Use of tele-operated robotic manipulators for performing various medical tasks have become significant due to concerns regarding the spread of contagious diseases. The area that we have specifically targeted in this p...
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In railways, one of the foremost issue is the safety of railway level crossing. Crashes related to railway level crossing lead to a great loss with respect to goods and lives. However, the existing methods used for th...
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In this paper, we discuss the design of different models for teleoperation control by presenting the significant benchmark results for various important force reflecting control architectures used in 1-DOF bilateral t...
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A way behind the past where teaching and learning were only by video, images, and 2D animations. Now we have live sessions where a classroom is bounded on just a laptop screen. What happened if that live session and 3...
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Use of tele-operated robotic manipulators for performing various medical tasks have become significant due to concerns regarding the spread of contagious diseases. The area that we have specifically targeted in this p...
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Use of tele-operated robotic manipulators for performing various medical tasks have become significant due to concerns regarding the spread of contagious diseases. The area that we have specifically targeted in this paper is the frequently taken heartbeat measurements. The key to accurately measuring patient's heartbeat using a robotic manipulator is adjusting the stethoscope by exerting correct amount of force through the end-effector. In this paper, we have designed a setup using a 6-Degree of Freedom (DOF) tele-operated robotic arm coupled with a force sensor, buzzer and a stethoscope. The idea is that the robot embedded with force sensor will palpate the patient for heartbeat reading and that force signal will generate sound feedback for the doctor operating at master site. Signal from the force sensor helps to achieve appropriate exertion force and adjustment of stethoscope on patient's body so as to get accurate heartbeat waveform on doctor's mobile phone. For this, manual experiments are performed to establish baseline force range. Experiments are also performed using both pendant and haptic device at master end. As a result, Force-Time graph are obtained in all experimental configurations while the heartbeat is monitored using stethoscope's mobile application. Thus, a contactless heartbeat measurement is achieved. Results from the setup shows the validity of the proposed procedure.
作者：
Falaq QureshiRiaz UddinDepartment of Electrical Engineering
Haptics Human-Robotics and Condition Monitoring Lab (affiliated with National Center of Robotics and Automation - NCRA HEC/PC Pakistan) NED University of Engineering and Technology Karachi Pakistan
In this paper, we discuss the design of different models for teleoperation control by presenting the significant benchmark results for various important force reflecting control architectures used in 1-DOF bilateral t...
详细信息
In this paper, we discuss the design of different models for teleoperation control by presenting the significant benchmark results for various important force reflecting control architectures used in 1-DOF bilateral teleoperation. They are used to analyze the results of force and distance tracking graphs in free motion and contact mode obtained from various control models by varying dynamics of master, slave, environment, and communication channel. In this regard, different force reflecting teleoperation control architectures are simulated via proposed model design, such as two-channel (2C) architectures, three-channel (3C) and finally four-channel (4C) architecture. These benchmark results are presented for each architecture via MATlab/Simulink-based simulator.
In railways, one of the foremost issue is the safety of railway level crossing. Crashes related to railway level crossing lead to a great loss with respect to goods and lives. However, the existing methods used for th...
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In railways, one of the foremost issue is the safety of railway level crossing. Crashes related to railway level crossing lead to a great loss with respect to goods and lives. However, the existing methods used for the accidents' avoidance are manual, sensors and cameras based which possess certain drawbacks. Manual control of crossing gates is not only time-consuming but requires human labor and generate errors. Besides, camera based control systems are costly, involve experts to process the images, require human intervention, and do not provide clear images in fog/rain. On the other hand, sensors based systems have short range issues and are dependent on environmental conditions. This paper reviews the existing control systems of railway infrastructure and their classification in different countries. It then presents an automatic, novel, high range and cost-effective approach to prevent critical accidents intelligently. The novel concept avoids level crossing accidents using Internet of Things (IoT) technology. The train GPS based on-board and track controller nodes communicate to control level crossing gates and alert road users. The communication between modules (i.e., on-board train and track devices) and remote database establishes using WiFi. The review of effective communication network for critical and non-critical communication is presented with respect to mobility, capacity, coverage, availability and reliability. This research provides concept which can greatly mitigate the accidents' frequency associated with the trains, pedestrians and road vehicles on crossing using smart technologies.
A way behind the past where teaching and learning were only by video, images, and 2D animations. Now we have live sessions where a classroom is bounded on just a laptop screen. What happened if that live session and 3...
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A way behind the past where teaching and learning were only by video, images, and 2D animations. Now we have live sessions where a classroom is bounded on just a laptop screen. What happened if that live session and 3D imaging are presented in the form of real sculpture by using Augmented Reality? In this paper, we are introducing a low-cost 3D display that presents both recorded and live sessions. Also, this display will be controlled with our fingertips. This application covers sectors of education, medical imaging, and advertisements with good effects and cheap cost.
In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of th...
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In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of the SDN controller is sophisticated for the centralized control system of the entire ***,it creates a significant loophole for the manifestation of a distributed denial of service(DDoS)attack ***,recently a Distributed Reflected Denial of Service(DRDoS)attack,an unusual DDoS attack,has been ***,minimal deliberation has given to this forthcoming single point of SDN infrastructure failure ***,recently the high frequencies of DDoS attacks have increased *** this paper,a smart algorithm for planning SDN smart backup controllers under DDoS attack scenarios has *** proposed smart algorithm can recommend single or multiple smart backup controllers in the event of DDoS *** obtained simulated results demonstrate that the validation of the proposed algorithm and the performance analysis achieved 99.99%accuracy in placing the smart backup controller under DDoS attacks within 0.125 to 46508.7 s in SDN.
The exponential increase of future mobile phone users is resulting in growth of data traffic which is creating a shortage of the licensed spectrum. the scarcity led to the idea of using the unlicensed channel along wi...
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ISBN:
(数字)9781728197944
ISBN:
(纸本)9781728197951
The exponential increase of future mobile phone users is resulting in growth of data traffic which is creating a shortage of the licensed spectrum. the scarcity led to the idea of using the unlicensed channel along with the licensed channel in Long Term Evolution (LTE), known as License Assisted Access (LAA). However, the unlicensed spectrum is already utilized by Wi-Fi and in order to deploy Small Base Stations (SBSs) that will also utilize the same band there is a need for a fair coexistence mechanism which will allow the SBS to be operational without degrading the performance of Wi- Fi. by adopting a deep learning approach, we can train SBSs to predict wireless traffic ahead of time. To forecast future time sequences, we use LSTM models which have already proven to be competent for time series predictions. We tested the LSTM models with high load datasets and a low load dataset that we were able to generate using a 2.4 GHz band. We obtained a RMSE of 0.041463 at the lowest for trace 3 and an MSE of 0.0017192. These results demonstrate the precision of LSTM networks for recognizing wireless traffic patterns. This concept incorporated in LTE-LAA infrastructures can result in better overall service and prove to be energy efficient than the traditional techniques such as LBT or CAA.
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