检索结果-内蒙古大学图书馆

control and Treatment of Bone Cancer: A Novel Theoretical Study

Journal of Electronic & Information Systems 2023年第2期5卷 35-44页

作者： Ali Soltani Sharif Abadi Mansour Rafeeyan Vahid Abootalebi Institute of Automatic Control and Robotics Faculty of MechatronicsWarsaw University of TechnologyWarsaw00-664Poland Institute of Electronic Systems Faculty of Electronics and Information TechnologyWarsaw University of TechnologyWarsaw00-664Poland Faculty of Mechanics Yazd UniversityYazd***Iran Faculty of Electrical Engineering Yazd UniversityYazd***Iran

The human body has symmetric *** paper uses control engineering concepts to design a suitable controller to synchronize two symmetric bones of the human body to control and treat bone cancer.A Nonsingular Terminal Sliding Mode control(NTSMC)method will be employed to design the proposed control *** control inputs can be the chemical drugs that can be used to treat bone *** dynamical equations of bone cancer will be used to apply the designed control method and test *** testing the designed controller,Simulink/MATLAB software will be *** proposed controller is chattering-free,robust against uncertainties and external disturbances,and finite-time stable in the control engineering *** cancer will be treated for almost one year using the proposed control method.

关键词： Bone cancer Synchronization Finite-time stability Biomedical engineering

来源：评论

学校读者我要写书评

暂无评论

Robot3D — A simulator for mobile modular self-reconfigurable robots

Robot3D — A simulator for mobile modular self-reconfigurabl...

引用

International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Lutz Winkler Vojtěch Vonásek Heinz Wörn Libor Přeučil Institute for Process Control and Robotics (IPR) Karlsruhe Institute for Technology (KIT) Germany CTU in Prague Faculty of Electrical Engineering Dept. of Cybernetics CTU in Prague Dept. of Cybernetics

A heterogeneous, mobile, self-reconfigurable and modular robot platform is being developed in the projects SYMBRION and REPLICATOR. The locomotion of the robots as well as forming of the robot organisms will be controlled using evolutionary and bio-inspired techniques. As the robots are not available at the beginning of the projects and experiments are time consuming and carry risks of damaging the robots, the evolutionary algorithms will be run using a simulation. The simulation has to provide realistic movements of a swarm of robots, simulating the docking procedure between the robots as well as simulating organism motion. High requirements are imposed on such a simulator. We developed the Robot3D simulator, which dynamically simulates a swarm of mobile robots as well as robot organisms. In this paper we will give an overview of the simulation framework, we will show first results of performance tests and we will present applications for which Robot3D has already been used.

关键词： Organisms Robot sensing systems Robot kinematics Mobile robots Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Position based sliding mode control for visual servoing system

Position based sliding mode control for visual servoing syst...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： M. Parsapour S. RayatDoost H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICEE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

This paper presents a nonlinear controller for visual servoing system. Pose estimation is one of the fundamental issues in position-based visual servoing (PBVS) approach. A few researches have focused on controller synthesis under modeling uncertainty and measurement noise of estimated position. In this research, PD-type sliding surface is designed for tracking target. The control signal is obtained from the sliding surface and the stability of the algorithm is verified by Lyapunov theory. Moreover, a recent designed robust estimator based on unscented Kalman observer (UKO) cascading with Kalman filter (KF) is used to estimate the pose, velocity and acceleration of the target. The combination of the implemented estimator and the proposed controller provide a stable and robust structure in PBVS. The reported experimental results, verify the effectiveness of the proposed method in an industrial visual servoing system.

关键词： Estimation Measurement uncertainty Robustness Visualization Service robots Positron emission tomography

来源：评论

学校读者我要写书评

暂无评论

Unsupervised 3D object classification from range image data by algorithmic information theory

Unsupervised 3D object classification from range image data ...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Alireza Norouzzadeh Ravari Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

The problem of unsupervised classification of 3D objects from depth information is investigated in this paper. The range images are represented efficiently as sensor observations. Considering the high-dimensionality of 3D object classification, little attention has been paid to the curse of dimensionality in the existing state-of-the-art algorithms. In order to remedy this problem, a low-dimensional representation is defined here. The sparse model of every range image is constructed from a parametric dictionary. Employing the algorithmic information theory, a universal normalized metric is used for comparison of Kolmogorov complexity based representations of sparse models. Finally, most similar objects are grouped together. Experimental results show efficiency and accuracy of the proposed method in comparison to a recently proposed method.

关键词： Dictionaries Accuracy

来源：评论

学校读者我要写书评

暂无评论

Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

arXiv

引用

arXiv 2023年

作者： Changoluisa Caiza, Iván D. Milas, Ana Montes Grova, Marco A. Pérez-Grau, Francisco Javier Petrovic, Tamara The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia Aerospace Technology Park of Andalusia Seville Spain

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment. © 2023, CC BY-NC-SA.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Robust PID control of cable-driven robots with elastic cables

Robust PID control of cable-driven robots with elastic cable...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

In this paper robust PID control of fully-constrained cable-driven robots with elastic cables is studied in detail. To develop the idea, a robust PID control for cable-driven robots with ideal rigid cables is firstly designed and then, this controller is extended for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable-driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable-driven robot.

关键词： Robustness Robots Linear matrix inequalities

来源：评论

学校读者我要写书评

暂无评论

A fuzzy track-keeping autopilot for ship steering

引用

Proceedings of the Institute of Marine engineering, Science and Technology Part A: Journal of Marine engineering and Technology 2003年第2期 23-29页

作者： Omerdic, E. Roberts, G.N. Vukic, Z. Mechatronics Research Centre University of Wales College Newport United Kingdom University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia Department of Mechatronics United Kingdom IFAC Technical Committee on Marine Systems United Kingdom IFAC Technical Committee on Mechatronic Systems United Kingdom Department of Control Engineering University of Zagreb Faculty of Electrical Engineering and Computing Croatia IEEE Control Systems/Robotics Automation Society Croatia

In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.

关键词： Ships

来源：评论

学校读者我要写书评

暂无评论

Image-guided robotic mastoidectomy using human-robot collaboration control

Image-guided robotic mastoidectomy using human-robot collabo...

引用

2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Lim, Hoon Han, Jung-Min Hong, Jaesung Yi, Byung-Ju Lee, Seung Hwan Jeong, Jin Hyeok Matsumoto, Nozomu Oka, Masamichi Komune, Shizuo Hashizume, Makoto Department of Electronic Electrical Control and Instrumentation Eng. Hanyang University Korea Republic of Department of Otorhinolaryngology School of Medicine Hanyang University Korea Republic of Department of Robotics Engineering DGIST Korea Republic of Department of Otorhinolaryngology Graduate School of Medical Sciences Kyushu University Japan Department of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University Japan

ISBN: (纸本)9781424481149

This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy. © 2011 IEEE.

关键词： Robotic surgery

来源：评论

学校读者我要写书评

暂无评论

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

引用

arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

来源：评论

学校读者我要写书评

暂无评论

System Identification model for an Intelligent Pneumatic Actuator (IPA) system

System Identification model for an Intelligent Pneumatic Act...

引用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Khairuddin Osman Ahmad 'Athif Mohd Faudzi M.F. Rahmat Nu'man Din Mustafa M. Asyraf Azman Koichi Suzumori Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Durian Tunggal Malacca Malaysia Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Department of Control Instrumentation and Automation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (transfer function) of the IPA system from the measured experimental data. Flow for the SI procedure starts with experimental setup, model structure selection, model estimation, model validation and finally testing with basic controller to prove the operation of IPA system. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system (model validation), best fit criterion and correlation analysis of the residual is analyzed to determine the adequate model to represent the IPA system. The result from SI model shows linear discrete model in order to obtain a discrete transfer function for the IPA system.

关键词： Analytical models Data models Silicon Mathematical model Actuators Robots Correlation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：