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arXiv 2020年

作者： Islam, Mobarakol Atputharuban, Daniel A. Ramesh, Ravikiran Ren, Hongliang Dept. of Biomedical Engineering National University of Singapore Singapore Department of Electronics and Telecommunications University of Moratuwa Srilanka Sri Lanka Instrumentation and Control Engineering NIT Trichy India Dept. of Biomedical Engineering National University of Singapore Singapore

robot-assisted surgery is an emerging technology which has undergone rapid growth with the development of robotics and imaging systems. Innovations in vision, haptics and accurate movements of robot arms have enabled surgeons to perform precise minimally invasive surgeries. Real-time semantic segmentation of the robotic instruments and tissues is a crucial step in robot-assisted surgery. Accurate and efficient segmentation of the surgical scene not only aids in the identification and tracking of instruments but also provided contextual information about the different tissues and instruments being operated with. For this purpose, we have developed a lightweight cascaded convolutional neural network (CNN) to segment the surgical instruments from high-resolution videos obtained from a commercial robotic system. We propose a multi-resolution feature fusion module (MFF) to fuse the feature maps of different dimensions and channels from the auxiliary and main branch. We also introduce a novel way of combining auxiliary loss and adversarial loss to regularize the segmentation model. Auxiliary loss helps the model to learn low-resolution features, and adversarial loss improves the segmentation prediction by learning higher order structural information. The model also consists of a light-weight spatial pyramid pooling (SPP) unit to aggregate rich contextual information in the intermediate stage. We show that our model surpasses existing algorithms for pixel-wise segmentation of surgical instruments in both prediction accuracy and segmentation time of high-resolution videos. Copyright © 2020, The Authors. All rights reserved.

关键词： Object detection

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Dynamic Network Access Scheduling and Stabilization of TPCS Networked control System

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IFAC-PapersOnLine 2020年第1期53卷 57-62页

作者： Remya P. Jeevamma Jacob Control & Instrumentation Design Heavy Civil Infrastructure-Engineering Design & Research Centre L&T Construction India Dept. of Electrical Engg. National Institute of Technology Calicut India

The Networked control Systems (NCS) is a significant arena in the current complex technical scenario. NCS provides the user a wide range of scope in mitigation of its underlying issues in order to benefit the versatility of the network. Two Inverted Pendulums Coupled by a Spring (TPCS) system is one of the finest platforms to study NCS and its issues. The objective considered here is to stabilize both the pendulums at desired vertical position while the “Medium Access Constraint” of NCS is addressed. The proposed Dynamic Medium Access Scheduling strategy aims at analyzing the issue so that it can be applied in practical scenarios. In this paper (i) TPCS is modelled as a switched system (ii) Dynamic Medium Access Scheduling protocols are discussed, selected and applied to TPCS and (iii) the best of the two: Weighted Fastest Decay and Guaranteed Dwell-Time methods to give a design solution is summarized. This is aided with computer simulations and the results show that the scheduling polices are effective in controlling TPCS-NCS.

关键词： NCS TPCS system Switched System Medium Access Scheduling Dynamic Medium Access Scheduling Weighted Fastest Decay Guaranteed Dwell-Time

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Design and Development of IoT Based Water Quality Measurement System

Design and Development of IoT Based Water Quality Measuremen...

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International Conference on Trends in Electronics and Informatics (ICEI)

作者： Rushikesh Kshirsagar R P Mudhalwadkar Saish Kalaskar Instrumentation & control Dept. College of engineering Pune

Water is an essential need for human survival and the quality of the water always affects human health. If water is contaminated its leads to severe diseases. For the same reason, we must monitor the quality of the water. We can determine the quality of the water by measuring its parameters like pH, Conductivity and Turbidity. This paper presents the idea about low-cost IOT based portable approach for water quality measurements system. Because of its low-cost approach, everyone can afford to use it to determine quality of water. Due to IOT (internet of things), remote measurement is possible. The signal conditioning of all three sensors uses the LMC 6001 IC in a different configuration and STM32F411RE microcontroller for the data acquisition and scaling of the data. SN8200 Wi-Fi module is interfaced with a microcontroller to send data on the cloud server. While doing the experiments all three sensors are calibrated against standard solution and relationship between temperature and pH is studied. All measured data stored on the cloud database and used for further analysis of water quality.

关键词： Conductivity Cloud computing Internet of Things Servers Temperature sensors Conferences

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Surface EMG amplitude estimation by using spike and turn variables

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Transactions of the Korean Institute of Electrical Engineers 2018年第1期67卷 124-130页

作者： Lee, Jin Dept. of Control and Instrumentation Engineering Kangwon National Univ. Samcheok Korea Republic of

The EMG amplitude estimator, which has been investigated as an indicator of muscle force, is of high relevance not only in biomechanical studies but also more and more in clinical applications. This paper presents a new approach to estimate surface EMG amplitude by using the mean spike and mean turn amplitude(MSA and MTA) variables. Surface EMG signals, a total of 198 signals, were recorded from biceps brachii muscle over the range of 20-80%MVC isometric contraction and performance of the MSA and MTA variables applied to amplitude estimation of the EMG signals were investigated. To examine the performance, a SNR(signal-To-noise ratio) was computed from each amplitude estimate. The results of the study indicate that MSA and MTA amplitude estimations with first order whitening filter and 300[ms]-350[ms] moving average window length are optimal and show better performance(mean SNR improvement of 6%-15%) than the most frequently used variables(ARV and RMS). © The Korean Institute of Electrical Engineers.

关键词： Signal to noise ratio

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On A Notion of Stochastic Zeroing Barrier Function

arXiv

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arXiv 2020年

作者： Tamba, Tua A. Hu, Bin Nazaruddin, Yul Y. Dept. Electrical Engineering Parahyangan Catholic University Bandung40141 Indonesia Dept. Engineering Technology Old Dominion University NorvolkVA23529 United States Instrumentation & Control Research Group Institut Teknologi Bandung Bandung40132 Indonesia

This note examines the safety verification of the solution of Ito’s stochastic differential equations (SDE) using the notion of stochastic zeroing barrier function (SZBF). It is shown that an extension of the recently developed zeroing barrier function concept in deterministic systems can be derived to provide an SZBF based safety verification method for Itó’s SDE sample paths. The main tools in the proposed method include Itó’s calculus and stochastic invariance *** Codes 60H10 93E15 Copyright © 2020, The Authors. All rights reserved.

关键词： Stochastic systems

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An improved continuous transformed integral sliding mode control(ICTISMC) with prescribed control performance for regulation controls of uncertain general linear systems

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Transactions of the Korean Institute of Electrical Engineers 2019年第6期68卷 775-786页

作者： Lee, Jung-Hoon ERI Dept. of Control and Instrumentation Engineering Gyeongsang National Univerity Korea Republic of

In this paper, an improved continuous transformed integral sliding mode control(ICTISMC) with the prescribed control performance is designed for simple regulation controls of uncertain general linear systems, as an alternative approach of [51] with the same performance. An transformed integral sliding surface with an integral state having a special initial condition is adopted for removing the reaching phase and predetermining the ideal sliding trajectory from a given initial state to the origin in the state space. The ideal sliding dynamics of the transformed integral sliding surface is dynamically obtained and the solution of the ideal sliding dynamics can predetermine the ideal sliding trajectory(transformed integral sliding surface) from the given initial state to the origin. Provided that the value of the transformed integral sliding surface is bounded by certain value by means of the continuous input, the norm of the state error to the ideal sliding trajectory is analyzed and obtained in Theorem 1. A corresponding discontinuous control input with the exponential stability is proposed to generate the perfect sliding mode on the every point of the pre-selected transformed integral sliding surface. The existence condition of the sliding mode together with the closed loop stability is proved in Theorem 2 for the complete formulation. For practical applications, the discontinuity of the VSS control input is approximated to be continuous based on the modified fixed boundary layer method. The bounded stability by the continuous input is investigated in Theorem 3. With combining the results of Theorem 1 and Theorem 3, as the prescribed control performance, the pre specification on the error to the ideal sliding trajectory is possible by means of the fixed boundary layer continuous input with the transformed integral sliding surface. The suggested algorithm with the continuous input can provide the effective method to increase the control accuracy within the boundary l

关键词： Trajectories

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Voltage balancing control of input voltage source employing series-connected capacitors in 7-level PWM inverter

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Transactions of the Korean Institute of Electrical Engineers 2018年第2期67卷 209-215页

作者： Kim, Jin-San Kang, Feel-soon Dept. of Electrical and Electronic Engineering Hanbat National University Korea Republic of Dept. of Control and Instrumentation Engineering Hanbat National University Korea Republic of

This paper present a 7-level PWM inverter adopting voltage balancing control to series-connected input capacitors. The prior proposed 7-level PWM inverter consists of dc input source, three series-connected capacitors, two bidirectional switch modules, and an H-bridge. This circuit topology is useful to increase the number of output voltage levels, however it fails to generate 7-level in output voltage without consideration for voltage balancing among series-connected capacitors. Capacitor voltage imbalance is caused on the different period between charging and discharging of capacitor. To solve this problem, we uses the amplitude modulation of carrier wave, which is used to produce the center output voltage level. To verify the validity of the proposed control method, we carried out computer-aided simulation and experiments using a prototype. © The Korean Institute of Electrical Engineers.

关键词： Electric inverters

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Bidirectional dc-to-dc converter employing dual inductor for current ripple reduction

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Transactions of the Korean Institute of Electrical Engineers 2018年第4期67卷 531-537页

作者： Lee, Gi Yeong Kang, Feel-Soon Dept. of Electrical and Electronic Engineering Hanbat National University Korea Republic of Dept. of Control and Instrumentation Engineering Hanbat National University Korea Republic of

This paper propose a bidirectional dc-to-dc converter employing dual inductor for current ripple reduction. Conventional bidirectional dc-to-dc converter uses a single inductor for two different modes;boost and buck;therefore it is difficult to satisfy the optimized inductance value for each mode. To improve this problem, the proposed converter adds two switches, a diode, and one inductor. By proper switching of the additional switch, the proposed converter operates with a inductor in boost mode, but it works with dual inductor in buck mode. Hence in both modes the proposed bidirectional converter can be operated with optimized inductance values. Most of all the optimized inductance in buck mode can reduce the current ripple and its effective value(rms), which are directly related to the temperature increase resulted in short lifetime of battery. To verify the validity of the proposed approach, we first analyzes the operation of the proposed converter theoretically, and implement computer-aided simulations and experiments using a prototype. Copyright © The Korean Institute of Electrical Engineers

关键词： Inductance

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Analysis of muscle fatigue determination and sensitivity for parameters to detect muscle fatigue from surface EMG signals

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Transactions of the Korean Institute of Electrical Engineers 2019年第4期68卷 573-578页

作者： Lee, Jin Dept. of Control and Instrumentation Engineering Kangwon National Univ. Samcheok Korea Republic of

- The purpose of this study is to compare the performance of seven fatigue detection parameters, MNF(mean frequency), MDF(median frequency), FBR(frequency band ratio), SMR(spectral moment ratio), ZCF(zero-crossing frequency), TUF (turn frequency) and SPF(spike frequency), based on muscle fatigue determination and sensitivity. Surface EMG signals(a total of 198 signals) were recorded in biceps brachii muscle with isometric 20%, 50% and 80% MVC contractions from eleven subjects. The parameters were calculated from the signals and the resulting fatigue curves were compared considering fatigue determination performance and fatigue sensitivity performance. Results of this study suggest that SMR is more reliable and sensitive parameters than others for differentiating muscle fatigue level from surface EMG signal obtained by isometric voluntary contraction. Copyright The Korean Institute of Electrical Engineers

关键词： Muscle

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Double Deployment of Delayed Resonator in Active Vibration Suppression

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IFAC-PapersOnLine 2019年第18期52卷 115-120页

作者： Vladimír Kućera Jaromír Fišer Tomàš Vyhlídal Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Prague 6 Czech Republic Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czech Republic

In the paper a proposal of active vibration suppression is made for the two-degree-of-freedom primary structure. The active vibration suppression of both masses of the primary structure is achieved by applying the absorber attached to every mass. The absorbers used are the delayed resonators which are tuned by delayed acceleration feedback. The delayed resonators are tuned separately, i.e. the tuning is provided for every mass of the primary structure where each mass is excited by its own external force. Both delayed resonator tunings are performed with respect to the suppression of both external forces and at the same time the stability guarantee of overall structure system. This system due to two feedback delays results in neutral-type system that requires demanding stability investigation. Finally the application example based on the simulation study on laboratory setup vibration suppression shows the effect of the delayed resonator tunings for the vibration suppression.

关键词： Vibration suppression delayed feedback resonators two-degree-of-freedom structure neutral system

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