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检索条件"任意字段=5th IFAC Symposium on Modelling and Control in Biomedical Systems"

共 781 条记录，以下是401-410 订阅

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Cell Mechanics Modeling and Identification by Atomic Force Microscopy

Cell Mechanics Modeling and Identification by Atomic Force M...

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7th ifac symposium on Mechatronic systems (MECHATRONICS)

作者： Ragazzon, Michael R. P. Vagia, Marialena Gravdahl, J. Tommy Norwegian Univ Sci & Technol NTNU Dept Engn Cybernet Trondheim Norway SINTEF ICT Appl Cybernet Trondheim Norway

Cells are complex living organisms often described as the building blocks of life. the mechanical properties of such cells have been shown to be effective for medical diagnosis. Previous research in this area focus primarily on static methods by identifying local variations in cell elasticity. Atomic force microscopy (AFM) has shown to be effective for such measurements. In this paper we extend on this methodology by developing a dynamic viscoelastic model of the cell, constructed to be well suited for parameter identification. A parameter estimator is then designed for identifying the spatially resolved mechanical properties of the cell. the parameter estimates are shown to converge exponentially fast to the real parameters by employing the provided control input. A key property of this online estimation scheme is allowing for mechanical changes in the cell to be detected over time. Furthermore, the approach can be applied to the problem of identifying the mechanical properties of any elastic material that can be scanned in AFM. A simulation study shows the effectiveness of the methodology. (C) 2016, ifac (International Federation of Automatic control) Hosting Elsevier Ltd. All rights reseirved.

关键词： Mechanical properties Parameter identification biomedical systems Dynamic models Positioning systems

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Towards a Smart Semi-Active Prosthetic Leg: Preliminary Assessment and Testing

Towards a Smart Semi-Active Prosthetic Leg: Preliminary Asse...

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7th ifac symposium on Mechatronic systems (MECHATRONICS)

作者： Awad, M. I. Abouhossein, A. Dehghani-Sanij, A. A. Richardson, R. Moser, D. Zahedi, S. Bradley, D. Univ Leeds IDRO Sch Mech Engn Leeds LS2 9JT W Yorkshire England Chas A Blatchford & Sons Ltd Lister Rd Basingstoke RG22 4AH Hants England Abertay Univ Dundee Scotland

this paper presents a development of a semi-active prosthetic knee, which can work in both active and passive modes based on the energy required during the gait cycle of various activities of daily livings (ADLs). the prosthetic limb is equipped with various sensors to measure the kinematic and kinetic parameters of both prosthetic limbs. this prosthetic knee is designed to be back-drivable in passive mode to provide a potential use in energy regeneration when there negative energy across the knee joint. Preliminary test has been performed on transfemoral amputee in passive mode to provide some insight to the amputee/prosthesis interaction and performance with the designed prosthetic knee. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Bionics biomedical systems Transfemoral amputee Smart Bio-leg Prosthetic knee Prosthetic systems integration Biomechatronics

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Monotonicity of Kinetic Proofreading

Monotonicity of Kinetic Proofreading

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6th ifac Conference on Foundations of systems Biology in Engineering (FOSBE)

作者： Kallies, Christian Schliemann-Bullinger, Monica Findeisen, Rolf Lucia, Sergio Bullinger, Eric Otto von Guericke Univ Lab Syst Theory & Automat Control D-39106 Magdeburg Germany

this manuscript studies the monotonicity of multi step ligand-receptor signalling motifs. Monotonicity with respect to parameters and state perturbations allow not only to exclude periodic solutions,but also to easily bound the responses in cases of bounded perturbations. In classical coordinates, multi-step ligand-receptor signalling motifs are known not to be monotone. However, a generic coordinate transform allows for deriving conditions on the kinetic rate constants such that the signal is monotonously affected by perturbations to any one of the kinetic rate constants. the result is illustrated at the hand of a model of kinetic proofreading. (C) 2016 ifac (International Federation Of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： biomedical applications monotonicity kinetic proofreading

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Track modelling and control of a Railway Vehicle

Track Modelling and Control of a Railway Vehicle

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7th ifac symposium on Mechatronic systems (MECHATRONICS)

作者： Leblebici, Asli Soyic Turkay, Semiha Eskisehir Osmangazi Univ Mechatron Program Eskisehir Turkey Anadolu Univ Elect Engn Dept Eskisehir Turkey

In this paper, a railway vehicle AM96 train developed by Bombardier, Belgium is represented as a half-car model. First, random road defect inputs are modelled as track class 6 from Federal Railroad Administration (FRA) reports and vehicle vibration characteristics are studied for ten-degree-of freedom vehicle model. Next, lumped track model in terms of ballast and soil parameters is added to the structure and the vehicle response to random vibrations are studied. An active suspension problem is formulated and solved by using Linear-Quadratic Gaussian methodology. the improvement in root-mean-square (rms) vertical and pitch accelerations, the suspension travels and the tire deflections are obtained by active suspension design. (C) 2016, ifac (International Federation of Automatic control) Hosting Elsevier Ltd. All rights reseirved.

关键词： High speed railway vehicle AM96 Bombardier Active suspension design LQG control lumped parameter model

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Latent Autoregressive Gaussian Processes Models for Robust System Identification

Latent Autoregressive Gaussian Processes Models for Robust S...

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11th ifac symposium on Dynamics and control of Process systems including Biosystems

作者： Mattos, Cesar Lincoln C. Damianou, Andreas Barreto, Guilherme A. Lawrence, Neil D. Univ Fed Ceara Dept Teleinformat Engn Ctr Technol Campus Pici Fortaleza Ceara Brazil Univ Sheffield Dept Comp Sci Sheffield S Yorkshire England Univ Sheffield SITraN Sheffield S Yorkshire England

We introduce GP-RLARX, a novel Gaussian Process (GP) model for robust, system identification. Our approach draws inspiration front nonlinear autoregressive modeling with exogenous inputs (NARX) and it encapsulates a novel and powerful structure referred to as latent autoregression. this structure accounts for the feedback of uncertain values during training and provides a natural framework for free simulation prediction. By using a Student-t likelihood, GP-RLARX can be used in scenarios where the estimation data contain non-Gaussian noise in the form of outliers. Further, a variational approximation scheme is developed to jointly optimize all the hyperparameters of the model from available estimation data. We perform experiments with five widely used artificial benchmarking datasets with different levels of outlier contamination and compare GP-RLARX with the standard GP-NARX model and its robust variant, GP-tVB. GP-RLARX is found to outperform the competing him by a relatively wide margin, indicating that our latent autoregressive structure is more suitable for robust system identification. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： modelling and system identification dynamic modelling Gaussian process outliers autoregressive models

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Nonlinear Model Predictive control using Lyapunov Functions for Vehicle Lateral Dynamics

Nonlinear Model Predictive Control using Lyapunov Functions ...

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14th ifac symposium on control in Transportation systems (CTS)

作者： Rafaila, Razvan C. Caruntu, Constantin F. Livint, Gheorghe Gheorghe Asachi Tech Univ Iasi Dept Elect Engn & App Informat Iasi Romania Gheorghe Asachi Tech Univ Iasi Dept Automat Control & Appl Informat Iasi Romania

the purpose of this paper is the development of a nonlinear model based predictive control strategy for the autonomous control of the steering system for ground vehicles. the control system is aimed to automatically steer the vehicle along a desired trajectory. the developed strategy uses control Lyapunov functions to guarantee the stability of the closed-loop control system. In order to obtain reliable results, a nonlinear vehicle dynamic model is used in the design phase of the controller. the model incorporates the tire-ground contact nonlinearities and describes with higher accuracy the real vehicle dynamics. the proposed approach is validated using simulation results and it is shown that this approach could provide good performances in practical use. (C) 2016, ifac (International Federation or Automatic control), Hosting by Elsevier Ltd. All rights reserved.

关键词： Predictive control Lyapunov stability Autonomous vehicles Parameter optimization Dynamic modelling Bicycle model Steering control

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A Soft Piezo Mechanical Hydraulic Actuator with its Liquid Stiffness Identification and its control

A Soft Piezo Mechanical Hydraulic Actuator with its Liquid S...

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7th ifac symposium on Mechatronic systems (MECHATRONICS)

作者： Mercorelli, Paolo Werner, Nils Behre, Leander Leuphana Univ Lueneburg Inst Prod & Proc Innovat Luneburg Germany Ostfalia Univ Appl Sci Dept Automot Engn Wolfsburg Germany Nelson Mandela Metropolitan Univ Dept Mechatron Port Elizabeth South Africa

the CO2 emissions of an internal combustion engine are directly proportional to the fuel consumption. the use of the fully variable valve control to reach the most efficient gas exchange of the engine is an option to reduce CO2 emissions. this paper deals with an alternative actuator solution based on an aggregate device consisting of a piezoelectric, mechanical and hydraulic actuation. the aggregate device realises a soft actuator. In mechanical systems hard actuators are more and more replaced by soft ones which present some advantages in terms of efficiency. Nevertheless, problems of control, because of a more complex dynamics of the actuator due to a higher order of the mathematical model of the actuator, arise. the softness of the actuator is realised by using two strategic mechanical springs and a hydraulic part which works as a displacement ratio. It is known that in piezo actuators, big forces but small displacement can be available. the hydraulic displacement ratio is used for a possible soft solution to adapt force and displacement. the conception of the actuator and control simulation results are shown. (C) 2016, ifac (International Federation of Automatic control) Hosting Elsevier Ltd. All rights reseirved.

关键词： Actuators control modelling clectro-hydraulic systems variable value timing control engines

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A Virtual Laboratory for the Prototyping of Cyber-Physical systems

A Virtual Laboratory for the Prototyping of Cyber-Physical S...

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11th ifac symposium on Advances in control Education (ACE)

作者： Beghi, Alessandro Marcuzzi, Fabio Rampazzo, Mirco Univ Padua Dept Informat Engn Via G Gradenigo 6-B I-35131 Padua Italy Univ Padua Dept Math Via Trieste 63 I-35121 Padua Italy

Cyber-physical systems (CPS) refer to novel hardware and software compositions creating smart, autonomously acting devices, enabling efficient end-to-end workflows and new forms of user machine interaction, in a wide range of application fields. Given their heterogeneous nature, CPS are naturally desigited in the so-called simulation-centric process, where physical equipment design are translated into behavioral simulation models. Although many took exist to ease the design phase in the different disciplines, their full integration is still an open. problem. this fact holds particularly true in a control-design perspective, given that in a CPS the "plant" has a heterogeneous nature, and the design of model-based, advanced control techniques would strongly benefit from the availability of a common modelling environment. In this paper, we try to enhance this simulation-centric process by introducing;a pure simulation kind of prototype, based on the co-simulation of the firmware and of the multi-physical controlled system. We introduce some innovative tools, implemented mu Lab/CfL, and discuss upon their impact towards a better collaborative design and integration during the design of CPS. An example is given, taken from the HVAC (Heating, Ventilation, and Air Conditioning) field. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Virtual Laboratory Cyber-physical systems control HVAC LATEX Python

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Analysis of Circadian Cellular Bioluminescence Recordings using a Kalman Smoother

Analysis of Circadian Cellular Bioluminescence Recordings us...

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6th ifac Conference on Foundations of systems Biology in Engineering (FOSBE)

作者： Ananthasubramaniam, Bharath Inst Theoret Biol Philippstr 13 Haus 4 D-10115 Berlin Germany Charite Philippstr 13 Haus 4 D-10115 Berlin Germany

Circadian clocks permit mammals to adapt to their periodic natural environment. these clocks generate rhythms in the expression of genes and proteins in most tissues within the organism. Real-time bioluminescence recordings of gene or protein expression in an important tool to study the clock under different manipulations and conditions. Here, we present a tool to extract useful characteristics of the cellular rhythms, such as period and damping rate, using maximum-likelihood estimation in a stochastic damped oscillator model. the tool uses the expectation-maximization algorithm in combination with a Kalman Smoother to perform the joint state and parameter estimation. We apply this tool to quantify the differences between rhythms in the master circadian clock in the brains of two different knockout mice and compare the results to a standard autocovariance fitting-based approach for parameter estimation. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： biomedical systems Kalman filters Parameter estimation Smoothing filters Maximum likelihood estimator

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Feedback control-Based Inverse Kinematics Solvers for a Nuclear Decommissioning Robot

Feedback Control-Based Inverse Kinematics Solvers for a Nucl...

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7th ifac symposium on Mechatronic systems (MECHATRONICS)

作者： Burrell, thomas Montazeri, Allahyar Monk, Stephen Taylor, C. James Univ Lancaster Engn Dept Lancaster LA1 4YR England

the article develops two novel feedback control-based Inverse Kinematics (IK) solvers. they are evaluated for a dual-manipulator mobile robotic system with application to nuclear decommissioning. the first algorithm has similarities to other feedback control based solvers, and borrows ideas from the Cyclic Coordinate Decent and the Jacobian Transpose methods. this yields a particularly straightforward algorithm with tunable Proportional-Integral-Derivative (PID) gains to determine performance. the second approach utilises a discrete-time state space modelling framework to solve the IK problem. Although the second solver is more complex to implement, preliminary simulation results for the case study example, show that it can converge quicker, and has improved immunity to the kinematic singularities that can occur in Jacobian based methods. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robot arms Robot programming Robotic equipment Automation

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