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Workspace mapping and control of a teleoperated endoscopic surgical robot

Workspace mapping and control of a teleoperated endoscopic s...

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international conference on methods and models in automation and robotics (MMAR)

作者： Alaa Khalifa Ahmed Ramadan Khalil Ibrahim Mohamed Fanni Samy Assal Ahmed Abo-Ismail Dept. of Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Dept. of Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Tanta Egypt Dept. of Mechanical Engineering Assiut University Assiut Egypt

this paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. the 4-DOF, 2-PUU 2-PUS, endoscopic surgical parallel manipulator design is carried out using screw theory and Parallel virtual chain methodology to have larger bending angles and workspace volume. the master and slave devices of the teleoperation system are dissimilar in their kinematics and workspace volumes. A workspace mapping technique is implemented based on Position with Modied Rate Control to navigate through the slave workspace without annoying the user. To control the motion of the slave robot, a PID controller is used. the experimental results show the feasibility of the teleoperation surgical system using the 4-DOF parallel manipulator. Also, they indicate the efficiency of the implemented mapping technique and the designed controller to span the slave workspace with high dexterity and good tracking which allows the surgeon to perform the operation with high accuracy.

关键词： Manipulators Haptic interfaces Joints Switches Surgery Kinematics

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Passivity preserving multipoint model order reduction using reflective exploration

Passivity preserving multipoint model order reduction using ...

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international conference on Informatics in Control, automation and robotics (ICINCO)

作者： Elizabeth Rita Samuel Luc Knockaert Tom Dhaene Ghent University – iMinds Gent Belgium

Reduced state-space models obtained by model order reduction methods must be accurate over the whole frequency range of interest and must also preserve passivity. In this paper, we propose multipoint reduction technique using reflective exploration for adaptively choosing the expansion points. the projection matrices obtained from the expansion points are merged to form the overall projection matrix. In order to obtain a more compact model the projection matrix is truncated based on its singular values. Finally, the reduced order model is obtained, while ensuring that the passivity of the reduced system is preserved during the reduction process.

关键词： Adaptation models Computational modeling Mathematical model Ports (Computers) Reduced order systems Frequency response Accuracy

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Facial expressions modeling for interactive virtual environments

Facial expressions modeling for interactive virtual environm...

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international conference on methods and models in automation and robotics (MMAR)

作者： Maja Kocoń Department of Control and Measurement West Pomeranian University of Technology Szczecin

Nowadays, in Human-Machine Interaction systems, the communication between user and the machine (robot, computer, etc.) may be performed using a graphical representation of human often called avatar. Such graphical form needs a realistic human motion synthesis mechanisms which are becoming more and more popular in the virtual environments. therefore the paper is focussed on the problem of facial motion modeling for interactive virtual humans using events-based interaction rules. First, the most frequent emotional states and two types of personalities have been selected. For both personalities the transitions of the emotional states have been performed based on the motion probabilities. then, for animation process a set of the facial expression subtypes has been introduced. In such case it is possible to get a quite natural reactions of the avatar for various emotional states. Also, the transition probabilities have been defined for sub-states. Having obtained transition probabilities, a temporal duration of emotional state have been calculated. Finally, the architecture of the system for interaction between user and avatar based on facial animation modeling has been proposed.

关键词： Avatars Hidden Markov models Animation Mood Robots Probability

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Finite element modeling for heat transfer processes using the method of integro-differential relations with applications in control engineering

Finite element modeling for heat transfer processes using th...

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international conference on methods and models in automation and robotics (MMAR)

作者： Julia Kersten Andreas Rauh Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

Control design of spatially distributed thermal systems is a task that is necessary for a large variety of engineering applications. Early lumping techniques, that are applicable in this case, follow the methodology of first discretizing the infinite-dimensional system model and subsequently using the discretized model for a finite-dimensional control design. For that purpose, the governing partial differential equations are commonly reduced to a finite-dimensional set of ordinary differential equations. In this paper, the corresponding task is solved by an optimization-based version of the Method of Integro-Differential Relations (MIDR). On the one hand, the MIDR allows one to quantify and systematically influence the approximation quality and, on the other hand, to use the resulting models directly for control and state observer design. In the following, the MIDR is applied to a fundamental problem of linear heat transfer in tube-like structures for which cylindrical coordinates are a suitable choice for modeling the dynamic behavior in all three space directions. Illustrative simulation results of fundamental control and state estimation approaches conclude this paper. these simulation results serve as the basis for a future experimental validation of the presented modeling techniques on a laboratory test rig that is currently being built up at the Chair of Mechatronics at the University of Rostock.

关键词： Heat transfer Mathematical model Approximation methods Heating Polynomials Boundary conditions Temperature distribution

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Neural-network-based modeling and dynamic policy synthesis for model predictive control of nonlinear systems

Neural-network-based modeling and dynamic policy synthesis f...

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： Ajay Gautam Yeng Chai Soh Xiaoping Wu School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)9781479952007

A dynamic control policy with optimized dynamics is explored for its use in a model predictive control (MPC) algorithm for a nonlinear system modeled with a feedforward neural network. the nonlinear system is expressed as a polytopic quasi-linear-parameter-varying (quasi-LPV) system over a region of the state-input space and the dynamics of the policy are allowed to depend on the time-varying parameter of the quasi-LPV model. the policy dynamics are optimized off-line to obtain an enlarged domain of attraction which matches with the state-input region over which the polytopic approximation of the system holds good. A complete MPC algorithm using the dynamic policy as the terminal policy ensures stabilization and improved performance over a larger domain without a larger horizon length.

关键词： Artificial neural networks Heuristic algorithms Approximation methods Predictive models Nonlinear dynamical systems Data models

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Innovative approach in analysis of EEG and EMG signals — Comparision of the two novel methods

Innovative approach in analysis of EEG and EMG signals — Co...

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international conference on methods and models in automation and robotics (MMAR)

作者： Aleksandra Kawala-Janik Michal Podpora Jerzy Baranowski Waldemar Bauer Mariusz Pelc Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Krakow Poland Old Royal Naval College University of Greenwich London U.K.

In this paper comparison of the two innovative signal processing methods for analysis of both EEG and EMG biomedical signals is in short presented. the reason for that is caused by the fact, that nowadays the broad analysis of various biomedical signals is extremely popular. the first method presented in this paper relies on kernel density estimators application. Implementation of such method enables construction of densitograms for the examined bio-signals. One of the biggest advantages of this method is that it allows to obtain statistically filtered signals, which results in making the whole signal processing task significantly quicker. the second method described in this paper is based on basic mathematical operations only. Despite its simplicity the whole process can be implemented on almost any hardware platform, including those with very limited computational capabilities. Also it makes the task quick. In accordance with the conducted experiments - the method is also efficient and as it can also be implemented on embedded platform and the algorithm can be rewritten in any programming language, the potential application of this method is wide.

关键词： Electroencephalography Electromyography Electrodes Signal processing Educational institutions Headphones Hardware

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Salient Region Detection Using High Level Feature

Salient Region Detection Using High Level Feature

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international conference on Control, automation, robotics & Vision

作者： Zhong LIU Weihai CHEN Xingming WU School of Automation Science and Electrical Engineering BeiHang University Beijing 100191 China

ISBN: (纸本)9781479952007

In the last few decades, selective visual attention has been extensively studied for its promising contributions to computer vision applications. Many different models have been proposed to compute visual saliency, which can be coarsely formulated as computational or psychophysical. Most existing methods are based on bottom-up mechanism, an automatic human behavior to guide gaze allocation. And low level features such as color, intensity and orientation are commonly adopted to compute saliency map. In this work, we propose a saliency computation method that integrates high-level information of object with low-level features. the result map is more suitable for most top-down tasks in the field of mobile robot requiring object information.

关键词： visual attention saliency HOG features high level cues

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Uncertainty estimation for random sample consensus

Uncertainty estimation for random sample consensus

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： Huili Yu Shalini Keshavamurthy He Bai Sameer Sheorey Hieu Nguyen Clark N. Taylor Utopia Compression Corporation Los Angeles California Air Force Research Laboratory Ohio USA

ISBN: (纸本)9781479952007

the RANdom SAmple Consensus (RANSAC) algorithm, as a robust parameter estimator, has been widely used to remove gross errors. However, there is less work on analyzing the uncertainty produced by the RANSAC. this paper fills this gap by presenting an uncertainty estimation algorithm for the RANSAC. Based on a thorough analysis on the uncertainty of the model parameters generated during the random hypothesis sampling process of the RANSAC, we derive the probability that each hypothesis is selected as the best hypothesis by the RANSAC. Using the probability of the best hypothesis, we characterize the error expectation and error covariance of the model parameter estimates and compute the probability of each data point being an inlier. three models including line fitting, homography, and essential matrix are used to evaluate the performance of the uncertainty estimation algorithm. Results demonstrate that the uncertainty produced by the RANSAC is characterized successfully by the proposed algorithm.

关键词： Uncertainty Monte Carlo methods Standards Computational modeling Data models Noise Estimation

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Active noise control without secondary path modelling — Varying-delay LMS approach

Active noise control without secondary path modelling — Var...

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international conference on methods and models in automation and robotics (MMAR)

作者： Sebastian Kurczyk Marek Pawełczyk Institute of Automatic Control Silesian University of Technology Gliwice Poland

the Filtered-Reference LMS, also known as FxLMS algorithm, is one of the most commonly used adaptive algorithms for noise control systems. It is appreciated due to its simplicity, low computational complexity, and performance efficiency. For its convergence, responses of the acousto-electric secondary path and its model should not differ by more than pi/2 for any frequency contributing to the noise being controlled. Good amplitude matching is, in turn, responsible for convergence rate. thus, without an acceptable model, the FXLMS algorithm is vulnerable to high excess mean square error or even divergence due to updating control filter parameters in improper direction. the literature presents several recipes, of heuristic or theoretic origin, to cope in circumstances of inaccurate secondary path modeling, or when the path is subject to change during control system operation and thus differs from the model. they usually require additional wideband random excitation to allow for on-line modeling during control system operation. Such excitation deteriorates, however, overall noise reduction results, and the acoustic impression perceived by the user is poor. this paper focuses on an active noise control approach, which requires no secondary path modelling. the convergence is guaranteed by switching sign of the algorithm step size and, in this way, the sign of the parameter update term. It is combined with on-line tunable delay of the reference signal to significantly improve convergence properties of the algorithm. theoretical justification for this approach is shown for a tonal noise. then, the method is extended for the case of a narrowband noise. theoretical consideration is validated by simulations based on data acquired from a real application.

关键词： Noise Convergence Delays Filtering algorithms Finite impulse response filters Adaptation models Least squares approximations

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Fleet-Based Approach for Tool Wear Estimation using Sequential Importance Sampling with Resampling

Fleet-Based Approach for Tool Wear Estimation using Sequenti...

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international conference on Control, automation, robotics & Vision

作者： Tung Le Omid Geramifard Manufacturing Execution and Control Group Singapore Institute of Manufacturing Technology 71 Nanyang Drive Singapore 638075

ISBN: (纸本)9781479952007

In this paper, we study the use of historical data from a fleet (i.e., a group) of equipment to improve condition monitoring and health assessment for each individual equipment (within the fleet) for maintenance purposes. In particular, we propose a fleet-based approach to estimate the tool wear of milling machines at arbitrary operating conditions (OCs) using the Monte Carlo sequential importance sampling with resampling (SIR) algorithm. Unlike traditional data-driven estimation methods which usually rely on historical data available at the same OC, the proposed method can be used when there is a lack (or insufficiency) of historical data at the target OC by leveraging on the availability of historical data at others. First, we introduce a similarity measure based on the well-known extended Taylor's tool life equation to identify other OCs (where historical data are available) that are most "similar" to the target one. We then combine historical data from these OCs to construct a suitable model for the SIR to estimate the tool wear at the OC of interest. Our experimental results on a simulated dataset show that the proposed fleet-based approach with SIR can significantly improve tool wear estimation accuracy.

关键词： Estimation Training Force Hidden Markov models Monte Carlo methods Heuristic algorithms Manufacturing

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