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A new positioning and path following controller for unicycle mobile robots

A new positioning and path following controller for unicycle...

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International Conference on Advanced Robotics (ICAR)

作者： Cassius Zanetti Resende Ricardo Carelli Teodiano F. Bastos-Filho Mário Sarcinelli-Filho Department of Industrial Automation Federal Institute of Espírito Santo Brazil Institute of Automatics National University of San Juan Argentine Graduate Program on Electrical Engineering Federal University of Espírito Santo Vitória Brazil

This paper presents a new motion controller for unicycle mobile robots that is capable of performing positioning and path-following tasks. The proposed controller has the advantage of simultaneously performing the approximation of the robot to the proposed path by the shortest route and limiting its velocity. Such features are achieved by the continuous variation of the controller gains, whose values are determined through fuzzy rules.

关键词： Mobile robots Frequency modulation Closed loop systems Collision avoidance Kinematics Fuzzy sets

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Capacity management and patient scheduling in an outpatient clinic using discrete event simulation 13

Capacity management and patient scheduling in an outpatient ...

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Simulation Winter Conference

作者： Gokce Akin Julie S. Ivy Todd R. Huschka Thomas R. Rohleder Yariv N. Marmor Graduate Program in Operations Research North Carolina State University Raleigh NC USA Edward P. Fitts Department of Industrial and Systems Engineering North Carolina State University Raleigh NC USA Department of Health Care Policy and Research Mayo Clinic Rochester MN USA

ISBN: (纸本)9781479920778

Capacity management and scheduling decisions are important for managing an outpatient clinic in which multiple classes of patients are treated. After an appointment is scheduled, it can be rescheduled, cancelled, or a patient may not show-up on their appointment day. This study simulates the behavior of patients with regard to the time to appointment, examining different demand rates and service times for each patient class (new external patients, internal patients, established patients and subsequent visit patients); we also consider different delay-dependent reschedule, cancellation, and no-show rates. A discrete event simulation model is developed to analyze the effects of allowing different appointment windows, i.e., the maximum time between the appointment request date and the actual appointment date, for different patient classes. Capacity utilization, patient access, and financial rewards are used as the performance indicators.

关键词： Analytical models Delays Medical services Calendars Mathematical model Data models Data analysis

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A Depressurization Assistance System with a Suitable Posture for a Seated Patient on a Wheelchair

A Depressurization Assistance System with a Suitable Posture...

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IEEE International Conference on Rehabilitation Robotics

作者： Kenji Shiotani Daisuke Chugo Sho Yokota Yuki Sakaida Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Hyogo Japan Faculty of Science and Engineering Setsunan University Osaka Japan RIKEN-TRI Collaboration Center for Human-Interactive Robot Research (RTC) Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

ISBN: (纸本)9781467360210

For reducing a risk of pressure sore caused by long period sitting on a wheelchair, a patient is required to depressurize buttocks by changing the posture suitably. Thus, we have been developed an automatic depressurization motion assistance system for a seated patient on a wheelchair. In our previous work, we developed a sitting surface coordination system which can lift or incline and assists a depressurization motion of a patient. However, in some cases, it is difficult to change his posture suitably for patients who do not have enough physical strength in their upper body using our proposed device. Therefore, in this paper, we propose a novel posture coordination assistance system for a wheelchair user. Our system consists of the adjustable sitting surface and novel proposed adjustable backrest. These two devices coordinate the sitting posture of the patient automatically. Our key ideas are two topics. One topic is mechanical design of the adjustable backrest for practical use. We realize small mechanism which enables easy implementation to a general wheelchair without special reconstruction. The other topic is a natural posture coordination scheme using the sitting surface and the backrest. We analyze buttocks depressurization operation by a nursing specialist and drive our proposed devices for realizing it. The performance of our system is verified by experiments using our prototype.

关键词： Depressurization motion assistance Pressure sore Adjustable backrest Wheelchair

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Metabolomics and network biology for sensitive monitoring of how growth environment changes affect the physiology of industrial-scale perfusion cultures

Metabolomics and network biology for sensitive monitoring of...

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12th IFAC Symposium on Computer Applications in Biotechnology, CAB 2013

作者： Vernardis, S.I. Goudar, C.T. Klapa, M.I. Metabolic Engineering and Systems Biology Laboratory Institute of Chemical Engineering Foundation for Research and Technology-Hellas Patras GR-265 04 Greece Cell Culture Development Global Biological Development Bayer HealthCare 800 Dwight Way Berkeley CA 94710 United States Interdepartmental Graduate Program in Informatics in Life Sciences Medical School University of Patras Greece Cell Science and Technology AMGEN Inc. Thousand Oaks CA 91320 United States Depts. of Chemical and Biomolecular Eng. and Bioengineering University of Maryland College Park MD 20742 United States

ISBN: (纸本)9783902823588

Metabolomic analysis can indeed enhance the prime variable dataset for the monitoring of perfusion cultures by providing a higher resolution view of the metabolic state. Metabolic profiles can capture physiological state shifts over the course of the perfusion cultures and indicate a metabolic "signature" of the phase transitions, which is not observable from prime variable data. Notably, metabolomics provides orthogonal (to prime variables) evidence that all cultures follow this same metabolic state shift with cell age, independently of bioreactor scale. Additionally, this analysis can increase the information content of process development experiments by helping better understand the impact of changes in bioreactor operating conditions on cell physiology. In this context, metabolic profiling could be integrated into the monitoring of cell physiology in perfusion cultures. © IFAC.

关键词： Bioreactors

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On the development of a small hand-held multi-UAV platform for surveillance and monitoring

On the development of a small hand-held multi-UAV platform f...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Gustavo S. C. Avellar Gonçalo D. Thums Rogério R. Lima Paulo Iscold Leonardo A. B. Tôrres Guilherme A. S. Pereira Graduate Program in Electrical Engineering Federal University of Minas Gerais Belo Horizonte Minas Gerais Brazil Mechanical Engineering Department Federal University of Minas Gerais Belo Horizonte Minas Gerais Brazil Electronics Engineering Department Federal University of Minas Gerais Belo Horizonte Minas Gerais Brazil Electrical Engineering Department Federal University of Minas Gerais Belo Horizonte Minas Gerais Brazil

This paper addresses the ongoing process of development of a small hand-held multiple unmanned aerial vehicle platform for surveillance and monitoring. The project cover all phases of development, from aerodynamic design and mechanical assembly, through fine tuning low level control loops and design of an attitude and heading reference system, up to implementation of navigation algorithms and finally flight testing. Commercial hardware is used to speed up development, allowing the team responsible for implementing the navigation algorithms to execute and test while the team responsible for the aerodynamics and electronics can design and compare results.

关键词： Global Positioning System Aircraft Sensors Aerodynamics Algorithm design and analysis Hardware

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The financial impact of using RFID in healthcare

The financial impact of using RFID in healthcare

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2012 IEEE International Conference on industrial engineering and engineering Management, IEEM 2012

作者： Kattan, Ibrahim Al Anjamrooz, Taha Engineering Systems Management Graduate Program College of Engineering American University of Sharjah Sharjah United Arab Emirates

ISBN: (纸本)9781467329453

This paper is emphases on the financial impact of RFID system on the healthcare. The main obstacle of RFID implementation is the high costs hence the area of application must be very selective. We decide on the Obstetrics and Gynecology Department (OGD), where the patient has many visits during three different periods: Pregnancy, Delivery and after Childbirth. This research conducted over two years to collect real data for two different scenarios, traditional versus RFID systems. The reductions in waiting times for each period are valued into money. The RFID technology can significantly improve the processing times associated with medical record retrieval, dispensing medication, personnel management and billing. This analysis is planned for a period of 5 years with discount rate of 4%. Finally, the net present value concept is applied in order to compare the financial benefit of two systems and to obtain the payback period. © 2012 IEEE.

关键词： Obstetrics

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Dissipativity-Preserving Model Reduction Based on Generalized Singular Perturbation

Dissipativity-Preserving Model Reduction Based on Generalize...

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IEEE Annual Conference on Decision and Control

作者： Takayuki Ishizaki Henrik Sandberg Kenji Kashima Jun-ichi Imura Kazuyuki Aihara Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology 2-12-1 Meguro Tokyo Japan School of Electrical Engineering Automatic Control Royal Institute of Technology (KTH) SE-100 44 Stockholm Sweden Department of Systems Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan Institute of Industrial Science University of Tokyo 4-6-1 Komaba Meguro ward Tokyo Japan

ISBN: (纸本)9781467357159

In this paper, we develop a dissipativity-preserving model reduction method based on a generalized singular perturbation approximation. This model reduction framework can deal with not only standard singular perturbation approximation but also projection-based model reduction as a special case. To develop such a model reduction method, we investigate a condition under which system dissipativity is appropriately preserved through the approximation. Moreover, deriving a novel factorization of the error system in the Laplace domain, we derive an a priori error bound in terms of the H_2-norm. The efficiency of the model reduction is shown through an example of interconnected second-order systems.

关键词： Reduced order systems Symmetric matrices Linear systems Standards Educational institutions Approximation error

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Structured Model Reduction of Interconnected Linear systems Based on Singular Perturbation

Structured Model Reduction of Interconnected Linear Systems ...

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American Control Conference

作者： Takayuki Ishizaki Henrik Sandberg Karl Henrik Johansson Kenji Kashima Jun-ichi Imura Kazuyuki Aihara Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology 2-12-1 Meguro Tokyo Japan School of Electrical Engineering Automatic Control Royal Institute of Technology (KTH) SE-100 44 Stockholm Sweden Department of Systems Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan Institute of Industrial Science University of Tokyo 4-6-1 Komaba Meguro ward Tokyo Japan

ISBN: (纸本)9781479901777

This paper proposes a singular perturbation approximation that preserves system passivity and an interconnection topology among subsystems. In the first half of this paper, we develop a singular perturbation approximation valid for stable linear systems. Using the relation between the singular perturbation and the reciprocal transformation, we derive a tractable expression of the error system in the Laplace domain, which provides a novel insight to regulate the approximating quality of reduced models. Then in the second half, we develop a structured singular perturbation approximation that focuses on a class of interconnected systems. This structured approximation provides a reduced model that not only possesses fine approximating quality, but also preserves the original interconnection topology and system passivity.

关键词： perturbation approximation Singular error system reduced model Reduced order model Linear system Structural Models perturbation Passivity SUB-SYSTEM

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An optimized method for anatomic skull prosthesis modelling

An optimized method for anatomic skull prosthesis modelling

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IASTED International Conference on Computer Graphics and Imaging, CGIM 2012

作者： Rudek, Marcelo Junior, Osiris Canciglieri Greboge, Thiago Industrial and Systems Engineering Graduate Program - PPGEPS Pontifical Catholic University of Parana - PUCPR Imaculada Conceicao Street 1155 - Curitiba-Parana Brazil

ISBN: (纸本)9780889869219

This paper proposes a method to create a geometric model of anatomically adjusted skull prosthesis to be used in machining. The missing area in a skull bone due a hole can be virtually filled in each tomography slice by an adjusted arc. The idea is to generate the missing information from a criterion based on the curvature of the skull shape. We are proposing the use of an adjusted ellipse on its curvature. If the ellipse is properly adjusted in each computed tomography slice, the arcs that represent the part of missing bone can be reconstructed in 3D. The problem is that many ellipses can be created similarly, and the best solution must be found. For this study we have used AI-based techniques that help in choosing an appropriate solution. It was employed the Particle Swarm Optimization (PSO) algorithm in order to find the best solution for each tomographic slice. Once the solution found for each slice, the area of missing bone can be virtually rebuilt to generate the profile in a CAD system. The process results in a new image, which is adjusted model to the prosthesis anatomical area absent in bone structure.

关键词： Prosthetics

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Quasi-Continuous Exponential Stabilization for the Underactuated Control of a Fire Truck Robot by Using an Invariant Manifold Theory

Quasi-Continuous Exponential Stabilization for the Underactu...

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IEEE International Conference on Mechatronics and Automation

作者： Syota Yoshimura Keigo Watanabe Shoichi Maeyama Department of Mechanical System Engineering Graduate School of Natural Science and Technology Okayama University 3-1-1 Tsushima-naka Kita-ku Okayama 700-8530 Japan Department of Intelligent Mechnical Systems Division of Industrial Innnovation Sciences Graduate School of Natural Science and Technology Okayama University 3-1-1 Tsushima-naka Kita-ku Okayama 700-8530 Japan

ISBN: (纸本)9781467355599

In the research of underactuated control, there are limited results that are for the controlled object with three and more inputs and are based on an invariant manifold theory. For example, there is a switching control method based on an invariant manifold. However, such a control method generates sudden changes of inputs when switching the controllers. In this paper, a control method is proposed by using the concept of quasi-continuous exponential stabilization. This method need not switch controllers, so that it suppresses the sudden changes of inputs, because the first and second steps in the conventional switching control based on an invariant manifold can be represented by one summarized form. Therefore, loads applied to the actuators can be considered to be reduced. It is shown through simulation experiments that the proposed method can suppress sudden changes of inputs, compared to the conventional switching control method, where the controlled object is a fire truck robot to be an underactuated system with three inputs and six outputs.

关键词： Underactuated control Fire truck robot Invariant manifold Quasi-continuous exponential stabilization

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