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Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons

Design, characterization and stability test of a multistable...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Leonardo Cappello Xavier Lachenal Alberto Pirrera Filippo Mattioni Paul M. Weaver Lorenzo Masia Robotics Brain and Cognitive Sciences Department Italian Institute Technology Genova Italy Advanced Composites Centre for Innovation and Science University of Bristol Bristol UK Hengshen Carbon Fibre Southampton UK Robotic Research Center Nanyang Technological University Singapore

A novel actuator is presented that merges traditional electromechanical motors and multistable composite structures. Previously, it has been shown that these structures are able to arrange themselves in multiple stable configurations corresponding to local minima of their strain energy. When coupled with an electromechanical motor as proposed in this article, the resulting actuator shows significant benefits. these are in terms of safety, energy saving and control implementation using the compliance of the overall structure, the particular shape of the strain energy landscape, and the accurately predictable non-linear behavior. Hence the proposed actuator is well-suited for robotics applications. the parameters characterizing the design of the transmission are analyzed, and a physical model is developed. A case study is presented in which the performance for a particular configuration of the system is evaluated and reported. A conceptual application of the proposed actuator is discussed for assistive robotics, where new perspectives on the use of non-rigid transmission elements might become beneficial in terms of safety and energy harvesting.

关键词： Strain Force Actuators Robots Stability analysis Admittance Shape

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Development and experimental validation of a master interface with vibrotactile feedback for robotic telesurgery

Development and experimental validation of a master interfac...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Elena F. Gambaro Loredana Zollo Eugenio Guglielmelli Laboratory of Biomedical Robotics and Biomicrosystems Università Campus Bio-Medico Roma Italy

this work wants to investigate the efficacy of a vibro-tactile feedback to convey a haptic perception to the surgeon in a teleoperated robotic system for surgery. To this purpose, vibrotactile actuators have been embedded in the end-effector of the master interface of a tele-operated robotic system made of the haptic joystick Novint Falcon and the Kuka Light Weight Robot III. Vibrotactile feedback can be used to support the surgeon during the surgical procedure, guiding him/her during the intervention, and to train unskilled surgeons with simulators. the development and the experimental validation of the master interface with the vibrotactile feedback is presented in this paper. the system has been validated on 12 subjects, who were requested to control the movement of a sphere along a desired path in a virtual environment. Results have been compared with the three cases of absence of feedback, visual feedback and combined vibrotactile and visual feedback. the obtained results demonstrate that a vibrotactile feedback can improve in a statistically significant manner the accuracy of the procedure with respect to the absence of feedback.

关键词： Surgery Haptic interfaces Actuators Robot kinematics Visualization Robot sensing systems

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System Integration, Modelling, and Simulation for automation of Multiple Microfluidic Stream Based Bio-manipulation

System Integration, Modelling, and Simulation for Automation...

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international conference on Intelligent Systems, Modelling and Simulation

作者： Yaxiaer Yalikun Yoshitake Akiyama Toshifumi Asano Keisuke Morishima Department of Mechanical Engineering Osaka University Frontier Research Base for Global Young Researchers Department of Mechanical Engineering Osaka University Department of Mechanical Engineering The Center for Advanced Medical Engineering and Informatics Osaka University

ISBN: (纸本)9781479938599

this paper proposes system integration, modeling, and simulation for automation of multiple microfluidic stream based bio-manipulation (MMSM) system. It uses micro hydrodynamics and lab on chip (LOC) technology. Our method can implement the functions of micro manipulation and micro assembly of bio-objects, such as biological cells in an open space without contact. Compared to other conventional bio-micro-manipulation and assembly methods, this system manipulates micro objects by automatically controlling multiple microfluidic streams onto them from various directions. the advantages of this method are that it performs open space, multi-function, multi-scale, multi-degree-of-freedom, and non-invasive automatic 3D manipulation. these microfluidic streams are generated simultaneously from multiple orifices. By regulating the parameters of the microfluidic stream, such as the position and number of operating orifices and the flow rate, the direction and velocity of the object can be controlled. the capable of this system was demonstrated with micro objects.

关键词： Open space Micro fluid Micro flow simulation Bio-manipulation automation

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On the prediction of EPON traffic using polynomial fitting in Optical Network Units

On the prediction of EPON traffic using polynomial fitting i...

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international conference on Optical Communication Systems

作者： I. Mamounakis K. Yiannopoulos G. Papadimitriou E. Varvarigos Computer Engineering and Informatics Department University of Patras Patras Greece Computer Technology Institute and Press “Diophantus” Patras Greece Department of Telecommunications Science and Technology University of Peloponnese Peloponnese Greece Department of Informatics Aristotle University of Thessaloniki Thessaloniki Greece

We propose a traffic prediction algorithm that reduces the packets delay in Ethernet Passive Optical Networks (EPONs). the algorithm relies on Multi-Point control Protocol (MPCP) message and traffic monitoring at the Optical Network Units (ONUs) and utilizes the monitoring information to predict the accumulated burst size using higher order least-mean-square polynomial approximations. the simulation of the algorithm shows that it achieves a delay improvement of over 30% without any further modification in the communication and bandwidth assignment procedure of the EPON.

关键词： Optical network units Bandwidth EPON IEEE 802.3 Standard Logic gates Prediction algorithms Channel allocation

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the effect of feedback presentation on motor imagery performance during BCI-teleoperation of a humanlike robot

The effect of feedback presentation on motor imagery perform...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Maryam Alimardani Nishio Shuichi Hiroshi Ishiguro Department of Science Engineering Osaka University Advanced Telecommunication Research Institute International (ATR) Kyoto Japan

Users of a brain-computer interface (BCI) learn to co-adapt with the system through the feedback they receive. Particularly in case of motor imagery BCIs, feedback design can play an important role in the course of motor imagery training. In this paper we investigated the effect of biased visual feedback on performance and motor imagery skills of users during BCI control of a pair of humanlike robotic hands. Although the subject specific classifier, which was set up at the beginning of experiment, detected no significant change in the subjects' online performance, evaluation of brain activity patterns revealed that subjects' self-regulation of motor imagery features improved due to a positive bias of feedback. We discuss how this effect could be possibly due to the humanlike design of feedback and occurrence of body ownership illusion. Our findings suggest that in general training protocols for BCIs, realistic feedback design and subject's self-evaluation of performance can play an important role in the optimization of motor imagery skills.

关键词： Robot sensing systems Electroencephalography Training Visualization Brain Electrodes

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A control-based algorithm for rate adaption in MPEG-DASH

A control-based algorithm for rate adaption in MPEG-DASH

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international conference on Information, Intelligence, Systems and Applications (IISA)

作者： Dimitrios J. Vergados Angelos Michalas Aggeliki Sgora Dimitrios D. Vergados Department of Informatics Engineering Technological Educational Institute of Western Macedonia Greece Department of Informatics University of Piraeus Greece

Although MPEG-Dynamic Adaptation Streaming over HTTP (MPEG-DASH) eliminates data packet loss, based on the rate adaptation strategy adopted by the user and the network conditions, still playback interruptions may not be avoided. In this paper an algorithm for rate adaption in MPEG-DASH is proposed that employs fuzzy logic to estimate the resolution of the next video segment that each client should obtain from the server. In this way, the buffering time at each client is kept above a target buffering time and thus buffer overflows and unnecessary bit rate fluctuations are avoided. Simulation results showed that the proposed rate adaptation strategy has a beneficial effect on the quality each user perceives.

关键词： Streaming media Bit rate Transform coding Servers throughput Fuzzy logic Silicon

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A novel representation of terms related to infectious disease epidemiology for epidemic modeling: the Apollo Structured Vocabulary and pre-existing representations 5

A novel representation of terms related to infectious diseas...

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5th international conference on Biomedical Ontology, ICBO 2014

作者： Brochhausen, Mathias Hanna, Josh Brown, Shawn T. Hogan, William R. Wagner, Michael M. Levander, John D. Millett, Nicholas E. Division of Biomedical Informatics University of Arkansas for Medical Sciences Little Rock United States Pittsburgh Supercomputing Center Carnegie Mellon University Pittsburgh United States Department of Health Outcomes and Policy University of Florida Gainesville United States Department of Biomedical Informatics University of Pittsburgh Pittsburgh United States

the Apollo Structured Vocabulary (Apollo-SV) is a Web Ontology Language 2 (OWL 2) representation of terms related to epidemic simulation. We are developing Apollo-SV by ontological analysis of the information used and created by epidemic simulators and the entities this information is about. A key finding of our analysis is that the input of an epidemic simulator is properly understood as (1) a representation of an ecosystem at simulator time zero, (2) information about infectious diseases of interest in the ecosystem, and (3) information about plans to control the diseases. this insight is reflected in the scope of Apollo-SV, which includes terms from the domains of both infectious disease epidemiology and population biology. We also found that some definitions in the Infectious Disease Ontology (IDO), including 'infection', 'infection acquisition', 'infectious disease', 'pathogen', and 'host', were not compatible with the meanings of the terms as used in epidemic simulation;thus, we created new definitions of these terms. Our analysis of epidemic simulators-which are mathematical models of phenomena studied by infectious disease epidemiology-afforded several advantages that likely explain why we discovered limitations of IDO. As a result, we recommend that development of biomedical ontologies intended for reuse consider the perspective of the overlapping biological science(s) involved. Apollo-SV is freely available at: http://***/obo/***.

关键词： Simulators

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Design, implementation and evaluation of a motion control scheme for mobile platforms with high uncertainties

Design, implementation and evaluation of a motion control sc...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Mustafa Mashali Redwan Alqasemi Sudeep Sarkar Rajiv Dubey University of South Florida Tampa Florida USA Research lead at Center for Assistive Rehabilitation and Robotics Technologies at University of South Florida Department of Computer Science and Engineering University of South Florida Department of Mechanical Engineering University of South Florida

In this work, we present a motion control scheme for a robotic mobile platform using low-cost vision sensor to update encoder values. We track the pose of a power wheelchair using wheel encoders along with a Microsoft Kinect camera. Two methods of pose estimation are implemented and tested. these methods are a) encoder-based odometry and b)ICP(Iterative Closest Point)-based updated odometry. We evaluate the performance of each method using precise wheelchair pose ground truth data acquired via a state-of-the-art VICON® system with eight motion capture cameras. Offline data processing is performed to refine the ICP parameters and estimate the covariance matrices of the Kalman filter. the offline data processing results demonstrate that our ICP-based updated odometry has very accurate pose tracking. By implementing our control scheme, the position error is improved by a factor of 15 and the localization orientation error is improved by a factor of 13. In online implementation, there was 4 times improvement for both position and orientation angle estimation. To demonstrate the robustness of our approach, we apply it for online obstacle avoidance. A wheelchair-mounted robotic arm (WMRA) is also included in this platform and will be used for future work on combined mobility and manipulation control with sensor assistance.

关键词： Wheelchairs Robot sensing systems Iterative closest point algorithm Wheels Estimation Motion control Covariance matrices

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Magnetic control of self-propelled microjets under ultrasound image guidance

Magnetic control of self-propelled microjets under ultrasoun...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Alonso Sánchez Veronika Magdanz Oliver G. Schmidt Sarthak Misra Robotics and Mechatronics group University of Twente Enschede The Netherlands IFW Dresden Institute for Integrative Nanosciences Dresden Germany Material Systems for Nanoelectronics Chemnitz University of Technology Chemnitz Germany

this paper demonstrates closed-loop control of self-propelled microjets using feedback extracted from B-mode ultrasound images. Previous work on control of self-propelled microrobots has mainly employed video cameras equipped with microscopic lenses in order to obtain the required feedback. Nonetheless, in medical applications such as targeted drug delivery, the use of video cameras might be unsuitable for localizing microrobots that navigate within the human body. this issue is a major obstacle for transferring medical microrobotic technologies into the clinic. On that account, the first reported methods and results on control of self-propelled microjets using ultrasound equipment are provided herein. In order to exploit the microjets' self-propulsion mechanism, their motion is directed towards a predefined target by exerting magnetic torques to steer them. Binary image analysis techniques are used to estimate the microjet's position from the ultrasound images. Two air-cored coils are used to generate the steering torques within a plane. Coil currents are calculated using the estimated position error. Results show that our system employing ultrasound images allows control of microjets at an average velocity of 156±35.1 μm/s and with an average tracking error of 250.7±164.7 μm. As a reference, when microscopic image feedback is used in the setup, an average velocity and tracking error of 207±25.9 μm/s and 183.2±84.31 μm, respectively, are observed.

关键词： Ultrasonic imaging Magnetic resonance imaging Magnetic moments Saturation magnetization Microscopy Coils Biomedical imaging

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Model Based On-line Energy Prediction System for Semi-Autonomous Mobile Robots

Model Based On-line Energy Prediction System for Semi-Autono...

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international conference on Intelligent Systems, Modelling and Simulation

作者： Ramviyas Parasuraman Keith Kershaw Prithvi Pagala Manuel Ferre Engineering department European Organization for Nuclear Research (CERN) Centre for Automation and Robotics UPM-CSIC Univesidad Politecnica de Madrid (UPM)

ISBN: (纸本)9781479938599

Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. this paper presents a on-line method for predicting energy requirements based on the pre-determined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. the applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.

关键词： Mobile robots Energy management Energy optimization Energy prediction Energy consumption models

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