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检索条件"机构=Department of Electrical and Computer Engineering Center for Robotics and Intelligent Systems"

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Low Cost Tactile, Force and Size Feedback System for Surgical robotics

Low Cost Tactile, Force and Size Feedback System for Surgica...

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International Conference on Innovative engineering systems

作者： Muhammad Yaqoob Sardar Rushan Qaisrani Muhammad Waqas Yasar Ayaz Sohail Iqbal Sajid Nisar Robotics & Intelligent Systems Engineering (RISE) Lab Department of Robotics and Artificial Intelligence School of Mechanical & Manufacturing Engg (SMME) National University of Sciences and Technology (NUST) H-12 Campus Islamabad Pakistan. Department of Electrical Engineering School of Electrical Engg & Computer Sciences (SEECS) National University of Sciences and Technology (NUST) H-12 Campus Islamabad Pakistan.

ISBN: (纸本)9781467344401

Robotic manipulator is designed and analyzed at patient end which includes force and current sensors that allows the operator to get force, size and tactile feedback at the surgeon end. Three methods of feedback are used i.e. force sensors for exact force estimation, current sensing for tactile feedback and position estimation to replicate motion. The three mentioned methods are analyzed and developed on the PC. Graphs are obtained for objects of different strength and size by experiments on the gripper at the end of robotic manipulator. Master-Slave topology is used to attain some benefits over conventional control systems in term of ergonomics, accuracy and timing etc. Interactive GUI at master end shows us forces, size and motions at each joint of the slave unit. Gripper, yaw and pitch motion of robotic manipulator at slave or patient end is also controlled by surgeon using master controller.

关键词： Haptic Feedback force sensitive resistor (FSR) master-slave system programmable system on chip (PSoC)

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Design and validation of a medical robotic system for laser phonomicrosurgery

Design and validation of a medical robotic system for laser ...

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25th International Conference on computer Applications in Industry and engineering, CAINE 2012 and the 4th International Symposium on Sensor Network and Application, SNA 2012

作者： Giallo II, Joseph F. Mattos, Leonardo S. Miller, Sam Neistedt, Zack Draelos, Mark Lee, Gordon Grant, Edward UNC/NCSU Joint BME Dept. Intuitive Surgical Inc. Sunnyvale CA United States Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy Center for Robotics and Intelligent Machines NCSU Raleigh United States Dept. of Electrical and Computer Engineering SanDiego State University San Diego CA 92182-1309 United States NCSU ECE Dept. UNC/NCSU Joint BME Dept. Campus Box 7911 Raleigh NC 27695-7911 United States

ISBN: (纸本)9781880843888

This paper describes the design and validation of a new medical robotic system for automating laser phonomicrosurgeries. Initially, the goal was to design a laser aiming system to improve human control over currently available systems, both medically and ergonomically. However, with the new system, it quickly became apparent that design sub-goals had to be established, in particular sub-goals related to surgical margin definition and for the interactive user interface. To assist the surgeon, the humancomputer interface design needed to be based on a motorized and computer-controlled laser micro-manipulator, controlled remotely via an electronic joystick. With this new system, the surgeon is better placed ergonomically to conduct the surgery, and the prospect of a fully automated procedure became a practicality. This new system was modeled and simulated as well as fabricated, calibrated, and tested. Control algorithms were developed for testing system positional accuracy, consistency, motion scaling, and limitations. The software for automating laser micromanipulator motions, for tumor ablation, was based on active contours for defining tumor ablation margins. Copyright © 2012 by International Society of computers and Their Applications (ISCA).

关键词： Tumors

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Cross device fingerprint-based positioning using 3D Ray Tracing

Cross device fingerprint-based positioning using 3D Ray Trac...

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International Wireless Communications and Mobile Computing Conference, IWCMC

作者： Marios Raspopoulos Christos Laoudias Loizos Kanaris Akis Kokkinis Christos G. Panayiotou Stavros Stavrou Sigint Solutions Limited Nicosia Cyprus KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Cyprus Faculty of Pure and Applied Sciences Open University of Cyprus Cyprus

This work proposes the use of 3D Ray Tracing (RT) to construct radiomaps for WLAN Received Signal Strength (RSS) fingerprint-based positioning, in conjunction with calibration techniques to tackle with the problem using different devices. In addition to the fact that RSS data collection might be a tedious and time-consuming process, the measured radiomap accuracy and applicability is subject to potential changes in the wireless environment. Therefore, RT becomes a very suitable and efficient solution to tackle this problem. Moreover, in traditional fingerprint-based methods, the underlying radiomap is restricted to the mobile device for which the radiomap has been created. To overcome this limitation, we propose the use of linear data transformation to match the characteristics of various devices. We address both challenges by using 3D RT-generated radiomaps and highlight the efficiency of this approach in terms of the time spent to create the radiomap, the amount of data required to calibrate the radiomap for different devices and the positioning error which is compared against the case of using dedicated radiomaps collected with each device.

关键词： Calibration Ray tracing Accuracy Performance evaluation Training Training data Position measurement

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Non Existence Of Periodic Solutions Of Rational Fractional Order Linear Time Invariant systems

Non Existence Of Periodic Solutions Of Rational Fractional O...

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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Xuefeng Zhang YangQuan Chen Institute of System Science Northeastern University ShenyangLiaoning 110004 China Center for Self-Organizing and Intelligent Systems Electrical and Computer Engineering Department Utah State University Logan UT 84322-4120 USA

Existence of periodic solutions of fractional order dynamic systems is an important and difficult issue in fractional order systems *** this paper,the existence of periodic solutions of rational fractional order linea... 详细信息

关键词： Non Existence Of Periodic Solutions Of Rational Fractional Order Linear Time Invariant systems

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Non Existence Of Periodic Solutions Of Linear Time Varying Periodic Fractional Order systems

Non Existence Of Periodic Solutions Of Linear Time Varying P...

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第五届国际自动控制联合会分数阶导数及其应用会议

Existence of periodic solutions of fractional order dynamic systems is an important and difficult issue in fractional order systems *** this paper,the existences of periodic solutions of fractional order linear timeva... 详细信息

关键词： Laplace Non Existence Of Periodic Solutions Of Linear Time Varying Periodic Fractional Order systems

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Controllability And Observability Of Linear Time Varying Fractional Order systems

Controllability And Observability Of Linear Time Varying Fra...

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第五届国际自动控制联合会分数阶导数及其应用会议

Fractional order time varying dynamic systems are a kind of important and the less involved *** this paper,the state transition matrix of fractional order linear time varying systems is *** criteria of controllability... 详细信息

关键词： Controllability And Observability Of Linear Time Varying Fractional Order systems

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3D Ray Tracing for device-independent fingerprint-based positioning in WLANs

3D Ray Tracing for device-independent fingerprint-based posi...

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Workshop on Positioning, Navigation and Communication, WPNC

We study the use of 3D Ray Tracing (RT) to construct radiomaps for WLAN Received Signal Strength (RSS) fingerprint-based positioning, in conjunction with calibration techniques to make the overall process device-independent. RSS data collection might be a tedious and time-consuming process and also the measured radiomap accuracy and applicability is subject to potential changes in the wireless environment. Therefore, RT becomes a more attractive and efficient way to generate radiomaps. Moreover, traditional fingerprint-based methods lead to radiomaps which are restricted to the device used to generate the radiomap and fail to provide acceptable performance when different devices are considered. We address both challenges by exploiting 3D RT-generated radiomaps and using linear data transformation to match the characteristics of various devices. We evaluate the efficiency of this approach in terms of the time spent to create the radiomap, the amount of data required to calibrate the radiomap for different devices and the positioning error which is compared against the case of using dedicated radiomaps collected with each device.

关键词： Calibration Accuracy Performance evaluation Wireless communication Training Antenna measurements Diffraction

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An IEEE standard Ontology for robotics and Automation

An IEEE standard Ontology for Robotics and Automation

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2012 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Craig Schlenoff Edson Prestes Raj Madhavan Paulo Goncalves Howard Li Stephen Balakirsky Thomas Kramer Emilio Migueláñez Intelligent Systems Division NIST USA Instituto de Informática UFRGS Brazil Institute for Systems Research University of Maryland USA Polytechnic Institute of Castelo Branco Portugal Center of Intelligent Systems IDMEC Technical University of Lisbon Portugal Department of Electrical and Computer Engineering University of New Brunswick Canada SeeByte Limited UK

This article discusses a newly formed IEEE-RAS working group entitled Ontologies for robotics and Automation (ORA). The goal of this working group is to develop a standard ontology and associated methodology for knowledge representation and reasoning in robotics and automation, together with the representation of concepts in an initial set of application domains. The standard provides a unified way of representing knowledge and provides a common set of terms and definitions, allowing for unambiguous knowledge transfer among any group of humans, robots, and other artificial systems. In addition to describing the goal and structure of the group, this article gives some examples of how the ontology, once developed, can be used by applications such as industrial kitting.

关键词： Ontologies Service robots Standards Automation Robot kinematics

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Stability Condition of Linear Time-Invariant Distributed-Order Dynamic systems

Stability Condition of Linear Time-Invariant Distributed-Ord...

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American Control Conference

作者： Zhuang Jiao YangQuan Chen Yisheng Zhong Department of Automation Tsinghua University Beijing 100084 The P. R. China Center for Self-Organizing and Intelligent Systems (CSOIS) Electrical and Computer Engineering Department Utah State University Logan UT 84322-4120 USA

ISBN: (纸本)9781457710957

Bounded-input bounded-output stability condition of linear time invariant (LTI) distributed-order system over integral interval (0,1) has been established for the first time. Two cases about weighting function of the distributed order are investigated, and sufficient and necessary conditions of stability for these two types of distributed-order systems are derived. Based on the complex integration analysis, time-domain responses of distributed-order systems are also given by analytical method, and numerical examples are presented to illustrate the proposed conditions.

关键词： Instruction repertory Dynamic systems Steady state time-invariant WEIGHTING FUNCTIONS bounded-input bounded-output stability TIME DOMAIN RESPONSE integration LTI

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An Implementation of Distributed Order PI Controller And Its Applications To The Wheeled Service Robot

An Implementation of Distributed Order PI Controller And Its...

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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Fengyu Zhou Yang Zhao Yan Li YangQuan Chen School of Control Science and Engineering Shandong UniversityJinan 250061 Shandong P.R. China Center for Self-Organizing and Intelligent Systems (CSOIS) Electrical and Computer Engineering Department Utah State University Logan UT 84322 USA

In this paper,a robust distributed order PI controller design method is derived,which tolerates certain system *** theory and implementation of the distributed order operators are discussed in both time and frequency

关键词： Controller An Implementation of Distributed Order PI Controller And Its Applications To The Wheeled Service Robot Service

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