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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

共 2685 条记录，以下是2001-2010 订阅

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Computer-controlled Olfactometer for Quantitative Study of Odor Concentration Measurement

Computer-controlled Olfactometer for Quantitative Study of O...

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2010 3rd international conference on Biomedical Engineering and informatics (BMEI 2010)

作者： Liu, Weiling Bao, Jingling Zou, Kehua Li, Changjian Wang, Liyuan Xu, Yan Tianjin Acad Environm Sci State Environm Protect Key Lab Odor 17 Fukang Rd Tianjin Peoples R China Hebei Univ Technol Sch Mech Engn Tianjin Peoples R China

ISBN: (纸本)9781424464968

The aim of this work is to establish a Dynamic Dilution olfactometer and method for odor concentration measurement. The triangle odor bag method is described and used in the design of Dynamic Dilution olfactometer. The design has several advantages for rapid odor gas study. These advantages include relatively rapid odorant rise times, computer control, multiple odor administration, and a wide range of odor concertration detection. In this paper, we provide detailed instructions for construction of an air dilution olfactometer capable of generating neat odorants and binary mixtures. The Computerized Dynamic Olfactometer can realize with 13 dilution levels and dilution ratios 10 to 10(7). The central part is mass flow meter, integrated LabVIEW platform with Microsoft (R) Access database. The olfactometer can provide instantaneous data analysis and reporting. Computerized Dynamic Olfactometer is fully computerized and valuable in practical applications.

关键词： Dynamic Dilution olfactormeter quantitative odor concentration

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Interactive Motion Planning for Steerable Needles in 3D Environments with Obstacles

Interactive Motion Planning for Steerable Needles in 3D Envi...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Patil, Sachin Alterovitz, Ron Univ N Carolina Dept Comp Sci Chapel Hill NC 27515 USA

ISBN: (纸本)9781424477098

Bevel-tip steerable needles for minimally invasive medical procedures can be used to reach clinical targets that are behind sensitive or impenetrable areas and are inaccessible to straight, rigid needles. We present a fast algorithm that can compute motion plans for steerable needles to reach targets in complex, 3D environments with obstacles at interactive rates. The fast computation makes this method suitable for online control of the steerable needle based on 3D imaging feedback and allows physicians to interactively edit the planning environment in real-time by adding obstacle definitions as they are discovered or become relevant. We achieve this fast performance by using a Rapidly Exploring Random Tree (RRT) combined with a reachability-guided sampling heuristic to alleviate the sensitivity of the RRT planner to the choice of the distance metric. We also relax the constraint of constant-curvature needle trajectories by relying on duty-cycling to realize bounded-curvature needle trajectories. These characteristics enable us to achieve orders of magnitude speed-up compared to previous approaches;we compute steerable needle motion plans in under 1 second for challenging environments containing complex, polyhedral obstacles and narrow passages.

关键词： 3D environments 3D imaging feedback bevel-tip steerable needles complex polyhedral obstacles constant-curvature needle trajectories interactive motion planning medical control systems motion control needles online control position control rapidly exploring random tree reachability-guided sampling heuristics

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Reconfiguration security for hardware agents in testing

Reconfiguration security for hardware agents in testing

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17th IEEE international conference on automation, Quality and Testing, robotics, AQTR 2010

作者： Dan Moiş, George Flonta, Stelian Ştefan, Iulia Enyedi, Szilárd Miclea, Liviu Cristian Technical University Cluj-Napoca Romania

ISBN: (纸本)9781424467259

This paper presents a new method for assuring security in a distributed system using agents and reconfigurable circuits. The agents are used to implement an extension of the El Gamal encryption algorithm, used for conferring a certain level of security to the communication and the reconfiguration of the system's components. The proposed architecture uses FPGA boards and a microprocessor, the agent host, as components and is flexible and re-programmable.

关键词： Reconfigurable hardware

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Fractional Impedance control for Reproducing the Material Properties of Muscle and its Application in a Body Weight Support System

Fractional Impedance Control for Reproducing the Material Pr...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Kobayashi, Yo Watanabe, Takao Ando, Takeshi Seki, Masatoshi Fujie, Masakatsu G. Waseda Univ Fac Sci & Engn Shinjuku Ku Japan 59-3093-4-1 Ohkubo Tokyo Japan Waseda Univ Grad Sch Engn Sci Tokyo Japan Waseda Univ Grad Sch Engn Sci Fac Sci & Engn Tokyo Japan

ISBN: (纸本)9781424477098

We here report a novel impedance control method based on a fractional calculation inspired by the viscoelastic properties of biomaterials such as muscle. This fractional impedance controller was found to realize superior impact absorption for the purpose of flexible contact for assistive and rehabilitation robots for people. This paper presents an evaluation of this concept using simulations and experiments. The numerical analysis results demonstrated that a fractional impedance controller has superior impact absorption performance than a conventional controller for contact with elastic objects, especially for high-stiffness objects and high-velocity movement. Moreover, experiments using a robotic system for body weight support demonstrate the effectiveness of the fractional controller for suppressing a large contact force between subject and robot.

关键词： artificial limbs assistive robot biomaterials biomechanics body weight support system elastic objects fractional calculation fractional impedance controller handicapped aids high-stiffness objects high-velocity movement medical robotics muscle muscle numerical analysis numerical analysis patient rehabilitation rehabilitation robot viscoelastic property viscoelasticity

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Cardiomyocyte-Driven Wet Gel robotics - Chemical Modulation of Cardiac Network Pattern Generator-

Cardiomyocyte-Driven Wet Gel Robotics - Chemical Modulation ...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Hoshino, Takayuki Imagawa, Kentaro Morishima, Keisuke Tokyo Univ Agr & Technol Dept Mech Syst Engn Koganei Tokyo 1848588 Japan Tokyo Univ Agr & Technol Dept BioApplicat Syst Engn Fuchu Tokyo 183 Japan

ISBN: (纸本)9781424477098

Pattern generator for wet gel robotics was proposed as a cellular mechano-informatics network in the micro gel structure. Propagated contraction wave through cardiomyocyte network transferred information of chemical, physical, and temporal state quantities in the distance with different environmental property. Also the contraction waves were interfered on site of the cross bridge of the propagations. This mechano-informatics process was key point to understand the cardiac disease or other mechano-chemical propagation systems. Cardiomyocytes were mixed with collagen gel to construct a network of micro bio-actuators for a motion pattern generator. Calcium wave propagation and mechanical induced contraction could be utilized for signal transfer on the gel network to generate patterns of motion on the wet gel robotics. Calcium imaging of the cardiomyocyte gel indicated that compartments of calcium wave propagation were confirmed on the surface of the cardiomyocyte gel. We also demonstrated that the contraction propagated on the cardiomyocyte gel and that velocity was increased up to similar to 20 mm/s with increasing concentration of adrenalin. These experimental results suggested mechanical stretch induced contraction would be dominant factor of the contraction propagation. On the grid network gel, the adrenalin modulated contraction propagation was applied as variable network for signal processing. Spontaneous contraction appeared spatiotemporal contraction wave on the network of the cardiomyocyte gel. We found phase of the contraction between each intersection on the cardiac network gel could be modulated with adrenalin increasing. Synchronized contraction through the network gel became asynchronous beating on each point of the network gel with increasing concentration of adrenalin. These asynchronous beating would be induced by interference of each propagation wave through different pathways on the network gel.

关键词： Ca actuators adrenalin bioactuators biochemistry biomechanics biomedical optical imaging calcium cardiac disease cardiac network pattern generator cardiology cardiomyocyte-driven wet gel robotics cellular mechanoinformatics network cellular transport chemical modulation chemical quantities collagen gel diseases gels mechanical stretch mechanochemical propagation systems medical image processing molecular biophysics motion pattern generator physical quantities propagated contraction wave proteins signal processing spatiotemporal contraction wave temporal state quantities

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Miniaturized rigid probe driver with haptic loop control for neurosurgical interventions

Miniaturized rigid probe driver with haptic loop control for...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： De Lorenzo, Danilo Manganelli, Rudy Dyagilev, Ilya Formaglio, Alessandro De Momi, Elena Prattichizzo, Domenico Shoham, Moshe Ferrigno, Giancarlo Politecn Milan Dept Bioengn Neuroengn & Med Robot Lab I-20133 Milan Italy Univ Haifa Dept Engn Mech Med Robot Lab Haifa Israel Univ Siena Dept Informat Engn I-53100 Siena Italy

ISBN: (纸本)9781424477098

During neurosurgical "keyhole" procedures (i.e. functional neurosurgery and biopsies), linear probes are inserted into the brain toward selected targets. Recently, robotic systems have been introduced to help the surgeon to improve the operation accuracy and safety while simultaneously reducing the invasiveness of the procedure. In this paper, an innovative miniaturized linear actuator for neurosurgical probe insertion, with a remote master device, is presented. The linear actuator, with three piezo-motors that allow the movement of the probe, is equipped with a position sensor and with a force sensor in order to provide the surgeon with haptic feedback. The haptic master drives the linear actuator and reproduces and amplifies the contact forces between the surgical tool and the brain tissue. The results of two different force sensing modalities are compared. First tests show the surgical application requirements are satisfied.

关键词： brain tissue feedback force control force sensor force sensors haptic feedback haptic interfaces haptic loop control medical robotics microactuators miniaturized linear actuator miniaturized rigid probe driver neurophysiology neurosurgical interventions neurosurgical probe insertion piezoelectric actuators piezoelectric motors piezomotors position control position sensor remote master device surgery

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Positioning of Microrobot in a Pulsating Flow using EMA System

Positioning of Microrobot in a Pulsating Flow using EMA Syst...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Choi, Jongho Jeong, Semi Cha, Kyoungrae Qin, Lulu Li, Jie Park, Jongoh Park, Sukho Chonnam Natl Univ Dept Mech Engn Kwangju 500757 South Korea

ISBN: (纸本)9781424477098

The purpose of this paper is the positioning control of the microrobot in a pulsating flow using electromagnetic actuation (EMA) System. Several types of EMA systems which are 2-dimensional and 3-dimensional locomotion control of microrobot were proposed and studied. Generally, these conventional researches of EMA systems showed the results of locomotion of microrobot in a fluid without flow. However, in the case of test of microrobot in a blood vessel, it is required that the experiments of locomotion should be performed in a pulsating flow like bloodstream. For that reason, we carried out basic locomotion research of the microrobot in the pulsating flow. For this experiment, we used simple 1-dimensional EMA system which consists of a pair of Helmholtz and Maxwell coils, and we set up a vascular simulator which can generate pulsating flow in the vessel phantom. The magnetized microrobot was inserted in the vascular simulator. The electromagnetic force which affects the motion of the microrobot was controlled by regulating input current to EMA system. The input current regulation was performed by considering the magnitude of flow rate and drag force of fluid to the microrobot. To measure the pressure variance of a pulsating flow in the vascular phantom, the pressure transducer was placed in front of the region of interest (ROI) and the control input which compensates the drag force to microrobot was generated by using the transducer signal. In addition, the position of microrobot was acquired through the CMOS camera and the feedback control loop was also implemented for accurate positioning control. The performance of the positioning control was evaluated by in-vitro experiments using vascular simulator. In addition, the feasibility of the position control of the microrobot was also evaluated by in-vivo animal experiments.

关键词： 2-dimensional locomotion control 3-dimensional locomotion control CMOS camera EMA system Helmholtz coil Maxwell coil blood vessel blood vessels bloodstream drag drag force electromagnetic actuation electromagnetic actuators feedback control loop haemodynamics input current regulation magnetized microrobot medical robotics micropositioning microrobot positioning microrobots mobile robots patient treatment phantoms positioning control pressure transducer pressure variance pulsatile flow pulsating flow vascular simulator vessel phantom

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Nonlinear Identification Method Corresponding to Muscle Property Variation in FES - Experiments in Paraplegic Patients

Nonlinear Identification Method Corresponding to Muscle Prop...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Hayashibe, Mitsuhiro Benoussaad, Mourad Guiraud, David Poignet, Philippe Fattal, Charles INRIA Sophia Antipolis DEMAR Project 161 Rue Ada F-34392 Montpellier 5 France Propara Rehabil Ctr F-34195 Montpellier France

ISBN: (纸本)9781424477098

A model-based Functional Electrical Stimulation (FES) would be very helpful for the adaptive movement synthesis of spinal-cord-injured patients. The nonlinearity of the neuromuscular system can be captured through modeling and identification process. However, there are still critical limitations in FES: rapid muscle fatigue and time-varying property. In actual FES, in order to minimize the fatigue, the intermittent stimulation is adopted. In this case, fatigue and recovery occur in sequence. Thus, the time-varying muscle response is really difficult to be predicted for FES force control. In this paper, we propose an identification method to identify unknown internal states and the maximal force parameter which are inside the nonlinear differential equation. Among the internal parameters of muscle model, maximal force Fm should be mainly changed corresponding to the current muscle condition. Muscle fatigue or recovery itself is difficult to be modeled and predicted, however observing the input-output information from the muscle, the adaptive estimation will be achieved to correspond to the varying muscle response effected by a fatigue or unknown metabolic factor of human system. This identification method itself can be expected to be applied for general use in rehabilitation robotics.

关键词： FES adaptive movement synthesis bioelectric phenomena biomechanics fatigue force control force control functional electrical stimulation identification internal states maximal force parameter medical robotics medical signal processing muscle property variation muscle recovery neuromuscular stimulation neuromuscular system nonlinear differential equation nonlinear differential equations nonlinear identification method parameter estimation paraplegic patients patient rehabilitation physiological models rapid muscle fatigue rehabilitation robotics spinal cord injured patients time-varying property

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Biomechatronic Approach to a Multi-Fingered Hand Prosthesis

Biomechatronic Approach to a Multi-Fingered Hand Prosthesis

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Wang, Xinqing Zhao, Jingdong Yang, Dapeng Li, Nan Sun, Chao Liu, Hong Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China German Aerosp Ctr Inst Robot & Mechatron D-82230 Munich Germany

ISBN: (纸本)9781424477098

The development of a biomechatronic hand with multi-FSRs (Force Sensitive Resistor) interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion and extension independently. Besides, each finger is equipped with torque and position sensors. Thus, the cosmetics and dexterity are improved remarkably compared to commercial prosthesis. The hardware architecture is hierarchically organized as control system and human-machine interaction system. To evaluate the performances of the hand, the pattern reorganization experiment based on support vector machine (SVM) was conducted. The results show that FSR sensing technology is suitable for muscle activity detection;Compared to nearest neighborhood classifier, SVM method improves the predict success rate. Moreover, it also demonstrates that the hand is dexterous and manipulates like human.

关键词： SVM biomechanics biomechatronic hand control system coupling linkage mechanism extension flexion force sensors haptic interfaces hardware architecture human-machine interaction system human-robot interaction medical robotics multifingered hand prosthesis multiforce sensitive resistor interface muscle muscle activity detection nearest neighborhood classifier pattern reorganization phalanges prosthetics resistors support vector machine support vector machines

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A Dynamic Neural Field Architecture for a Pro-active Assistant Robot

A Dynamic Neural Field Architecture for a Pro-active Assista...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Pinheiro, Manuel Bicho, Estela Erlhagen, Wolfram Univ Minho Dept Ind Elect P-4719 Braga Portugal Univ Minho Dept Math & Appl P-4719 Braga Portugal

ISBN: (纸本)9781424477098

We present a control architecture for non-verbal HRI that allows an assistant robot to have a pro-active and anticipatory behavior. The architecture implements the coordination of actions and goals among the human, that needs help, and the robot as a dynamic process that integrates contextual cues, shared task knowledge and predicted outcome of the human motor behavior. The robot control architecture is formalized by a coupled system of dynamic neural fields representing a distributed network of local but connected neural populations with specific functionalities. Different subpopulations encode task relevant information about action means, action goals and context in form of self-sustained activation patterns. These patterns are triggered by input from connected populations and evolve continuously in time under the influence of recurrent interactions. The dynamic control architecture is validated in an assistive task in which an anthropomorphic robot acts as a personal assistant of a person with motor impairments. We show that the context dependent mapping from action observation onto appropriate complementary actions allows the robot to cope with dynamically changing situations. This includes adaptation to different users and mutual compensation of physical limitations.

关键词： anthropomorphic robot biomechanics cognition dynamic control architecture dynamic neural field architecture handicapped aids human-robot interaction medical robotics motor impairments neurophysiology non-verbal HRI pro-active assistant robot robot control architecture robot dynamics self-sustained activation patterns

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