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A robot-assisted surgery system for spinal fusion

A robot-assisted surgery system for spinal fusion

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作者： Chung, Goo Bong Lee, Soo Gang Kim, Sungmin Yi, Byung-Ju Kim, Whee-Kuk Oh, Se Min Kim, Young Soo Park, Jong Oh, Seong Hoon School of Electrical Engineering and Computer Science Hanyang University Korea Republic of Departmen of Control and Instrumentation Engineering Korea University Korea Republic of Automation R and D Center LG Indestrial Systems Co. LTD. Korea Republic of College of Medicine Hanyang University Korea Republic of Department of Biomedical Engineering Hanyang University Korea Republic of Division of Electrical and Computer Engineering Hanyang University Korea Republic of

ISBN: (纸本)0780389123

The goal of this work is to develop a robot-assisted surgery system for spinal fusion, which is composed of a robot, a surgical planning system, and an optical tracking system. The system plays roles of assisting surgeon for inserting a pedicle screw in spinal fusion. Compared to pure navigation systems as well as conventional methods for spinal fusion, it is able to achieve better accuracy through compensating for the portending movement of the surgical area. Furthermore, the robot can position and guide needles, drills, and other surgical instruments or conducts drilling/screwing directly. In preoperative surgery, the desired entry point, orientation, and depth of surgical tools for pedicle screw insertion are determined by the surgical planning system based on CT or MR images. Intra-operatively, the position information on the surgical instruments and the targeted surgical areas are obtained by the tracking system and, using that information, a robot conducts the preplanned operation depending on its role while compensating the movement of the surgical area. Two exemplary experiments employing the developed robot-assisted surgery system are conducted. © 2005 IEEE.

关键词： Navigation systems

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Unconditionally secure key distillation from multi-photons in a single-photon polarization based quantum key distribution

Unconditionally secure key distillation from multi-photons i...

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IEEE International Symposium on Information Theory

作者： K. Tamaki Hoi-Kwong Lo Department of Electrical and Computer Engineering Center for Quantum Information and Quantum Control Toronto ONT Canada Department of Electrical and Computer Engineering and Department of Physics Center for Quantum Information and Quantum Control Toronto ONT Canada

In this presentation, we show some counter-examples to a naive belief that the security of QKD is based on no-cloning theorem. One example is shown by explicitly proving that one can indeed generate an unconditionally secure key from Alice's two-photon emission part in "SARG04 protocol" proposed by V. Scarani et al, in Phys. Rev. Lett. 92, 057901 (2004). This protocol differs from BB84 only in the classical communication. It is, thus, interesting to see how only the classical communication of QKD protocol might qualitatively change its security. We also show that one can generate an unconditionally secure key from the single to the four-photon part in a generalized SARG04 that uses six states. Finally, we also compare the bit error rate threshold of these protocols with the one in BB84 and the original six-state protocol assuming a depolarizing channel

关键词： Polarization Protocols Quantum computing Quantum mechanics Cloning Distributed computing Physics computing Information security computer security Bit error rate

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Speed control of switched reluctance motor (SRM) using emotional learning based adaptive controller

Speed control of switched reluctance motor (SRM) using emoti...

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International Conference on control and Automation (ICCA)

作者： H. Rouhani R.M. Milasi C. Lucas Iranian Applied Design Center of Excellence Mechanical Engineering Department University of Tehran Tehran Iran Iranian Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran Iranian Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department Electrical and Computer Engineering Department University of Tehran Iran

In this paper, an intelligent controller is applied to speed control of a switched reluctance motor. Two techniques are used which have been successfully used in other intelligent modeling and control applications. Firstly, a neuro-fuzzy locally linear model tree system is used for data driven modeling of the switched reluctance motor. Secondly, a neural computing technique based on a mathematical model of amygdala and the limbic system is used for emotional control of the switched reluctance motor. The obtained results indicate the applicability of the proposed techniques in intelligent control of this highly nonlinear system.

关键词： Reluctance motors Velocity control Reluctance machines Programmable control Adaptive control Intelligent control Strontium Process control control systems Teeth

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Time-Optimal Path Planning of Moving Sensors for Parameter Estimation of Distributed Systems

Time-Optimal Path Planning of Moving Sensors for Parameter E...

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IEEE Conference on Decision and control

作者： D. Ucinski YangQuan Chen Institute of Control and Computation Engineering University of Zielona Góra Zielona GoRa Poland Department of Electrical and Computer Engineering Utah State University Logan UT USA

A general approach to the optimization of the observation horizon of moving sensor trajectories for parameter estimation of distributed systems is presented. Two problems are formulated here. The first consists in maximizing the determinant of the information matrix for a specified duration of observations and an open initial time, and the other constitutes its generalization to the case where the elapsed observation time is minimized subject to a guaranteed D-efficiency of the experiment. The approach is to convert the problem to an optimal control one in Mayer form, in which both the control forces of the sensors and the initial sensor positions are optimized in addition to the limits of the observation horizon.

关键词： Path planning Sensor systems Parameter estimation Sea measurements Pollution measurement Optimal control State estimation Monitoring Area measurement Atmospheric measurements

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Design and implement the stimuli capsule at in-vitro experiment

Design and implement the stimuli capsule at in-vitro experim...

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TENCON 2005 - 2005 IEEE Region 10 Conference

作者： Woo, S.H. Yoon, K.W. Lee, J.H. Moon, Y.K. Won, C.H. Kim, T.W. Choi, H.C. Cho, J.H. School of Electronic Engineering and Computer Science Kyungpook National University Korea Republic of Department of Computer Control and Electrical Engineering Kyungil University Korea Republic of College of Veterinary Medicine Dept. of Physiology Kynugpook National University Advanced Research Center for Recovery of Human Sensibility Kyungpook National University Korea Republic of

ISBN: (纸本)0780393112

Recently, the capsule endoscope has been developed to observe image from the inside intestine. Such a capsule endoscope does not have locomotion or hold by it self. To get proper diagnosis and meditation, it is necessary to control capsule from outside to enable to guide locomotion. The designed and implemented capsule has feasibility to contracts the small intestine by electrical stimulus from stimulus pad. When the small intestine is contracted by electrical stimulus, the capsule can move to opposite direction which can boost moving speed of the capsule or change moving direction. The implemented stimuli capsule always monitors excessive energy transmit and automatically shut down electrical stimuli to make more secure. Also the stimuli capsule goes to stand by mode to save battery, and reset by comparator circuit which is connected to two stimulus pad. To verify the design and implement stimuli capsule, in-vitro experiments are performed with pig's small intestine.

关键词： Medical imaging

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Approximated optimal control of singularly perturbed systems via Haar wavelets

Approximated optimal control of singularly perturbed systems...

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作者： Karimi, H.R. Jabedar, Maralani P. Moshiri, B. Lohmann, B. Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran Institute of Automation University of Bremen Otto-Hahn-Allee NW1 D-28359 Bremen Germany

ISBN: (纸本)008045108X

This paper deals with the implementation of Haar wavelet to the optimal control of linear singularly perturbed systems. The approximated composite control and the slow and fast trajectories with respect to a quadratic cost function by solving only the linear algebraic equations are calculated. The results are illustrated with a simple example. Copyright © 2005 IFAC.

关键词： Cost functions

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Locally Optimal Takagi-Sugeno Fuzzy controllers

Locally Optimal Takagi-Sugeno Fuzzy Controllers

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IEEE Conference on Decision and control

作者： A. Massoud Farahmand M.J. Yazdanpanah Electrical and Computer Engineering Department Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran

This paper presents a new suboptimal design for stable fuzzy controller. Using fuzzy plant model and locally optimal gains (based on LQR design), we suggest a sufficient condition for stability of the closed-loop system that can be expressed as Linear Matrix Inequaloities. Provided that we have an accurate fuzzy model of the plant, the real system is globally stabel too. This new approach facilitates the design process much yielding sub-optimal global design. Simulation results show that even if we have not an exact fuzzsy model representation, this method increases attraction domain of the system comparing with conventional linear optimal contrllers.

关键词： Takagi-Sugeno model Fuzzy control Optimal control Fuzzy systems control systems Stability Mathematical model Sufficient conditions Nonlinear dynamical systems Java

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Robust Design of Networked control Systems with Randomly Varying Delays and Packet Losses

Robust Design of Networked Control Systems with Randomly Var...

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IEEE Conference on Decision and control

作者： B. Tavassoli P.J. Maralani Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

A relatively general framework for designing robust controllers over communication networks is presented. It has the capability of handling randomly time-varying packet transmission delays and probability of packet losses. The presented method can also handle multiple channels of communication simultaneously. Results are based on continuous time methods that use Lyapunov-Krasovskii functionals. It is shown via an example that how state feedback controllers can be designed based on LMIs. Fixed structure output feedback controllers have been designed based on BMIs.

关键词： Robust control Networked control systems Communication system control Delay control systems Communication networks Sampling methods Process control Intelligent control Propagation losses

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Designing a linear controller for polynomial systems with the largest domain of attraction via LMIs

Designing a linear controller for polynomial systems with th...

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International Conference on control and Automation (ICCA)

作者： R. Bakhtiari M.J. YazdanPanah Control & Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

The problem of designing a linear controller for nonlinear polynomial systems that results the largest domain of attraction is considered. Moreover, using the proposed algorithm, the shape of the approximation of domain of attraction can be defined, due to importance and change of different states of system. To compute the estimate of the region of attraction, a Lyapunov function has been used. The designing problem involves solving a double nonconvex optimization problem, which can be changed to a semiconvex optimization problem, via linear matrix inequalities (LMI).

关键词： control systems Polynomials Lyapunov method Stability Algorithm design and analysis Shape Symmetric matrices Nonlinear control systems Design optimization Nonlinear systems

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Fuzzy contributive games: an extension to the game of civic duty

Fuzzy contributive games: an extension to the game of civic ...

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： A. Danak A.R. Kian Control and Intelligent Processing Center for Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Game theory deals with decision-making processes involving two or more parties with partly or completely conflicting interests. The players involved in the game usually make their decisions under conditions of risk or uncertainty. In this paper, an idea of nondeterministic payoffs is proposed and optimization is done in a more realistic fuzzy environment, helping each player describe his goal functions by using the linguistic variables. Since fuzzy numbers represent uncertain numeric values, their substitution for traditional crisp payoff values is described and their application is surveyed for a specific sample of contributive games - the game of civic duty. A closed formulation is developed for a vast general class of vague payoffs

关键词： Game theory Decision making Fuzzy sets Process control Intelligent control Uncertainty Cost function Probability distribution Artificial intelligence

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