检索结果-内蒙古大学图书馆

MRI-guided robot intervention—current state-of-the-art and new challenges

Med-X 2023年第1期1卷 141-181页

作者： Shaoping Huang Chuqian Lou Ying Zhou Zhao He Xuejun Jin Yuan Feng Anzhu Gao Guang-Zhong Yang Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai 200240China National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy(NERC-AMRT) Shanghai Jiao Tong UniversityShanghai 200240China Materials and Technology Center of Robotics EmpaDübendorf 8600Switzerland State Key Lab of Metal Matrix Composites and School of Materials Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Magnetic Resonance Imaging(MRI)is now a widely used modality for providing multimodal,high-quality soft tissue contrast images with good spatiotemporal resolution but without subjecting patients to ionizing *** addition to its diagnostic potential,its future theranostic value lies in its ability to provide MRI-guided robot intervention with combined structural and functional mapping,as well as integrated instrument localization,target recognition,and in situ,in vivo monitoring of the therapeutic *** of current applications include neurosurgery,breast biopsy,cardiovascular intervention,prostate biopsy and *** applications in targeted drug delivery and MRI-guided chemoembolization are also being *** promising progress has been made in recent years,there are still significant basic science research and engineering *** paper provides a comprehensive review of the current state-of-the-art in MRI-guided robot intervention and allied technologies in actuation,sensing,new materials,interventional instruments,and interactive/real-time *** future research directions and new clinical developments are also discussed.

关键词： MRI-guided robot intervention Actuation Sensing Materials Interventional instruments Interactive/realtime MRI

来源：评论

学校读者我要写书评

暂无评论

The 5th International Conference on Biomedical Engineering and Biotechnology (ICBEB 2016) Abstracts

引用

BMC MEDICAL IMAGING 2016年第SUPPL 1期16卷 65-65页

作者： [Anonymous] Department of MRI Shandong Medical Imaging Research Institute Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China Department of Interventional Radiology Shandong Provincial Hospital Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China College of Information Science and Technology Engr. Research Center of Digitized Textile & Fashion Tech. for Ministry of Education Donghua University Shanghai 201620 China Intelligent multimedia information processing Lab College of Software Northeastern University Shenyang Liaoning Province 110004 China Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China School of Computer Science and Technology Nanjing Normal University Nanjing China Department of Electrical Engineering The City College of New York CUNY New York USA Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing Nanjing China School of Electronic Science and Engineering Nanjing University Nanjing Jiangsu 210046 China College of Engineering Nanyang Technological University Singapore 639798 Singapore School of Electronic Information Shanghai Dianji University Shanghai China School of Natural Sciences and Mathematics Shepherd University Shepherdstown WV 25443 USA Davis College of Agriculture Natural Resources and Design West Virginia University Morgantown WV 26505 USA State Key Laboratory of Millimeter Waves Southeast University Nanjing 210096 China Center of Medical Physics and Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei China College of Agricultural and Life Sciences University of Florida Gainesville FL 32611 USA Courant Institute of Mathematical Sciences New York University New York NY 10012 USA Translational Imaging Division & MRI Unit Columbia University and New York State Psychiatric Institute New York NY 10032 USA Guangxi Key Laboratory of Manufacturing System & Adv

来源：评论

学校读者我要写书评

暂无评论

Network Cooperative Distributed Pricing control System for Large-Scale Optimal Charging of PHEVs/PEVs

Network Cooperative Distributed Pricing Control System for L...

引用

Annual Conference of the IEEE Industrial Electronics Society

作者： Navid Rahbari-Asr Mo-Yuen Chow Zaiyue Yang Jiming Chen Advanced Diagnosis Automation and Control Laboratory of Electrical and Computer Engineering Department of North Carolina State University State Key Laboratory of Industrial Control Technology Zhejiang University

ISBN: (纸本)9781479902255

Efficient demand management policies at the grid side are required for large scale charging of Plug-in Hybrid Electric Vehicles and Plug-in Electric vehicles (PHEVs/PEVs). The SoC level and Charging Cost should be optimized while the aggregate load is kept under a safety limit to avoid overloads. Conventionally, optimal managing of the charging rates requires gathering and processing data in a center. However, as the scale of the problem increases to consider thousands of charging stations distributed over a vast geographical area, the central approach suffers from vulnerability to single node/link failures as well as scalability. This paper introduces a novel decentralized network cooperative approach for controlling the PHEV/PEV charging rates. In this approach, each charging station acts as a local retailer of energy, selling the power to the plugged in vehicle while coordinating the price with its neighbors. In response to the offered price, the Smart-Charger of the vehicle adjusts the charging current to maximize the utility of the PHEV/PEV user. By iteratively repeating this process, the convergence to the global optimum is attained without the requirement for any central unit. Robustness to single link/node failures is another advantage of our method.

关键词： PHEV/PEV Demand Management Decentralized control Distributed Optimization Cooperative Systems Consensus Networks Real-Time Pricing cooperative systems decentralised control CHARGING(ACCOUNTTNG) charging distribution substation optimal charging charged currents vehicle PLUGGING A-centres global optimum harvesting

来源：评论

学校读者我要写书评

暂无评论

Realization and validation of Delay Tolerant Behavior control based Adaptive Bandwidth Allocation for networked control system

Realization and validation of Delay Tolerant Behavior Contro...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Unnati Ojha Mo-Yuen Chow Advanced Diagnosis Automation and Control ADAC Laboratory North Carolina State University USA

In network based path tracking control of systems with multiple unmanned ground vehicles (UGVs), performance can be affected by network constraints including time-varying network delays and bandwidth limitation. Different static as well as dynamic bandwidth management strategies like Larger Error First (LEF), Rate Monotonic (RM), Behavior control (BC) Based Allocation etc. have been proposed in the past to allocate bandwidth. However, these existing methods are not robust to network delay which is an important constraint in a Network control System (NCS). The Delay Tolerant Behavior control (DTBC) based Adaptive Bandwidth Allocation is one of the bandwidth allocation techniques that is robust to network delays. In this paper, DTBC algorithm has been validated and compared to the performance of existing algorithms in an intelligent space environment. IEEE 802.15.4 standard wireless protocol was used for communication between the unmanned ground vehicles (UGVs) and the Supervisory controller. A T-test was conducted and we found that at network delays of more than 200ms we can say with 99% confidence that DTBC's performance is better than the existing algorithms. Furthermore, using the slope of the linear fit calculated for each algorithm's performance at different network delays, the performance of DTBC was found to be at least 25% to at most 57% better than the existing algorithms.

关键词： Delay Bandwidth Channel allocation Wheels Sun Generators Base stations

来源：评论

学校读者我要写书评

暂无评论

A delay-tolerant potential-field-based network implementation of an integrated navigation system

A delay-tolerant potential-field-based network implementatio...

引用

作者： Gupta, Rachana Ashok Masoud, Ahmad A. Chow, Mo-Yuen Advanced Diagnosis Automation and Control Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh United States Department of Electrical and Computer Engineering King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

Network controllers (NCs) are devices that are capable of converting dynamic, spatially extended, and functionally specialized modules into a taskable goal-oriented group called networked control system. This paper examines the practical aspects of designing and building an NC that uses the Internet as a communication medium. It focuses on finding compatible controller components that can be integrated via a host structure in a manner that makes it possible to network, in real-time, a webcam, an unmanned ground vehicle (UGV), and a remote computer server along with the necessary operator software interface. The aim is to deskill the UGV navigation process and yet maintain a robust performance. The structure of the suggested controller, its components, and the manner in which they are interfaced are described. Thorough experimental results along with performance assessment and comparisons to a previously implemented NC are provided. © 2009 IEEE.

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

Predictive control of multiple UGVs in a NCS with adaptive bandwidth allocation

Predictive control of multiple UGVs in a NCS with adaptive b...

引用

Annual Conference of Industrial Electronics Society

作者： Bryan R. Klingenberg Unnati Ojha Mo-Yuen Chow Advanced Diagnosis Automation and Control (ADAC) Laboratory North Carolina State University USA

In network based path tracking control of systems with multiple unmanned ground vehicles (UGVs), performance can be affected by network constraints including time-varying network delays and bandwidth limitations. Network delay has previously been compensated for using smith predictor based techniques and gain scheduling to limit UGV motion. The predictive gain scheduler introduced in this paper uses the predicted trajectory and future path to maximize allowable travel while considering the network delay. On the other hand, bandwidth management has been approached by optimizing total bandwidth usage under performance constraints. However, by optimizing the performance of the UGVs under bandwidth constraints, the total networked control system performance increases.

关键词： Predictive control Programmable control Adaptive control Channel allocation Bandwidth Constraint optimization control systems Land vehicles Time varying systems Trajectory

来源：评论

学校读者我要写书评

暂无评论

Predictive constrained gain scheduling for UGV path tracking in a networked control system

Predictive constrained gain scheduling for UGV path tracking...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Bryan R. Klingenberg Unnati Ojha Mo-Yuen Chow Advanced Diagnosis Automation and Control ADAC Laboratory North Carolina State University Raleigh NC USA

This paper presents a predictive gain scheduler for path tracking control in a networked control system with variable delay. The controller uses the plant model to predict future position and find the amount of travel possible with the global path as a constraint. Based on variable network conditions and vehicle trajectory's curvature the vehicle is allowed to travel farther on the current control signal while the vehicle trajectory matches the path constraint. This method uses path specific characteristics to evaluate the effectiveness of each generated control signal. By scheduling the gain on the control signal the vehicle tracking performance is maintained with an increase in network delay. The tracking time is decreased compared to other methods since the proposed control method allows the controller to look ahead and thus evaluate predicted effect of each control signal before scaling it. The proposed method is compared with existing delay compensation methods through simulation.

关键词： Networked control systems Predictive models Scheduling Automatic control Road vehicles Vehicle driving Feedback control systems Wheels Vehicle detection

来源：评论

学校读者我要写书评

暂无评论

Resource Allocation for a Life Science automation Line: a Petri nets Approach

Resource Allocation for a Life Science Automation Line: a Pe...

引用

IEEE International Conference on automation Science and Engineering (CASE)

作者： Tao Hong Mo-Yuen Chow Advanced Diagnosis Automation and Control (ADAC) Laboratory Electrical & Computer Engineering Department North Carolina State University NC USA

High-throughput screening (HTS) processes have been increasingly used in the life sciences area for diverse bio-chemical experiments. This paper investigates the resource allocation issue of scheduling HTS processes under multiple constraints including operation constraints, resource constraints, starvation constraints and multi-experiment constraints. We first use timed transition Petri nets (PN) to model the HTS processes. We then illustrate the transition variant property of the PN model, and propose an efficient best-first (E-BF) algorithm combined with PN execution to find the schedule. Finally we apply the E-BF algorithm to three typical HTS experimental processes under different resource constraints and compare the E-BF algorithm with a traditional best-first (BF) algorithm as case studies. The results show that the E-BF algorithm can be used to allocate resources for HTS processes properly and can easily be more efficient than the BF algorithm when applied to transition variant PN.

关键词： Resource management Petri nets High temperature superconductors Scheduling algorithm Job shop scheduling Mathematical model Humans Robotics and automation Automatic control USA Councils

来源：评论

学校读者我要写书评

暂无评论

Accumulated effect parameter tuning method for geometrical path tracking of wheeled mobile robots

Accumulated effect parameter tuning method for geometrical p...

引用

IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Rangsarit Vanijjirattikhan Manas Talukdar Mo-Yuen Chow Advanced Diagnosis Automation and Control Laboratory Electrical and Computer Engineering Department North Carolina State University Raleigh NC USA

This paper proposes a novel method for parameter tuning in geometrical path tracking algorithms for wheeled mobile robots. Geometrical path tracking has the advantage in its ease of implementation. However, before using such an algorithm, several critical parameters need to be found experimentally. Such a procedure is quite time consuming and unreliable. Moreover, there is no certainty that the parameters found using this method will hold for different kinds of paths. The research presented in this paper addresses this particular issue. A tuning method called Accumulated Effect (AE) parameter tuning method is proposed for determining the appropriate parameter values which will hold for different paths under different conditions. This method is based on the steady state of a mobile robot, tracking a circular path. The effectiveness of this method has been demonstrated using simulation results for three different path tracking algorithms.

关键词： Mobile robots Trajectory Kinematics Automatic control Steady-state Programmable control Adaptive control Neurofeedback Error correction Robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Timed Petri Net Modeling and Simulation of a High-Throughput Biological Screening Process

Timed Petri Net Modeling and Simulation of a High-Throughput...

引用

IEEE International Conference on automation Science and Engineering (CASE)

作者： Rangsarit Vanijjirattikhan David Kaber Mo-Yuen Chow Norbert Stoll Advanced Diagnosis Automation and Control Laboratory North Carolina State University Raleigh NC USA Cognitive Ergonomics Laboratory North Carolina State University Raleigh NC USA Center for Life Science Automation University of Rostock Rostock Germany

Petri nets are a popular tool for process modeling, formal analysis and design of discrete event systems. This paper introduces the use of timed Petri nets to model a high-throughput screening (HTS) process, specifically automation used for testing biological compounds for drug derivative discovery. This paper also illustrates of the use of a general hybrid simulation tool such as Simulink to implement timed Petri nets. A mathematical description of how we implemented the design of the timed Petri net model is provided. A simulator of the Petri net model in Simulink is implemented and verified. The resulting model can be used to estimate the operation time of the target HTS process and for process planning. The demonstrated approach to Petri net modeling and simulation development may be applicable to other domains involving highly automated processes with time delays dictating product quality.

关键词： Biological system modeling Petri nets High temperature superconductors Discrete event systems automation Automatic testing Drugs Mathematical model Process planning Delay effects

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：