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3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Luo, Ren C. Chen, Jing Wen Perng, Yi Wen Natl Taiwan Univ Dept Elect Engn Taipei 10764 Taiwan NTU Dept Engn Mech Taipei Taiwan

ISBN: (纸本)9781424477098

Laparoscopic surgery becomes mainstream in minimally invasive surgery. This paper proposes a robotic endoscope system with compliance effect including adaptive impedance and velocity control to assist laparoscopic surgery. The system consists of stereoscopic head mount display (SHMD) and five degrees of freedom (D.O.F.) endoscope. SHMD includes Motion Node (gyro sensor) and force feedback device. Endoscope is equipped with tactile sensor and stereo vision on the tip. Surgeon only wears a light weight SHMD to control the endoscope by using head movement without additional assistant. Therefore, he can manipulate laparoscopy instruments simultaneously. Surgeon could press/release the pedal to enable/lock the tracking mode. The endoscope follows the pose of surgeon's head in real time and the 3D image can be displayed on SHMD. Thus Surgeon can easily and safely perform laparoscopic surgery. The velocity of the endoscope movement is determined by adaptive impedance and velocity control which increases operation efficiency and keeps the compliance effect. The compliance effect provides a zero torque effect when the endoscope reaches target position. This effect is very helpful and safe for the laparoscope surgery. The impedance with the integral and derivative control design eliminates the steady state error and provides damping effect to reduce the influence of overshoot. The reaction torque observer reduces the ripple of torque and smoothes the output of velocity. In this paper, we implement the control algorithm and demonstrate the proof of concept to an one D.O.F. robotic endoscope in the horizontal plane. The experimental results show that we can control the endoscope easily and efficiently. In the future, we realize the new endoscope system and extend the algorithm to multi-joint control.

关键词： 3D image DOF robotic endoscope adaptive impedance assistive laparoscopic surgery biomechanics control algorithm degrees of freedom endoscope endoscopes force feedback device gyro sensor head movement laparoscopy instruments medical robotics motion node multijoint control reaction torque observer robotic endoscope system stereo vision stereoscopic head mount display surgeon head surgery tactile sensor tactile sensors velocity control

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3D MRI-based Predictive control of a Ferromagnetic Microrobot Navigating in Blood Vessels

3D MRI-based Predictive Control of a Ferromagnetic Microrobo...

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3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Belharet, Karim Folio, David Ferreira, Antoine ENSI Bourges Inst PRISME EA 4229 F-18020 Bourges France

ISBN: (纸本)9781424477098

This paper presents an endovascular navigation of a ferromagnetic microdevice using a MRI-based predictive control. The concept was studied for future development of microrobot designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow 3D navigation of a microdevice in blood vessels, namely: (i) vessel path extraction, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the navigation path of the microrobot into the blood vessel is extracted using Fast Marching Method (FMM) from the pre-operation images (3D MRI imaging) to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Model Predictive controller (MPC) is proposed for robust navigation along a 3D path. The simulation results suggest the validation of the proposed image processing and control algorithms.

关键词： 3D MRI-based predictive control 3D navigation anarchic vessel network biomedical MRI blood vessels blood vessels cardiovascular system closed-loop navigation control control algorithm endovascular navigation fast marching method ferromagnetic microdevice ferromagnetic microrobot navigation human cardiovascular system image processing injection point magnetic devices magnetic gradient steering medical image processing microrobot design microrobots minimally invasive intervention model predictive controller predictive control preoperation imaging robust navigation software architecture technological forecasting tracking tumor area tumours vessel path extraction

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Reduction of structural response to near fault earthquakes by seismic isolation columns and variable friction dampers

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Earthquake Engineering and Engineering Vibration 2010年第1期9卷 113-122页

作者： Y.Ribakov Department of Civil Engineering Ariel University Center of Samaria

This paper focuses on the investigation of a hybrid seismic isolation system with passive variable friction dampers for protection of structures against near fault earthquakes. The seismic isolation can be implemented by replacing the conventional columns fixed to the foundations by seismic isolating ones. These columns allow horizontal displacement between the superstructure and the foundations and decouple the building from the damaging earthquake motion. As a result, the forces in the structural elements decrease and damage that may be caused to the building by the earthquake significantly decreases. However, this positive effect is achieved on account of displacements occurring in the isolating columns. These displacements become very large when the structure is subjected to a strong earthquake. In this case, impact may occur between the parts of the isolating column yielding their damage or collapse. In order to limit the displacements in the isolating columns, it is proposed to add variable friction dampers. A method for selecting the dampers＇ properties is proposed. It is carried out using an artificial ground motion record and optimal active control algorithm. Numerical simulation of a sevenstory structure shows that the proposed method allows efficient reduction in structural response and limits the displacements at the seismic isolating columns.

关键词： seismic isolating columns variable friction dampers hybrid seismic isolation near fault earthquakes control algorithm

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control of a utility connected microgrid

Control of a utility connected microgrid

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IEEE-PES Conference on Innovative Smart Grid Technologies Europe (ISGT Europe)

作者： Colet-Subirachs, Alba Ruiz-Alvarez, Albert Gomis-Bellmunt, Oriol Alvarez-Cuevas-Figuerola, Felipe Sudria-Andreu, Antoni Catalonia Inst Energy Res IREC Elect Engn Area C Josep Pla 2Edifici B2 Barcelona 08019 Spain Univ Politecn Cataluna CITCEA Dept Engn Elect ETS Engn Ind Barcelona E-08028 Barcelona Spain EU Engn Tecn Ind Barcelona Barcelona 08028 Spain Endesa Serv Sl Barcelona 08004 Spain

ISBN: (纸本)9781424485109

This paper describes the control algorithm of a utility connected microgrid, based on independent control of active and reactive power (PQ control) and working in centralized operation mode. The microgrid under investigation is composed of three configurable units: a generation unit, a storage unit and a load. These units are interfaced with the microgrid through a Voltage Source Converter (VSC) and are controlled by the nodes of the communication system by means of IEC 61850. A set of tests have been conducted to evaluate the microgrid behavior.

关键词： Microgrid control algorithm IEC 61850

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Comparison of Multi-Sensor Admittance control in Joint Space and Task Space for a Seven Degree of Freedom Upper Limb Exoskeleton

Comparison of Multi-Sensor Admittance Control in Joint Space...

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3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Miller, Levi Makaio Rosen, Jacob Univ Washington Dept Mech Engn Seattle WA 98195 USA Univ Calif Santa Barbara Dept Comp Engn Santa Barbara CA USA

ISBN: (纸本)9781424477098

control and overall system performance of an upper limb exoskeleton, as a wearable robot, is dictated in part by the human machine interface and the implemented control algorithm. The ultimate goal is to develop algorithms so the operator feels as if the exoskeleton is a natural extension the body. The aim of the current research is to compare the system performance of a 7 degree of freedom wearable upper limb exoskeleton (EXO-UL7) using two multi-sensor admittance controllers (1) task space control and (2) joint space control. Multiple force sensors are needed due to the redundancy in the system (7 DOF). This redundancy is explored and a method is developed to calculate a closed form inverse kinematics (IK) solution. The IK solution is used to develop the task space controller. The joint space controller uses the transpose of the jacobian to resolve sensor forces into joint torques. Six subjects performed a peg in hole task. Six targets covered the main part of the device workspace. Velocities and Interaction forces at the upper arm, lower arm, handle and tip were recorded during the experiments. Power exchange between the subject and device was calculated. Task space based control was about 11% lower in mean interaction energy for the peg in hole task compared to joint space control. Task completion time increased with both controllers compared to back-driving the device.

关键词： biomechanics control algorithm force sensors joint space controller mean interaction energy medical robotics motion control multiple force sensors multisensor admittance control task space controller upper limb exoskeleton wearable robot

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Path Following for Unmanned Aerial Vehicles Using L₁ Adaptive Augmentation of Commercial Autopilots

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JOURNAL OF GUIDANCE control AND DYNAMICS 2010年第2期33卷 550-564页

作者： Kaminer, Isaac Pascoal, Antonio Xargay, Enric Hovakimyan, Naira Cao, Chengyu Dobrokhodov, Vladimir USN Postgrad Sch Dept Mech & Aeronaut Engn Monterey CA 93949 USA Inst Super Tecn Dept Elect Engn P-1049 Lisbon Portugal Inst Super Tecn Inst Syst & Robot P-1049 Lisbon Portugal Univ Illinois Dept Aerosp Engn Urbana IL 61801 USA Univ Illinois Dept Mech Sci & Engn Urbana IL 61801 USA Univ Connecticut Dept Mech Engn Storrs CT 06269 USA

The paper presents a three-dimensional path-following control algorithm that expands the capabilities of conventional autopilots, which are normally designed to provide only guidance loops for waypoint navigation. Implementation of this algorithm broadens the range of possible applications of small unmanned aerial vehicles. The solution proposed takes explicit advantage of the fact that normally these vehicles are equipped with autopilots stabilizing the vehicles and providing angular-rate tracking capabilities. Therefore, the overall closed-loop system exhibits naturally an inner-outer (dynamics-kinematics) control loop structure. The outer-loop path-following control law developed relies on a nonlinear control strategy derived at the kinematic level, while the inner-loop consisting of the autopilot together with an L-1 adaptive augmentation loop is designed to meet strict performance requirements in the presence of unmanned aerial vehicle modeling uncertainty and environmental disturbances. A rigorous proof of stability and performance of the path-following closed-loop system, including the dynamics of the unmanned aerial vehicle with its autopilot, is given. The paper bridges the gap between theory and practice and includes results of extensive flight tests performed in Camp Roberts, California, which demonstrate the benefits of the framework adopted for the control system design.

关键词： UAV Nonlinear Adaptive control Flight Testing Autopilot control algorithm Single Input Single Output Nonlinear control Ailerons Adaptive Output Feedback control Angle of Attack

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Fault Tolerant Reconfigurable Satellite Formations Using Adaptive Variable Structure Techniques

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JOURNAL OF GUIDANCE control AND DYNAMICS 2010年第3期33卷 969-984页

作者： Godard Kumar, K. D. Ryerson Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

This paper proposes two adaptive nonlinear control algorithms based on a variable-structure control design for multiple spacecraft formation flying. The nonlinear dynamics describing the motion of the follower spacecraft relative to the leader spacecraft are considered for the case in which the leader spacecraft is in an elliptical reference orbit, and the stability of such a formation in the presence of external perturbations is investigated. This paper presents fault-tolerant control schemes to account for accidental or degradation faults in spacecraft sensors and thrusters. The nonlinear analytical model describing the system is used to develop two adaptive fault-tolerant control laws (continuous sliding mode control and nonsingular terminal sliding mode control) that guarantee global asymptotic convergence of the position tracking error in the presence of unknown follower spacecraft mass and external disturbances. Several numerical examples are presented to demonstrate the efficacy of the proposed controllers to maintain the relative motion by correcting for initial offsets and external perturbation effects that tend to disperse the formation. Simulation results confirm that the suggested methodologies yield submillimeter formation, keeping precision and effectiveness in ensuring formation maneuvering. In addition, an abrupt blockage of the relative position sensors, thruster failure for a period of time, and thruster degradation (amidst formation keeping and reconfiguration maneuvers) are simulated to demonstrate the fault recovery capability of the controllers. The numerical results clearly establish the robustness of the proposed reconfigurable adaptive control scheme for precise formation keeping in the event of sensor and thruster faults.

关键词： Satellite Formation Linear Quadratic Regulator Variable Structure control control algorithm Earth Feedback Linearization Mathematical Models Fuel Consumption Spacecraft Formation Flying Position Sensors

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Costate Computation by a Chebyshev Pseudospectral Method

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JOURNAL OF GUIDANCE control AND DYNAMICS 2010年第2期33卷 623-628页

作者： Gong, Qi Ross, I. Michael Fahroo, Fariba Univ Calif Santa Cruz Dept Appl Math & Stat Santa Cruz CA 95064 USA USN Postgrad Sch Dept Mech & Astronaut Engn Monterey CA 93943 USA USN Postgrad Sch Dept Appl Math Monterey CA 93943 USA

AMONG the various pseudospectral (PS) methods for optimal control [1], only the Legendre PS method has been mathematically proven to guarantee the feasibility, consistency, and convergence of the approximations [2-5]. As exemplified by its experimental and flight applications in national programs [6-10], it is not surprising that the Legendre PS method has become the method of choice [11-19] in both industry and academia for solving optimal control problems. Efforts to improve the Legendre PS methods by using either other polynomials [20-22] or point distributions [23,24] have not yet resulted in any rigorous framework for convergence of these approximations [24,25].

关键词： Chebyshev Pseudospectral Method Covector Mapping Principle Polynomial Interpolation Boundary Value Problems control algorithm

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Modeling the tempering of automobile glass for developing corrective actions

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GLASS AND CERAMICS 2010年第1-2期67卷 3-5页

作者： Makarov, R. I. Suvorov, E. V. Obukhov, Yu. M. Vladimir State Univ Vladimir Russia AGC Bor Glass Plant JSC Bor Russia

An algorithm for controlling the tempering process for automobile glass is simulated. It is shown that the mechanical properties of the glass produced can still be improved. The effectiveness of using modeling for dev... 详细信息

关键词： automobile glass tempering process control algorithm improvement of mechanical properties

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A study of operation strategy of cooling module with dynamic fuel cell system model for transportation application

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RENEWABLE ENERGY 2010年第11期35卷 2525-2532页

作者： Yu, Sangseok Jung, Dohoy Chungnam Natl Univ Taejon 305343 South Korea Univ Michigan Dearborn MI 48128 USA

A fuel cell system model with detailed cooling module model was developed to evaluate the control algorithms of cooling module which is used for the thermal management of a proton exchange membrane fuel cell (PEMFC) system. The system model is composed of a dynamic fuel cell stack model and a detailed dynamic cooling module model. To extend modeling flexibility, the fuel cell stack model utilizes analytic approach to capture the transient behavior of the stack temperature corresponding to the change of the coolant temperature and the flow rate during load follow-up. The cooling module model integrated model of fan, water pump, coolant passage, and electric motors so that the model is capable of investigation of operating strategy of pump and fan. The fuel cell system model is applied to the investigation of the control logics of the cooling module. Since, it is necessary for the control of cooling module to define the reference conditions such as coolant temperature and fuel cell stack temperature, this study presents such thermal management criteria. Finally, two control algorithms were compared, a conventional control algorithm and a feedback control algorithm. As a consequence, the feedback control algorithm was found to be more suitable for the cooling module of the PEMFC stack, as they consume less parasitic power while producing more stack power compared to a conventionally controlled cooling module. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： Dynamic system model Proton exchange membrane fuel cell (PEMFC) system Cooling module control algorithm

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