Sparse reconstruction is an important method aiming at obtaining an approximation to an original signal from observed data. It can be deemed as a multiobjective optimization problem for the sparsity and the observatio...
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As the key basis materials of Ni-MH and Ni/Cd battery electrode, the quality of the nickel foam products is closely related with the performance and safety of rechargeable batteries. In order to meet the requirements ...
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Flexibility and robustness have become key points in the development of surgical robotcontroller for physical interactions. However, the conventional impedance control schemes unaware of the actual surgical scenario,...
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ISBN:
(数字)9781728158716
ISBN:
(纸本)9781728158723
Flexibility and robustness have become key points in the development of surgical robotcontroller for physical interactions. However, the conventional impedance control schemes unaware of the actual surgical scenario, including complex physical interaction on the robot arm, lead to the loss of accuracy. In this paper, a hierarchical task impedance control scheme is proposed for Minimally Invasive Surgery (MIS) based on an operational space formulation of a 7 DoFs redundant robot. Its redundancy is exploited to guarantee a remote center of motion (RCM) constraint and to provide a flexible workspace for the medical staff to assist physicians. In addition to the achievement of the classical whole-body impedance control, the issue of uncertain disturbances will be addressed by a decoupled adaptive approximation based on a radial basis function neural network (RBFNN) within the control framework. Task performances under the hierarchical task impedance controller were validated and compared with previous work in the literature. Experimental results showed its improved performance in terms of positional error and RCM constraint, regardless of the existing uncertain physical interaction.
This paper provides a context within which the role of human factors engineering (HFE) for Naval ship design may be understood. HFE is defined and its history as part of engineering design teams is traced. The role of...
This paper provides a context within which the role of human factors engineering (HFE) for Naval ship design may be understood. HFE is defined and its history as part of engineering design teams is traced. The role of HFE in ship systems design is defined, and the HFE technology for Ships Program, managed by SEA 061R, is described. The rationale for inclusion of HFE in the design process is presented, the methodology whereby it is incorporated into the design process is detailed, methodology to assess the application of HFE is outlined, and the benefits that will accrue as a result of inclusion of HFE considerations in the design process are documented. The counterpoint to inclusion is illustrated through instances of design-induced human errors. A specific application of HFE in the acquisition process is illustrated through use of the Landing Craft, Air Cushion HFE program plan. The difficulties which may be encountered as the size of the target system expands are described. Potential roadblocks to the required incorporation of HFE are examined for their source and possible ameliorative steps.
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