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Analysis of a Tunable Impedance Method for Practical Control of Insect-Inspired Flapping-Wing MAVs

Analysis of a Tunable Impedance Method for Practical Control...

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IEEE Conference on Decision and Control

作者： Hosein Mahjoubi Katie Byl Robotics Laboratory Department of Electrical and Computer Engineering University of California at Santa Barbara Santa Barbara CA 93106 USA

ISBN: (纸本)9781612848006

In the past decade, research into insect-inspired flapping-wing micro-aerial vehicles (FWMAV) has grown steadily, toward addressing unique challenges in morphological construction, force production, and control strategy. Remarkable results have emerged from work focused on generation of adequate lift force for levitation and vertical acceleration [1];however, effective methods for motion control still remain an open problem. In this paper, we introduce and analyze a novel approach to FWMAV control problem that provides smooth, stable and independent flight in both vertical and horizontal maneuvers. Our insect-inspired MAV model employs a passive structure to adjust the angle of attack (AoA) of its wings. Further analysis of this design unveils its capability in creating significant amounts of net drag force without disturbing lift production. This is the foundation of 'tunable impedance' technique that allows us to independently control three basic motions. One controller regulates yaw and forward acceleration, utilizing intuitive PID control laws in order to control horizontal maneuvers. Lift force and corresponding vertical elevation changes are controlled by a second controller that modifies the frequency of a constant-amplitude, sinusoidal power stroke. A third controller stabilizes the vehicle's body pitch angle through biasing stroke angle of its wings, hence rejecting disturbances caused by fluctuations in the position of center of mass (CoM). Results of simulated experiments confirm that these three controllers together demonstrate exceptional ability in handling hovering or agile flight maneuvers - even in presence of moderate measurement noise. These results also suggest that employment of passive dynamics in the design of MAVs may not only reduce actuator bandwidth requirements - thus simplifying practical implementation of the vehicle - but also improve robustness to uncertainties in sensing and body morphology.

关键词： Insect Flight Microrobotics Aerial robotics Tunable Impedance Passive Dynamics Maneuverability Steering Simulation

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Residual muscle contraction and prosthetic socket interface force in a transtibial amputee upon the osteomyoplastic procedure — A preliminary study

Residual muscle contraction and prosthetic socket interface ...

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Biosignals and Biorobotics Conference (BRC), ISSNIP

作者： Anh Mai Sesh Commuri Jonathan Day Carol Dionne William J. J. Ertl School of Electrical and Computer Engineering University of Oklahama Norman OK USA Orthotics and Prosthetics and Clinical Department of Orthopaedic Surgery and Rehabilitation Orthotic/Prosthetic Section University of Oklahoma Health Sciences Center and Veterans Administration Medical Center Oklahoma City OK USA Mechanical Therapy Research Laboratory Department of Rehabilitation Sciences College of Allied Health University of Oklahoma Health Sciences Center and Veterans Administration Medical Center Oklahoma City OK USA Department of Orthopedic Surgery and Rehabilitation College of Medicine University of Oklahoma Health Sciences Center and Veterans Administration Medical Center Oklahoma City OK USA

In the Transtibial Osteomyoplastic Amputation (TOA) technique, the fibular end and the tibial end are connected to each other by a bone bridge in order to stabilize the bony anatomy of the residual limb. In addition, during the myoplasty procedure, the ends of the muscles are secured to one another and to the bony foundations to re-establish the length-tension relationship. In contrast to conventional amputation techniques in which the muscles are cut and the length-tension relationship is lost overtime, the TOA procedure is anticipated to allow muscles to actively contract and return blood to the heart more efficiently [1]. In this study, the outcomes of the TOA procedure were investigated by measuring electromyography signals from the tibialis anterior and gastrocnemius muscles on the amputated leg as well as the interface force inside the prosthetic socket at the end-bearing level of a transtibial amputee. The subject had undergone the TOA procedure and the study was conducted while the subject walked on different terrain (level ground with different speeds, stairs, and incline) with two different kinds of prosthetic feet. Preliminary results showed that (1) the residual muscles appeared to be active while walking on various terrain, and (2) the activation level of the residual tibialis anterior muscle was found to be related to the force variation inside the prosthetic socket.

关键词： Muscles Force Prosthetics Foot Sockets Legged locomotion Electromyography

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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Development of a StandAlone Surgical Haptic Arm

Development of a StandAlone Surgical Haptic Arm

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

作者： Daniel Jones Andrew Lewis Gregory S. Fischer Electrical and Computer Engineering Worcester Polytechnic Institute (WPI) Robotics Engineering WPI Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering WPI

ISBN: (纸本)9781424441211

When performing telesurgery with current commercially available Minimally Invasive Robotic Surgery (MIRS) systems, a surgeon cannot feel the tool interactions that are inherent in traditional laparoscopy. It is proposed that haptic feedback in the control of MIRS systems could improve the speed, safety and learning curve of robotic surgery. To test this hypothesis, a standalone surgical haptic arm (SASHA) capable of manipulating da Vinci tools has been designed and fabricated with the additional ability of providing information for haptic feedback. This arm was developed as a research platform for developing and evaluating approaches to telesurgery, including various haptic mappings between master and slave and evaluating the effects of latency.

关键词： Haptic Device Component Touch telesurgery Arm spiral arm Slaves Learning Curve Latency

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Imaging and measuring the protein distribution of lymphoma cells using atomic force microscopy

Imaging and measuring the protein distribution of lymphoma c...

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6th IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2011

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili Li, Guangyong Tabata, Osamu Xiao, Xiubin Zhang, Weijing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA15261 United States Department of Micro Engineering Kyoto University Kyoto 606-8501 Japan Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071 China State Key Laboratory of Drug Research Shanghai Institute of Materia Medica Chinese Academy of Sciences Shanghai 201203 China

ISBN: (纸本)9781612847757

Atomic force microscopy (AFM) has proven to be a powerful tool for imaging the topographic properties of biological samples and measuring the molecular specific binding forces at cellular and molecular levels. However, there are still great difficulties in using AFM to acquire images of mammalian suspension live cells due to the suspension growth manner and the softness of the cell membrane. In this paper, lymphoma live cells were trapped in microfabricated patterned pillars and then imaged by AFM in phosphate buffered saline (PBS) solution. In addition, the CD20 distribution on the lymphoma cell surface was visualized three-dimensionally by tethering rituximabs (anti-CD20 monoclonal antibody) onto the AFM tips. The experimental results indicate that immobilization with microfabricated patterned pillars provides a novel way for anchoring suspension mammalian cells, opening the way for further investigation of the molecular mechanisms of rituximab's anti-cancer effect. © 2011 IEEE.

关键词： Monoclonal antibodies

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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Retinal vessel tortuosity evaluation via Circular Hough Transform

Retinal vessel tortuosity evaluation via Circular Hough Tran...

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Iranian Conference of Biomedical engineering (ICBME)

作者： Farnoosh Ghadiri HamidReza Pourreza Touka Banaee Morteza Delgir Computer Engineering Department Machine Vision Laboratory Ferdowsi University of Mashhad Iran Computer Engineering Department Machine Vision Laboratory University of Ferdowsi Mashhad Iran Ophthalmic Research Center Khatam-Al-Anbia Hospital Medical science University of Mashhad Iran Computer Science Department Robotics Laboratory Northeastern University USA

Retinal vessel tortuosity has shown to be significantly associated with cardiovascular diseases such as hypertension and diabetes. Despite importance of this field a few techniques have been proposed yet. All previous methods rely on a vessel extraction phase, which its accuracy affects final output and also time consuming. Nobility of presented algorithm is to introduce a method for evaluating retinal vessel tortuosity without any explicit vessel detection. We use the Circular Hough Transform (CHT) based on gradient field of the retinal image. Each vessel curve is detected as a semi-circle by Hough transform and tortuosity of the curve is determined with the help of accumulated value of circle center and its radius. As there are no any specific database for tortuosity evaluation, the algorithm was tasted on database consisting of 40 images, mixture of DRIVE database and images from Khatam-Al-Anbia Hospital consisting of 40 retinal images, of which 20 were tortuous and 20 were non-tortuous. The proposed algorithm can achieve classification rate of 92% along with less computation time in compare of previous methods.

关键词： Transforms Retinal vessels Classification algorithms Biomedical measurements Biomedical imaging Image segmentation

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New image compression algorithm using proposed quantization approach

New image compression algorithm using proposed quantization ...

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International Conference on Pattern Analysis and Intelligent robotics (ICPAIR)

作者： Seyed Mehdi Moghadas Hossein Pourghasem Rasoul Amirfattahi Department of Electrical Engineering Islamic Azad University Najafabad Iran Digital Signal Processing Research Laboratory Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan Iran

A new quantization method is proposed in this paper. This method is useful for enhancement of compression quality when each kind of neural network is used to compress the image. By quantizing the image with the proposed method, the numbers of samples which must be reconstructed by neural network is reduced. This causes a remarkable increase in quality of the reconstructed image. For testing the proposed method we use autoassociative transform coding and by merging it with the proposed quantization method a new compression algorithm is obtained. Then results of compression by the merged method are compared with some previous works. Obtained results show that the proposed compression algorithm increases the compression quality of the images remarkably. Compression time and complexity in the merged method is also better than JPEG and make it suitable for the systems with low processor and hardware implementation.

关键词： Image coding Biological neural networks Image reconstruction Transform coding Neurons PSNR Training

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Fusion of CSP-derived features and Time-Domain Parameters for mind robotics control

Fusion of CSP-derived features and Time-Domain Parameters fo...

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Asian Control Conference

作者： Shuzhi Sam Ge Xinyang Li Yaozhang Pan Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore Institute for Infocomm Research Agency for Science Technology and Research Singapore

In this paper, fusion of Common Spatial Pattern (CSP) analysis derived features and Time-Domain Parameters (TDP) is investigated for two-class motion imagery classification: left hand movement and right hand movement imagery. This fusion method is aiming at improving the performance of Brain-computer Interface (BCI) systems in translating human thoughts into command to control certain robots, e.g. rehabilitation robots. In the BCI system applied in this paper, a Human-Friendly Interactive Bear Robot is implemented, whose bear-like appearance and interactive actions can alleviate the frustration and anxiety on the part of the user in the experiment. Moreover, off-line experiments are conducted to demonstrate the efficiency of the fusion method using both well-known open-source data and data obtained by the BCI system mentioned before.

关键词： Robots Electroencephalography Accuracy Feature extraction Brain modeling Covariance matrix Algorithm design and analysis

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