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Compliant comanipulation control for medical robotics

Compliant comanipulation control for medical robotics

引用

Conference on Human System Interactions, HSI

作者： Cristovao Sousa Rui Cortesao Pedro Queiros Institute of Systems and Robotics Electrical and Computer Engineering Department University of Coimbra Coimbra Portugal

This paper presents a compliant control architecture for comanipulation in the medical robotics field. The kinematics and dynamics models of robots are described and its linearization by non linear feedback is implemented. The impedance control concept is introduced and representation in arbitrary frames techniques are presented. Various virtual walls restrictions to the robot end-effector are made using a proportional/derivative controller and an active observer (AOB) impedance controller. Some practical analyses and conclusions are made.

关键词： Robot control Medical robotics Impedance Robot sensing systems Service robots Rehabilitation robotics Surgery Surges Safety Force sensors

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Self calibration of step-by-step based climbing robots

Self calibration of step-by-step based climbing robots

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmoud Tavakoli Lino Marques Aníbal T. Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Fine manipulation of large industrial manipulators faces many problems due to well known error sources. Most climbing robots can be seen as mobile manipulators whose base is also moving across the climbing structure, and consequently adds some additional positioning errors. 3DCLIMBER is a serial mechanism pole climbing robot, developed at isr-UC. The preliminary tests of the robot showed that it is particularly important to position the grippers precisely in the appropriate pose before grasping the structure. Otherwise the accumulating error will impair autonomous climbing process by forcing the operator to stop the operation after a couple of steps in order to calibrate the robot. This paper describes a self calibrating method proposed to measure and compensate these errors.

关键词： Calibration Climbing robots Manipulators Grippers Mobile robots Intelligent robots USA Councils Error compensation System testing Actuators

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Environment stiffness estimation with multiple observers

Environment stiffness estimation with multiple observers

引用

Annual Conference of Industrial Electronics Society

作者： Fernanda Coutinho Rui Cortesão Institute of Systems and Robotics Polytechnic Institute of Coimbra Department of Electrical Engineering University of Coimbra Coimbra Portugal Institute of Systems and Robotics University of Coimbra Coimbra Portugal

When a compliant robotic manipulator interacts with the environment, forces are generated at the contact points, which are a function of environment parameters (such as stiffness, damping and friction). The resulting contact forces can cause a bouncing effect and eventually instability of the manipulator. This problem assumes a great importance when the environment is unknown or poorly structured, such as in robotic-assisted minimally invasive surgery (MIS). Stability has to be guaranteed when the robot interacts with stiff environments, such as touching a bone or another surgical instrument. To accomplish that, it is necessary to develop a mechanism that estimates in real time the relevant environment parameters to make the corresponding adaptation of control laws possible. In this paper, an algorithm for online stiffness estimation for compliant robotic manipulation is presented. This online algorithm receives the system command input and measured force, generating an estimation of the system stiffness. The method does not require persistent excitation, nor position and velocity measurements. It has low computational overhead, making it suitable for online operation. Simulation and experimental results are presented, validating the approach.

关键词： Robots Manipulators Minimally invasive surgery Force measurement Damping Friction Stability Bones Surgical instruments Velocity measurement

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Standards for Super-Premium Efficiency class for electric motors

Standards for Super-Premium Efficiency class for electric mo...

引用

Annual Meeting Industrial and Commercial Power systems Technical Conference

作者： Aníbal T. de Almeida Fernando J. T. E. Ferreira João A. C. Fong Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal

ISBN: (纸本)9781424433988;9781424433995

Higher efficiency electric motors can lead to significant reductions in the energy consumption and also reduce the environmental impact. In order to promote a competitive motor market transformation, a new international standard, the IEC 60034-30 has been approved. This standard globally harmonizes motor energy-efficiency classes in general-purpose, line-fed, three-phase, squirrel-cage, induction motors (IMs). In this standard, four efficiency classes are proposed, namely Standard Efficiency (IE1), High-Efficiency (IE2) equivalent to EPAct, Premium Efficiency (IE3) equivalent to NEMA Premium and Super-Premium Efficiency (IE4). IE1, IE2 and IE3 classes were normative, and IE4 class was intended to be informative, since no sufficient market and technological information is available to allow IE4 standardization. The IE4 Super-Premium class, under discussion, can be applied both to line-fed motors and to inverter plus motor units. In fact, for low-power levels (up to 10 hp) it is clear that moving away from IM technology, and considering emergent or best-available technologies such as permanent-magnet synchronous motors (PMSMs) can achieve efficiency levels considerably significantly higher than those defined by Premium IE3 class. In this paper, feasible limits for IE4 class are analysed taking into account the efficiency levels of commercial and expected best available technology. The presented results can be useful to define future international standard ¿Super-Premium¿ or IE4-class levels as well as to set market transformation strategies.

关键词： Electric motors Synchronous motors Induction motors IEC standards Energy consumption Energy efficiency Standardization Inverters Manufacturing Rotors

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Rotorcraft path following control for extended flight envelope coverage

Rotorcraft path following control for extended flight envelo...

引用

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： D.Cabecinhas R.Cunha C.Silvestre Department of Electrical Engineering and Computer Science and Institute for Systems and RoboticsInstituto Superior Técnico

This paper addresses the problem of steering a quadrotor vehicle along a predefined *** problem is formulated so as to dynamically prescribe an adequate time evolution along the path and simultaneously bound the effect of position errors on the *** proposed solution consists of a nonlinear state feedback controller for thrust and torque actuations combined with a path following timing law that i)guarantees global asymptotic convergence of the path following error to zero,for a large class of three-dimensional paths,ii) ensures that the actuation does not grow unbounded as function of the position errors,and iii) allows for zero thrust actuation to be applied when the vehicle is converging to the *** results are presented to assess the performance of the proposed controller.

关键词： Rotorcraft path following control for extended flight envelope coverage

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A kernel particle filter multi-object tracking using gabor-based region covariance matrices

A kernel particle filter multi-object tracking using gabor-b...

引用

IEEE International Conference on Image Processing

作者： Hélio Palaio Jorge Batista Institute of Systems and Robotics Department of Electrical Engineering and Computers Faculty of Science and Technology University of Coimbra Portugal

This paper presents an approach to label and track multiple objects through both temporally and spatially significant occlusions. To this end, tracking is performed at both the region level and the object level. At the region level, a kernel based particle filter method is used to search for optimal region tracks which limits the scope of object trajectories. At the object level, each object is located based on adaptive appearance models, spatial distributions and inter-occlusion relationships. Region covariance matrices are used to model objects appearance. We analyzed the advantages of using Gabor functions as features and embedded them in the RCMs to get a more accurate descriptor. The proposed architecture is capable of tracking multiple objects even in the presence of periods of full occlusions. Results from experiments with real video data show the effectiveness of the approach hereby proposed.

关键词： Kernel Particle filters Particle tracking Covariance matrix Target tracking Filtering Object detection Image sequences Layout Chromium

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Experiments to observe the impact of power quality and voltage-source inverters on the temperature of three-phase cage induction motors using an infra-red camera

Experiments to observe the impact of power quality and volta...

引用

IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Fernando J. T. E. Ferreira Anibal T. de Almeida Joaquim F. S. Carvalho Mihail V. Cistelecan Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal Research Institute of Electrical Machines (ICPE-ME) Bucharest Romania

Nowadays, voltage-source inverters (VSIs) are widely used to control speed, torque and/or position of three-phase, squirrel-cage, induction motors (IMs). However, the harmonic distortion inherent to the VSI output PWM voltages leads to the increase of the motor operating temperature and, consequently, to the reduction of the electric insulation system lifetime. Additionally, the most common long-duration voltage anomalies in the power network, such as voltage magnitude deviation, unbalance and harmonic distortion, have a well-known impact on IMs' performance and lifetime. The operating temperature increase due to poor power quality is particularly critical in the totally-enclosed, fan-cooled IMs. In order to allow a direct observation of the temperature distribution in IMs subjected to different voltage supply conditions, a set of experiments are proposed, using a totally-enclosed, fan-cooled IM, an end-shield-less, fan-less IM, and an infra-red camera to acquire the temperature maps in the frame for the first mentioned motor and in the stator core, stator windings and rotor for the last mentioned motor. The motor steady-state temperature is directly related with the losses being produced in it under different operating conditions, including ambient temperature, load, speed and input power quality. The proposed laboratorial experiments can be used to easily observe and study that relation, including the impact of PWM voltage supply and of individual voltage harmonics in the IMs' operation, being a contribution in the scope of electrical engineering education, particularly for electric machines and power electronics courses.

关键词： Power quality Induction motors Cameras Pulse width modulation Pulse width modulation inverters Harmonic distortion Temperature distribution Torque control Voltage control Dielectrics and electrical insulation

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Active stereo tracking of multiple free-moving targets

Active stereo tracking of multiple free-moving targets

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Luis Perdigoto Joao P. Barreto Rui Caseiro Helder Araujo ESTG Polytechnic Institute of Leiria Leiria Portugal Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

This article presents a general approach for the active stereo tracking of multiple moving targets. The problem is formulated on the plane, where cameras are modeled as “line scan cameras” and targets are described as points with unconstrained motion. We propose to control the active system parameters in such a manner that the images of the targets in the two views are related by an homography. This homography is specified during the design stage and implicitly encodes the tracking behavior. It is shown that this formulation leads to an elegant geometric framework that enables to decide about the feasibility of a particular active tracking task. We apply it to prove that two cameras with rotation and zoom control, can track up to three moving targets, while assuring that the image location of each target is the same for both views. In addition, the framework is also useful for devising tracking strategies and deriving the required control equations. This feature is illustrated through a real experiment on tracking two independent targets using a binocular stereo head.

关键词： Target tracking Cameras Robot vision systems Head Optical feedback Optical sensors Focusing Control systems Equations Visual system

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A Brain Computer Interface methodology based on a visual P300 paradigm

A Brain Computer Interface methodology based on a visual P30...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Gabriel Pires Urbano Nunes Department of Electrical Engineering Instituto Politécnico de Tomar Portugal Institute for Systems and Robotics University of Coimbra Portugal Department of Electrical and Computer Engineering University of Coimbra Portugal

Abstract-Brain Computer Interface (BCI) systems based on electroencephalography (EEG) open a new communication channel for people with severe motor disabilities, without recurring to the conventional motor output pathways. The very low signal-to-noise ratio and low spatial resolution still limits severely BCIs communication bandwidth. This paper presents the ongoing work toward the development of a BCI system for wheelchair steering. A full system based on a visual P300 oddball paradigm is proposed. The signal processing algorithms are computationally efficient and require a short phase training. Temporal features and EEG channels are selected through a Fisher criteria. For enhancement of signal-to-noise ratio and data dimensionality reduction, a spatial filter named Common Spatial Patterns is applied. This method is widely used for classification of motor imagery events, however it is not very often used for classification of event related potentials such as P300. In this paper we show that Common Spatial Patterns is an effective approach to improve P300 classification rates. In our approach, the input features for classification are the projections of the filtered data instead of the variance of the projections as typically used in motor imagery. Offline classification results, obtained with a Bayesian classifier, are presented showing the effectiveness of the overall methodology.

关键词： Brain computer interfaces Electroencephalography Signal to noise ratio Computer interfaces Communication channels Spatial resolution Bandwidth Wheelchairs Signal processing algorithms Spatial filters

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Optimal design of vibration power generator for low frequency

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作者： Hadas, Zdenek Singule, Vladislav Ondrusek, Cestmir Institute of Solid Mechanics Mechatronics and Biomechanics Faculty of Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic Institute of Production Machines Systems and Robotics Faculty of Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic Department of Power Electrical and Electronic Engineering Faculty of Electrical Engineering and Communication Brno University of Technology Technicka 8 61669 Brno Czech Republic

ISBN: (纸本)3908451655

This paper deals with an optimal design of an electromagnetic energy harvesting generator for supplying wireless sensors with energy. The developed device is complex mechatronic system which generates an electrical power from an ambient low frequency mechanical vibration by use of a suitable electromagnetic generator. This device is excited by ambient mechanical vibration and electrical energy is harvested due to Faraday's law. The design of this vibration power generator results from development cycles and the final generator can provide sufficient electrical energy for wireless sensors. The vibration power generator is tuned up to frequency of vibration 17 Hz and harvested output power depends non-linearly on level of vibration. The vibration power generator operates in level of vibration 0.1 - 1 G peak and output power is in range 2 - 25 mW. © (2009) Trans Tech Publications.

关键词： Energy harvesting

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