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检索条件"机构=Faculty of Control Robotics and Electrical Engineering"

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Image-guided robotic mastoidectomy using human-robot collaboration control

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

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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

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Unknown input reconstruction for nonlinear autonomous switched systems via high-order sliding modes observers

Unknown input reconstruction for nonlinear autonomous switch...

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Annual Conference of Industrial Electronics Society

作者： Hector Rios Jorge Davila Leonid Fridman Department of Control Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico Mexico Distrito Federal Mexico National Polytechnic Institute Section of Graduate Studies and Research ESIME UPT Mexico Distrito Federal Mexico Department of Automatic Control CINVESTAV IPN Mexico Distrito Federal Mexico Engineering Department of Control and Robotics Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico Mexico Distrito Federal Mexico

The unknown input identification problem is studied for a class of nonlinear autonomous switched systems. It is proposed a robust observer which is capable of reconstructing the continuous state and the discrete state in the presence of unknown inputs. On the other hand, it is provided a method for identification of unknown inputs using the high frequency equivalent output injection. Simulation results support the proposed method.

关键词： Observers Switches Switched systems Vectors Trajectory

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An analysis of sensitivity distribution using two differential excitation potentials in ECT

An analysis of sensitivity distribution using two differenti...

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International Conference on Sensing Technology, ICST

作者： Elmy Johana Mohamad Omar M. Faizan Marwah Ruzairi Abdul Rahim Leow Pei Ling Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Johor Malaysia Department of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

The investigation of this work is to analysis the sensitivity distributions using two differential excitation potentials, in order to improve the situation of: (1) non-uniform sensitivity distribution: (2) less sensitivity in the central area and (3) non-linear change in ECT (electrical Capacitance Tomography) system. Simulation using COMSOL Multiphysics is developed in order to obtain the changes in capacitance inter-electrodes and the permittivity of the dielectric material when two differential excitation potentials were injected. The MATLAB simulation is used to obtain the sensitivity distribution inside the closed pipe from the sensor. Generated phantoms and measured values are presented. Simulation is verified using available experimental data through the existing system, 16- segmented ECT sensor electrodes by PROTOM Research Group UTM, MALAYSIA. By using this technique the linear relationship between the capacitances measured to inter-electrodes and the permittivity dramatically improved and the sensitivity distribution for an opposing electrode pair was increased thus gives the sensitivity distribution in the central area increased. The use of this technique does increase the level of detection signals and the SNR(signal noise to ratio) compared to those achieved using standard single-voltage source method.

关键词： Electrodes Capacitance Electric potential Sensitivity Permittivity Capacitance measurement Image reconstruction

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Extracting salient lines by Visual Attention for omnidirectional image classification

Extracting salient lines by Visual Attention for omnidirecti...

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IEEE Symposium on Computational Intelligence for Multimedia, Signal and Vision Processing (CIMSIVP)

作者： AmirHossein Habibian Majid Nili-Ahmadabadi Babak Nadjar Araabi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences Tehran Iran

Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.

关键词： Feature extraction Visualization Image classification Gabor filters Image edge detection Histograms Computational modeling

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Electronic design for portable electrical capacitance sensor: A multiphase flow measurement

Electronic design for portable electrical capacitance sensor...

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International Conference on Mechatronics (ICOM)

作者： E. Johana Mohamad O. M. Faizan Marwah Ruzairi Abdul Rahim Mohd Hafiz Fazalul Rahiman Siti Zarina Mohd Muji Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

The earlier research shows that the electrical capacitance sensor through the tomography technique is applicable in flow visualization or image reconstruction, named as electrical Capacitance Tomography (ECT). ECT can be used for imaging industrial multi-component processes involving nonconducting fluids and solids in pipelines. The electrical capacitance sensor is a non-invasive device that uses non-intrusive technique to measure the concentration of flow inside a closed pipe by measuring variations in the dielectric permittivity of the material. The capacitance of the sensor changes when the mean dielectric constant between the electrodes varies due to variations in the percentage of gas and liquid flowing in the pipe. The acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines, meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor previously has been assemble fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. Therefore on-board sensing plate offers a new design and idea on ECT system which is portable to be assembled in different diameter sizes of pipeline, and it's flexible to apply in any number due to different size of pipeline without redesign the sensing module. The on-board sensing plate development contains signal conditioning circuit and sensing electrode built in a single module (embedded on single plate). In this paper, the details on fabricating the sensors electrodes, had been described, including signal conditioning circuit/electronic part of measurement, such as stray immune capacitance measurement circuit, amplifying circuit, AC to DC converter circuit and filter circuit.

关键词： Electrodes Capacitance Capacitance measurement Pipelines Sensors Materials Permittivity measurement

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Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration control

Image-Guided Robotic Mastoidectomy Using Human-Robot Collabo...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

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

关键词： Mastoidectomy Admittance control Image-guided navigation Warning system.

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An extended PI model for hysteresis and creep compensation in AFM based nanomanipulation

An extended PI model for hysteresis and creep compensation i...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School of Chinese Academy of Sciences Beijing 100001 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China

ISBN: (纸本)9781424493173

One of the prerequisites for AFM based nanomanipulation is that the tip position can be controlled accurately, while this prerequisite is still hindered by the large model uncertainties aroused from PZT nonlinearity such as hysteresis and creep. In this paper, an Extended Prandtl-Ishlinskii (EPI) model is proposed to solve these problems. The main advantage of EPI model over conventional PI model is that the EPI model can compensate the positioning error caused by hysteresis and creep simultaneously through adopting the new adaptive basic operator. The experimental results demonstrate the effectiveness and validity of EPI model in depicting the PZT hysteresis and creep prosperities. © 2010 IEEE.

关键词： Creep

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Iterative-analytic redundancy resolution scheme for a cable-driven redundant parallel manipulator

Iterative-analytic redundancy resolution scheme for a cable-...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yousef B. Bedoustani Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Department of Systems and Control Faculty of Electrical and Computer Engineering Khaje Nasir Toosi University of Technology Tehran Iran

In this paper, redundancy resolution of a cable-driven parallel manipulator is solved by an iterative-analytic scheme. The method can be applied to all kind of redundant manipulators either parallel or serial with constraint caused through their dynamics. However, for sake of simulation the proposed method is implemented on a cable-driven redundant parallel manipulator (CDRPM). The redundancy resolution problem is formulated as a convex optimization with equality and non-equality constraints caused by manipulator structure and cables dynamics. Karush-Kuhn-Tucker theorem is used to analyze the optimization problem and to find an analytic solution. Subsequently, a tractable and iterative search algorithm is proposed to solve the redundancy resolution of such redundant mechanisms. Furthermore, it is shown through the simulation that, the elapsed time required to implement the analytical redundancy resolution scheme in a closed-loop structure is considerably less than that of other numerical optimization methods.

关键词： Redundancy Optimization Equations Actuators Manipulator dynamics Jacobian matrices

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Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

Light-weight mobile robot for hydrodynamic treatment of conc...

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International Conference on Applied robotics for the Power Industry (CARPI)

作者： Zdenko Kovacic Borislav Balac Stjepan Flegaric Kristijan Brkic Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of electrical Engineering and Computing University of Zagreb Zagreb Croatia Inteco d o o Zagreb Croatia

The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and tool-to-surface distance deviation. Ultrasound sensors mounted on the robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.

关键词： Power industry Service robots Conferences

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Multiphase flow reconstruction in oil pipelines by portable capacitance tomography

Multiphase flow reconstruction in oil pipelines by portable ...

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IEEE SENSORS

作者： Elmy Johana Mohamad Ruzairi Abdul Rahim Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

A portable capacitance tomography system for real-time imaging of multiphase flows is developed and presented in this work. The earlier research shows that the electrical Capacitance Tomography (ECT) System is applicable in flow visualization (image reconstruction). The acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor has been assembled and fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. Therefore portable capacitance is a new approach technology on ECT system. The purpose of the system is for on-line monitoring of concentration profile in multiphase flow-rate measurement system for oil, water and gas flow in oil pipelines.

关键词： Electrodes Capacitance Pipelines Capacitance measurement Materials Sensors Image reconstruction

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