Study on the Control System of the End Effector in Minimally Invasive Surgery Robot
|
|
- Alyson Cornelia Little
- 5 years ago
- Views:
Transcription
1 IOSR Journal of Engineering (IOSRJE) ISS (e): , ISS (p): Vol. 07, Issue 05 (May. 2017), V1 PP Stuy on the Control System of the En Effector in Minimally Invasive Surgery Robot Wang Hao 1 Zhang Xue 2 Ran Guangpeng 3 (College Of Mechanical Engineering, Shanghai University Of Engineering Science, Shanghai , P.R.China)PROJRCT UMBER: 16K0113 Abstract: As A ew Research Fiel, Minimally Invasive Surgical Robot Technology Has Great Value For The Research An Development Of Motion Control System. From The Aspects Of Robot Configuration, Surgical Trajectory Planning An Control System, This Paper Introuces The Design An Implementation Of The Minimally Invasive Surgical Robot En Effector. The Control Strategy Of Minimally Invasive Surgery Robot, The Selection Of Control System Harware An The Software Development Process Are Describe. A ew Type Of Minimally Invasive Surgery Robot Aopts The Parallel Structure An The Control Strategy Base On The Calculate Torque/Displacement, Which Realizes The Control Of The Trajectory Tracking, An Can Complete The Simple Minimally Invasive Operation Uner The Doctor's Operation. Key Wor: Minimally Invasive Surgical Robot; Robot Configuration; Trajectory Planning; Control System1 I. ITRODUCTIO Minimally Invasive Surgery Is To Open One Or More 0.5cm~3cm Incision In Patients In Vitro, The Surgical Instruments Were Implante Into The Patient Through A Small Woun, An The Doctor With The Help Of An Image Visualization System To Perform The Specific Surgical Treatment For The Removal An Repair Of Disease Cells. Compare With Traitional Open Surgery, Minimally Invasive Surgery Has Many Avantages, Such As Less Trauma, Less Bloo Loss, Faster Postoperative Recovery An So,Therefore, It Has Been Wiely Use In The Fiel Of Surgery[1]. But Because Of The Minimally Invasive Surgery Has A Series Of Problems ee To Be Solve, Such As During The Operation Process, The Doctor Han Eye Coorination Is Poor, Easy To Fatigue, Less Freeom Of Surgical Instruments, Resulting In Poor Flexibility In Operation, Han Tremor Seriously Affect The Accuracy Of Surgery, Etc.. In Orer To Effectively Solve The Problems In Minimally Invasive Surgery, The Robot Technology Is Introuce Into Minimally Invasive Surgery, The Combination Of The Two Is Boun To Be The Main Direction Of The Future Development Of Minimally Invasive Surgery[2]. Minimally Invasive Surgical Robot System Overcomes The Shortcomings Of Traitional Minimally Invasive Surgery, While Proviing A Goo Working Environment For The Doctor, In The Premise To Ensure The Safety Of Patients Uner Greatly Improve The Quality Of Minimally Invasive Surgery. At Present, Minimally Invasive Surgical Robot Technology Has Become The International Multituinous Universities An Research Institutes Of The Research Focus, Which Stuies In The Minimally Invasive Surgical Robot Technology In The Unite States An The European Research Institutions In The International Leaing Level,One Of The Most Representative Of The Unite States In 1996 Computer Motion R & D Zeus Robot System[3]An In The Unite States In 1999 Surgical Da Vinci Robot System[4]. In 2001, Da Vinci Minimally Invasive Surgery Robot System Develope By The American Intuitive Surgical Company Successfully Passe The Foo An Drug Aministration Certification [5], Has Achieve The Commercialization Of Minimally Invasive Surgery Robot System. 2 Robot Configuration Inepenent Research An Development Of The Parallel Robot Configuration Has Been Use On The En Effector Of A ew Type Of Minimally Invasive Surgery Robot, By The Double Parallel Parallelogram Mechanism Realize Reliability Centere Maintenance An Decoupling Function,Has The Avantages Of Simple Structure, Goo Flexibility, The Structure Configuration As Shown In Figure 1. The En Effector Can ot Only Realize The Pose Position Of The Operating Range, But Also Ensure The Stability An Flexibility Of The Robot. 31 P a g e
2 Stuy On The Control System Of The En Effector In Minimally Invasive Fig.1 The En Effector Of The Minimally Invasive Surgical Robot The En Effector Of The Surgical Robot Is Compose Of One Or Two An Three Or Four Joints. The First Joint Is Rotating Joint To Realize The Rotation Of The En Actuator; The Secon Joint Is A Rotating Joint To Realize The Rotation Of The Front Parallelogram Mechanism; The Thir Joint Is A Rotary Joint,Which Uses The Parallelogram Mechanism To Convert The Rotary Motion Into The Linear Motion Of The Joint Four, An The Linear Stretching Motion Of The Surgical Instrument Is Realize; The Fourth Joint Is A Rotating Joint To Realize The Rotation Of The Surgical Instrument. 3 Surgical Trajectory Planning In The Process Of Minimally Invasive Surgery,Doctors Can Operate Robots, First, The Surgical Instruments Were Move From The Distal To The Proximal Point, An The Location Of The Incision Was Precisely Locate. After The Doctor Again Through The Operation Of The Robot En Effector Do Fixe-Point Motion, Surgical Instruments Will Be Slowly Inserte Into The Patient's Boy Along The Incision Point That Has Given Before Operation Scheme, An Accoring To The Specific Situation Aroun The Incision Point At A Certain Angle Swing, To Reach Any Position Of The Operation Area, The Completion Of The Lesion Cells In Vivo Excision An Repair Of Concrete The Surgical Treatment Of The Task. 4 Robot Control System 4.1 Stuy On The Control System By Analyzing The Kinematics An Dynamics Of The En Effector Of The Surgical Robot, That Can Get The Motion Space, Displacement An Velocity About Each Joints Of The En Effector. In Orer To Improve The Surgical Robot En Effector Has Goo Stability In The Work Process, So Installing Force An Displacement Sensor At The Joint Of The Surgical Robot En Effector, Which Better Reflects The Working State About The En Effector Of The Surgical Robot. Different From The PD Control System Or PD Control System Base On Gravity Compensation, Aiming At The Design Of The En Effector Of The Surgical Robot, A Control Strategy Base On Torque An Displacement Error Compensation Is Presente, Ensuring In The Motion Process To Meet The High Precision Control Requirements, Improving The Reliability Of The En Mechanism. Accoring To The Lagrange Equation Establish The Dynamic Moel Of The Robot En Effector, An The Terminal System Is Consiere As An Iealize Linear System, Introucing Corresponing Control. Accoring To The Dynamic Equation Get The Effective External Loa Control Equation About The En Effector. F1 M (s)(s Ke K pe) ( s, s) s G(s) Among: F 1 Joint Driving Force Uner Dynamics; S Actual Position Of Joint; s Actual Spee Of Joint; s Theoretical Trajectory Of Joint; s Theoretical Acceleration Of Joint; ( s, s) s Inertia Force; K K p Differential Constant An Proportionality Constant; E The Deviation Between The Actual Position An The Theoretical Position Of Each Joint; G(S) Gravity Term. Consiering The Effect Of The Contact Force Between The Surgical Instruments An The Environment In The 32 P a g e
3 Force an isplacement sensor Limit switch Stuy On The Control System Of The En Effector In Minimally Invasive Process Of Operation, The Joint Driving Force Of The Robot Is Obtaine Uner Static Conition: F JF 2 3 Among: J Force Jacobian Matrix; F3 Effective Loa. Minimally Invasive Surgery Robot Joint Effective External Loa: F F F M (s)(s K e K e) ( s, s) s G(s) JF 1 2 p Design Of Harware Structure In Orer To Meet The ees Of The Minimally Invasive Surgery Robot Control System, Such As Accurate Drive, High Spee Operation An Data Processing. The Control System Is Base On The Upper An Lower Computer Control Unit Of High Performance Inustrial Computer An Motion Control Car To Buil Control Structure Of Robot, An The Communication Moe Of PCI Fiel Bus Is Aopte. The PCI Fiel Bus Communication Moe Is Also Use Between Minimally Invasive Surgery Vieo Cart An High Performance Inustrial Computer. The Harware Structure Of The En Effector Of The Robot Is Shown In Figure 2. High performance inustrial computer PCI bus A/D conversion Motion control car Image acquisition car Drive 1 Drive 2 Drive 3 Drive 4 Joint 1 Joint 2 Joint 3 Joint 4 Information acquisition Camera Vieo Cart Fig. 2 Harware Structure Of The Control System Of The En Effector Of Surgical Robot The Upper Control Unit Of The Control System Is Mainly Compose Of High Performance Inustrial PC, Which Completes The Processing Of Information An Real-Time Monitoring Of The Signal; The Lower Computer Control Unit Is Mainly Compose Of Motion Control Car, Which Completes The Communication Between The Upper Computer Control Unit An The Signal Data, The Upper Computer Control Unit An The Lower Computer Control Unit Are Connecte Through The PCI Communication Bus.In The Control System, Inustrial PC Can Do Kinematics An Trajectory Planning Accoring To The Control Comman, An The Results Of Information Will Be Transmitte To The Lower Computer Control Unit, The Lower Computer Control Unit Through The Motion Control Car, Servo Motor An Driver Accurately Control Each Joint s Pose An Velocity Of The Minimally Invasive Surgery Robot En Effector, The Inustrial PC Complete To Monitor The Working State Of The Motor In Real Time By The Signal Of The Motor An The Force Sensor. The Minimally Invasive Vieo Cast Will Collect The Image Information From The Operating Area By The Micro HD Camera, Which Is Sent To The Image Acquisition Car For Processing,An Through The PCI High-Spee Bus Transmission To The Inustrial PC Machine, Realizing The Real-Time Monitoring Of The Whole Operation Process, Which Will Reuce The Risk Of Surgery To Ensure The Safety Of Patients. 4.3 Design Of Software Structure The Design Of Software System Structure Is An Important Part Of The Whole Control System. The Function An Reliability Of The Software Will Directly Affect The Performance Of The Control System. The Control System Of The En Effector Of The Minimally Invasive Surgical Robot Aopts The Winows7 System, Using The C Language As The Programming Language. 33 P a g e
4 Feeback signal Stuy On The Control System Of The En Effector In Minimally Invasive The Software Structure Of The Control System Is Shown In Figure 3. Main Operating system interface Mechanism motion parameter setting Trajectory control moe Motion monitoring moule Vieo monitoring moule Control algorithm Communication Image processing Motion function Camera Motor / encoer Fig.3 Software Structure Of Control System Control System Software Development An Design Phase, As Shown In Figure 4. Development esign Theoretical planning Analysis Real time monitoring an ebugging Programming / compiling Create a project file an write the source coe Debugging Grammar check, etc. Fig.4 Software Development Design The Development Phase Of The Software Is The Application Coe Which Is Written By The User Base On The C Language Development Environment, Which Is Suitable For The En Effector Of The Robot,An Finally Get The Target Coe, To Achieve All The Functions Of The En Effector. The Operating Process Of The Control System Software, As Shown In Figure 5. Start Device initialization Monitoring system Each joint is in place? Trajectory motion moel Exit En Emergency stop Point motion / linkage moule Fig.5 Software Flow Chart Alarm 34 P a g e
5 Stuy On The Control System Of The En Effector In Minimally Invasive Mainly Inclues: The Parameters Of Surgical Robot Setting, Equipment Initialization; The Robot En Position Is Transmitte To The Monitoring System For Real-Time Monitoring, Implementation Of Monitoring The Whole Operation Process; If The Joint Di ot Arrive At The Designate Location, Location Using Motion Pattern Ajustment; The Joint Real-Time Emergency Stop, Reset An Automatic Alarm Function. II. COCLUSIO Minimally Invasive Surgical Robot System Is An Interisciplinary Research Area Which Combines Meical Science, Robotics An Mechanics. The Ultimate Goal Of Minimally Invasive Surgery Robot System Is ot A Substitute For The Surgeon, But As A Tool To Expan The Operation Ability Of The Doctors, An Overcome The Shortcomings Of Manual Movement Limitation Of Minimally Invasive Surgery, Give Full Play To The Avantages Of Minimally Invasive Surgery, So As To Improve The Operation Efficiency, Alleviate The Work Intensity Of Doctors. The Research Of The En Effector Of A ew Type Of Minimally Invasive Surgery Robot, Aopting The Parallel Structure An The Control Strategy Base On The Calculate Torque/Displacement. The Trajectory Planning Of The Surgical Operation Is Realize By The Trajectory Motion The Robot En Effector Joints.Analysis Of Experimental Data Shows That The Robot En Control System Has Goo Stability. The ext Step Will Be To A Three Degrees Of Freeom To The Existing En Mechanism To Help The Surgical Robot To Achieve More Sophisticate An Minimally Invasive Surgery. REFERECE [1] Vu T D, Aycar O, Appenrot. Online Localization An Map-Ping With Moving Object Tracking In Dynamic Outoor Environ-Ments[C]//IEEE Intelligent Vehicles Symposium. Piscataway, J, USA: IEEE, 2007: [2] Zhang Guanrong, Zhang Heng, Wang Sheng.Robot Assiste Laparoscopic Surgery [J].Journal Of Jiangsu University:Meical Science,2004,14(3): [3] Ginhoux R, Gangloff J, De Mathelin M, Et Al. Active Filtering Of Physiological Motion In Robotize Surgery Using Preictive Control[J]. IEEE Transactions On Robotics, 2005, 21(1): [4] Broeers I A M J, Ruura J. Robotics Revolutionizing Surgery: The Intuitive Surgical Da Vinci System[J]. Inustrial Robot, 2001, 28(5): [5] Satava R M. Surgical Robotics: The Early Chronicles-A Personal Historical Perspective. In Surgical Laparoscopy, In: Enoscopy & Percercutaneous Techniques, Lipincott & Willikins, Inc, Philaelphia, 2002,12: P a g e
Double Closed-loop Control System Design of PMSM Based on DSP MoupengTao1, a,songjianguo2, b, SongQiang3, c
4th International Conference on Mechatronics, Materials, Chemistry an Computer Engineering (ICMMCCE 2015) Double Close-loop Control System Design of PMSM Base on DSP MoupengTao1, a,songjianguo2, b, SongQiang3,
More informationAn Observer Design Strategy in Electric Power Steering System
An Observer Design Strategy in Electric Power Steering System Jingying Lu,a, Wei Jiang,b, Tomokazu Abe 2, Yu Fujimura 2, Seiji Hashimoto 2,c an Mitsunobu Kajitani 3, Yangzhou University, Huayang west roa
More informationRCGA based PID controller with feedforward control for a heat exchanger system
Journal of the Korean Society of Marine Engineering, Vol. 1, No. pp. 11~17, 17 ISSN 223-7925 (Print) J. Korean Soc. of Marine Engineering (JKOSME) ISSN 223-8352 (Online) https://oi.org/.5916/jkosme.17.1..11
More information2013 Texas Instruments Motor Control Training Series. -V th. InstaSPIN Training
2013 Texas Instruments Motor Control Training Series -V th InstaSPIN Training How Do You Control Torque on a DC Motor? Brush DC Motor Desire Current + - Error Signal PI Controller PWM Power Stage Texas
More informationTeaching Control Using NI Starter Kit Robot
UKACC International Conference on Control 2012 Cariff, UK, 3-5 September 2012 Teaching Control Using NI Starter Kit Robot Payman Shakouri, Member IEEE, (Research stuent) Gorana Collier, Member IEEE, Anrzej
More informationWireless Event-driven Networked Predictive Control Over Internet
UKACC International Conference on Control 22 Cariff, UK, 3-5 September 22 Wireless Event-riven Networke Preictive Control Over Internet Wenshan Hu, Hong Zhou, an Qijun Deng Abstract In networke control
More informationRobots in the Field of Medicine
Robots in the Field of Medicine Austin Gillis and Peter Demirdjian Malden Catholic High School 1 Pioneers Robots in the Field of Medicine The use of robots in medicine is where it is today because of four
More informationController Design for Cuk Converter Using Model Order Reduction
n International Conference on Power, Control an Embee Systems Controller Design for Cuk Converter Using Moel Orer Reuction Brijesh Kumar Kushwaha an Mr. Aniruha Narain Abstract: Cuk converter contain two
More informationThe 5th International Power Engineering and Optimization Conference (PEOCO2011), Shah Alam, Selangor, Malaysia : 6-7 June 2011
The 5th International Power Engineering an Optimization onference (PEOO211), Shah Alam, Selangor, Malaysia : 6-7 June 211 Moeling an Simulation of Umlazi suburb of Durban Municipality Network (South Africa)
More informationA MULTI-CHANNEL SYSTEM FOR DETECTING METAL CONNECTORS IN WASTE WOOD-BASED MATERIALS
th December 0. Vol. No. 00-0 JATIT & LLS. All rights reserve. ISSN: -8 www.jatit.org E-ISSN: 8- A MULTI-CHANNEL SSTEM FOR DETECTING METAL CONNECTORS IN WASTE WOOD-BASED MATERIALS JIANGMING KANU, MINGKUO
More informationSurgeon s Third Hand: An Assistive Robot Endoscopic System with Intuitive Maneuverability for Laparoscopic Surgery
2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) August 12-15, 2014. São Paulo, Brazil Surgeon s Third Hand: An Assistive Robot Endoscopic System with
More informationMultiple Input DC-DC Converters with Input Boost Stages
Multiple Input DC-DC Converters with Input Boost Stages Frey Gerar #1, Babu Thomas *2, Thomas P Rajan #3 #1 PG Scholar, *, 2,3 Professor, Department of Electrical & Electronics Engineering M A College
More informationImage Guided Robotic Assisted Surgical Training System using LabVIEW and CompactRIO
Image Guided Robotic Assisted Surgical Training System using LabVIEW and CompactRIO Weimin Huang 1, Tao Yang 1, Liang Jing Yang 2, Chee Kong Chui 2, Jimmy Liu 1, Jiayin Zhou 1, Jing Zhang 1, Yi Su 3, Stephen
More informationAn Intelligent 3D User Interface Adapting to User Control Behaviors
An Intelligent 3D User Interface Aapting to User Control Behaviors Tsai-Yen Li Computer Science Department National Chengchi University Taipei, Taiwan 11623, R.O.C. +886 2 2938 7170 li@nccu.eu.tw Shu-Wei
More informationField Visualization by Image Processing
The 0th International Symposium on Flow Visualiation August 6-9, 00, Kyoto, Japan F008 Fiel Visualiation by Image Processing Image refining an fiel characteristics arinova, I. *, Eno, H. *, Hayano, S.
More informationComputer Assisted Medical Interventions
Outline Computer Assisted Medical Interventions Force control, collaborative manipulation and telemanipulation Bernard BAYLE Joint course University of Strasbourg, University of Houston, Telecom Paris
More informationModel Reference Adaptive Fuzzy Controller for Permanent Magnet Synchronous Motor
Volume 50, Number 1, 2009 25 Moel Reference Aaptive Fuzzy Controller for Permanent Magnet Synchronous Motor A. MEROUFEL, M. MASSOUM an B. BELABBES Abstract: Conventional control epens on the mathematical
More informationPROPERTY AND REMOVAL OF JITTER IN BEIJING-1 SMALL SATELLITE PANCHROMATIC IMAGES
PROPERTY AND REMOVAL OF JITTER IN BEIJING-1 SMALL SATELLITE PANCHROMATIC IMAGES Qiong Ran a,b,, Yaobin Chi a,b, Zhiyong Wang b a IRSA Institute of Remote Sensing Applications, Chinese Acaemy of Science,100101,Beiing,China
More informationVector Control of Permanent Magnet Synchronous Motor for Fan of New Energy Vehicle
Vector Control of Permanent Magnet Synchronous Motor for Fan of New Energy Vehicle Liu Yong* Yancheng Teachers University, school of mathematics an statistics, China Abstract:In this paper, base on the
More informationThe Analysis and Complementarity of Abbe Principle Application Limited in Coordinate Measurement
Proceeings of the Worl Congress on Engineering 00 Vol III The Analysis an Complementarity of Abbe Principle Application Limite in Coorinate Measurement Fei Yetai, Shang Ping, Chen Xiaohuai, Huang Qiangxian
More informationTracking Control of Automatic Pipe Cutting Robot with Magnetic Binder
Materials Science Forum Vols. 505-507 (2006) pp. 1201-1206 online at http://www.scientific.net (2006) Trans Tech Publications, Switzerlan Tracking Control of Automatic Pipe Cutting Robot with Magnetic
More informationKEY FEATURES TEST CAPABILITIES 8000S HIGH POWER EARTH TESTING SYSTEM STANDARDS COMPLIANCE
KEY FEATURES 8000S HIGH POWER EARTH TESTING SYSTEM High power earth systems (Substations, Transmission towers, etc) have to be perioically monitore to check if they comply with safety levels establishe
More informationDISCUSSION ON THE APPLICATION OF WIRELESS ACTIVE SENSING UNIT
4 th Worl Conference on Structural Control an Monitoring 4WCSCM-261 DISCUSSION ON HE APPLICAION OF WIRELESS ACIVE SENSING UNI FOR SRUCURAL CONROL C.H. Loh an K.C. Lu National aiwan University, aipei 106-17,aiwan
More informationA Tutorial on Dynamic Simulation of DC Motor and Implementation of Kalman Filter on a Floating Point DSP
A Tutorial on Dynamic Simulation of DC Motor an Implementation of Kalman Filter on a Floating Point DSP Pamakumar S., Vivek Agarwal, an Kallol Roy Abstract With the avent of inexpensive 32 bit floating
More informationImprovement of Power Factor and Harmonic Reduction with VSC for HVDC System
International Journal of Engineering an Management Research, Volume-3, Issue-2, April 2013 ISSN No.: 2250-0758 Pages: 6-12 www.ijemr.net Improvement of Power Factor an Harmonic Reuction with VSC for HVDC
More informationDECENTRALIZED CIVIL STRUCTURAL CONTROL USING A REAL-TIME WIRELESS SENSING AND CONTROL SYSTEM
4 th Worl Conference on Structural Control an Monitoring 4WCSCM-252 DECENTRALIZED CIVIL STRUCTURAL CONTROL USIN A REAL-TIME WIRELESS SENSIN AND CONTROL SYSTEM Abstract Y. Wang 1, R. A. Swartz 2, J. P.
More informationON-LINE PARAMETER ESTIMATION AND ADAPTIVE CONTROL OF PERMANENT MAGNET SYNCHRONOUS MACHINES. A Dissertation. Presented to
ON-LINE PARAMETER ESTIMATION AND ADAPTIVE CONTROL OF PERMANENT MAGNET SYNCHRONOUS MACHINES A Dissertation Presente to The Grauate Faculty of the University of Akron In Partial Fulfillment Of the Reuirements
More informationUsing Simulation to Design Control Strategies for Robotic No-Scar Surgery
Using Simulation to Design Control Strategies for Robotic No-Scar Surgery Antonio DE DONNO 1, Florent NAGEOTTE, Philippe ZANNE, Laurent GOFFIN and Michel de MATHELIN LSIIT, University of Strasbourg/CNRS,
More informationSmall Occupancy Robotic Mechanisms for Endoscopic Surgery
Small Occupancy Robotic Mechanisms for Endoscopic Surgery Yuki Kobayashi, Shingo Chiyoda, Kouichi Watabe, Masafumi Okada, and Yoshihiko Nakamura Department of Mechano-Informatics, The University of Tokyo,
More informationChapter 2 Review of the PWM Control Circuits for Power Converters
Chapter 2 Review of the PWM Control Circuits for Power Converters 2. Voltage-Moe Control Circuit for Power Converters Power converters are electrical control circuits that transfer energy from a DC voltage
More informationDynamics and Control of Three-Phase Four-Leg Inverter
RECENT ADVANCES in ELECTRONICS HARDWARE WIRELESS an OPTICAL COMMUNICATIONS Dynamics an Control of Three-Phase Four-Leg Inverter JENICA ILEANA CORCAU Avionics Division University of Craiova Faculty of Electrical
More informationAnalog Input. Current
A Continuous-Time Switche- Moulator with Reuce Loop Delay Louis Luh John Choma,Jr. Jerey Draper Electrical Engineering Information Sciences Institute University of Southern California University of Southern
More informationInvestigating Converter Options for Automotive Grade Permanent Magnet Sychronous Generators
Investigating Converter Options for Automotive Grae Permanent Magnet Sychronous Generators Erkan MESE *, Yusuf YAŞA *, Hakan AKÇA *, Mustafa G. AYDENIZ *, Murat AYAZ **, Murat TEZCAN * ( * )Yiliz Technical
More informationDynamics and simulation analysis of table tennis robot based on independent joint control
Acta Technica 62 No. 1B/2017, 35 44 c 2017 Institute of Thermomechanics CAS, v.v.i. Dynamics and simulation analysis of table tennis robot based on independent joint control Yang Yu 1 Abstract. The purpose
More informationEXPERIMENTAL DEMONSTRATION OF MULTIPLE ROBOT COOPERATIVE TARGET INTERCEPT
EXPERIMENTAL DEMONSTRATION OF MULTIPLE ROBOT COOPERATIVE TARGET INTERCEPT Timothy W. McLain Ranal W. Bear Je M. Kelsey Department of Mechanical Engineering, Brigham Young University, Provo, Utah 86 Department
More informationUNIT IV CONTROLLER TUNING:
UNIT IV CONTROLLER TUNING: Evaluation Criteria IAE, ISE, ITAE An ¼ Decay Ratio - Tuning:- Process Reaction Curve Metho, Continuous Cycling Metho An Dampe Oscillation Metho Determination Of Optimum Settings
More informationAN-1140 APPLICATION NOTE
APPLICATION NOTE One Technology Way P.O. Box 9106 Norwoo, MA 02062-9106, U.S.A. Tel: 781.329.4700 Fax: 781.461.3113 www.analog.com Microphone Array Beamforming by Jera Lewis INTRODUCTION All MEMS microphones
More informationOn the Real Time Implementation of a Controller for an Electromechanical System
On the Real Time Implementation of a Controller for an Electromechanical System Ruben Salas-Cabrera, Jonathan C. Mayo-Malonao, Erika Y. Renon-Fraga, Euaro N. Salas-Cabrera an Aaron Gonzalez-Roriguez Abstract
More informationThe Concept of Virtual Laboratory and PIL Modeling with REX Control System
2017 21st International Conference on Process Control (PC) June 6 9, 2017, Štrbské Pleso, Slovakia The Concept of Virtual Laboratory an PIL Moeling with REX Control System Stepan Ozana VSB-Technical University
More informationThe Haptic Impendance Control through Virtual Environment Force Compensation
The Haptic Impendance Control through Virtual Environment Force Compensation OCTAVIAN MELINTE Robotics and Mechatronics Department Institute of Solid Mechanicsof the Romanian Academy ROMANIA octavian.melinte@yahoo.com
More informationDynamic Wireless Power Transfer System for Electric Vehicles to Simplify Ground Facilities - Real-time Power Control and Efficiency Maximization -
Worl Electric Vehicle Journal Vol. 8 - ISSN 232-6653 - 26 WEVA Page WEVJ8-5 EVS29 Symposium Montréal, Québec, Canaa, June 9-22, 26 Dynamic Wireless Power Transfer System for Electric Vehicles to Simplify
More informationDesign of intelligent vehicle control system based on machine visual
Advances in Engineering Research (AER), volume 117 2nd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2016) Design of intelligent vehicle control
More informationThe Open Automation and Control Systems Journal, 2015, 7, Application of Fuzzy PID Control in the Level Process Control
Send Orders for Reprints to reprints@benthamscience.ae The Open Automation and Control Systems Journal, 205, 7, 38-386 38 Application of Fuzzy PID Control in the Level Process Control Open Access Wang
More informationA new method of converter transformer protection without commutation failure
IOP Conference Series: Earth an Environmental Science PAPER OPEN ACCESS A new metho of converter transformer protection without commutation failure To cite this article: Jiayu Zhang et al 08 IOP Conf.
More informationAutonomous Stair Climbing Algorithm for a Small Four-Tracked Robot
Autonomous Stair Climbing Algorithm for a Small Four-Tracked Robot Quy-Hung Vu, Byeong-Sang Kim, Jae-Bok Song Korea University 1 Anam-dong, Seongbuk-gu, Seoul, Korea vuquyhungbk@yahoo.com, lovidia@korea.ac.kr,
More informationHaunted House. If you drive completely off the black paper or visit a room out of order, your turn is over. Back groun d. Back groun d B A C K G R
Haunte House Your vehicle must fin its way through a haunte house. The house has four rooms; your goal is to visit all four. For each room you reach, you will receive a prize. The rooms will consist of
More informationIMECE Proceedings of IMECE2002 ASME International Mechanical Engineering Congress & Exposition November 17 22, 2002, New Orleans, Louisiana
Proceeings of IMECE2002 ASME International Mechanical Engineering Congress & Exposition November 17 22, 2002, New Orleans, Louisiana IMECE2002-32655 CONTROL OF THE RUTGERS ANKLE REHABILITATION INTERFACE
More informationDingwen Yu and Jiasheng Zhang
INTERNATIONAL JOURNAL OF INFORMATION AND SYSTEMS SIENES Volumer, Numver 3, ages 384-397 6 Institute for Scientific omputing an Information RESEARH OF ID ONTROLLER AND FUZZY ID ONTROLLER Dingwen Yu an Jiasheng
More information2 Dept. of Electrical and Electronic Engineering ( ) = d
Close-Loop Control Design for a Three-Level Three-Phase Neutral-Point-Clampe Inverter Using the Optimize Nearest-Three Virtual-Space-Vector Moulation S. Busquets-Monge 1, J. D. Ortega 1, J. Boronau 1,
More informationDesign of stepper motor position control system based on DSP. Guan Fang Liu a, Hua Wei Li b
nd International Conference on Machinery, Electronics and Control Simulation (MECS 17) Design of stepper motor position control system based on DSP Guan Fang Liu a, Hua Wei Li b School of Electrical Engineering,
More informationExperimental Study on Fabric Surface Wettability based on Contact Angle and Surface Energy
2017 Asia-Pacific Engineering an Technology Conference (APETC 2017) ISBN: 978-1-60595-443-1 Exerimental Stuy on Fabric Surface Wettability base on Contact Angle an Surface Energy Bingxuan Ni an Peng Zhang
More informationTHE RESEARCH ON DISPERSION CONTROL OF DISPERSION UNSHIFTED SINGLE-MODE OPTICAL FIBER
Journal of Theoretical an Applie Information Technology 3 st March 03. Vol. 49 No.3 005-03 JATIT & LLS. All rights reserve. ISSN: 99-8645 www.jatit.org E-ISSN: 87-395 THE RESEARCH ON DISPERSION CONTROL
More informationAPPLICATION OF DECENTRALIZED WIRELESS SENSING AND CONTROL IN CIVIL STRUCTURES
US-Taiwan Workshop on Smart Structural Technology for Seismic Hazar Mitigation Taipei, Taiwan October -4, 006 APPLICATION OF DECENTRALIZED WIRELESS SENSING AND CONTROL IN CIVIL STRUCTURES Yang Wang, R.
More informationFUNDAMENTALS ROBOT TECHNOLOGY. An Introduction to Industrial Robots, T eleoperators and Robot Vehicles. D J Todd. Kogan Page
FUNDAMENTALS of ROBOT TECHNOLOGY An Introduction to Industrial Robots, T eleoperators and Robot Vehicles D J Todd &\ Kogan Page First published in 1986 by Kogan Page Ltd 120 Pentonville Road, London Nl
More informationDesign and Implementation of Dual Frequency Microstrip Patch Antenna with Koch Fractal Geometry using co-axial Feeding Technique
Design an Implementation of Dual Frequency Microstrip Patch Antenna with Koch Fractal Geometry using co-axial Feeing Technique Mr.V.V.Khairnar Prof.Mrs.K.R.Khanagle Prof.Mrs.Abhilasha Mishra the multiban
More informationOn Observer-based Passive Robust Impedance Control of a Robot Manipulator
Journal of Mechanics Engineering and Automation 7 (2017) 71-78 doi: 10.17265/2159-5275/2017.02.003 D DAVID PUBLISHING On Observer-based Passive Robust Impedance Control of a Robot Manipulator CAO Sheng,
More informationIndoor Positioning Using Ultrasound and Radio Combination
Inoor Positioning Using Ultrasoun an Raio Combination Gintautas Salcius, Evalas Povilaitis, Algimantas Tacilauskas Centre of Real Time Computer Systems, Kaunas University of Technology Stuentu St. 50,
More informationMedical robotics and Image Guided Therapy (IGT) Bogdan M. Maris, PhD Temporary Assistant Professor
Medical robotics and Image Guided Therapy (IGT) Bogdan M. Maris, PhD Temporary Assistant Professor E-mail bogdan.maris@univr.it Medical Robotics History, current and future applications Robots are Accurate
More informationWe are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists. International authors and editors
We are IntechOpen, the worl s leaing publisher of Open Access books Built by scientists, for scientists 3,500 108,000 1.7 M Open access books available International authors an eitors Downloas Our authors
More informationHIGH PERFORMANCE CONTROLLERS BASED ON REAL PARAMETERS TO ACCOUNT FOR PARAMETER VARIATIONS DUE TO IRON SATURATION
213 NDIA GROUND VEHICLE SYSTEMS ENGINEERING AND TECHNOLOGY SYMPOSIUM VEHICLE ELECTRONICS AND ARCHITECTURE (VEA MINI-SYMPOSIUM AUGUST 21-22, 213 - TROY, MICHIGAN HIGH PERFORMANCE CONTROLLERS BASED ON REAL
More informationRCT. RDT Tapping Attachments
RCT. RDT Tapping Attachments Threa prouction on machining centers with constant spee tapping CST Constant Spee Tapping relies on a compact tapping attachment to provie tap reversal. The machine spinle
More informationEE 171. MOS Transistors (Chapter 5) University of California, Santa Cruz May 1, 2007
EE 171 MOS Transistors (Chapter 5) Uniersity of California, Santa Cruz May 1, 007 FET: Fiel Effect Transistors MOSFET (Metal-Oxie-Semiconuctor) N-channel (NMOS) P-channel (PMOS) Enhancement type (V to
More informationRESEARCH OF PHASE-SHIFT METHOD OF RESONANT DC/DC CONVERTER POWER CONTROL
ELECTRONICS 6 September, Sozopol, BLGARIA RESEARCH OF HASE-SHIFT METHOD OF RESONANT DC/DC CONVERTER OWER CONTROL Nikolay Dimitrov Bankov, Aleksanar Stoyanov Vuchev niversity of Foo Technologies, 6 Maritza
More informationA Circuit Level Fault Model for Resistive Shorts of MOS Gate Oxide
Circuit Level Fault Moel for esistive Shorts of MOS Gate Oxie Xiang Lu, Zhuo Li, Wangqi Qiu, D. M. H. Walker an Weiping Shi Dept. of Electrical Engineering Texas &M University College Station, TX 77843-34,
More informationSpace-Vector PWM Inverter Feeding a Permanent-Magnet Synchronous Motor
Worl Acaey of Science, Engineering an echnology International Journal of Electrical, Coputer, Energetic, Electronic an Counication Engineering ol:4, No:5, 00 Space-ector PWM Inverter Feeing a Peranent-Magnet
More informationDynamic Hybrid Duplex for Rate Maximization in OFDMA. Sangmin Oh and Chae Y. Lee
Dynamic Hybri Duplex for Rate Maximization in OFDMA Sangmin Oh an Chae Y. Lee Dept. of Inustrial Engineering, KAIST, 373-1 Kusung Dong, Taeon, Korea Tel: +82-42-350-5916, FAX: +82-42-350-3110 Email: {sangmin.oh,
More informationAn Inexpensive Experimental Setup for Teaching The Concepts of Da Vinci Surgical Robot
An Inexpensive Experimental Setup for Teaching The Concepts of Da Vinci Surgical Robot S.Vignesh kishan kumar 1, G. Anitha 2 1 M.TECH Biomedical Engineering, SRM University, Chennai 2 Assistant Professor,
More informationIntelligent Senses in Robot Based on Neural Networks
Intelligent Senses in Robot Base on Neural Networks Vimal Ganotra, Rashmi Sharma, Priti Dhingra, Sourabh Sharma, an Navin Kumar Abstract This Paper escribes a moel an an implementation of spiking neurons
More informationKeywords Electric vehicle, Dynamic wireless power transfer, Efficiency maximization, Power control, Secondary-side control
Dynamic Wireless ower Transfer System for lectric Vehicles to Simplify Groun Facilities - ower Control an fficiency Maximization on the Seconary Sie - Katsuhiro Hata, Takehiro Imura, an Yoichi Hori The
More informationReal-Time Digital Image Exposure Status Detection and Circuit Implementation
Real-Time igital Image Exposure Status etection and Circuit Implementation Li Hongqin School of Electronic and Electrical Engineering Shanghai University of Engineering Science Zhang Liping School of Electronic
More informationELECTRICAL CONTROL DESIGN FOR DRIVING SYSTEM OF SERVO MOTOR
ELECTRICAL CONTROL DESIGN FOR DRIVING SYSTEM OF SERVO MOTOR CHEN Yan 1 ABSTRACT: With the rapid growth of economy, the demand from different products for packaging is increasing, thus more needs are to
More informationMotion Control of a Three Active Wheeled Mobile Robot and Collision-Free Human Following Navigation in Outdoor Environment
Proceedings of the International MultiConference of Engineers and Computer Scientists 2016 Vol I,, March 16-18, 2016, Hong Kong Motion Control of a Three Active Wheeled Mobile Robot and Collision-Free
More informationMODELLING OF GPS SIGNAL LARGE SCALE PROPAGATION CHARACTERISTICS IN URBAN AREAS FOR PRECISE NAVIGATION
Int. J. Elec&Electr.Eng&Telcomm. 2012 G Sateesh Kumar et al., 2012 Research Paper ISSN 2319 2518 www.ijeetc.com Vol. 1, No. 1, October 2012 2012 IJEETC. All Rights Reserve MODELLING OF GPS SIGNAL LARGE
More informationResearch Article Application of Multipoint DC Voltage Control in VSC-MTDC System
Hinawi Publishing Corporation Journal of Electrical an Computer Engineering Volume 213, Article ID 257387, 7 pages http://x.oi.org/1.1155/213/257387 Research Article Application of ultipoint DC Voltage
More informationElimination of Harmonics and Dc Voltage Fluctuations Due to Non Linear Loads using Hysteresis Controlled Active Power Filter
Elimination of Harmonics an Dc Voltage Fluctuations Due to Non Linear Loas using Hysteresis Controlle Active Power Filter J Venkatesh M Tech stuent Department of EEE AVANTHI S St. Theresa College of Engineering
More informationDECENTRALIZED REAL-TIME VELOCITY FEEDBACK CONTROL OF STRUCTURES USING WIRELESS SENSORS
4th International Conference on Earthquake Engineering Taipei, Taiwan October -3, 6 Paper No. 7 DECENTRALIZED REAL-TIME VELOCITY FEEDBACK CONTROL OF STRUCTURES USING WIRELESS SENSORS Yang Wang, R. Anrew
More informationRadio Range Adjustment for Energy Efficient Wireless Sensor Networks. Electronic Engineering, Aston University, Birmingham B4 7ET,United Kingdom b
Raio Range Ajustment for Energy Efficient Wireless Sensor Networks Q. Gao a,, K. J. Blow a 1, D. J. Holing a, I. W. Marshall b, X. H. Peng a a Electronic Engineering, Aston University, Birmingham B4 7ET,Unite
More informationSummary of robot visual servo system
Abstract Summary of robot visual servo system Xu Liu, Lingwen Tang School of Mechanical engineering, Southwest Petroleum University, Chengdu 610000, China In this paper, the survey of robot visual servoing
More informationHOW SYMMETRICAL COMPONENTS MAY HELP TO SUPPRESS VOLTAGE SENSORS IN DIRECTIONAL RELAYS FOR DISTRIBUTION NETWORKS
C E D 17 th nternational Conference on Electricity Distribution Barcelona, 12-15 May 2003 HOW SYMMETCAL COMPONENTS MAY HELP TO SUPPESS VOLTAGE SENSOS N DECTONAL ELAYS FO DSTBUTON NETWOKS Xavier LE PVET
More informationElements of Haptic Interfaces
Elements of Haptic Interfaces Katherine J. Kuchenbecker Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania kuchenbe@seas.upenn.edu Course Notes for MEAM 625, University
More informationThe estimation of PID controller parameters of vector controlled induction motor using Ziegler-Nichols method
Journal of Engineering Research an Applie Science Available at www.journaleras.com Volume 4(1), June 2015, pp 278-282 ISSN 2147-471 2015 The estimation of PID controller parameters of vector controlle
More informationHaptic Virtual Fixtures for Robot-Assisted Manipulation
Haptic Virtual Fixtures for Robot-Assisted Manipulation Jake J. Abbott, Panadda Marayong, and Allison M. Okamura Department of Mechanical Engineering, The Johns Hopkins University {jake.abbott, pmarayong,
More informationResearch on a Low-Harmonic Nearest Level Modulation Method for Modular Multilevel Converters Pengfei Hu1, a, Xi Wang1, Lun Tang1,
6th International Conference on Machinery, Materials, Environment, Biotechnology an Computer (MMEBC 06) Research on a ow-harmonic Nearest evel Moulation Metho for Moular Multilevel Converters Pengfei Hu,
More informationUniversity of Sidi Mohammed Ben Abdellah Fez, Morocco
Matlab & Simulink Simulation with FPGA-Base Implementation Sliing Moe Control of a Permanent Magnet Synchronous Machine Drive BADRE BOSSOUFI (Stuent Member IEEE) 1)2), MOHAMMED KARIM 1), SILVIU IONIłĂ
More informationRobotics, telepresence and minimal access surgery - A short and selective history
Robotics, telepresence and minimal access surgery - A short and selective history Luke Hares, Technology Director, Cambridge Medical Robotics P-306v2.0 Overview o Disclaimer! o Highlights of robotics and
More informationEmbedded Control Project -Iterative learning control for
Embedded Control Project -Iterative learning control for Author : Axel Andersson Hariprasad Govindharajan Shahrzad Khodayari Project Guide : Alexander Medvedev Program : Embedded Systems and Engineering
More informationResource Allocation for Cooperative Transmission in Wireless Networks with Orthogonal Users
Resource Allocation for Cooperative Transmission in Wireless Networks with Orthogonal Users D. Richar Brown III Electrical an Computer Engineering Department Worcester Polytechnic Institute Worcester,
More informationDevelopment of Running Robot Based on Charge Coupled Device
Development of Running Robot Based on Charge Coupled Device Hongzhang He School of Mechanics, North China Electric Power University, Baoding071003, China. hhzh_ncepu@163.com Abstract Robot technology is
More informationHaptic Feedback in Laparoscopic and Robotic Surgery
Haptic Feedback in Laparoscopic and Robotic Surgery Dr. Warren Grundfest Professor Bioengineering, Electrical Engineering & Surgery UCLA, Los Angeles, California Acknowledgment This Presentation & Research
More informationDEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL
DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL Experiment No. 1(a) : Modeling of physical systems and study of
More informationPMSM Control System Based on Digital Signal Processor
9 JOURNAL OF NETWORKS, VOL. 8, NO., ARIL MSM Control System Base on Digital Signal rocessor Zhu Jun, Li Wankui, Han Lili Henan olytechnic University, College of Electrical Engineering an Automation, Henan
More informationA MATHEMATICAL MODEL OF A LEGO DIFFERENTIAL DRIVE ROBOT
314 A MATHEMATICAL MODEL OF A LEGO DIFFERENTIAL DRIVE ROBOT Ph.D. Stud. Eng. Gheorghe GÎLCĂ, Faculty of Automation, Computers and Electronics, University of Craiova, gigi@robotics.ucv.ro Prof. Ph.D. Eng.
More informationRobone: Next Generation Orthopedic Surgical Device Final Report
Robone: Next Generation Orthopedic Surgical Device Final Report Team Members Andrew Hundt Alex Strickland Shahriar Sefati Mentors Prof. Peter Kazanzides (Prof. Taylor) Background: Total hip replacement
More informationDecentralized Civil Structural Control using Real-time Wireless Sensing and Embedded Computing
Decentralize Civil Structural Control using Real-time Wireless Sensing an Embee Computing Yang Wang a, R. Anrew Swartz b, Jerome P. Lynch * b, Kincho H. Law a, Kung-Chun Lu c, Chin-Hsiung Loh c a Dept.
More informationDesign of Feed Control System for Micro EDM Machine Tool Liao-yuan ZHANG, Yue GENG, Da-lin JIANG, Ming-wei SHANG and Yue-long WANG
2016 International Conference on Electrical Engineering and Automation (ICEEA 2016) ISBN: 978-1-60595-407-3 Design of Feed Control System for Micro EDM Machine Tool Liao-yuan ZHANG, Yue GENG, Da-lin JIANG,
More informationEE 230 Lecture 27. Nonlinear Circuits and Nonlinear Devices. Diode BJT MOSFET
EE 23 Lecture 27 Nonlinear Circuits an Nonlinear evices ioe BJT MOSFET eview from Last Time: Wein-Brige Oscillator Noninverting Amplifier 1 2 OUT K o 2 1 3 1 ω OSC 1 C C C C Feeback Network Nonlinearity
More informationAutonomous Surgical Robotics
Nicolás Pérez de Olaguer Santamaría Autonomous Surgical Robotics 1 / 29 MIN Faculty Department of Informatics Autonomous Surgical Robotics Nicolás Pérez de Olaguer Santamaría University of Hamburg Faculty
More informationIntroduction. Keywords: Wingding machine; Control system; Motion controller
Design of Winding Machine Based on Controller ZHANG Chunyou 1, a, WU Xiaoqiang 1,b 1 College of Mechanical Engineering, Inner Mongolia University for the Nationalities, Tongliao 028000, China Abstract.
More informationUniversities of Leeds, Sheffield and York
promoting access to White Rose research papers Universities of Lees, Sheffiel an York http://eprints.whiterose.ac.uk/ White Rose Research Online URL for this paper: http://eprints.whiterose.ac.uk/4495/
More informationInvestigation on MDOF Bilateral Teleoperation Control System Using Geared DC-Motor
Modern Applied Science; Vol. 10, No. 11; 2016 ISSN 1913-1844 E-ISSN 1913-1852 Published by Canadian Center of Science and Education Investigation on MDOF Bilateral Teleoperation Control System Using Geared
More information