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

作者： Parisa Hasani Faraz Lotfi Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665420952

During the course of the residency, novice surgeons develop specific skills before they perform actual surgical procedures. Manual feedback and assessment in basic robotic-assisted minimally invasive surgery (RMIS) training take up much of the expert surgeons’ time, while it is very favorable to automatically feedback to all surgeons in various skill levels. Towards this end, we use the surgical robot kinematic dataset named JIGSAWS, a public database collected from Da Vinci robot operated by 7 surgeons, to extract 49 metrics for the suturing task using three types of features, namely time and motion-based, entropy-based, and frequency-based. To find out the most relevant metrics in skill assessment, we perform and compare two feature selection/reduction methods, namely principal component analysis (PCA) and relief algorithm. We separately reduce the features based on these two methods, while using a combination method. Although resulting in an acceptable accuracy of 84% when using each separately, the combination method results in 92% particularly noteworthy accuracy.

关键词： Measurement Training Time-frequency analysis Minimally invasive surgery Medical robotics Kinematics Feature extraction

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Finite-time stabilization under state constraints

Finite-time stabilization under state constraints

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IEEE Conference on Decision and control

作者： Artem N. Nekhoroshikh Denis Efimov Andrey Polyakov Wilfrid Perruquetti Igor B. Furtat Faculty of Control Systems and Robotics Itmo University Saint Petersburg Russia Cnrs UMR 9189 - CRIStAL Inria Univ. Lille Lille France Cnrs Centrale Lille UMR 9189 CRIStAL Univ. Lille Lille France Ipme RAS St. Petersburg Russia

ISBN: (纸本)9781665436601

The problem of finite-time stabilization of linear systems under state and control input constraints in the presence of external disturbances is addressed. The proposed control is designed such that the closed-loop system is 1) superstable, when system trajectories risk to violate the state constraints, and 2) homogeneous with a negative degree, otherwise. While the former property ensures the fulfillment of the state and control constraints, the latter implies finite-time stability. The robustness of the control scheme with respect to disturbances is studied. Theoretical results are supported by numerical simulations.

关键词： Linear systems Conferences Numerical simulation Robustness Stability analysis Mathematical models Trajectory

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Automated Leukemia Screening and Sub-types Classification Using Deep Learning

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Computer systems Science & Engineering 2023年第9期46卷 3541-3558页

作者： Chaudhary Hassan Abbas Gondal Muhammad Irfan Sarmad Shafique Muhammad Salman Bashir Mansoor Ahmed Osama M.Alshehri Hassan H.Almasoudi Samar M.Alqhtani Mohammed M.Jalal Malik A.Altayar Khalaf F.Alsharif Department of Computer Science COMSATS University Islamabad44000Pakistan Electrical Engineering Department College of EngineeringNajran UniversityNajran61441Saudi Arabia Control Automotive and Robotics LabNational Center of Robotics and Automation(NCRA HEC)MirpurPakistan Mirpur University of Science and Technology(MUST)MirpurPakistan Department of Computer Science Virtual University of PakistanLahore54000Pakistan Department of Clinical Laboratory Sciences College of Applied Medical SciencesNajran UniversityNajran61441Saudi Arabia Department of Information Systems College of Computer Science and Information SystemsNajran UniversityNajran61441Saudi Arabia Department of Medical Laboratory Technology Faculty of Applied Medical SciencesUniversity of TabukTabukSaudi Arabia Department of Clinical Laboratory Sciences College of Applied Medical SciencesTaif UniversityP.O.Box 11099Taif21944Saudi Arabia

Leukemia is a kind of blood cancer that damages the cells in the blood and bone marrow of the human *** produces cancerous blood cells that disturb the human’s immune system and significantly affect bone marrow’s production ability to effectively create different types of blood cells like red blood cells(RBCs)and white blood cells(WBC),and *** can be diagnosed manually by taking a complete blood count test of the patient’s blood,from which medical professionals can investigate the signs of leukemia ***,two other methods,microscopic inspection of blood smears and bone marrow aspiration,are also utilized while examining the patient for ***,all these methods are labor-intensive,slow,inaccurate,and require a lot of human experience and *** authors have proposed automated detection systems for leukemia diagnosis to overcome these *** have deployed digital image processing and machine learning algorithms to classify the cells into normal and blast ***,these systems are more efficient,reliable,and fast than previous manual diagnosing ***,more work is required to classify leukemia-affected cells due to the complex characteristics of blood images and leukemia cells having much intra-class variability and inter-class *** this paper,we have proposed a robust automated system to diagnose leukemia and its *** have classified ALL into its sub-types based on FAB classification,i.e.,L1,L2,and L3 types with better *** have achieved 96.06%accuracy for subtypes classification,which is better when compared with the state-of-the-art methodologies.

关键词： Healthcare cancer detection deep learning convolutional neural network

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface

Optical Evanescent Field for Direct Observation of Sub-100nm...

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robotics, Engineering, Science, and Technology (RESTCON), International Conference on

作者： Panart Khajornrungruang Thitipat Permpatdechakul Keisuke Suzuki Aran Blattler Yutaka Terayama Daiki Goto Pipat Phaisalpanumas Natthaphon Bun-Athuek Amornphun Phunopas Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Mechanical Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Mechanical Information Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Mechanical Science and Technology Course Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Industiral Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Mechanical Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes.

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Comparative Analysis of Modeling of a Magnus Effect-Based Wind Energy System

Comparative Analysis of Modeling of a Magnus Effect-Based Wi...

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IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference (EIConRusNW)

作者： Marina Babayeva Artur Abdullin Nikolay Polyakov Gorshkov Konstantin Faculty of Control Systems and Robotics IFMO University St. Petersburg Russia

ISBN: (数字)9781728157610

ISBN: (纸本)9781728157627

In the present work, we consider a model of the electric drive of a wind generator based on the Magnus effect with a load. A brief explanation of the use of the Magnus effect for electricity-generating is presented. The physical implementation of a wind generator based on the Magnus effect is explained. The integration of the developed 3D model of the generator into the Matlab environment is carried out. An analytical mathematical model is developed using Matlab Simulink. A comparative analysis of the work of two variants of mathematical models is carried out. An analysis of the performance of the electrical generator and the minimum required wind flow to cover the generator's own costs is made.

关键词： Generators Mathematical model Force Blades Shafts Wind turbines Torque

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A laboratory platform for identification and control of a synchronous machine

A laboratory platform for identification and control of a sy...

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International Conference on Power Drives systems (ICPDS)

作者： Aleksandr Mamatov Marina Babayeva Sergei Lovlin Abdullin Artur Madina Tsvetkova Faculty of Control Systems Robotics IFMO University St. Petersburg Russia

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

In this paper, the application of a laboratory platform for electric machine testing in the educational process is presented. It is used in order to identify unknown parameters of a synchronous machine with permanent magnets. During the identification process, methodological instructions for students' practical assignments were created. The present work gives an overview of the usage of the laboratory equipment in order to train the required competencies in young specialists.

关键词： Pulse width modulation inverters Permanent magnet machines Permanent magnets Mathematical model Synchronous machines Testing Switching circuits

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Model Predictive control of a Direct Current Motor Utilizing Lookup Tables

Model Predictive Control of a Direct Current Motor Utilizing...

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International Conference on Power Drives systems (ICPDS)

作者： Alecksey Anuchin Andrei Bogdanov Galina Demidova Dmitrii Savkin Ksenya Fedorova Maria Gulyaeva Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

The problem of unpredictable acoustic behaviour of the finite control set model predictive control (MPC) can be solved in continuous control set MPC. However, continuous control set MPC usually requires huge computation efforts or analytical solution of the non-linear equations of the motor, which is not always possible. This paper considers the option of precalculation of all control commands for each combination of the input variables. This approach is applicable for the drives with limited number of state variables, such as direct current motor or switched reluctance machine. An example of the control system of direct current motor with torque stabilization and minimization of the ohmic losses was implemented using simulation model. The 4-dimensional lookup table was used for armature current control and 2-dimensional lookup table was used for field winding control. The simulation results show rapid torque stabilization together with losses minimization.

关键词： Torque Memory management Switches DC motors control systems Minimization Predictive control

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Robust Stabilization of control Affine systems with Homogeneous Functions ⁎

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IFAC-PapersOnLine 2020年第2期53卷 6311-6316页

作者： Konstantin Zimenko Andrey Polyakov Denis Efimov Faculty of Control Systems and Robotics ITMO University 49 Kronverkskiy av. 197101 Saint Petersburg Russia. Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France

The stabilization problem of the affine control system ẋ = f 0 (x)+∑ i=1 m u i f i (x) with homogeneous functions f 0 , fi is studied. This class of systems is of interest due to the robust properties of homogeneity and the fact that many affine systems can be approximated by or transformed to the class under consideration. An advantage of the introduced design method is that the tuning rules are presented in the form of linear matrix inequalities. Performance of the approach is illustrated by a numerical example.

关键词： Nonlinear control control affine systems robust stabilization homogeneous systems

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Homogeneous Observer Design for Linear MIMO systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 4576-4581页

作者： Konstantin Zimenko Andrey Polyakov Denis Efimov Artem Kremlev Faculty of Control Systems and Robotics ITMO University 49 Kronverkskiy av. 197101 Saint Petersburg Russia. Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France

The paper is devoted to the problem of state observation (particularly, in finite time) of linear MIMO systems. The presented nonlinear observer does not require system transformation to a canonical form and guarantees finite-time (asymptotic with a fixed-time attraction of any compact set containing the origin) stability of observation error equation if homogeneity degree is negative (positive). The proposed observer is robust in input-to-state sense with respect to disturbances and measurement noises. Performance of the observer is illustrated by a numerical example.

关键词： State estimation nonlinear observer homogeneity robustness

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Finite Time Observer for Induction Motors based on DREM algorithm*

Finite Time Observer for Induction Motors based on DREM algo...

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European control Conference (ECC)

作者： Alexey Ovcharov Anton Pyrkin Alexey Bobtsov Dmitry Bazylev Romeo Ortega Alexey Vedyakov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Gif-sur-Yvette France

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

Recently, a new observer for induction motors was presented. It was shown that this observer provides satisfactory estimation of magnetic flux, resistance, speed and constant load torque. Though the benefits, mentioned approach meets usual difficulties in practical implementation since requires stringent assumption imposed on regression functions - to satisfy the condition of persistent excitation (PE). In this paper, we modify this approach using finite time estimation algorithm and, thus, eliminate the necessity in PE. The efficiency of the proposed method is compared with the original observer. Simulation results show significant improvement in transient behavior and higher convergence rate of the new solution.

关键词： Observers Rotors Resistance Convergence Torque Induction motors Mathematical model

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