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Haptic interaction in VR-based paracentesis simulation for dexterity enhancement and assessment

International Congress Series 2004年第C期1268卷 413-418页

作者： Tzafestas, C.S. Koumpouros, Y. Birbas, K. Division of Signals Control Robotics School of Electrical Computer Engineering National Technical University of Athens (NTUA) Greece ATAC—Innovative Applications Athens Greece Department of Surgery Faculty of Nursing University of Athens Drosia 145 72 Athens 17 Athinas Street Greece

In this paper, we describe the development of an interactive virtual reality (VR) system that aims to realistically simulate specific paracentesis clinical procedures (particularly the procedure involved in the catheterization of the subclavian vein). A simplified elasto-static finite-element model is used for the physically based simulation of the deformable tissues, particularly skin deflection during needle insertion. The VR-based simulation is being coupled with a haptic feedback device to provide to the user realistic feeling of the interaction forces applied during the simulated paracentesis procedure. The system described is developed in the frames of a research project aiming to develop a larger-scale virtual environment simulator of emergency room (ER) scenarios and protocols for clinical skill training and assessment. © 2004, CARS and Elsevier B.V. All rights reserved.

关键词： Clinical skill training Haptics Paracentesis simulation Tissue deformation modelling Virtual reality

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Effects of quantization, saturation, and sampling time in multi output systems

Effects of quantization, saturation, and sampling time in mu...

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IEEE Conference on Decision and control

作者： R. Sandoval-Rodriguez C.T. Abdallah R.H. Byrne Electrical & Computer Engineering Department Faculty of Electrical Engineering and Computing Albuquerque NM USA Sandia National Laboratories Intelligent Systems and Robotics Center Albuquerque NM USA

ISBN: (纸本)0780386825

We analyze the effects of sampling and quantization in the states of the plant, and the saturation of the control signal, on the behaviors of closed-loop systems. We present graphical and analytical tools to determine the minimum number of bits in the A/D converters, and the maximum sampling time to ensure stability of closed-loop LTI single input multiple output systems.

关键词： Quantization Sampling methods control systems Communication system control Signal resolution State feedback Intelligent robots Signal analysis Communication networks Chaos

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Diversity control approach to ant colony optimization for unit commitment problem

Diversity control approach to ant colony optimization for un...

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IEEE Region 10 International Conference TENCON

作者： D. Nualhong S. Chusanapiputt S. Phomvuttisarn T. Saengsuwan S. Jantarang Electrical Engineering Department Electrical and Control System Engineering Division Electricity Generating Authority of Thailand Bangkok Thailand Department of Electrical Power Engineering Faculty of Engineering Mahanakorn University Bangkok Thailand Center of Excellence in Electrical Power Technology Faculty of Engineering Chulalongkom University Bangkok Thailand Department of Electrical Engineering Faculty of Engineering Kasetsart University Bangkok Thailand Department of Computer Engineering and Satellite Research Center Faculty of Engineering Mahanakom University of Technology Bangkok Thailand

This paper presents a new method to solve the constrained unit commitment problem by applying ant colony optimization (ACO) based on the diversity control approach. The pheromone updating rule is modified to control the diversification by adopting a simple mechanism for random selection in ACO. The proposed method is tested on the 10-unit test system with a scheduling time horizon of 24 hours. The numerical results show an economical saving in the total operating cost when compared to the previous literature results. Moreover, two types of the proposed diversity control technique have the features of easy implementation and a better convergence rate superior to a standard ACO.

关键词： Ant colony optimization

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Reactive tabu search for optimal power flow under constrained emission dispatch

Reactive tabu search for optimal power flow under constraine...

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IEEE Region 10 International Conference TENCON

作者： D. Nualhong S. Chusanapiputt S. Phomvuttisarn S. Jantarang Electrical Engineering Department Electrical and Control System Engineering Division Electricity Generating Authority of Thailand Bangkok Thailand Department of Electrical Power Engineering Faculty of Engineering Mahanakom University of Technology Bangkok Thailand Center of Excellence in Electrical Power Technology Faculty of Engineering Chulalongkom University Bangkok Thailand Department of Computer Engineering and Satellite Research Center Faculty of Engineering Mahanakom University of Technology Bangkok Thailand

This paper presents an efficient method to obtain the optimal power flow (OPF) problem under constrained emission dispatch by applying reactive tabu search (RTS) algorithm. The RTS is developed as a derivative-free optimization technique in solving constrained emission OPF problem significantly reduces the computational burden with the strategies that make the search process robust and fast. The effectiveness of the proposed approach has been demonstrated through the IEEE 30-bus, 6-generator, test system. The simulation results reveal that the proposed RTS can yield highly optimal solution and tan reduce computational execution time superior to a standard tabu search. Moreover, the proposed method provides better solution than previous literatures with promising results.

关键词： Load flow

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Robust output tracking of transverse flux machines using RBF neural network

Robust output tracking of transverse flux machines using RBF...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： H.R. Karimi A. Babazadeh N. Parspour Control & Intelligent Processing Department of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Department of Electrical Drives Power Electronics and Devices University of Brethemen Bremen Germany

This paper presents an application of radial basis function (RBF) in the identification and control design of transverse flux machines as nonlinear systems with unknown nonlinearity part. The technique of feedback linearization and H/sub /spl infin// control are used to design an adaptive control law for compensating the unknown nonlinearity part, such that the effect of the cogging torque as a disturbance is decreased into the angle and angular velocity tracking.

关键词： Robustness Neural networks control design Nonlinear systems Neurofeedback Linear feedback control systems Torque control Angular velocity control Adaptive control Forging

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Design and optimization of distributed control system using UML model

Design and optimization of distributed control system using ...

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International Conference and Workshop on engineering of computer-Based Systems

作者： J. Kotzian V. Srovnal Faculty of Electrical Engineering and Computer Science Department of Measurement and Control VšB Technical University of Ostrava Czech Republic

The article discusses with the utilization of the UML language for project, realization and optimization of distributed control systems. The work is oriented on the part of distributed control system with embedded systems interconnected by the industrial bus CAN. The article describes the project methodology, UML model and optimization of the system according to the target function. Also example of using methodology in the KUPSON Electronic Article Surveillance control System is described.

关键词： Design optimization Distributed control Unified modeling language Embedded system LAN interconnection electrical equipment industry Industrial control Optimization methods Surveillance control systems

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Improved line-of-sight guidance for cruising underwater vehicles

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IFAC Proceedings Volumes 2004年第10期37卷 447-452页

作者： Vedran Bakaric Zoran Vukic Radovan Antonic Brodarski institut Av. V. Holjevca 20 10020 Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia Split College of Maritime Studies Zrinsko-Frankopanska 38 21000 Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.

关键词： Autonomous vehicles Guidance systems Cruise control Algorithms

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A20: Using a PLC Tecomat TC600 as a fuzzy regulator in the problem of an inverted pendulum system regulation

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IFAC Proceedings Volumes 2004年第20期37卷 115-120页

作者： Petr Želasko Martin Moštěk Miroslav Pokorný Faculty of Electrical Engineering and Computer Science VSB Technical University of Ostrava Department of Measurement and Control 17. listopadu 15 708 33 Ostrava - Poruba CZECH REPUBLIC

This work solves a problem of the inverted pendulum system regulation using a fuzzy regulator. As this regulator has been used the programmable logic controller (PLC) Tecomat TC600, type 607. The PLC is connected to the personal computer (PC) by the use of a voltage converter and an industrial PC card PCI 1751. The PC works as a simulation device of the inverted pendulum system, where the simulation is performed by a program created in the Delphi programming language version 5. The fuzzy model used in the fuzzy regulator is designed directly for the inverted pendulum system. The whole application has been successfully tested and also very good results have been reached.

关键词： Fuzzy control Programmable logic controller Regulation Inverted pendulum System model Simulation Tests

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Bounding Approach to Parameter Estimation without Priori Knowledge on Model Structure Error

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IFAC Proceedings Volumes 2004年第11期37卷 221-226页

作者： Tao Chang Kazimierz Duzinkiewicz Mietek Brdys Department of Electronic Electrical and Computer Engineering The University of Birmingham Birmingham B15 2TT UK Fax: +44 121 414 4291. Department of Control Engineering Faculty of Electrical Engineering and Automatic Control Gdansk University of Technology ul. G.Namtowicza 11 12 80-952 Gdansk Poland.

Parameter estimation of an autoregressive movmg average (ARMA) model is discussed in this paper by using bounding approach. Bounds on the model structure error are assumed unknown, or known but conservative. To reduce this conservatism, a point-parametric model concept is proposed, where there exist a set of model parameters and structure error corresponding to each input. Feasible parameter sets are defined for point-parametric model. Bounded values on the model parameters and structure error can then be computed jointly by tightening the feasible set using observations under deliberately designed input excitations. Finally, a constantly bounded parameter model is established, which can be used for robust control.

关键词： modelling errors bounding method parameter estimation uncertain dynamic systems robust control

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On stabilization of linear systems with stochastic disturbances and input saturation

On stabilization of linear systems with stochastic disturban...

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IEEE Conference on Decision and control

作者： A. Stoorvogel S. Weiland A. Saberi Department of Mathematics and Computing Science Eindhovan University of Technology Eindhoven Netherlands Department of Electrical Engineering Mathematics and Computer Science Delft University of Technnology Delft Netherlands Control Systems Group Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands School of Electrical Engineering and Computer Science Washington State University Pullman WA USA

It is well-known that for linear systems internal asymptotic stability implies external stability in the sense that when the external input is in L/sub p/ then also the state will be in L/sub p/. However, for the control of linear systems with saturation where the controlled system is nonlinear this implication is no longer directly applicable. Several people have studied the effect of external inputs in L/sub p/ either directly or in the context of ISS as introduced by Sontag. In this paper we study the effect of external stochastic disturbances on linear systems with input saturation and we establish that when we can achieve internal global asymptotic stability then we can also achieve a bounded variance for the state.

关键词： Linear systems Stochastic systems Asymptotic stability control systems Feedback Nonlinear control systems Open loop systems Discrete time systems Mathematics computer science

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