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international conference on control, Instrumentation, and automation

作者： P. Anahita Moradmand Hamid Khaloozadeh Center of Excellence in Control and Robotics Department of Electrical Engineering Amirkabir University of Technology(AUT) Tehran Iran +98 Department of Systems and Control K. N. Toosi University of Technology(KNTU) Tehran Iran

ISBN: (纸本)9781538621356

To design model-based controllers for industrial systems, an accurate mathematical model is necessary. Over time, most of these models are changed and the former controllers should be modified to achieve good performance. Hydro systems, according to their wide application over last forty years, are an interesting field of research. In this paper, based on the system identification and adaptive control theory, a special scheme for modeling and controller design of an old ElectroHydro servo-system is proposed. Industrial process control suffering from noise and saturation as two main problematic factors. Here by conducting an experiment, the identification and control are employed in linear period of the nonlinear system. To specify the order of system, Matlab Ident toolbox, Hankel matrix and Hankel singular values are used. Recursive Least Square (RLS) method is implemented to determine estimated parameters. Designing a practical self-tuning regulator is a significant task too. Due to the inappropriate results of controlled system, a corrected regulator is generated. Finally, acceptable simulations are recorded and demonstrated.

关键词： Mathematical model Adaptation models control systems System identification Adaptive control MATLAB Hydraulic systems

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Programming constructs in curriculum for educational robotics at lower secondary school

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2017年 560卷 242-245页

作者： Veselovská, Michaela Mayerová, Karolína Faculty of Mathematics Physics and Informatics Comenius University in Bratislava Bratislava Slovakia

ISBN: (纸本)9783319555522

In this article we present programming constructs taught to lower secondary school pupils in the context of educational robotics curriculum. It consists of eleven activities with robotic kit LEGO WeDo. Students develop many important skills, such as problem solving skills, programming skills, design and ICT competencies. the development of this curriculum was a part of our dissertation research. the students were in 5th and 6th grade (10–12 years old), studying the school subject informatics. We used qualitative methods of data collection and data analysis. In this article we present programming constructs such as count loop, conditions, variables and parameters that most of the pupils in our classes acquired. these constructs were based on analysis of programming environment for robotic kit LEGO WeDo. © Springer international Publishing AG 2017.

关键词： Curricula

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Wave-based control of suspended cable driven parallel manipulators

Wave-based control of suspended cable driven parallel manipu...

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international conference on control, Instrumentation, and automation

作者： S. A. Khalilpour H. D. Taghirad H. Habibi Advanced Robotics and Automated Systems K.N. Toosi University of Technology Tehran lran Department of Mechanical Materials and Manufacturing Engineering University of Nottingham Nottingham UK

ISBN: (纸本)9781538621356

this paper provides a conceptual framework through wave-based strategy to control suspended cable driven parallel manipulators. Since these manipulators usually take up large workspaces, the inclusion and investigation of the effects of cable mass and flexibility on the robot performance is inevitable. Due to modeling complexity, researchers have not paid enough effort on studying the sagging effect on designing controllers. In a large suspended cable robot, stiffness decreases significantly, causing the motion of end effector to undergo unwanted vibration. In this paper, wave based control (WBC), as a newly developed method for mechanical flexible systems is proposed and applied to cable driven parallel manipulators to perform position control and active vibration damping at the same time. the control approach assumes actuator motion as launching a mechanical wave into the flexible system which is absorbed on its return to the actuator, while the launching and absorbing proceed simultaneously. this simple, intuitive idea lets controllers to act rapid and almost vibration free repositioning of the system, using only sensors collocated at the actuator system interface. To accomplish this, the mathematical model of the robot which takes the mass and flexibility of the cable into account is developed first. then the control method is adapted and presented to prevent or minimize any undesirable sway in the system.

关键词： Actuators Vibrations Force Springs Manipulators Impedance

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Breast Cancer Risk Prediction using Electronic Health Records 5

Breast Cancer Risk Prediction using Electronic Health Record...

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5th IEEE international conference on Healthcare informatics (ICHI)

作者： Wu, Yirong Burnside, Elizabeth S. Cox, Jennifer Fan, Jun Yuan, Ming Yin, Jie Peissig, Peggy Cobian, Alexander Page, David Craven, Mark Univ Wisconsin Dept Radiol Madison WI 53706 USA Univ Wisconsin Dept Stat Madison WI 53706 USA Jiangbei Peoples Hosp Dept Med Nanjing Jiangsu Peoples R China Marshfield Clin Res Fdn Marshfield WI USA Univ Wisconsin Dept Biostat & Med Informat Madison WI 53706 USA

ISBN: (纸本)9781509048816

Electronic health records (EHRs) represent an underused data source that has great research and clinical potential. Our goal was to quantify the value of EHRs in breast cancer risk prediction. We conducted a retrospective case-control study, gathering patients' ICD-9 diagnosis codes from an existing EHR data repository. Based on the hierarchical structure of ICD-9 codes, which are composed of 3-5 digits, three levels of data representation were studied: level 0, using only the first 3 digits;level 1, using up to the first 4 digits;and level 2, using up to the full 5 digits of each code. We created two models to predict breast cancer one year in advance based on diagnosis codes in three levels of data representation: logistic regression (LR) and LASSO logistic regression (LR+Lasso). Area under the ROC curve (AUC) was used to assess model performance. the LR+Lasso model demonstrated significantly higher predictive performance than the LR model when using the level 2 feature representation (0.648 vs 0.603, p=0.013). For both the level 1 representation and the level 0 representation, the predictive difference between LR+Lasso and LR model was not significant, (0.634 vs 0.604, p=0.081) and (0.612 vs 0.603, p=0.523), respectively. For LR model, predictive performance changed modestly across three levels. For LR+Lasso model, predictive performance also changed modestly from the level 0 to the level 1 representation (p=0.168) and from the level 1 to the level 2 representation (p=0.374). However, the level 2 representation provided significantly higher predictive performance than the level 0 representation (p=0.034). the unabridged level 2 representation of the diagnosis codes contains the most valuable information that may contribute to breast cancer risk prediction. the performance of these models demonstrates that EHR data can be used to predict breast cancer risk, which provides the possibility to personalize care in clinical practice. In the future, we will combine code

关键词： Electronic health record (EHR) international Classification of Disease (ICD) breast cancer LASSO risk prediction models

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Updating LQR control for Full Dynamic of a Quadrotor

Updating LQR Control for Full Dynamic of a Quadrotor

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RSI/ISM international conference on robotics and Mechatronics (ICROM)

作者： Ramin Afhami Rasul Fesharakifard Mohammad Azam Khosravi Robotics Research Center Amirkabir University of Technology Tehran Iran New Technologies Research Center Amirkabir University of Technology Tehran Iran Department of Electrical Engineering Amirkabir University of Technology Tehran Iran

ISBN: (纸本)9781538657041

this paper is focused on the dynamic modeling and control of a quadrotor. the main objective of this paper is providing a complete governing quadrotor dynamic equation system using the Euler-Lagrange method considering all aerodynamic forces which affect its motion and designing an Updating LQR control for dynamic equations. the system's performance is tested by simulation of two numerical examples and the results of full dynamic model and designed controller are validated by these benchmarks. In the first example, altitude control and trajectory of the quadrotor is tested by normal LQR and updating LQR. In the second one, same items are tested by accounting the influence of a connected robotic arm which changes continuously the dynamics of the system. In both examples successful trajectory and altitude control are achieved.

关键词： Rotors Mathematical model Aerodynamics Force Vehicle dynamics Robots

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informatics in control, automation and robotics: 11th international conference, ICINCO 2014 Vienna, Austria, September 2-4, 2014 Revised Selected Papers

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2015年

作者： Joaquim Filipe Oleg Yu Gusikhin Kurosh Madani Jurek Z Sasiadek

ISBN: (纸本)9783319264516

the present book includes a set of selected extended papers from the 11th international conference on informatics in control, automation and robotics (ICINCO 2014), held in Vienna, Austria, from 1 to 3 September 2014. the conference brought together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. Four simultaneous tracks will be held, covering Intelligent control Systems, Optimization, robotics, automation, Signal Processing, Sensors, Systems Modelling and control, and Industrial Engineering, Production and Management. informatics applications are pervasive in many areas of control, automation and robotics. ICINCO 2014 received 301 submissions, from 49 countries, in all continents. After a double blind paper review performed by the Program Committee, 20% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the conference, based also on the assessment of presentation quality and audience interest, so that this book includes the extended and revised versions of the very best papers of ICINCO 2014. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions, considering not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, participation level and logistics.

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ICINCO 2015: Proceedings of the 12th international conference on informatics in control, automation and robotics

ICINCO 2015: Proceedings of the 12th International Conferenc...

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12th international conference on informatics in control, automation and robotics, ICINCO 2015

ISBN: (纸本)9789897581236

the proceedings contain 159 papers. the topics discussed include: formation control and vision based localization of system of mobile robots;implementation of evolving fuzzy models of a nonlinear process;mobile manipulation - why are humans so much better? and how can we change that?;adaptive decision-level fusion for Fongbe phoneme classification using fuzzy logic and deep belief networks;application of sensory body schemas to path planning for micro air vehicles (MAVs);particle swarm optimization of economic dispatch problem: a brief review transfer;analysis of shapes to measure surfaces - an approach for detection of deformations;flatness based feed-forward control of a flexible robot arm under gravity and joint friction;filling accuracy analysis of the rocket propellant based on the flowmeter measuring model;next generation networks for telecommunications operators providing services to transnational smart grid operators;and an adaptive sliding mode controller for synchronized joint position tracking control of robot manipulators.

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ICINCO 2015 - 12th international conference on informatics in control, automation and robotics, Proceedings

ICINCO 2015 - 12th International Conference on Informatics i...

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12th international conference on informatics in control, automation and robotics, ICINCO 2015

ISBN: (纸本)9789897581229

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Optimum mechanism for rehabilitation of fingers

Optimum mechanism for rehabilitation of fingers

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RSI/ISM international conference on robotics and Mechatronics (ICROM)

作者： Ramin Yekta Hassan Zohoor Hooman Shirzadi Department of Mechanical Engineering Sharif University of Technology Center of Excellence in Design Robotics and Automation Academician Academy of Sciences of IR Iran

ISBN: (纸本)9781538657041

Nowadays, with the advancement of technology, humans are looking for ways to cure various diseases. Meanwhile, musculoskeletal injuries usually have a long treatment period. therefore, in recent years, Researchers working one exoskeleton with rehabilitation application which conduct physiotherapy tasks. In current study, a portable two degree of freedom hand exoskeleton is designed which its mechanism is a combination of cable and link mechanism, MCP 1 _ joint between metacarpal and proximal phalanges_ joints move by link mechanism, DIP 2 _ joint between proximal phalanges and middle phalanges_ and PIP 3 _ joint between middle phalanges and distal phalanges_ joints move by cable mechanism and Pronation movement is considered for thumb. Link mechanisms are designed by optimization method, by comparing the optimization results of different mechanisms. the 4-bar mechanism is the best choice which its maximum error equal to 3.95 degrees.

关键词： thumb Exoskeletons Robots Muscles Electronics packaging Injuries

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Wheels for staircases 12th

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12th Portuguese conference on Automatic control, controlO 2016

作者： Leite, Fátima Silva Batista, Jorge Krakowski, Krzysztof Carvalho, André Cruz, Tiago Domingues, Eduardo Lizardo, André Saraiva, Gonçalo Institute of Systems and Robotics University of Coimbra Coimbra3030-290 Portugal Department of Mathematics University of Coimbra Coimbra3001-501 Portugal Department of Electrical Engineering and Computers University of Coimbra Coimbra3030-290 Portugal Wydzial Matematyczno-Przyrodniczy Uniwersytet Kardynala Stefana Wyszyńskiego ul. Dewajtis 5 Warsaw01-815 Poland Department of Informatics Engineering University of Coimbra Coimbra3030-290 Portugal Department of Electrical Engineering and Computers University of Lisbon Lisboa1049-001 Portugal

ISBN: (纸本)9783319436708

Our objective is to design innovative robot wheels capable of rolling on staircases, without sliding and without bouncing. this is the first step to reach the ultimate goal of building wheelchairs capable to overcome the obstacles imposed by staircases on people with limited mobility. We show that, given a staircase with equal steps, there is an infinite number of wheels that roll over it, with the constraints of no-sliding and no-bouncing. Some of these wheels appear to be very interesting for real applications. We also present an algorithm for the construction of a wheel, which depends only on the measures of the tread (the part of the staircase that is stepped on) and the riser (the vertical portion between each tread) of the step. © Springer international Publishing Switzerland 2017.

关键词： Wheels

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