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Royal Academy of Medicine in Ireland - Section of Bioengineering - Proceedings of meeting held in Dundalk, Co. Louth, in February 1998.

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IRISH JOURNAL OF MEDICAL SCIENCE 1998年第4期167卷 256-276页

作者： [Anonymous] Orthopaedic Research Unit The Queen’s University of Belfast School of Biomedical Sciences The Queen’s University of Belfast Howmedica International Ltd. Raheen Industrial Estate Limerick Department of Mechanical Engineering Trinity College Dublin 2 Mater Hospital Dublin 7 Orthopaedic Research Laboratory Århus University Hospital Denmark University of Limerick Limerick Limerick Regional Hospital Raheen Limerick Boston Scientific Ireland Ltd. Galway Department of Mechanical Engineering University College Dublin Dublin Department of Electrical and Electronic Engineering University College Dublin Dublin Bioengineering Research Centre Department of Mechanical Engineering University College Dublin Dublin Northern Ireland Bio-Engineering Centre (NIBEC) School of Electrical and Mechanical Engineering University of Ulster Newtownabbey Department of Mechanical & Manufacturing Engineering The Ashby Building The Queen’s University of Belfast Johnson and Johnson Professional Orthopaedic Division Queensway England Department of Cardiology and Department of Medical Physics & Bioengineering St. James’s Hospital Dublin 8 Burke House Ellison Street Castlebar Royal College of Surgeons in Ireland Department of Surgery Beaumont Hospital Dublin Department of Electronic and Electrical Engineering Trinity College Dublin 2 Department of Aeronautical Engineering The Queen’s University of Belfast Vascular Unit Belfast City Hospital Department of Medical Physics and Bioengineering St. James’s Hospital Dublin 8 Centre for Biomedical Electronics Department of Electronic and Computer Engineering University of Limerick Limerick Department of Mechanical and Aeronautical Engineering University of Limerick Limerick School of Health Sciences University of Ulster Ireland School of Physiotherapy University of Ulster Newtownabbey Clinical Engineering NI Medical Physics Agency Belfast and Radiology Royal Victoria Hospital Musgrave Park Hospital University of Limerick Biomedical Institute (ULBMI) Uni

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Global asymptotic stabilization of MIMO bilinear systems with undamped natural response

Global asymptotic stabilization of MIMO bilinear systems wit...

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IEEE Conference on Decision and control

作者： Guoping Lu Yufan Zheng C. Zhang Xinghuo Yu Department of .Automatic Control Yantong Institute of Technology Nantong Jiangsu China Institute of Systems Science East China Jiao Tong University Shanghai China Department of Electrical and Electronic Engineering University of Melbourne Parkville VIC Australia Faculty of Informatics and Communication Central Queensland University Rockhampton QLD Australia

ISBN: (纸本)0780343948

This paper considers the problem of globally asymptotic stabilization of multi-input multi-output bilinear systems with undamped natural response. It firstly presents a simple sufficient condition for construction of a static state feedback controller. Then under an additional condition on system detectability, two output dynamic feedback controllers with saturation bounded control are constructed. The globally asymptotic stability of the closed loop systems using these controllers are established by using Lyapunov stability approach.

关键词： MIMO Nonlinear systems control systems Transient response Sufficient conditions State feedback Adaptive control Asymptotic stability Closed loop systems Lyapunov method

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A method to obtain the integrated contour image in colour scenes

A method to obtain the integrated contour image in colour sc...

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IEEE International Conference on Image Processing

作者： X. Cufi A. Casals J. Batlle Institute of Informatics and Applications University of Girona Girona Spain Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Barcelona Spain

This paper describes a method to achieve the most relevant contours of an image. The presented method proposes to integrate the information of the local contours from chromatic components such as H, S and I, taking into account the criteria of coherence of the local contour orientation values obtained from each of these components. The process is based on parametrizing pixel by pixel the local contours (magnitude and orientation values) from the H, S and I images. This process is carried out individually for each chromatic component. If the criterion of dispersion of the obtained orientation values is high, this chromatic component will lose relevance. A final processing integrates the extracted contours of the three chromatic components, generating the so-called integrated contours image.

关键词： Layout Pixel

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A method for industrial robot calibration

A method for industrial robot calibration

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Roning A. Korzun Belarussian State University of Department of Automatic Control Belarusian State University of Informatics and Radioelectronics슠 Minsk Belarus Department of Electrical Engineering University of Oulu Oulu Finland

Presents an approach to robot-tool calibration. It is a well-known fact that industrial robots are not very accurate. Two aspects of the accuracy should be taken into account: the ability of a robot manipulator to perform accurate positioning in the task space and the ability of a robot to follow straight-line and circular trajectories. Many of the calibration approaches deal with the accurate positioning which improves the robot's capability to follow straight or circular trajectories. However, there are drawbacks in these approaches: the need for expensive measurement devices and no guarantee that the calibration model will still be correct on the manufacturing floor. Our approach concentrates on the ability of a robot to follow the technological trajectories. The approach does not require any expensive measurement techniques. The criteria of equal distances between the points in the robot space and the task space is used. The approach is demonstrated by the results of the calibration of the GMFanuc S-10 robot. The error analysis and convergence rate for this robot are also presented. The calibration can be performed directly on the manufacturing floor where the robot is used. The advantages of the approach are simplicity of the measurement setup, fast data collection and high reliability of the kinematic parameters obtained.

关键词： Service robots Calibration Robot kinematics Orbital robotics Manipulators Robotics and automation Space technology Manufacturing End effectors Medical robotics

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Slip detection using the power spectrum of sensory nerve recordings

Slip detection using the power spectrum of sensory nerve rec...

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

作者： A.W. Guzman R.R. Riso D.M. Durand Applied Neural Control Laboratory Department of Biomedical Engineering Case Western Reserve University Cleveland OH USA Center for Sensory-Motor Interaction Department of Medical Informatics and Image Analysis University of Aalborg Aalborg Denmark

In cases of spinal cord injury primary sensory afferents below the injury remain fully functional and could be used as natural sensors to provide a feedback signal for FNS control. This paper presents a slip detection method using the power spectrum of spiral cuff ENG. The central toe pad of a cat is used as a model for human glabrous skin. Three modes of tactile stimuli (slip, stretch and pressure) are applied to the central toe pad in an anesthetized preparation while recording the electroneurogram (ENG) from the tibial nerve using a three band spiral cuff electrode. Discriminant analysis of the power spectra of 10 ms data segments was used to classify randomly selected segments as "slip" or "non-slip". The highest classification rate (81% correct) was achieved by normalizing the power spectra by the total power of the segment. Three window sizes (10 ms, 20 ms and 40 ms) were compared and found to have no effect on classification rate. The classification rate appeared to correlate well with the velocity of the slipping object, ranging from 55% to 90% for velocities of 2.5 mm/s to 15 mm/s. In conclusion, the power spectrum can be used to distinguish slip from other types of tactile stimulus and higher velocities are detected more reliably.

关键词： Skin Humans Electrodes Spirals Frequency Force sensors Laboratories Biomedical engineering Biomedical informatics Image analysis

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Modelling static and dynamic aspects of hypermedia systems

Modelling static and dynamic aspects of hypermedia systems

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IEEE International Conference on Multimedia Computing and Systems (ICMCS)

作者： P. Diaz I. Aedo F. Panetsos Laboratorio DEI. Computer Science Department Universidad Carlos III de Madrid Leganes Spain Department of Electrical Electrónic and Control Engineering School of Informatics & School of Industrial Engineering Universidad Nacional de Educación a Distancia Madrid Spain

The static and dynamic properties of the Labyrinth model, used for the definition and management of hypermedia applications, are presented in this paper. The most relevant characteristics of Labyrinth are the following: the structure of applications can be modelled by means of composite objects; the reactive nature and temporal dimension of multimedia contents are considered; and security policies to preserve information confidentiality and integrity can be defined.

关键词： Information security Laboratories Computer science control engineering informatics Industrial engineering Application software Navigation Data security Context modeling

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On the numerical speed control of electrical drive systems using stepping motors

On the numerical speed control of electrical drive systems u...

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IEEE International Conference on Intelligent engineering Systems (INES)

作者： G. Baluta S. Resmerita Faculty of Electrical Engineering Department of Electric Drivcs and Power Electronics E2809CGh. Asachi E2809DTechnical University of Iasi Lasi Romania Faculty of Automatic Control and Computer Engineering Department of Automatic Control and Industrial Informatics E2809CGh. Asachi E2809DTechnical University of Iasi Lasi Romania

The paper focuses on the speed control of stepping motors in a closed-loop configuration. An incremental optical encoder is used as the position transducer, allowing the achievement of a minor loop. The numerical control algorithm is implemented using an IBM PC together with a specialized interface for stepper motors. The solution was obtained in two steps: the first was a nonlinear control law and the second was the improvement of the first one by using a PI part.

关键词： Velocity control Samarium Automatic control Pulse circuits Optical feedback Nonlinear optics Transducers Computer numerical control Digital control Pulse generation

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Considerations Concerning the Speed control of Electrical Drive Systems with Stepper Motors

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IFAC Proceedings Volumes 1997年第27期30卷 455-460页

作者： Gheorghe Bãluṭă Ştefan Resmeriṭă Gheorghe Bäluṭă “Gh. Asachi” Technical University of Iasi Faculty of Electrical Engineering Electric Drives and Power Electronics Department Str. Horia No. 7-9 6600 Iasi Romania tel.032/112770 Ştefan Resmeriṭà “Gh. Asachi” Technical University of Iasi Faculty of Automatic Control and Computer Engineering Department of Automatic Control and Industrial Informatics Str. Horia No. 7-9 6600 Iasi Romania tel. 032/116502 tuiasi.ro

This paper presents a method for Stepper Motor (SM) speed control by means of a minor loop. The compatibility of the SM with the digital electronics allowed a PC to be used for implementing the control algorithm, the SM control being achieved by two hardware interface levels. The SM command is realized with two specialized circuits: L297 (SM controller) and L298N (driver). The control signals for this level are generated through a parallel port 18255 and a programmable timer 18253. Some other circuits complete the microprocessor interface. The software has the following tasks: speed measurement and control algorithm achievement of a PI type. To tune this controller the system characteristics are measured, when the system is unstable, having a relay instead of the PI part. There are treated aspects on choosing the sample period, the position transducer, and the type of speed measurement.

关键词： control applications control closed-loop Stepping motors Numerical algorithms Computer controlled systems

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Model following control based on an adaptive sliding surface for a class of plants with unmatched parametric uncertainties

Model following control based on an adaptive sliding surface...

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IEEE Conference on Decision and control

作者： K. Nonaka M. Yamakita K. Furuta Department of Meclianical and Enviromeutal Informatics Tokyo Institute of Technology Tokyo Japan Department of Control aiid System Engineering Tokyo Institute of Technology Tokyo Japan

In this paper, for a class of systems which is linear time invariant and single-input and state accessible with unmatched parametric uncertainties, a new model following control based on an adaptive sliding surface is presented. The tracking error converges to zero asymptotically by the proposed controller in the presence of such uncertainties. In addition, even though there are matching disturbances which have unknown upper bounds, finite time reaching to sliding surface can be achieved and then the performance of the system is invariant to matching disturbances on the sliding mode. Simulation results are also presented to show the strength of the presented method.

关键词： Sliding mode control Programmable control Adaptive control Uncertainty Robust stability Robust control Upper bound informatics control system synthesis Ear

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ADAM: adaptive autonomous machine

ADAM: adaptive autonomous machine

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Euromicro Workshop on Advanced Mobile Robot

作者： D.C. van Oosten L.F.J. Nijenhuis A.W.P. Bakkers W.A. Vervoort Dutch Open University Heerlen Netherlands Electrical Engineering Faculty Control Laboratory University of Twente Enschede Netherlands Informatics Department Systems Programming and Architecture University of Twente Enschede Netherlands

This paper describes a part of the development of an adaptive autonomous machine that is able to move in an unknown world extract knowledge out of the perceived data, has the possibility to reason, and finally has the capability to exchange experiences and knowledge with other agents. The agent is not pre-programmed by its designer but was given simple rules of life, i.e. what is good and what is bad. By evaluating its sensor inputs these rules of life were transformed into a rule based reactive system. Simulations of the system showed that the agent is able to learn by its own experience. By representing the learned knowledge in an appropriate way, the acquired knowledge could be judged on its effectiveness and also this knowledge could be shared with other, less experienced agents.

关键词： Sensor systems Laboratories Electronic mail informatics Data mining Artificial intelligence Humans Robot sensing systems Filters Actuators

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