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  • 1
    Electronic Resource
    Electronic Resource
    [S.l.] : American Institute of Physics (AIP)
    Review of Scientific Instruments 63 (1992), S. 3492-3498 
    ISSN: 1089-7623
    Source: AIP Digital Archive
    Topics: Physics , Electrical Engineering, Measurement and Control Technology
    Notes: Environmental isolation of a microrobot is important to achieve the demanding operating specifications intrinsic to such a system. Our experience with the current generation microrobot, MR1, indicates the next generation microrobot, MR2, will require a high degree of isolation from the mechanical, thermal, electromagnetic, and optical environment of a typical laboratory. Accordingly, this paper presents the design, construction, and isolation test results of an environmental isolation platform built to house MR2 and its many subsystems under development in our laboratory. Our design approach used qualitative estimates of the magnitudes of external environmental noise acceptable to microrobot operation to determine the required attenuation of each noise input. The resulting platform consisted of a custom environmental enclosure mounted on a modified commercial vibration isolation optical table. The performance measurements quantified the attenuation of each unwanted disturbance within the frequency bands of interest and a final test was made with a laser heterodyne interferometer installed on the platform in a typical laboratory environment. The results of this experiment show that the isolation specifications required for microrobot operation were met thereby verifying our platform design. We expect that our design can be used in environmental isolation of not only microrobots but also other sensitive electro-optomechanical instruments.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    [S.l.] : American Institute of Physics (AIP)
    Review of Scientific Instruments 64 (1993), S. 349-356 
    ISSN: 1089-7623
    Source: AIP Digital Archive
    Topics: Physics , Electrical Engineering, Measurement and Control Technology
    Notes: The performance of an optical reflective position sensor is evaluated as the position feedback element in the microposition control of a linear electromagnetic motor. The open loop position sensor characteristics are first measured to determine the analog controller design parameters. The performance of the controller, evaluated using an integrated Michelson interferometer, measures the control loop bidirectional accuracy, hysteresis, long-term stability, and position linearity. Compensation of the small nonlinearity measured required linearization of the input command signal and a practical application is demonstrated with a constant velocity scan of one of the interferometer mirrors. A final result is the submicron square wave modulation of the interferometer output with its scan mirror under closed-loop control using feedback from the reflective position sensor.
    Type of Medium: Electronic Resource
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  • 3
    Electronic Resource
    Electronic Resource
    [S.l.] : American Institute of Physics (AIP)
    Review of Scientific Instruments 63 (1992), S. 241-248 
    ISSN: 1089-7623
    Source: AIP Digital Archive
    Topics: Physics , Electrical Engineering, Measurement and Control Technology
    Notes: There is a need for a high performance displacement transducer to be used in the closed loop control of a microrobot. This article describes a laser heterodyne interferometer-based transducer which resolves displacements to 0.12 nm (standard deviation) locally, in a scanning range of 10 mm or more, in a 1 Hz to 10 kHz bandwidth, under normal laboratory conditions. The device combines the long measurement range of conventional optical fringe counting techniques with the high resolution of subfringe metrology interferometers. The sensor is a complete device including optics, custom-built phase demodulator electronics, and computer algorithm for displacement computations using a novel fast lookup table technique. The lookup table algorithm uses the estimated instantaneous uncertainties on both quadrature outputs from the phase demodulator to improve the accuracy of the displacement computation. The optics and electronics are completely characterized in terms of signal-to-noise characteristics and frequency response. Experimental results are shown of an application where the transducer was used in the closed loop control of a nonlinear actuator.
    Type of Medium: Electronic Resource
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  • 4
    Electronic Resource
    Electronic Resource
    Springer
    Biological cybernetics 69 (1993), S. 295-303 
    ISSN: 1432-0770
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology , Computer Science , Physics
    Notes: Abstract The influence of the viscosity of a manipulandum used by a human operator in a position-control pursuit-tracking task was examined. An active servo-sys tem was used to set the viscosity of a manipulandum (motor) connected to the forearm to one of seven levels ranging in a geometric series from 12 to 800 N · s/m. During each condition the viscosity of the motor was held constant by a computer while subjects tracked, by moving their forearm in the sagittal plane, a visually presented target whose position changed randomly every 1.5s for 255s. Nonparametric and parametric impulse response functions were calculated between the input (target) and output (position) in each tracking condition. Nonparametric analyses revealed that subjects became sluggish at higher viscosities (above 200 N · s/m) and took longer to reach the target. A second-order low-pass transfer function was found to provide a very good description of tracking performance at each viscous level. The gain and damping parameter of this transfer function were not affected by the manipulandum's viscosity, whereas both the pure delay and natural frequency of the human operator system decreased systematically with increasing manipulandum viscosity. These findings suggest that over the range of viscosities studied, there is no speed-accuracy trade-off in terms of determining an optimal level of manipulandum viscosity for a human operator, and that a less viscous interface will result in faster performance.
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  • 5
    Electronic Resource
    Electronic Resource
    Springer
    Annals of biomedical engineering 27 (1999), S. 793-804 
    ISSN: 1573-9686
    Keywords: Wiener models ; Nonlinear systems ; Identification
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine , Technology
    Notes: Abstract Two methods are proposed for identifying the component elements of a Wiener cascade that is comprised of a dynamic linear element (L) followed by a static nonlinearity (N). Both methods avoid potential problems of instability in a procedure presented by Paulin [M. G. Paulin, Biol. Cybern. 69: 67–76, 1993], which itself is a modification of a method described earlier by Hunter and Korenberg [I. W. Hunter and M. J. Korenberg, Biol. Cybern. 55: 135–144, 1996]. The latter method is a rapidly convergent iterative procedure that produces accurate estimates of the L and N elements from short data records, provided that the static nonlinearity N is invertible. Subsequently, Paulin introduced a modification that removed this limitation and enabled identification of Wiener cascades with nonmonotonic static nonlinearities. However, Paulin presented his modification employing an autoregressive moving average (ARMA) model representation for the dynamic linear element. To remove the possibility that the estimated ARMA model could be unstable, we recast the procedure by utilizing instead a rapid method for finding an impulse response representation for the dynamic linear element. However, in this form the procedure did not have good convergence properties, so we introduced two key ideas, both of which provide effective alternatives for identifying Wiener cascades whether or not the static nonlinearities therein are invertible. The new procedures are illustrated on challenging examples involving high-degree polynomial static nonlinearities, of odd or even symmetry, a high-pass linear element, and output noise corruption of 50%. © 1999 Biomedical Engineering Society. PAC99: 8710+e, 0210Nj, 0250-r
    Type of Medium: Electronic Resource
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  • 6
    ISSN: 1573-9686
    Keywords: Protein sequence classification ; Nonlinear system identification ; Binary sequences ; SARAH codes
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine , Technology
    Notes: Abstract A recent paper introduced the approach of using nonlinear system identification as a means for automatically classifying protein sequences into their structure/function families. The particular technique utilized, known as parallel cascade identification (PCI), could train classifiers on a very limited set of exemplars from the protein families to be distinguished and still achieve impressively good two-way classifications. For the nonlinear system classifiers to have numerical inputs, each amino acid in the protein was mapped into a corresponding hydrophobicity value, and the resulting hydrophobicity profile was used in place of the primary amino acid sequence. While the ensuing classification accuracy was gratifying, the use of (Rose scale) hydrophobicity values had some disadvantages. These included representing multiple amino acids by the same value, weighting some amino acids more heavily than others, and covering a narrow numerical range, resulting in a poor input for system identification. This paper introduces binary and multilevel sequence codes to represent amino acids, for use in protein classification. The new binary and multilevel sequences, which are still able to encode information such as hydrophobicity, polarity, and charge, avoid the above disadvantages and increase classification accuracy. Indeed, over a much larger test set than in the original study, parallel cascade models using numerical profiles constructed with the new codes achieved slightly higher two-way classification rates than did hidden Markov models (HMMs) using the primary amino acid sequences, and combining PCI and HMM approaches increased accuracy. © 2000 Biomedical Engineering Society. PAC00: 8714Ee, 8715Cc, 3620Fz, 8715Aa
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  • 7
    Electronic Resource
    Electronic Resource
    Springer
    Annals of biomedical engineering 16 (1988), S. 79-94 
    ISSN: 1573-9686
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine , Technology
    Notes: Abstract The objective of this study was to use nonlinear identification techniques to study the dynamics of stretch reflexes in the human calf muscles (gastrocnemius-soleus). Stochastic perturbations of ankle position were applied while subjects maintained a constant, tonic contraction of gastrocnemius-soleus. Linear models of the relation between ankle velocity and the electromyographic (EMG) activity under these conditions typically accounted for less than 40% of the observed EMG variance. Nonlinear system identification techniques were then applied. The first- and second-order Wiener kernels were computed as the initial stage of this analysis. These did not provide an adequate description of system behavior; subsequent simulation studies showed that the major problem with the Wiener analysis was that the input spectrum was not adequately white. Nevertheless, the shape of the second-order Wiener kernel suggested that a Hammerstein structure consisting of a static nonlinearity followed by a dynamic linear system would be appropriate. Consequently, we used an iterative procedure for Hammerstein system identification to determine the form of the static nonlinearity and the associated linear dynamics. The resulting nonlinear model provided a much better description of the system's behavior than did the linear models (variance accounted for〉60%). Furthermore, they confirmed our previous empirical findings; the static nonlinearity closely resembled a half-wave rectifier while the dynamics were typified by a pure delay and a velocity filter. The application of nonlinear identification techniques thus produced a much improved, physically meaningful model of stretch reflex behavior.
    Type of Medium: Electronic Resource
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  • 8
    Electronic Resource
    Electronic Resource
    Springer
    Annals of biomedical engineering 18 (1990), S. 629-654 
    ISSN: 1573-9686
    Keywords: System identification ; Wiener kernels ; Nonlinear systems
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine , Technology
    Notes: Abstract Detection, representation, and identification of nonlinearities in biological systems are considered. We begin by briefly but critically examining a well-known test of system nonlinearity, and point out that this test cannot be used to prove that a system is linear. We then concentrate on the representation of nonlinear systems by Wiener's orthogonal functional series, discussing its advantages, limitations, and biological applications. System identification through estimating the kernels in the functional series is considered in detail. An efficient time-domain method of correcting for coloring in inputs is examined and shown to result in significantly improved kernel estimates in a biologically realistic system.
    Type of Medium: Electronic Resource
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  • 9
    Publication Date: 2011-02-01
    Print ISSN: 0034-6748
    Electronic ISSN: 1089-7623
    Topics: Electrical Engineering, Measurement and Control Technology , Physics
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  • 10
    Publication Date: 1992-06-01
    Print ISSN: 0034-6748
    Electronic ISSN: 1089-7623
    Topics: Electrical Engineering, Measurement and Control Technology , Physics
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