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

作者： Michelle. J. Johnson Brinda Ramachandran Ruta P. Paranjape Judith B. Kosasih Rehabilitation Robotics Research and Design Lab Zablocki VA Medical Center Milwaukee WI USA Department of Biomedical Engineering Marquette University Milwaukee WI USA Department of Physical Medicine and Rehabilitation Medical College Milwaukee WI USA

Rising healthcare costs combined with an increase in the number of people living with disabilities due to stroke have created a need for affordable stroke therapy that can be administered in both home and clinical environments. Studies show that robot and computer-assisted devices are promising tools for rehabilitating persons with impairment and disabilities due to stroke. Studies also have shown that highly motivating therapy produces neuromotor relearning that aids the rehabilitative process. Combining these concepts, this paper discusses TheraDrive, a simple, but novel robotic system for more motivating stroke therapy. We conducted two feasibility studies. The paper discusses these studies. Findings demonstrate the ability of the system to grade therapy and the sensitivity of its metrics to the level of motor function in the impaired arm. In addition, findings confirm the ability of the system to administer fun therapy leading to improved motor performance on steering tasks. However, further work is needed to improve the system's ability to increase motor function in the impaired arm

关键词： Medical treatment Wheels Rehabilitation robotics Medical services Costs Cities and towns USA Councils Testing Usability Tracking

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On dynamic generation of business protocol in autonomous Web services

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Systems and Computers in Japan 2006年第2期37卷 37-45页

作者： Oya, Makoto Kinoshita, Masahiro Kakazu, Yukinori Graduate School of Information Science and Technology Hokkaido University Sapporo 060-0814 Japan Department of Information Design Faculty of Engineering Hokkaido Institute of Technology Sapporo 006-8585 Japan Department of Information Science Shonan Institute of Technology Fujisawa 251-8511 Japan Open System Engineering Laboratory Division of Synergetic Information Science Graduate School of Information Science and Technology Information Processing Society of Japan IEICE Japan Society of Precision Engineering ACM Department of Information Design Hokkaido Institute of Technology Japan Society of Mechanical Engineers Complex System Engineering Laboratory Division of Synergetic Information Science Graduate School of Information Science and Technology Robotics Society of Japan

One of the issues of autonomous Web services is that precise business protocols across systems are not always predefined. A likely solution to this problem is to dynamically generate business protocols by matching external interface definitions and relating information exposed by each system. The current Web services have a feature called a portType that describes an external interface of a system. This paper proposes to add a new concept called "behavior pattern" to the portType, then provides an algorithm to dynamically generate business protocols. The algorithm compares the portTypes of the concerned system and the opposite system, verifies the possibility of their interaction, and automatically reduces the behavior patterns within executable range. The paper also evaluates this algorithm by applying it to some use cases and shows that the method provides useful early results for realization of autonomous Web services. © 2006 Wiley Periodicals, Inc.

关键词： World Wide Web

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Generating apparatus for gas heat pump system using sensorless-controlled permanent magnet synchronous generator

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IEEJ Transactions on Industry Applications 2006年第5期126卷 541-546+2页

作者： Toba, Akio Fujita, Kouetsu Maeda, Toshihiro Kato, Tomohiko Electronics Technology Laboratory Fuji Electric Advanced Technology Co. Ltd. 1 Fuji-machi Hino Tokyo 191-8502 Japan Inverter Value Engineering Center Fuji Electric FA Components and Systems Co. Ltd. 5520 Minami-Tamagaki-cho Suzuka Mie 513-8633 Japan Energy Engineering Department Aisin Seiki Co. Ltd. 2-1 Asahi-machi Kariya Aichi 448-8650 Japan Fuji Electric Advanced Technology Co. Ltd. Japan Fuji Electric FA Components and Systems Co. Ltd. Japan Aisin Seiki Co. Ltd. Japan Fuji Electric R and D Co. Ltd. Japan Fuji Electric Advanced Technology Co. Ltd. Tokyo Japan Robotics Society of Japan Japan Fuji Electric FA Components and Systems Japan Inverter Design Section Mie Japan Fuji Electric FA Components and Systems Mie Japan Aisin Seiki Co.

A unique generating system for Gas heat pump system (GHP) is presented. The GHP is an air-conditioning system, in which the compressors are driven by a gas engine. The proposed system is applied to the outside unit of GHP to feed the electrical equipments inside. The system utilizes a permanent magnet synchronous generator, which is connected to the gas engine, to realize high-efficiency and small-size. The generator is controlled by a converter with sensorless control technology to eliminate the position sensor. Another major topic is the "free-run startup" technique to start the converter when the generator is rotating. The system configuration and principles of the techniques are set forth, followed by experimental results which show that the system works properly and successfully.

关键词： Heat pump systems

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Dynamics modeling of a humanoid robot

Dynamics modeling of a humanoid robot

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DETC2005: ASME International design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Meghdari, Ali Sohrabpour, Saeed Nezamoddini, Seyed Ali Izadi, Ehsan Fakhar Tamaddoni, Seyed Hossein Basafa, Ehsan Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Shanf University of Technology Tehran Iran

ISBN: (纸本)0791847411

This paper presents the overall dynamics analysis for humanoid robots and proposes a method to extend the dynamics equations to check the stability conditions and compute the maximum torques required at each joint. We consider a humanoid robotics system with various base conditions. As the robot walks, the robot will switch between single and double support conditions. The conventional works on dynamical stability of the robots mostly uses simple models with invariant bases. Our proposed method models a robot with various base conditions and describes the dynamics equations of humanoid robots in three dimensional space. Using this method, a straight walking was simulated as a sample gait during which joint torques was achieved and the stability condition was tested. Copyright © 2005 by ASME.

关键词： Robots

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Propose and characteristics study of a new actuation method for micropumps, using membrane buckling

Propose and characteristics study of a new actuation method ...

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4th ASME Integrated Nanosystems Conference: design, Synthesis, and Applications

作者： Saghafi, Mohammad H. Ahmadian, Mohammad T. Salehi, Hadi Monazami, R. Zade, Azad Q. Center of Excellent in Design Robotics and Automation Sharif University of Technology Iran Department of Mechanical Engineering Sharif University of Technology Iran

ISBN: (纸本)0791842088

In this paper, we present a novel idea on actuation system in micropumps. The prominent goal of this paper is to propose and prove a mechanical actuation system which works in high frequency and has good ability in producing flow and pressure in micro actuation system. As like as other common micropumps, the proposed scheme is consisted of two check valves and an actuation space. The actuation space includes a volume of liquid in a chamber and a cylindrical membrane as the actuator. The main aspect of this idea is employment of buckling as a consequence of incensement of its internal pressure caused by temperature rising in the membrane. Rise of temperature is done by passing a controllable current through the membrane and it looses its temperature to its outer space in the chamber. Frequency and amperage of the current are the elements identifying the temperatures membrane vacillates between them. Meanwhile, a nice idea is setting these values in such a way that minimum temperature of the membrane becomes equal to the temperature which membrane starts buckling at. Thermal, elastic and thermoelastic equations of the membrane and fluids dynamic equations is obtained and studied. Using these equations, the validity of the scheme is proved by showing its ability of getting and loosing temperature and also fatigue resistance of the membrane, in high frequencies. The analytical proof is done for a specific design. In the proposed design, Aluminum 1100 is adopted as membrane material and thickness and radius of the membrane are 1 μm and 100μm, respectively. Maximum flow rate and frequency of the system according to highest temperature of the membrane are depicted in diagrams. According to this design, maximum flow rate in rational frequency and amperage of the current is 8.25μL/min. Maximum pressure in that design is 3.5Kpa. Copyright © 2005 by ASME.

关键词： Pumps

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Error compensation for electromagnetic navigation in dental implantology

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International Congress Series 2005年 1281卷 1211-1216页

作者： Mucha, Dirk Kosmecki, Bartosz Lueth, Tim Fraunhofer Institute for Production Engineering and Design Technology Berlin Germany Department of Maxillofacial Surgery - Clinical Navigation and Robotics Charité - Universitary Medicine Berlin Germany

Electromagnetic position sensing in navigation of metallic instruments requires measures for compensating for error due to distortions of the generated electromagnetic field by the metallic objects. In dental implantology, the working volume can be modelled by a plate at a defined position. Pitch, yaw and movements along the drill axis of the tool in the active working volume are small. Thus, error compensation is necessary only for three degrees of freedom for this application. We build a setup for the instrument navigation with a field generator fixed to a patient seat and performed tool calibrations in a defined working volume. During calibration, a vector field of error vectors was found and stored in a look-up table. The pose-dependant error vectors are determined at fixed supporting points and defined rotations around the drill axis of the tool. Entries of the look-up table were used to compensate for errors during navigation. Two experiments were performed, both resulting in positioning accuracy below 1 mm. Yet, robustness for clinical use of the method has to be proven. © 2005 CARS and Elsevier B.V.

关键词： Aurora Dental implantology Electromagnetic navigation Error compensation Position accuracy

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A robust nonlinear controller for underwater vehicle-manipulator systems

A robust nonlinear controller for underwater vehicle-manipul...

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Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Xu, Bin Abe, Seiji Sakagami, Norimitsu Pandian, Shunrougham R. Department of Electrical Engineering and Computer Science Tulane University New Orleans LA 70118 United States Department of Robotics Ritsumeikan University Kusatsu 525-8577 Japan Department of Marine Design and Engineering Tokai University Shizuoka 424-8610 Japan

In this paper, a robust nonlinear controller is proposed for trajectory fracking of underwater vehicle-manipulator systems (UVMS). The controller is non-adaptive and of sliding made type, and is designed based on the decentralized form of the dynamics of UVMS. It has the advantages of simplicity, robustness, precise performance, and ease of implementation. In order to demonstrate the effectiveness of the controller, several simulations using a five degrees of freedom UVMS are conducted. The results show that the proposed controller provides high performance of trajectory tracking in the presence of uncertainties about the dynamics and hydrodynamic disturbances. © 2005 IEEE.

关键词： Underwater equipment

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Surface modeling of complicated geometries with incomplete erroneous data points- An extension to B-spline approach

Surface modeling of complicated geometries with incomplete e...

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2005 27th Annual International Conference of the engineering in Medicine and Biology Society, IEEE-EMBS 2005

作者： Jafari, Ali Farahmand, Farzam Meghdari, Ali Mechanical Engineering Department Sharif University of Technology Tehran Iran Biomechanics Section Sharif University of Technology Tehran Iran Centre of Excellence of Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)0780387406

Based on the analogy between the B-spline curve modeling and the force-deflection behavior of a beam subjected to lateral point loads, an extension to the B-spline surface modeling method was introduced. The proposed method has strong extrapolating capability and can develop accurate surface models over an incomplete net of data points without affecting the original data. Extrapolation of the incomplete part of the data net Is conducted simultaneously with interpolation of the existing part, with no need to recalculation. Approximation or data smoothing is a natural extension of the method, however, the smoothing intensity can be controlled continuously without reducing the number of spline intervals. The performance of the method was evaluated on some known analytical surfaces and produced more accurate results in comparison with the regular B-spline approach. The results indicate that the proposed method can also filter erroneous data points and reconstruct the original surface successfully. © 2005 IEEE.

关键词： Splines

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Equations of Motion of a Single-Wheel Robot in a Rough Terrain

Equations of Motion of a Single-Wheel Robot in a Rough Terra...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Alasty H. Pendar Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of technology Tehran Iran

In this article, dynamic equations of a single wheel robot, known as Gyrover, through Lagrange method applying a new approach will be addressed. There is no simplification on the dynamic analysis. Considering any possible differentiable function for the road’s curve, the effect of the road’s roughness is completely described in the dynamic equation evaluation. Although there are complicated relations between the wheel and rough terrain, due to the efficient generalized coordinate selection, closed form dynamic equation of the motion is derived. Because of the closed form formulation, required time for simulation will be reduced. From the proposed complete model a simplified model for the controller design could be extracted

关键词： Mobile robots Robot kinematics Wheels Stability robotics and automation Lagrangian functions Differential equations Robot control Motion control Gravity

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Adaptive inverse microstep tracking control of a hybrid stepper motor using RBF and MLP neural networks

Adaptive inverse microstep tracking control of a hybrid step...

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IEEE International Conference on Mechatronics and Automation

作者： Y. Bastani G.R. Vossoughi Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

In this paper, a radial basis function neural network-based (RBFNN) adaptive inverse controller for real-time position tracking control of a two phase hybrid stepper motor in microstep mode is presented. To ensure system's robustness and closed loop stability and to improve the performance of the controller, the RBF based adaptive inverse control is combined with a closed loop PID controller. Experimental results are provided for various types of trajectories, comparing the performance of the proposed controller to the same neuro-controller using feed forward back-propagation neural networks (FFBP) proposed previously by the authors. The results show the superior performance of RBFNN over FFBP neural networks. Also the comparison of neuro controllers with a conventional fixed gain stand-alone PID controller show the improvement of the controller performance from 80% up to 99.7% decrease in the mean squared error (MSE) for different trajectories. Trajectories were tracked with the maximum error of 0.02 up to 0.06 degrees. Also the robustness of the method is confirmed through experimental results comparing neuro-controllers and the conventional PID controller by varying the load's inertia and disturbance torques. For this purpose two methods were examined. First using the same neuro-controllers trained by the initial training data and in the second method, neuro-controllers were adapted by new training data according to the new working conditions.

关键词： Programmable control Adaptive control Micromotors Neural networks Control systems Three-term control Robust control Robust stability Training data Adaptive systems

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