Sharif Digital Repository

Motion capture is a process that movements of living organisms like human or objects are captured and the results are processed for the desired applications. This applications are in rehabilation, sports, film industry and etc. There are many techniques and instruments for motion capture that optical cameras are the most accurate ones. But this cameras are high cost and limited to labs. Some sensors like IMUs and recently, Kinect cameras have been considered by many researchers because these are low cost and easy to use. But problems like bias, accumulated error and occlusion make them to looking for improvments. Fusion algorithms are one of the best methods that help to use from each... 

Parkinson's disease is a neurodegenerative disorder that affects motor functions. Performing mobility exercises help patients slowing down the progression of the illness and improving symptoms of the disease. Assessment and evaluation of activities of mobility exercises are critical for any treatment program particularly in tele-rehabilitation system. The purpose of the current study is to design an affordable and accurate wearable device with inertial measurement units (IMUs) for mobility activity recognition in Parkinson’s patients. The optimum number and arrangement (i.e. configuration) were found to minimize the cost while maintaining a fair accuracy. The activity recognition was... 

Sign language is the main medium of communication for mute and deaf people. Unfortunately most hearing people do not understand this language. This fact causes communication difficulties for hearing impaired people and negatively affects their social life. This problem motivates researchers to develop speaking aids and helps deaf people to communicate with hearing people. Sign language includes concurrent combination of hand shapes, orientation and movements of the hands, arms or body, and facial expressions which make the character and word recognition a challenging task. Generally there are two fields of study in sign language recognition based on measuring devices: 1- camera based 2-... 

Parkinson’s disease (PD) is a neurodegenerative disorder and during the last few years considerable measures have been taken to rehabilitate its patients. To prevent the disorder from deteriorating and to control its progress, patients have to undergo some therapy sessions that incorporate some mobility exercises e.g. walking, sitting up and down, and etc. Since transporting the patients to the clinical centers is too burdensome, growing attention is drawn towards telerehabilitation. To this end, DMRCINT has developed a telerehab system for PD patients. This system is an intelligent classifier that uses features of linear acceleration and angular velocity signals to detect the activity that... 

Human Activity Recognition (HAR) has had tremendous improvements in the field of elderly monitoring and telerehabilitation. An anchor point for HAR systems in telerehabilitation is supervising rehabilitative excercises. For Parkinson’s disease (PD) patients, a group of rehabilitative activities, known as Lee Silverman Voice Treatment-BIG, or LSVT-BIG, have shown to be effective in improving motor performance. Similar to any rehabilitative measure, delivering these activities requires the supervision of an expert or clinician, so that the patient receives proper feedbacks. HAR systems can replace human experts. They can recognize activities and provide the user with proper feedback. HAR... 

Sign language is the first and most important communication way between hearing impaired community, but the biggest issue within them is simply that most of them can't effectively communicate with most hearing people. If sign language can be translated to text or speech automatically, deaf people will be able to communicate with all the others. Sign language contains more than six thousands signs, in which, deaf people make use of hands and sometimes facial expression to do that. So far, three main approaches have been used to recognize posture and position of hand: 1) vision-based: using images of 1-3 camera(s), based on image processing; 2) glove-based: using sensory glove(s) and motion... 

Nowadays, application of AUVs in marine missions is a crucial research field. To reach a fully automated underwater vehicle, it should suitably be designed, controlled, navigated and its fault is detected immediately. An Identified model of AUV is usable for all of these goals. Thus, in this project, parameters of an appropriate dynamic model of AUV is estimated using augmented state space method and TUKF.By investigating possibility of parameter estimation of 6-DOF model and sub models in different cases, a scenario for estimation of cruise, steering and diving sub model parameters of AUV, using output of DVL and Gyroscope is proposed. Furthermore, planar misalignment between DVL and IMU,...