The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/...
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This paper proposes a new approach for an estimation of user's intention using Self-Organizing Map (SOM), ontology, and Petri-net. In order to construct the intention estimator, the ontology and Petri-net are used...
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Magnetic resonance imaging provides superior imaging capability because of unmatched soft tissue contrast and inherent three-dimensional visualization. Force sensing in robot-assisted systems is crucial for providing ...
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ISBN:
(数字)9781461402107
ISBN:
(纸本)9781461402091
Magnetic resonance imaging provides superior imaging capability because of unmatched soft tissue contrast and inherent three-dimensional visualization. Force sensing in robot-assisted systems is crucial for providing tactile feedback and measuring tissue interaction forces in needle-based percutaneous procedures in MRI. To address the issues imposed by electromagnetic compatibility in the high-field MRI and mechanical constraints due to the confined close-bore space, this paper proposes a miniaturized fiber optic force sensor utilizing Fabry-Perot interferometry. An opto-electromechanical system is designed to experimentally validate the optical model of the sensor and evaluate its sensing capability. Calibration was performed under static and dynamics loading conditions. The experimental results indicate a gage sensitivity on the order of 40 (mV/μΕ) of the sensor and a sensing range of 10 Newton. This sensor achieves high-resolution needle insertion force sensing in a robust and compact configuration in MRI environment.
This paper describes the analysis of Pneumatic Balloon Actuator (PBA). To do this, Finite Element Method (FEM) is used. In this paper, no-load characteristic of PBA is studied and through this, the displacement and st...
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This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory...
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We present a new approach for the synthesis of robust fault detection filters for the model based diagnosis of actuator faults. The underlying synthesis model is a linear pa- rameter varying (LPV) description obtained...
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Attitude Control for an underwater vehicle working in shallow wavy water is an important capability. In shallow water this mission most likely will be disturbed by the large surge induced hydrodynamic forces acting on...
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Attitude Control for an underwater vehicle working in shallow wavy water is an important capability. In shallow water this mission most likely will be disturbed by the large surge induced hydrodynamic forces acting on the underwater vehicle. In this paper, the second order wave drift force affecting severely the underwater vehicle in shallow water are presented. On the basis of wave force analysis, three dimension disturbances caused by wavy surgy water are measured and a control system using least squares multi-order data fitting polynomial prediction and fuzzy compensation combined with PID controller is put forward. The experimental results show that the control system for disturbance of surge and wave is feasible and effective.
The identification of dynamic parameters is of prime importance in vibration analysis. A number of different time and frequency domain methods have been developed for vibration analysis of time-invariant systems. Howe...
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Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the ro...
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作者：
Miah, SuruzGueaieb, WailMachine Intelligence
Robotics Mechatronics (MIRaM) Laboratory at the School of Electrical Engineering and Computer Science (EECS) University of Ottawa ON Canada
Most mobile robot localization techniques that depend on reference Radio Frequency (RF) stations are based on approximating the line-of-sight (LOS) distance between these stations and the robot by processing the stren...
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Most mobile robot localization techniques that depend on reference Radio Frequency (RF) stations are based on approximating the line-of-sight (LOS) distance between these stations and the robot by processing the strength of the RF signal propagating between the beacons and the robot. To date, mapping the strength of this signal to its corresponding distance remains a very challenging task to undertake, especially in reverberant environments. The manuscript outlines a novel nonholonomic mobile robot navigation system using a bearing-sensitive Radio Frequency IDentification (RFID) reader which is specifically designed to operate in indoor reverberant environments. This design does not depend on an accurate mathematical model to map the RF's Received Signal Strength (RSS) to an LOS distance. The proposed navigation system is evaluated through a series of computer simulations where a commercial electromagnetic simulation software (FEKO) is adopted to realistically assess the reverberations effect on the developed architecture. It has been shown that the robot successfully converges to its destinations under various magnitudes of reverberations.
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