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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： A. Jackson P. Culmer S. Makower M. Levesley R. Richardson A. Cozens M. Mon Williams B. Bhakta Department of Mechanical Engineering University of Leeds UK Leeds Primary Care NHS Trust UK Department of Computer Science University of Manchester Institute of Science and Technology UK Department of Rehabilitation Medicine Grampian NHS UK Department of Psychology University of Aberdeen UK Faculty of Medicine and Health University of Leeds UK Leeds Teaching Hospitals National Health Service Trust UK

iPAM is a dual robotic system currently being developed in the UK under a NHS New and Emerging Applications of Technologies (NEAT) grant. The aim of the system is to provide assistive upper-limb therapeutic excercise for post-stroke rehabilitation. iPAM features two co-ordinated, pneumatically-actuated robotic arms which attach to the patient's forearm and upper-arm to provide assistance, mimicking the intervention of a physiotherapist. The system design and manufacture has been completed and the robot installed at a local hospital (St Mary's, Leeds PCT, UK) inside a community rehabilitation unit. The controller is currently developed and 'tuned' to provide gravity compensation for robots, removing any potentially damaging loads on the patient arm. The control scheme has been tested in simulation and using a mechanical arm model to ensure safe operation. Two small scale trials have been conducted to assess two facets of the robot design; firstly the mechanical design of the system to unimpede normal arm movement and secondly, its ability to provide varying levels of lift to the patient's arm to increase range of movement. The former of these trials compares free arm movement in healthy volunteers and Stroke patients with that when attached to iPAM. The robot was configured to compensate for its own weight, so the human upper-limb was unloaded. It was found that the robot had no significant affect on movement patterns. The second group of patient trials evaluated the operation of various levels of assistance against gravity. Patients were asked to point to a target with varying degrees of 'lift' applied to their upper and lower arm. In those patients with significant upper-limb impairment it was found that higher values of 'lift' improved the extent of reach but altered the movement pattern. Results from the trials demonstrated the suitability of certain modes of operation depending on the severity of patient disability.

关键词： System testing Rehabilitation robotics Robot kinematics Shoulder Wrist Elbow Hospitals Gravity Humans Medical treatment

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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SIR/RSNA/CIRSE joint medical simulation task force strategic plan executive summary

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JOURNAL OF VASCULAR AND INTERVENTIONAL RADIOLOGY 2007年第8期18卷 953-955页

作者： Gould, Derek Patel, Aalpen Becker, Gary Connors, Buddy Cardella, John Dawson, Steven Glaiberman, Craig Kessel, David Lee, Mick Lewandowski, William Phillips, Roger Reekers, Jim Sacks, David Sapoval, Marc Scerbo, Mark [a]Department of Radiology Royal Liverpool University Trust Liverpool England [b]Department of Radiology University of Pennsylvania School of Medicine Philadelphia PA 19104 [c]Department of Radiology University of Arizona College of Medicine Tucson Ariz [d]Radiology Associates of Sacramento Sacramento Calif [e]Department of Radiology Baystate Health System/Tufts University School of Medicine Springfield Mass [f]Department of Radiology Massachusetts General Hospital Harvard Medical School Boston Mass [g]Mallinckrodt Institute of Radiology Washington University School of Medicine St Louis Mo [h]Department of Radiology Leeds Teaching Hospitals Leeds England [i]Department of Radiology Beaumont Hospital Royal College of Surgeons in Ireland Dublin Ireland [j]William E Lewandowski Consulting Daytona Beach Fla [k]Department of Computer Science University of Hull Hull England [l]Department of Radiology Academic Medical Centre Amsterdam The Netherlands [m]Department of Radiology the Reading Hospital and Medical Center Reading Pa [n]Department of Cardiovascular Radiology Hopital Européen Georges Pompidou Paris France [o]Department of Psychology Old Dominion University Norfolk Va.

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A model-driven approach for business constraints discovery

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Information Technology Journal 2006年第3期5卷 454-459页

作者： Xue, Liang Feng, Boqin Department of Computer Science and Technology Computer Teaching and Experiment Center Xi'an Jiaotong University Xi'an 710049 China

Business constraints restrict the enterprise structure, govern the business behavior and contribute to the business goals. Due to stuff turnover and lack of documentation the knowledge of what constraints exist and how they interact are often poorly defined. This can seriously hinder an organization to understand how the business behaves and operates and to seize new opportunities or improve the business performance. A model-driven discovery approach is proposed to help the user to uncover the business constraints from the enterprise documents. This approach proposes a meta-model to describe the ontological constructs of the business constraints enforcing environment, defines a set of formal templates to document the business constraints to facilitate communication, sharing and reuse, gives a verification algorithm to ensure the completeness and validness of the discovered business constraints, defines the interactions among business constraints and finally proposes an elicitation procedure to efficiently guide the business users to discover the business constraints. Moreover, an example is presented to demonstrate the discovery approach of the business constraints and their usage for decision-making. © 2006 Asian Network for Scientific Information.

关键词： Industrial management

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Electrical engineering hall of fame: Jonathan Zenneck

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PROCEEDINGS OF THE IEEE 2006年第3期94卷 664-666页

作者： Brittain, JE College of Basic Teaching Shanghai University of Engineering Science Shanghai China Department of Computer Science and Technology East China Normal University Shanghai China

In 1928, the Institute of Radio Engineers (IRE) selected Jonathan Zenneck as the recipient of its Medal of Honor. He was cited for "his contribution to original researches in radio circuit performance and to the scientific and educational contributions to the literature of the pioneer radio art." His research interests included cathode-ray tube instruments, coupled resonant circuits, and directive antennas. He also performed experimental and theoretical investigations of electric wave propagation over land and water surfaces. He authored about 200 technical papers and two influential books on electric waves and wireless communication. He became a Fellow of the IRE in 1914.

关键词： Figs ELECTRICAL ENGINEERING Famous Persons Cathode rays Technical papers Resonant circuits Directive antennas helium electrical engineering Radio Electric waves Circuit optimization Medals CARRIER SYSTEM

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Nonlinear models of artery dynamics

Nonlinear models of artery dynamics

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2005 7th International Workshop on Mathematical methods on Scattering Theory and Biomedical Engineering

作者： Kalita, Piotr Paszyński, Maciej Schaefer, Robert Institute of Computer Science Jagiellonian University Nawojki 11 30-072 Kraków Poland Department of Computer Methods in Metallurgy AGH University of Science and Technology Al. Mickiewicza 30 30-059 Kraków Poland Department of Computer Science AGH University of Science and Technology Al. Mickiewicza 30 30-059 Kraków Poland

ISBN: (纸本)9812568603

The paper focuses on the models that express the phenomenon of pulse wave propagation in the human arterial system. Physical nonlinearities in both wall and blood tissues were included. Models are theoretically verified and the simulation results are compared with the medical measurement data. © 2006 World Scientific Publishing Co. Pte. Ltd.

关键词： Wave propagation

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Integrating probability with time and shared-variable concurrency

Integrating probability with time and shared-variable concur...

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30th Annual NASA/IEEE Software Engineering Workshop

作者： Zhu, Huibiao Qin, Shengchao He, Jifeng Bowen, Jonathan P. Software Engineering Institute East China Normal University Department of Computer Science University of Durham Centre for Applied Formal Methods London South Bank University

ISBN: (纸本)9780769526249

Complex software systems typically involve-features like time, concurrency and probability, where probabilistic computations play an increasing role. It is challenging to formalize languages comprising all these features. In this paper we integrate probability, time and concurrency in one single model, where the concurrency-feature is modelled using shared-variable based communication. The probability feature is represented by a probabilistic nondeterministic choice, probabilistic guarded choice and a probabilistic version of parallel composition. We formalize an operational semantics for such an integration. Based on this model we define a bisimulation relation, from which an observational equivalence between probabilistic programs is investigated and a collection of algebraic laws are explored. We also implement a prototype of the operational semantics to animate the execution of probabilistic programs.

关键词： Probability

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An integration customer-driven requirement-refining scheme of business process reengineering

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Information Technology Journal 2006年第6期5卷 1113-1116页

作者： Chen, Ning Feng, Bo-Qin Computer Teaching and Experiment Center Department of Computer Science and Technology Xi'an Jiaotong University Xi'an 710049 China

The present study proposes a novel Integration Customer-Driven Scheme of Business Process Reengineering (ICDSBPR). Based on BPEL4WS, requirement is described and refined, then transformed into prototype that can provide lively experience for customers, making customers probe system and discover deficiency as early as possible. Once deficiency is discovered, customers can amend requirement and restart ICDSBPR scheme, thus business process is evolved. Finally a simple case study is provided to demonstrate how to use ICDSBPR scheme. © 2006 Asian Network for Scientific Information.

关键词： Industrial economics

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Decentralized adaptive controller design for uncertain large-scale time-delay systems

Decentralized adaptive controller design for uncertain large...

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ISDA 2006: Sixth International Conference on Intelligent Systems Design and Applications

作者： Jianqiang, Xu Shuzhong, Chen Center of Mathematics and Physics Teaching Shanghai Institute of Technology Shanghai 200233 China Department of Computer Science and Technology East China Normal University Shanghai 200062 China

ISBN: (纸本)0769525288

The problem of decentralized robust control is considered for a class of uncertain large-scale time-delay systems in the presence of mismatched and matched uncertainties. The interconnections are assumed to be bounded by a linear function of delayed states with unknown gains. The upper bounds of the matching uncertainties and perturbations are also assumed to be unknown. The adaptation laws are proposed to estimate such unknown bounds, and by making use of the LMI method, a class of decentralized robust adaptive controllers is constructed. Based on the Lyapunov stability theory and Lyapunov-Krasovskii functional, it is shown that the state trajectories of the large-scale systems are uniformly asymptotically to zero. Finally, a numerical example is given to demonstrate the validity of the results. © 2006 IEEE.

关键词： Adaptive control systems

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