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Novel Architecture for supporting medical decision making of different data types based on Fuzzy Cognitive Map Framework

Novel Architecture for supporting medical decision making of...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Elpiniki Papageorgiou Chrysostomos Stylios Peter Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece Intelligent Computing Laboratory Department of Informatics and Telecommunications Technology TEI Epirus Greece

Medical problems involve different types of variables and data, which have to be processed, analyzed and synthesized in order to reach a decision and/or conclude to a diagnosis. Usually, information and data set are both symbolic and numeric but most of the well-known data analysis methods deal with only one kind of data. Even when fuzzy approaches are considered, which are not depended on the scales of variables, usually only numeric data is considered. The medical decision support methods usually are accessed in only one type of available data. Thus, sophisticated methods have been proposed such as integrated hybrid learning approaches to process symbolic and numeric data for the decision support tasks. Fuzzy cognitive maps (FCM) is an efficient modelling method, which is based on human knowledge and experience and it can handle with uncertainty and it is constructed by extracted knowledge in the form of fuzzy rules. The FCM model can be enhanced if a fuzzy rule base (IF-THEN rules) is available. This rule base could be derived by a number of machine learning and knowledge extraction methods. Here it is introduced a hybrid attempt to handle situations with different types of available medical and /or clinical data and with difficulty to handle them for decision support tasks using soft computing techniques.

关键词： Decision making Fuzzy cognitive maps Medical diagnostic imaging Data mining Decision support systems Learning systems Computational intelligence Computer networks Diseases Spatial databases

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Robust Control of Space Robot for Capturing Objects Using Optimal Control Method

Robust Control of Space Robot for Capturing Objects Using Op...

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International Conference on Information and automation (ICIA)

作者： Panfeng Huang Jie Yan Jianping Yuan Yangsheng Xu Research Center for Intelligent Robotics College of Astronautics Northwestern Polytechnical University Xi'an China Department of Mechanical and Automation Engineering Hong Kong China

The capturing operation for the space object by space robot can not be avoided in order to complete the on- orbital services, such as repairing, maintaining, inspecting and exchanging orbital replace unit (ORU). However, there are some unknown factors, such as the unknown payload and unknown modeling of object and the other uncertain dynamic parameters in the space robot, will affect the performance and the security of the space robot when the space robot captures the unknown object. Therefore, it is significant to design a robust control law that will guarantee the performance and security of the space robot under these uncertainties. Here, we propose a new optimal control method to robust control of space robot. To design the robust control law, we translate the robust control problem into an optimal control problem, where the uncertainties are reflected in the objective function index. We optimize this objective function to realize the robust control. An illustrative example shows that the proposed approach is remarkable.

关键词： Robust control Orbital robotics Optimal control Uncertainty Intelligent robots robotics and automation Manipulator dynamics Security Open loop systems Space missions

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Nanorobotic Manipulator Assisted Assembly of Complex Nanostructures based on Carbon Nanotubes

Nanorobotic Manipulator Assisted Assembly of Complex Nanostr...

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IEEE International Conference on robotics and automation (ICRA)

作者： Pou Liu Kalle Kantola Toshio Fukuda Fumihito Arai Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Automation and Systems Engineering Helsinki University of Technology Espoo Finland Department of Bioengineering and Robotics University of Tohoku Sendai Japan

In this paper, a series of in situ nanofabrication techniques of nanostructures, including cutting, bending and welding of carbon nanotubes (CNTs), inside a field emission scanning electron microscope (FE-SEM) is reported. In the CNT cutting technique, a CNT was exposed to a low energy beam assisted with 1 seem oxygen gas flow. The proposed technique is effective being capable of cutting a CNT in less than 1 minute. It was found that, although the total pressure of specimen chamber reached 10 -2 Pa, high speed cutting occurs only in the area close to the nozzle. The presence of oxygen gas in the vicinity of the CNT can be applied also for the bending of CNT, if some conditions of the cutting technique are changed. These include the increase of the acceleration voltage and/or setting the oxygen gas nozzle farther from the sample, and/or reducing the irradiation time. Using the proposed bending method the angles larger than 90deg can be formed and the location of the kink can be set accurately. It is also shown, that tungsten can be deposited on a substrate by the electron-beam-induced deposition (EBID), if the oxygen of the proposed cutting technique is replaced by W(CO) 6 . In this paper, these three nanofabrication methods were exploited in creation of a two dimensional (2D) nanostructure, the letters N and U, and a three dimensional (3D) nanostructure, the letter N. The 2D letters were constructed from 6 CNTs assembled on a substrate while the 3D letter N was bended from a single CNT and fixed to stand on a substrate. Based on the high performance of the proposed techniques, it is suggested that the cutting, bending, and welding techniques inside SEM will become widely utilized in the fabrication and assembly of nanodevices and in the characterization of nanomaterials.

关键词： Assembly Nanostructures Carbon nanotubes Nanofabrication Welding Electron emission Scanning electron microscopy Fluid flow Acceleration Voltage

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Attitude Control System Design for Unmanned Aerial Vehicles using H-Infinity and Loop-shaping Methods

Attitude Control System Design for Unmanned Aerial Vehicles ...

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International Conference on Control and automation (ICCA)

作者： J. Gadewadikar F. Lewis K. Subbarao B. M. Chen Automation and Robotics Research Institute University of Texas Arlington Fort Worth USA Department of Electrical & Computer Engineering National University of Singapore Singapore

The aim of this paper is to design a helicopter attitude control system with guaranteed performance that allows tracking control of all three attitudes-roll, pitch, and yaw, while preserving a structure that is generally accepted in the helicopter control community. The paper presents an approach for designing compensators for shaping the closed-loop attitude step response using H-Infinity output-feedback design techniques. Simplified conditions are used which only require the solution of two coupled matrix design equations. The problem of stabilization of the angular position vector of an autonomous rotorcraft platform in a hover configuration is addressed. This paper extends previous designs by giving an H-Infinity design for a tracking controller for all three attitude states. In previous work, only two attitudes were commanded, namely roll and pitch. This paper thereby lays the foundation for future work in closing an outer control loop for hover and station-keeping control of UAV helicopters. The rotorcraft model is first loop shaped to achieve desired characteristics about the hover operating condition. A numerically efficient solution algorithm to solve the H-Infinity coupled design equations is used. A major contribution is that an initial stabilizing gain is not needed. The efficacy of the control law and the disturbance accommodation properties are shown on a rotorcraft design example.

关键词： Unmanned aerial vehicles H infinity control Helicopters Control systems Attitude control Riccati equations robotics and automation Output feedback Shape control Automatic control

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Output feedback decoupling of neutral time delay systems

Output feedback decoupling of neutral time delay systems

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Mediterranean Conference on Control and automation (MED)

作者： G. E. Panagiotakis F. N. Koumboulis P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Psachna Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The problem of Input Output Decoupling is studied for the case of general neutral multi-delay systems, via proportional realizable output feedback. Using a pure algebraic approach, the necessary and sufficient conditions for the problem to have a realizable solution are established and the general analytical expressions of the proportional realizable controller matrices, are derived.

关键词： Output feedback Delay effects Control systems Laplace equations robotics and automation Proportional control Polynomials Matrices Automatic control Robot control

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Model matching of SISO neutral time delay systems via output feedback

Model matching of SISO neutral time delay systems via output...

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Mediterranean Conference on Control and automation (MED)

作者： F. N. Koumboulis N. D. Kouvakas P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Chalkis Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The necessary and sufficient conditions for the solvability of the exact model matching problem for general neutral single input-single output multi-delay systems, via a realizable dynamic output feedback and a realizable dynamic precompensator, are established. The general class of the realizable dynamic controllers solving the problem is analytically determined. The results are successfully applied to the model of a cascade connection of two mixers as well as a numerical example.

关键词： Delay effects Output feedback Delay systems robotics and automation Sufficient conditions Automatic control Robot control Proportional control Control systems

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Peeling and Cutting a Multi-Walled Carbon Nanotube inside a Scanning Electron Microscope

Peeling and Cutting a Multi-Walled Carbon Nanotube inside a ...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Pou Liu Kalle Kantola Toshio Fukuda Masahiro Nakajima Fumihito Arai Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Automation and Systems Engineering Helsinki University of Technology Finland Department of Micro-Nano Systems Engineering University of Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Japan

Carbon nanotube (CNT) has many superior properties if compared to other materials which make it a promising nanostructure to be used in various nanoelectronic and mechanical systems (NEMS). The main problems involved in nanotube based applications are related to the fabrication process and especially to the machining and assembly of CNTs. In this paper, the techniques for peeling and cutting of multi-walled carbon nanotube (MWNT) are presented. Both the techniques take place inside the same observation devise a scanning electron microscope (SEM), which make the combination of the techniques effective. Also the size of the specimen chamber of a SEM enables the use of different fabrication methods like the assistance of a nanorobotic manipulator in different nanomanufacturing steps. The usability of the proposed techniques is verified in the manufacturing of a concept of one dimensional nanoactuator, which can be fabricated by the presented techniques.

关键词： Carbon nanotubes Scanning electron microscopy Fabrication Mechanical factors Nanostructured materials Organic materials Mechanical systems Nanoelectromechanical systems Machining Assembly

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Implementation of sensors and control paradigm for a hybrid mobile robot manipulator for search and rescue operations

Implementation of sensors and control paradigm for a hybrid ...

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2007 IEEE International Workshop on Robotic and Sensor Environments, ROSE 2007

作者： Ben-Tzvi, Pinhas Goldenberg, Andrew A. Zu, Jean W. Robotics and Automation Laboratory Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Rd. Toronto ON M5S 3G8 Canada Vibration and Computational Dynamics Laboratory Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Rd. Toronto ON M5S 3G8 Canada

ISBN: (纸本)1424415276

This paper presents the control paradigm and embedded sensors for a mobile robot manipulator whereby the mobile platform and manipulator arm are designed as one entity to support both locomotion and manipulation simultaneously and interchangeably in several configuration modes. Along with the description of the novel design architecture, we developed, constructed and tested a novel paradigm for on-board RF data communication among robot's joints. This paper also describes the sensor and camera layout and their implementation in the mobile robot manipulator. A modular and extensible power source system design with major key elements that allow for easy reconfiguration and expansion was also developed, implemented and tested for the hybrid mobile robot manipulator. © 2007 IEEE.

关键词： Mobile robots

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Control of a Remotely Operated Quadrotor Aerial Vehicle and Camera Unit Using a Fly-The-Camera Perspective

Control of a Remotely Operated Quadrotor Aerial Vehicle and ...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 5511-5970

作者： DongBin Lee Vilas Chitrakaran Timothy Burg Darren Dawson Bin Xian Department of Electrical and Computer Engineering Clemson University Clemson SC USA OC Robotics Limited Bristol UK School of Electrical Engineering and Automation Tianjin University TJU Tianjin China

ISBN: (纸本)9781424414970;1424414970

This paper presents a mission-centric approach to controlling the optical axis of a video camera mounted on a camera manipulator and fixed to a quadrotor remotely operated vehicle. A four-DOF quadrotor, UAV model will be combined with a two-DOF camera kinematic model to create a single system to provide a full six DOF actuation of the camera view. This work proposed exploits that all signals are described in camera frame. The closed-loop controller is designed based on a Lyapunov-type analysis so that the tracking result is shown to produce Globally Uniformly Ultimately Bounded (GUUB). Computer simulation results are provided to demonstrate the suggested controller.

关键词： Cameras vehicle Video cameras Standing Orders approach control closed-loop controller six degrees of freedom signals

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Model-free Approximate Dynamic Programming Schemes for Linear Systems

Model-free Approximate Dynamic Programming Schemes for Linea...

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International Joint Conference on Neural Networks (IJCNN)

作者： Asma Al-Tamimi Draguna Vrabie Murad Abu-Khalaf Frank L. Lewis Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Electrical Engineering Department University of Texas Arlington Arlington TX USA

In this paper, we present online model-free adaptive critic (AC) schemes based on approximate dynamic programming (ADP) to solve optimal control problems in both discrete-time and continuous-time domains for linear systems with unknown dynamics. In the discrete-time case, it is shown that the proposed ADP algorithm is in fact solving the underlying Generalized Algebraic Riccati Equation (GARE) of the corresponding optimal control problem or zero-sum game. In the continuous-time domain, an ADP scheme is introduced to solve for the underlying ARE of the optimal control problem. It is shown that this continuous-time ADP scheme is in fact a Quasi-Newton method to solve the ARE. In both time domains, the adaptive critic algorithms are easy to initialize since initial policies are not required to be stabilizing. It is also shown, on a power system control example, that both discrete-time and continuous-time approaches to ADP converge to the same continuous time optimal control solution provided that the utility function is appropriately chosen.

关键词： Dynamic programming Linear systems Optimal control Riccati equations Programmable control Adaptive control Power system dynamics Neural networks Power system simulation Power system control

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