method based on AdQSM is developed, and a low-cost technical scheme of tree structure modeling is provided, so that AdQSM can be freely used by more people. First, we used two digital cameras to collect two-dimensional (2D) photos of trees and generated three-dimensional (3D) point clouds of plot and segmented individual tree from the plot point clouds. Then a new QSM-AdQSM was used to construct tree model from point clouds of 44 trees. Finally, to verify the effectiveness of our method, the diameter at breast height (DBH), tree height, and trunk volume were derived from the reconstructed tree model. These parameters extracted from AdQSM were compared with the reference values from forest inventory. For the DBH, the relative bias (rBias), root mean square error (RMSE), and coefficient of variation of root mean square error (rRMSE) were 4.26%, 1.93 cm, and 6.60%. For the tree height, the rBias, RMSE, and rRMSE were—10.86%, 1.67 m, and 12.34%. The determination coefficient (R2) of DBH and tree height estimated by AdQSM and the reference value were 0.94 and 0.86. We used the trunk volume calculated by the allometric equation as a reference value to test the accuracy of AdQSM. The trunk volume was estimated based on AdQSM, and its bias was 0.07066 m3, rBias was 18.73%, RMSE was 0.12369 m3, rRMSE was 32.78%. To better evaluate the accuracy of QSM’s reconstruction of the trunk volume, we compared AdQSM and TreeQSM in the same dataset. The bias of the trunk volume estimated based on TreeQSM was −0.05071 m3, and the rBias was −13.44%, RMSE was 0.13267 m3, rRMSE was 35.16%. At 95% confidence interval level, the concordance correlation coefficient (CCC = 0.77) of the agreement between the estimated tree trunk volume of AdQSM and the reference value was greater than that of TreeQSM (CCC = 0.60). The significance of this research is as follows: (1) The automatic modeling method based on AdQSM is developed, which expands the application scope of AdQSM; (2) provide low-cost photogrammetric point cloud as the input data of AdQSM; (3) explore the potential of AdQSM to reconstruct forest terrestrial photogrammetric point clouds.

scholarly journals Rapid Biochemical Methane Potential Evaluation of Anaerobic Co-Digestion Feedstocks Based on Near Infrared Spectroscopy and Chemometrics

Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1460
Author(s):  
Jinming Liu ◽  
Changhao Zeng ◽  
Na Wang ◽  
Jianfei Shi ◽  
Bo Zhang ◽  
...  
Keyword(s):  
Infrared Spectroscopy ◽  
Variable Selection ◽  
Root Mean Square Error ◽  
Least Squares ◽  
Mean Square Error ◽  
Near Infrared Spectroscopy ◽  
Near Infrared ◽  
Mean Square ◽  
Biochemical Methane Potential ◽  
Methane Potential

Biochemical methane potential (BMP) of anaerobic co-digestion (co-AD) feedstocks is an essential basis for optimizing ratios of materials. Given the time-consuming shortage of conventional BMP tests, a rapid estimated method was proposed for BMP of co-AD—with straw and feces as feedstocks—based on near infrared spectroscopy (NIRS) combined with chemometrics. Partial least squares with several variable selection algorithms were used for establishing calibration models. Variable selection methods were constructed by the genetic simulated annealing algorithm (GSA) combined with interval partial least squares (iPLS), synergy iPLS, backward iPLS, and competitive adaptive reweighted sampling (CARS), respectively. By comparing the modeling performances of characteristic wavelengths selected by different algorithms, it was found that the model constructed using 57 characteristic wavelengths selected by CARS-GSA had the best prediction accuracy. For the validation set, the determination coefficient, root mean square error and relative root mean square error of the CARS-GSA model were 0.984, 6.293 and 2.600, respectively. The result shows that the NIRS regression model—constructed with characteristic wavelengths, selected by CARS-GSA—can meet actual detection requirements. Based on a large number of samples collected, the method proposed in this study can realize the rapid and accurate determination of the BMP for co-AD raw materials in biogas engineering.

scholarly journals Quality of wood in the stands of poplar clones

2008 ◽  
Vol 54 (No. 1) ◽  
pp. 9-16
Author(s):  
R. Petráš ◽  
J. Mecko ◽  
V. Nociar
Keyword(s):  
Root Mean Square Error ◽  
Systematic Error ◽  
Mean Square Error ◽  
Statistical Tests ◽  
Mean Square ◽  
Poplar Clones ◽  
Mean Diameter ◽  
Empirical Material ◽  
Relative Root

The results obtained in research on the quality of raw timber by means of the structure of assortments for the stands of poplar clones Robusta and I-214 are presented in the paper. Models for an estimation of the structure of basic assortments of poplar stands were constructed separately for each clone in dependence on mean diameter, quality of stems, and damage to stems in the stand. The clone Robusta has higher proportions of higher-quality assortments than the clone I-214. The accuracy of models was determined on empirical material. It was confirmed by statistical tests that the models did not have a systematic error. The relative root mean-square error for main assortments of the clone I-214 is 15–27% and Robusta 13–24%.

Comparison of Thresholding and Edge Detection Segmentation Techniques

2013 ◽  
Vol 860-863 ◽  
pp. 2783-2786
Author(s):  
Yu Bing Dong ◽  
Hai Yan Wang ◽  
Ming Jing Li
Keyword(s):  
Image Segmentation ◽  
Root Mean Square Error ◽  
Edge Detection ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Experimental Results ◽  
Mean Square ◽  
Segmentation Method ◽  
Segmentation Algorithms

Edge detection and thresholding segmentation algorithms are presented and tested with variety of grayscale images in different fields. In order to analyze and evaluate the quality of image segmentation, Root Mean Square Error is used. The smaller error value is, the better image segmentation effect is. The experimental results show that a segmentation method is not suitable for all images segmentation.

Quantitative Analysis of Forsythiae fructus by Near Infrared Spectroscopy

2013 ◽  
Vol 807-809 ◽  
pp. 1967-1971
Author(s):  
Yan Bai ◽  
Xiao Yan Duan ◽  
Hai Yan Gong ◽  
Cai Xia Xie ◽  
Zhi Hong Chen ◽  
...  
Keyword(s):  
Infrared Spectroscopy ◽  
Root Mean Square Error ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Near Infrared Spectroscopy ◽  
Near Infrared ◽  
Cross Validation ◽  
Ethanol Extract ◽  
Mean Square ◽  
Validation Set

In this paper, the content of forsythoside A and ethanol-extract were rapidly determinated by near-infrared reflectance spectroscopy (NIRS). 85 samples of Forsythiae Fructus harvested in Luoyang from July to September in 2012 were divided into a calibration set (75 samples) and a validation set (10 samples). In combination with the partical least square (PLS), the quantitative calibration models of forsythoside A and ethanol-extract were established. The correlation coefficient of cross-validation (R2) was 0.98247 and 0.97214 for forsythoside A and ethanol-extract, the root-mean-square error of calibration (RMSEC) was 0.184 and 0.570, the root-mean-square error of cross-validation (RMSECV) was 0.81736 and 0.36656. The validation set were used to evaluate the performance of the models, the root-mean-square error of prediction (RMSEP) was 0.221 and 0.518. The results indicated that it was feasible to determine the content of forsythoside A and ethanol-extract in Forsythiae Fructus by near-infrared spectroscopy.

scholarly journals The CSS and The Two-Staged Methods for Parameter Estimation in SARFIMA Models

2011 ◽  
Vol 2011 ◽  
pp. 1-11 ◽  
Author(s):  
Erol Egrioglu ◽  
Cagdas Hakan Aladag ◽  
Cem Kadilar
Keyword(s):  
Time Series ◽  
Parameter Estimation ◽  
Root Mean Square Error ◽  
Mean Square Error ◽  
Simulation Study ◽  
Long Memory ◽  
Moving Average ◽  
Mean Square ◽  
Sample Sizes ◽  
Advantages And Disadvantages

Seasonal Autoregressive Fractionally Integrated Moving Average (SARFIMA) models are used in the analysis of seasonal long memory-dependent time series. Two methods, which are conditional sum of squares (CSS) and two-staged methods introduced by Hosking (1984), are proposed to estimate the parameters of SARFIMA models. However, no simulation study has been conducted in the literature. Therefore, it is not known how these methods behave under different parameter settings and sample sizes in SARFIMA models. The aim of this study is to show the behavior of these methods by a simulation study. According to results of the simulation, advantages and disadvantages of both methods under different parameter settings and sample sizes are discussed by comparing the root mean square error (RMSE) obtained by the CSS and two-staged methods. As a result of the comparison, it is seen that CSS method produces better results than those obtained from the two-staged method.

Analysis of candlenut oil as oil adulterant in three functional oils of soybean oil, sunflower oil and grapeseed oil in quaternary mixture systems using FTIR spectroscopy and chemometrics

Food Research ◽  
2021 ◽  
Vol 5 (2) ◽  
pp. 248-253
Author(s):  
A.B. Riyanta ◽  
S. Riyanto ◽  
E. Lukitaningsih ◽  
A. Rohman
Keyword(s):  
Root Mean Square Error ◽  
Soybean Oil ◽  
Ftir Spectroscopy ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Sunflower Oil ◽  
Ftir Spectra ◽  
Mean Square ◽  
Grapeseed Oil ◽  
Quaternary Mixture

Soybean oil (SBO), sunflower oil (SFO) and grapeseed oil (GPO) contain high levels of unsaturated fats that are good for health and have proximity to candlenut oil. Candlenut oil (CNO) has a lower price and easier to get oil from that seeds than other seed oils, so it is used as adulteration for gains. Therefore, authentication is required to ensure the purity of oils by proper analysis. This research was aimed to highlight the FTIR spectroscopy application with multivariate calibration is a potential analysis for scanning the quaternary mixture of CNO, SBO, SFO and GPO. CNO quantification was performed using multivariate calibrations of principle component (PCR) regression and partial least (PLS) square to predict the model from the optimization FTIR spectra regions. The highest R2 and the lowest values of root mean square error of calibration (RMSEC) and root mean square error of prediction (RMSEP) were used as the basis for selection of multivariate calibrations created using several wavenumbers region of FTIR spectra. Wavenumbers regions of 4000-650 cm-1 from the second derivative FTIR-ATR spectra using PLS was used for quantitative analysis of CNO in quaternary mixture with SBO, SFO and GPO with R2 calibration = 0.9942 and 0.0239% for RMSEC value and 0.0495%. So, it can be concluded the use of FTIR spectra combination with PLS is accurate to detect quaternary mixtures of CNO, SBO, SFO and GPO with the highest R2 values and the lowest RMSEC and RMSEP values.

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