ALBERT

All Library Books, journals and Electronic Records Telegrafenberg

X
feed icon rss

Your email was sent successfully. Check your inbox.

An error occurred while sending the email. Please try again.

Proceed reservation?

Export
Filter
  • Articles  (1,870)
  • 2010-2014  (1,870)
  • 1990-1994
  • 1985-1989
  • 1950-1954
  • IEEE Transactions on Biomedical Engineering  (767)
  • IEEE/ASME Transactions on Mechatronics  (652)
  • Modelling and Simulation in Engineering  (237)
  • 1402
  • 1417
  • 97425
  • Technology  (1,870)
Collection
  • Articles  (1,870)
Source
Publisher
Years
Year
Journal
Topic
  • 1
    facet.materialart.
    Unknown
    IEEE Transactions on Biomedical Engineering publication information (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: Provides a listing of current staff, committee members and society officers.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 2
    facet.materialart.
    Unknown
    Automated Quantitative Analysis of Capnogram Shape for COPD–Normal and COPD–CHF Classification (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: We develop an approach to quantitative analysis of carbon dioxide concentration in exhaled breath, recorded as a function of time by capnography. The generated waveform—or capnogram—is currently used in clinical practice to establish the presence of respiration as well as determine respiratory rate and end-tidal CO 2 concentration. The capnogram shape also has diagnostic value, but is presently assessed qualitatively, by visual inspection. Prior approaches to quantitatively characterizing the capnogram shape have explored the correlation of various geometric parameters with pulmonary function tests. These studies attempted to characterize the capnogram in normal subjects and patients with cardiopulmonary disease, but no consistent progress was made, and no translation into clinical practice was achieved. We apply automated quantitative analysis to discriminate between chronic obstructive pulmonary disease (COPD) and congestive heart failure (CHF), and between COPD and normal. Capnograms were collected from 30 normal subjects, 56 COPD patients, and 53 CHF patients. We computationally extract four physiologically based capnogram features. Classification on a hold-out test set was performed by an ensemble of classifiers employing quadratic discriminant analysis, designed through cross validation on a labeled training set. Using 80 exhalations of each capnogram record in the test set, performance analysis with bootstrapping yields areas under the receiver operating characteristic (ROC) curve of 0.89 (95% CI: 0.72–0.96) for COPD/CHF classification, and 0.98 (95% CI: 0.82–1.0) for COPD/normal classification. This classification performance is obtained with a run time sufficiently fast for real-time monitoring.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 3
    facet.materialart.
    Unknown
    Examination of Hand Muscle Activation and Motor Unit Indices Derived from Surface EMG in Chronic Stroke (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: In this study, we used muscle and motor unit indices, derived from convenient surface electromyography (EMG) measurements, for examination of paretic muscle changes post stroke. For 12 stroke subjects, compound muscle action potential and voluntary surface EMG signals were recorded from paretic and contralateral first dorsal interosseous, abductor pollicis brevis, and abductor digiti minimi muscles. Muscle activation index (AI), motor unit number index (MUNIX), and motor unit size index (MUSIX) were then calculated for each muscle. There was a significant AI reduction for all the three muscles in paretic side compared with contralateral side, providing an evidence of muscle activation deficiency after stroke. The hand MUNIX (defined by summing the values from the three muscles) was significantly reduced in paretic side compared with contralateral side, whereas the hand MUSIX was not significantly different. Furthermore, diverse changes in MUNIX and MUSIX were observed from the three muscles. A major feature of the present examinations is the primary reliance on surface EMG, which offers practical benefits because it is noninvasive, induces minimal discomfort and can be performed quickly.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 4
    facet.materialart.
    Unknown
    3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: Robotic needle steering systems have the potential to greatly improve medical interventions, but they require new methods for medical image guidance. Three-dimensional (3-D) ultrasound is a widely available, low-cost imaging modality that may be used to provide real-time feedback to needle steering robots. Unfortunately, the poor visibility of steerable needles in standard grayscale ultrasound makes automatic segmentation of the needles impractical. A new imaging approach is proposed, in which high-frequency vibration of a steerable needle makes it visible in ultrasound Doppler images. Experiments demonstrate that segmentation from this Doppler data is accurate to within 1–2 mm. An image-guided control algorithm that incorporates the segmentation data as feedback is also described. In experimental tests in ex vivo bovine liver tissue, a robotic needle steering system implementing this control scheme was able to consistently steer a needle tip to a simulated target with an average error of 1.57 mm. Implementation of 3-D ultrasound-guided needle steering in biological tissue represents a significant step toward the clinical application of robotic needle steering.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 5
    facet.materialart.
    Unknown
    A Noncontact Capacitive Sensing System for Recognizing Locomotion Modes of Transtibial Amputees (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: This paper presents a noncontact capacitive sensing system (C-Sens) for locomotion mode recognition of transtibial amputees. C-Sens detects changes in physical distance between the residual limb and the prosthesis. The sensing front ends are built into the prosthetic socket without contacting the skin. This novel signal source improves the usability of locomotion mode recognition systems based on electromyography (EMG) signals and systems based on capacitance signals obtained from skin contact. To evaluate the performance of C-Sens, we carried out experiments among six transtibial amputees with varying levels of amputation when they engaged in six common locomotive activities. The capacitance signals were consistent and stereotypical for different locomotion modes. Importantly, we were able to obtain sufficiently informative signals even for amputees with severe muscle atrophy (i.e., amputees lacking of quality EMG from shank muscles for mode classification). With phase-dependent quadratic classifier and selected feature set, the proposed system was capable of making continuous judgments about locomotion modes with an average accuracy of $96.3%$ and $94.8%$ for swing phase and stance phase, respectively (Experiment 1). Furthermore, the system was able to achieve satisfactory recognition performance after the subjects redonned the socket (Experiment 2). We also validated that C-Sens was robust to load bearing changes when amputees carried 5-kg weights during activities (Experiment 3). These results suggest that noncontact capacitive sensing is capable of circumventing practical problems of EMG systems without sacrificing performance and it is, thus, promising for automatic recognition of human motion intent for controlling powered prostheses.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 6
    facet.materialart.
    Unknown
    Using Ultrasound Backscattering Signals and Nakagami Statistical Distribution to Assess Regional Cataract Hardness (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: This study aims to analyze the protein aggregates spatial distribution for different cataract degrees, and correlate this information with the lens acoustical parameters and by this way, assess the cataract regional hardness. Different cataract degrees were induced ex vivo in porcine lenses. A 25 MHz ultrasonic transducer was used to obtain the acoustical parameters (velocity, attenuation, and backscattering signals). B-scan and Nakagami images were constructed. Also, lenses with different cataract degrees were sliced in two regions (nucleus and cortex), for fibers and collagen detection. A significant increase with cataract formation was found for the velocity, attenuation, and brightness intensity of the B-scan images and Nakagami m parameter ( $p 〈 0.01$ ). The acoustical parameters showed a good to moderate correlation with the m parameter for the different stages of cataract formation. A strong correlation was found between the protein aggregates in the cortex and the m parameter. Lenses without cataract are characterized using a classification and regression tree, by a mean brightness intensity ≤0.351, a variance of the B-scan brightness intensity ≤0.070, a velocity ≤1625 m/s, and an attenuation ≤0.415 dB/mm·MHz (sensitivity: 100% and specificity: 72.6%). To characterize different cataract degrees, the m parameter should be considered. Initial stages of cataract are characterized by a mean brightness intensity 〉0.351 and a variance of the m parameter 〉0.110. Advanced stages of cataract are characterized by a mean brightness intensity 〉0.351, a variance of the m parameter ≤0.110, and a mean m parameter 〉0.374. For initial and advanced stages of cataract, a sensitivity of 78.4% - nd a specificity of 86.5% are obtained.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 7
    facet.materialart.
    Unknown
    High-Resolution 3-D T ${{bf _1}^{bf *}}$ -Mapping and Quantitative Image Analysis of GRAY ZONE in Chronic Fibrosis (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: The substrate of potentially lethal cardiac arrhythmias often resides in the gray zone (GZ), a mixture of viable myocytes and collagen strands found between healthy myocardium and infarct core (IC). The specific aims of this paper are to demonstrate correspondence between regions delineated in T1 * (apparent T 1 ) maps and tissue characteristics seen in histopathology and to determine the MR imaging resolution needed to adequately identify GZ-associated substrate in chronic infarct. For this, a novel 3-D multicontrast late enhancement (MCLE) MR method was used to image ex vivo swine hearts with chronic infarction, at high resolution ( $0.6times 0.6times 1.25$ mm). Pixel-wise classified tissue maps were calculated using steady-state and T ${{bf _1}^{*}}$ images as input to a fuzzy-clustering algorithm. Quantitative histology based on collagen stains was performed in $n = 10$ selected slabs and showed very good correlations between histologically-determined areas of heterogeneous and dense fibrosis, and the corresponding GZ ( $R^{2} = 0.96$ ) and IC ( $R^{2} = 0.97$ ) in tissue classified maps. Furthermore, in $n = 24$ slabs, we performed volumetric measurements of GZ and IC, at the original and decreased image resolutions. Our results demonstrated that the IC volume remained relatively unchanged across all resolutions, whereas the GZ volume progressively increased with diminished image resolution, with changes reaching significance at $1times 1times 5$ mm resolution ( $p 〈0.05$ ) but not at $1times 1times 2.5$ mm, suggesting that this resolution may be sufficient to adequately identify the GZ from MCLE images, enabling an effective MR probing of remodeled myocardium in late infarct. Future work will focus on translating these findings to optimizing the current in vivo MCLE imaging of the GZ.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 8
    facet.materialart.
    Unknown
    Reducing Risks in Type 1 Diabetes Using ${cal H}_infty$ Control (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: A control scheme was designed in order to reduce the risks of hyperglycemia and hypoglycemia in type 1 diabetes mellitus (T1DM). This structure is composed of three main components: an $mathcal {H}_{infty }$ robust controller, an insulin feedback loop (IFL), and a safety mechanism (SM). A control-relevant model that is employed to design the robust controller is identified. The identification procedure is based on the distribution version of the UVA/Padova metabolic simulator using the simulation adult cohort. The SM prevents dangerous scenarios by acting upon a prediction of future glucose levels, and the IFL modifies the loop gain in order to reduce postprandial hypoglycemia risks. The procedure is tested on the complete in silico adult cohort of the UVA/Padova metabolic simulator, which has been accepted by the Food and Drug Administration (FDA) in lieu of animal trials.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 9
    facet.materialart.
    Unknown
    IEEE Transactions on Biomedical Engineering Handling Editors (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: Provides a listing of current committee members and society officers.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 10
    facet.materialart.
    Unknown
    Developing a Stereotypical Drosophila Brain Atlas (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: Brain research requires a standardized brain atlas to describe both the variance and invariance in brain anatomy and neuron connectivity. In this study, we propose a system to construct a standardized 3D Drosophila brain atlas by integrating labeled images from different preparations. The 3D fly brain atlas consists of standardized anatomical global and local reference models, e.g., the inner and external brain surfaces and the mushroom body. The averaged global and local reference models are generated by the model averaging procedure, and then the standard Drosophila brain atlas can be compiled by transferring the averaged neuropil models into the averaged brain surface models. The main contribution and novelty of our study is to determine the average 3D brain shape based on the isosurface suggested by the zero-crossings of a 3D accumulative signed distance map. Consequently, in contrast with previous approaches that also aim to construct a stereotypical brain model based on the probability map and a user-specified probability threshold, our method is more robust and thus capable to yield more objective and accurate results. Moreover, the obtained 3D average shape is useful for defining brain coordinate systems and will be able to provide boundary conditions for volume registration methods in the future. This method is distinguishable from those focusing on 2D + Z image volumes because its pipeline is designed to process 3D mesh surface models of Drosophila brains.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 11
    facet.materialart.
    Unknown
    A Wavelet-Based Electrogram Onset Delineator for Automatic Ventricular Activation Mapping (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: Electroanatomical mapping (EAM) systems are commonly used in clinical practice for guiding catheter ablation treatments of common arrhythmias. In focal tachycardias, the ablation target is defined by locating the earliest activation area determined by the joint analysis of electrogram (EGM) signals at different sites. However, this is currently a manual time-consuming and experience-dependent task performed during the intervention and thus prone to stress-related errors. In this paper, we present an automatic delineation strategy that combines electrocardiogram (ECG) information with the wavelet decomposition of the EGM signal envelope to identify the onset of each EGM signal for activation mapping. Fourteen electroanatomical maps corresponding to ten patients suffering from non-tolerated premature ventricular contraction (PVC) beats and admitted for ablation procedure were used for evaluation. We compared the results obtained automatically with two types of manual annotations: one during the intervention by an expert technician (on-procedure) and other after the intervention (off-procedure), free from time and procedural constraints, by two other technicians. The automatic annotations show a significant correlation (0.95, p $〈$ 0.01) with the evaluation reference (off-procedure annotation sets combination) and has an error of 2.1 $pm$ 10.9 ms, around the order of magnitude of the on-procedure annotations error ( $-$ 2.6 $pm$ 6.8 ms). The results suggest that the proposed methodology could be incorporated into EAM systems to considerably reduce processing time during ablation interventions.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 12
    facet.materialart.
    Unknown
    In-Flight Automatic Detection of Vigilance States Using a Single EEG Channel (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-12-06
    Description: Sleepiness and fatigue can reach particularly high levels during long-haul overnight flights. Under these conditions, voluntary or even involuntary sleep periods may occur, increasing the risk of accidents. The aim of this study was to assess the performance of an in-flight automatic detection system of low-vigilance states using a single electroencephalogram channel. Fourteen healthy pilots voluntarily wore a miniaturized brain electrical activity recording device during long-haul flights ( $10 pm 2.0$ h, Atlantic 2 and Falcon 50 M, French naval aviation). No subject was disturbed by the equipment. Seven pilots experienced at least a period of voluntary ( $26.8 pm 8.0$ min, $n = 4$ ) or involuntary sleep (N1 sleep stage, $26.6 pm 18.7$ s, $n = 7$ ) during the flight. Automatic classification (wake/sleep) by the algorithm was made for 10-s epochs (O1-M2 or C3-M2 channel), based on comparison of means to detect changes in α, β, and θ relative power, or ratio [( $alpha +theta$ )/β], or fuzzy logic fusion (α, β). Pertinence and prognostic of the algorithm were determined using epoch-by-epoch comparison with visual-scoring (two blinded readers, AASM rules). The best concordance between automatic detection and visual-scoring was observed within the O1-M2 channel, using the ratio [( $alpha +theta$ )/β] ( $98.3 pm 4.1%$ of good detection, $K = 0.94 pm 0.07$ , with a $0.04 pm 0.04$ false positive rate and a $0.87 pm 0.10$ true positive rate). Our results confirm the efficiency of a miniaturized single electroencephalographic channel recording device, associated with an automatic detection algorithm, in order to detect low-vigilance states during real flights.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 13
    facet.materialart.
    Unknown
    Hybrid Spectral Micro-CT: System Design, Implementation, and Preliminary Results (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Spectral CT has proven an important development in biomedical imaging, and there have been several publications in the past years demonstrating its merits in pre-clinical and clinical applications. In 2012, Xu reported that near-term implementation of spectral micro-CT could be enhanced by a hybrid architecture: a narrow-beam spectral “interior” imaging chain integrated with a traditional wide-beam “global” imaging chain. This hybrid integration coupled with compressive sensing (CS)-based interior tomography demonstrated promising results for improved contrast resolution, and decreased system cost and radiation dose. The motivation for the current study is implementation and evaluation of the hybrid architecture with a first-of-its-kind hybrid spectral micro-CT system. Preliminary results confirm improvements in both contrast and spatial resolution. This technology is shown to merit further investigation and potential application in future spectral CT scanner design.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 14
    facet.materialart.
    Unknown
    Amorphous Regions-of-Interest Projection Method for Simplified Longitudinal Comparison of Dynamic Regions in Cancer Imaging (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Tumors are typically analyzed as a single unit, despite their biologically heterogeneous nature. This limits correlations that can be drawn between regional variation and treatment outcome. Furthermore, despite the availability of high resolution 3-D medical imaging techniques, local outcomes, (e.g., tumor growth), are not easily measured. This paper proposes a method that uses streamlines to divide a 3-D region of interest (e.g., tumor) into units where local properties can be measured over the paths of growth. The parameters such as directional length and mean intensity can be measured locally at sequential time points and then compared. The method is evaluated on synthetic objects, simulated tumors, and medical images of brain tumors. The evaluations suggest that the method is suitable for mapping amorphous dynamic objects.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 15
    facet.materialart.
    Unknown
    Integrate and Fire Pulse Train Automaton for QRS detection (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Monitoring heart activity from electrocardiograms (ECG) is crucial to avoid unnecessary fatalities; therefore, detection of QRS complex is fundamental to automated ECG monitoring. Continuous, portable 24/7 ECG monitoring requires wireless technology with constraints on power, bandwidth, area, and resolution. In order to provide continuous remote monitoring of patients and fast transmission of data to medical personnel for instantaneous intervention, we propose a methodology that converts analog inputs into pulses for ultralow power implementation. The signal encoding scheme is the time-based integrate and fire (IF) sampler from which a set of signal descriptors in the pulse domain are proposed. Furthermore, a logical decision rule for QRS detection based on morphological checking is derived. The proposed decision logic depends exclusively on relational and logical operators resulting in ultrafast recognition and can be implemented using combinatorial logic hardware to guarantee power consumption orders of magnitude lower than any microprocessor device. The algorithm was evaluated using the MIT-BIH arrhythmia database and results show that our algorithm performance is comparable to the state-of-the art software-based detection.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 16
    facet.materialart.
    Unknown
    Real-Time, Simultaneous Myoelectric Control Using Force and Position-Based Training Paradigms (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: In this paper, the simultaneous real-time control of multiple degrees of freedom (DOF) for myoelectric systems is investigated. The goal of this study, in which ten able-bodied subjects participated, was to directly compare three control paradigms of constrained (force targeted), unconstrained (position targeted) and resisted unconstrained (position targeted) limb contractions. Artificial neural networks (ANNs) were trained for simultaneous myoelectric control of the three degrees of freedom (DOFs) (wrist flexion–extension, abduction–adduction, and pronation–supination) using mirrored bilateral contractions. In the resisted unconstrained experiment, some resistance to movement was provided using flexible wrist braces in order to increase the required level of muscle activation. The force, in constrained experiments, and position, in unconstrained and resisted unconstrained experiments, were measured. The three protocols were compared off-line using estimation accuracies $(R^{2})$ and online using a real-time computer-based target acquisition test. The constrained control paradigm outperformed the unconstrained method in the abduction–adduction DOF $(R^{2}_{rm constrained}$ = 90.8 ± 0.6, $R^{2}_{rm unconstrained}$ = 85.6 ± 1.6) and pronation–supination DOF ( $R^{2}_{rm constrained}$ = 88.5 ± 0.9, $R^{2}_{rm unconstrained}$ = 82.3 ± 1.6), but no significant difference was found in the flexion–extension DOF. The constrained control method outperformed unconstrained control in two real-time testing metrics including completion time- and path efficiency. The constrained method results, however, were not significantly different than those of the resisted unconstrained method (with braces) in both off-line and real-time tests. This suggests that the quality of control using constrained and unconstrained contraction-based myoelectric schemes is not appreciably different when using comparable levels of muscle activation.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 17
    facet.materialart.
    Unknown
    IEEE EMBS Conference on Healthcare Innovations & Point-of-Care Technologies (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 18
    facet.materialart.
    Unknown
    A Speedy Hybrid BCI Spelling Approach Combining P300 and SSVEP (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: This study proposes a novel hybrid brain–computer interface (BCI) approach for increasing the spelling speed. In this approach, the P300 and steady-state visually evoked potential (SSVEP) detection mechanisms are devised and integrated so that the two brain signals can be used for spelling simultaneously. Specifically, the target item is identified by 2-D coordinates that are realized by the two brain patterns. The subarea/location and row/column speedy spelling paradigms were designed based on this approach. The results obtained for 14 healthy subjects demonstrate that the average online practical information transfer rate, including the time of break between selections and error correcting, achieved using our approach was 53.06 bits/min. The pilot studies suggest that our BCI approach could achieve higher spelling speed compared with the conventional P300 and SSVEP spellers.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 19
    facet.materialart.
    Unknown
    IEEE Transactions on Biomedical Engineering information for authors (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 20
    facet.materialart.
    Unknown
    Accurate Localization of In-Body Medical Implants Based on Spatial Sparsity (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Wearable and implantable wireless communication devices have in recent years gained increasing attention for medical diagnostics and therapeutics. In particular, wireless capsule endoscopy has become a popular method to visualize and diagnose the human gastrointestinal tract. Estimating the exact position of the capsule when each image is taken is a very critical issue in capsule endoscopy. Several approaches have been developed by researchers to estimate the capsule location. However, some unique challenges exist for in-body localization, such as the severe multipath issue caused by the boundaries of different organs, inconsistency of signal propagation velocity and path loss parameters inside the human body, and the regulatory restrictions on using high-bandwidth or high-power signals. In this paper, we propose a novel localization method based on spatial sparsity. We directly estimate the location of the capsule without going through the usual intermediate stage of first estimating time-of-arrival or received-signal strength, and then a second stage of estimating the location. We demonstrate the accuracy of the proposed method through extensive Monte Carlo simulations for radio frequency emission signals within the required power and bandwidth range. The results show that the proposed method is effective and accurate, even in massive multipath conditions.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 21
    facet.materialart.
    Unknown
    36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 22
    facet.materialart.
    Unknown
    Minimum Variance Brain Source Localization for Short Data Sequences (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: In the electroencephalogram (EEG) or magnetoencephalogram (MEG) context, brain source localization methods that rely on estimating second-order statistics often fail when the number of samples of the recorded data sequences is small in comparison to the number of electrodes. This condition is particularly relevant when measuring evoked potentials. Due to the correlated background EEG/MEG signal, an adaptive approach to localization is desirable. Previous work has addressed these issues by reducing the adaptive degrees of freedom (DoFs). This reduction results in decreased resolution and accuracy of the estimated source configuration. This paper develops and tests a new multistage adaptive processing technique based on the minimum variance beamformer for brain source localization that has been previously used in the radar statistical signal processing context. This processing, referred to as the fast fully adaptive (FFA) approach, can significantly reduce the required sample support, while still preserving all available DoFs. To demonstrate the performance of the FFA approach in the limited data scenario, simulation and experimental results are compared with two previous beamforming approaches; i.e., the fully adaptive minimum variance beamforming method and the beamspace beamforming method. Both simulation and experimental results demonstrate that the FFA method can localize all types of brain activity more accurately than the other approaches with limited data.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 23
    facet.materialart.
    Unknown
    Predicting Free-Living Energy Expenditure Using a Miniaturized Ear-Worn Sensor: An Evaluation Against Doubly Labeled Water (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Accurate estimation of daily total energy expenditure (EE) is a prerequisite for assisted weight management and assessing certain health conditions. The use of wearable sensors for predicting free-living EE is challenged by consistent sensor placement, user compliance, and estimation methods used. This paper examines whether a single ear-worn accelerometer can be used for EE estimation under free-living conditions. An EE prediction model was first derived and validated in a controlled setting using healthy subjects involving different physical activities. Ten different activities were assessed showing a tenfold cross validation error of 0.24. Furthermore, the EE prediction model shows a mean absolute deviation below 1.2 metabolic equivalent of tasks. The same model was applied to a free-living setting with a different population for further validation. The results were compared against those derived from doubly labeled water. In free-living settings, the predicted daily EE has a correlation of $hbox{0.74}, p = hbox{0.008}$ , and a MAD of $hbox{27}, hbox{kcal/day}$ . These results demonstrate that laboratory-derived prediction models can be used to predict EE under free-living conditions.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 24
    facet.materialart.
    Unknown
    IEEE Transactions on Biomedical Engineering Associate Editors (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 25
    facet.materialart.
    Unknown
    A Comparison of Standard One-Step DDA Circular Interpolators with a New Cheap Two-Step Algorithm (2014)
    Hindawi
    Details
    Publication Date: 2014-01-21
    Description: We present and study existing digital differential analyzer (DDA) algorithms for circle generation, including an improved two-step DDA algorithm which can be implemented solely in terms of elementary shifts, addition, and subtraction.
    Print ISSN: 1687-5591
    Electronic ISSN: 1687-5605
    Topics: Computer Science , Technology
    Published by Hindawi
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 26
    facet.materialart.
    Unknown
    Effective Phase Tracking for Bioinspired Undulations of Robotic Fish Models: A Learning Control Approach (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Robotic models have been used as one of the approaches to study fish locomotion. Therefore, this paper proposes an effective control scheme that enables robotic models to mimic fin-ray undulation kinematics of live fish. We found in the experiments of robotic fin undulation that the difference between the desired and actual trajectories can be significant. It is believed that the difference might be caused by the phase lagging effect. To tackle the phase tracking problem, a modified iterative learning control (ILC) scheme is proposed and implemented on the robotic fish model. Furthermore, a memory clearing operator is proposed to satisfy the Lipschitz condition. This is necessary for the convergence and feasibility of the ILC scheme. Finally, experimental results illustrate the effectiveness of the proposed learning control approach, including the memory clearing operator.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 27
    facet.materialart.
    Unknown
    Runout Tracking in Electric Motors Using Self-Mixing Interferometry (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: In this paper, a self-mixing interferometry sensor has been used as a proximity probe to measure possible runout in permanent magnet synchronous motors, for fault diagnosis. A general procedure for the measurement of the 2-D trajectory of the motor shaft is described in detail, including procedures for the characterization of the uncertainty due to the shape of the shaft, and the management of speckle noise. The performance of the proposed sensor has been compared to that of a commercial Polytec laser vibrometer, for validation purposes. Results show inaccuracies in the order of ±6 μm, which agree well with the measured uncertainty introduced by shaft surface imperfections.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 28
    facet.materialart.
    Unknown
    Integrated PID-Based Sliding Mode State Estimation and Control for Piezoelectric Actuators (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Tracking control of piezoelectric actuators (PEAs) has stimulated the development of various advanced control schemes that utilize the feedback of PEA system states for improved control performance. Among them, the one based on the concept of sliding mode has been shown promising due to its robustness to matched uncertainties, but leaving the required state estimation to be desired. Previous studies show that the PEA can be modeled as a linear dynamic system with matched uncertainties. On this basis, this paper presents the development of a novel observer based on the concept of proportional-integral-derivative-based (PID-based) sliding mode, in which the switching function is replaced by a PID regulator. The novel observer, referred to as the PID-based sliding mode observer (PIDSMO), relaxes the observer matching condition as required in the use of the unknown-input observers. The PIDSMO is then integrated with the PID-based sliding mode controller (PIDSMC) to form a novel integrated PID-based sliding mode observer-controller (PIDSMOC) for PEA tracking control. Experiments performed on a PEA showed that the PIDSMO can accurately estimate the PEA states and that the integrated PIDSMOC can achieve better tracking control performances as compared to the PIDSMC with α–β filter control scheme.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 29
    facet.materialart.
    Unknown
    Implementation and Performance Analysis of Digital Controllers for Brushless DC Motor Drives (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper presents design and digital implementation of a fuzzy controller for achieving improved performance of Brushless dc (BLDC) servomotor drive. The performance of fuzzy and PID controller-based BLDC servomotor drives is investigated under different operating conditions such as change in reference speed, parameter variations, load disturbance, etc. BLDC servomotors are used in aerospace, instrumentation systems, space vehicles, electric vehicles, robotics, and industrial control applications. In such applications, conventional controllers like P, PI, and PID are being used with the BLDC servomotor drive control systems to achieve satisfactory transient and steady-state responses. However, the major problem associated with the conventional PID controller is that the tuned gain parameters obtained for such BLDC servomotor drive control systems do not yield better transient and steady-state responses under different operating conditions such as parameter variations, load disturbances, etc. In this paper, design and implementation of fuzzy controller is presented and its performance is compared with PID controller to show its capability to track the error and usefulness of fuzzy controller in control applications.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 30
    facet.materialart.
    Unknown
    System Design and Implementation of UCF-MANUS—An Intelligent Assistive Robotic Manipulator (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper reports on the system design for integrating the various processes needed for end-to-end implementation of a smart assistive robotic manipulator. Specifically, progress is reported in the empowerment of the UCF-MANUS system with a suite of sensory, computational, and multimodal interface capabilities so that its autonomy can be made accessible to users with a wide range of disabilities. Laboratory experiments are reported to demonstrate the ability of the system prototype to successfully and efficiently complete object retrieval tasks. Benchmarking of the impact of the various interface modalities on user performance is performed via empirical studies with healthy subjects operating the robot in a simulated instrumental activities of daily living tasks setup. It is seen through a analysis of the collected quantitative data that the prototype is interface neutral and shows robustness to variations in the tasks and the environment. It is also seen that the prototype autonomous system is quantitatively superior to Cartesian control for all tested tasks under a “number of commands” metric, however, under a “time to task completion” metric, the system is seen to be superior for “hard” tasks but not for “easy” tasks.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 31
    facet.materialart.
    Unknown
    Robust Visual Tracking of Robotic Forceps Under a Microscope Using Kinematic Data Fusion (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Forceps tracking is an important element of high-level surgical assistance such as visual servoing and motion analysis. This paper describes a robust, efficient tracking algorithm capable of estimating the forceps tip position in an image space by fusing visual tracking data with kinematic information. In visual tracking, the full-state parameters of forceps are estimated using the projective contour models of a 3-D CAD model of the forceps. The likelihood of the contour model is measured using the distance transformation to enable fast calculation, and the particle filter estimates the full state of the forceps. For more robust tracking, the result data obtained from visual tracking are combined with kinematic data that are obtained by forward kinematics and hand–eye transformation. The fusion of visual and kinematic tracking data is performed using an adaptive Kalman filter, and the fused tracking enables the reinitialization of visual tracking parameters when a failure occurs. Experimental results indicate that the proposed method is accurate and robust to image noise, and forceps tracking was successfully carried out even when the forceps was out of view.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 32
    facet.materialart.
    Unknown
    Compensating for ZOH-Induced Residual Vibrations in Head-Positioning Control of Hard Disk Drives (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: In a hard disk drive, residual vibrations induced by a zero-order-hold may lead to destruction of user data. Therefore, we developed a control method that can reduce such residual vibrations in the head-positioning control system of a hard disk drive. This study is based on a shock response spectrum (SRS) analysis that handles the transient-state characteristics of mechanical resonances. The control method uses multirate notch filters that modify the acceleration input signals beyond the Nyquist frequency. The results of the SRS analyses showed that the multirate notch filter was able to decrease the amplitude of residual vibrations caused by the mechanical resonances around the sampling frequency. Simulation and experimental results for a track-seeking control in a hard disk drive demonstrated the validity of the proposed method.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 33
    facet.materialart.
    Unknown
    Wet Adhesion Inspired Bionic Climbing Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Arthropods like stick insects have remarkable locomotion performance to climb vertical surfaces with their wet adhesion pads. This paper focuses on the development of a novel wet adhesion pad for wall-climbing robots that can scale walls. According to the morphology of insects’ pads, mechanism of wet adhesive is analyzed. A novel wet adhesive pad with microstructure based on combining electroforming process with soft lithography is explored. Characteristic test results show that microstructures on the surface of pads fabricated by the proposed technique can improve the wet adhesive ability effectively. The design, manufacture, and test of a hexapod climbing robot prototype are also discussed. Experimental results show that the climbing ability of the robot with the pads is exceptional; the robot can climb up to more than 80 $^{circ}$ sloped surface and stick to the vertical surface statically.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 34
    facet.materialart.
    Unknown
    An Energy-Efficient Hopping Robot Based on Free Vibration of a Curved Beam (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper explores a design strategy of hopping robots, which makes use of free vibration of an elastic curved beam. In this strategy, the leg structure consists of a specifically shaped elastic curved beam and a small rotating mass that induces free vibration of the entire robot body. Although we expect to improve energy efficiency of locomotion by exploiting the mechanical dynamics, it is not trivial to take advantage of the coupled dynamics between actuation and mechanical structures for the purpose of locomotion. From this perspective, this paper explains the basic design principles through modeling, simulation, and experiments of a minimalistic hopping robot platform. More specifically, we show how to design elastic curved beams for stable hopping locomotion and the control method by using unconventional actuation. In addition, we also analyze the proposed design strategy in terms of energy efficiency and discuss how it can be applied to the other forms of legged robot locomotion.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 35
    facet.materialart.
    Unknown
    Controlling the Trajectory of a Flexible Ultrathin Endoscope for Fully Automated Bladder Surveillance (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: During cystoscopy, the urologist manually steers a cyst scope inside a patient's bladder to visually inspect the inner surface. Cystoscopies are performed as part of surveillance for bladder cancer, making it the most expensive cancer to treat over a patient's lifetime. An automated bladder scanning system has been devised to reduce workload and cost by relieving the urologist from performing surveillance. Presented here is a proof-of-concept apparatus that controls the motion of a miniature flexible endoscope. Image-based feedback is used to adjust the endoscope's movement so that captured images overlap with one another, ensuring that the entire inner surface of the bladder is imaged. Within a bladder phantom, the apparatus adaptively created and followed a spherical scan pattern comprised of 13 individual latitudes and 508 captured images, while accepting between 60% and 90% image overlap between adjacent images. The elapsed time and number of captured images were sensitive to the apparatus's placement within the phantom and the acceptable image overlap percentage range. A mosaic of captured images was generated to validate comprehensive surveillance. Overall, a robotically controlled endoscope used in conjunction with image-based feedback may permit fully automated and comprehensive bladder surveillance to be conducted without direct clinician oversight.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 36
    facet.materialart.
    Unknown
    Pseudo-Sensorless High-Performance Bilateral Teleoperation by Sliding-Mode Control and FPGA (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper proposes a pseudo-sensorless implementation of scaled bilateral teleoperation. It is based on Hall effect sensors that are built within the motor housing. The proposed implementation requires no external sensor that can deteriorate system dynamics and performance. The integrated sensors have been used both for position measurement and external force estimation that are necessary in high-performance bilateral teleoperation. Nevertheless, system perturbation dynamics may always appear in a practical mechatronic system. Therefore, the chattering-free sliding-mode control algorithm is applied that ensures robustness toward the disturbances, and yet is easy to implement. The data acquisition algorithms as well as the control algorithm are implemented by field-programmable gate array (FPGA) in order to provide high control rate that can further increase robustness required for haptic fidelity of the system for scaled teleoperation. The applied algorithms along with the FGPA implementation were validated by the 2-DoF experimental system. It has been shown that the proposed pseudo-sensorless implementation by FPGA provides high bilateral teleoperation performance.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 37
    facet.materialart.
    Unknown
    A Long-Stroke Nanopositioning Control System of the Coplanar Stage (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: With the continuing trend toward device miniaturization in many engineering and scientific fields, the need to accomplish highly precise measurements at the micro- or nanoscale has emerged as a critical concern. This paper presents a high-precision motion control system for the nanopositioning of a coplanar $Xhbox{--}Y$ stage driven by two commercial ultrasonic motors. The motor drive provides three main driving modes, namely ac, Gate, and dc, for millimeter, micrometer, and nanometer displacements, respectively. The displacement of each axis stage is sensed using a linear diffraction grating interferometer (LDGI) with a nanometer resolution. To compensate for the effects of the variable friction force during stage motion, the gains of the proportional–integral–derivative controller used to regulate the stage motion are tuned adaptively by a back propagation neural network (BPNN) based on the feedback signals provided by the LDGI. Furthermore, to obtain a high-accuracy positional motion, the error compensation strategy is implemented to eliminate the systematic errors of the stage with error budget. The error budget is obtained by positioning error calibration using a laser interferometer, which optical axis is detected by a quadrant photodetector (QPD) to ensure no cosine error. The positioning accuracy of the proposed system is evaluated by performing a series of contouring experiments. The results demonstrate that the system achieves a nanometer level of accuracy and resolution and is, therefore, a suitable solution for micro-coordinate measuring machine, microlithography, and micromachining applications.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 38
    facet.materialart.
    Unknown
    A Pneumatically Actuated Quadrupedal Walking Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper describes the mechanical design and control of a pneumatic quadrupedal robot. Additionally, the authors propose a method of joint control that combines stance/swing gain scheduling with open-loop damping, the combination of which provides stable joint level control, without the oscillatory behavior associated with pneumatically actuated walking robots. A set of joint trajectories are described to provide stable walking. The joint trajectories and joint-level controllers are implemented on the pneumatic quadruped and experimentally shown to provide stable walking without significant (unwanted) oscillations of the body or legs. Further, the robot's normalized speed and payload capacity are experimentally characterized. The robot's performance in these metrics is shown to be highly competitive within the published literature.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 39
    facet.materialart.
    Unknown
    IEEE/ASME Transactions on Mechatronics information for authors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 40
    facet.materialart.
    Unknown
    High-Sampling Rate Dynamic Inversion—Filter Realization and Applications in Digital Control (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper presents a stable inversion of nonminimum phase systems with highly efficient computation for high-sampling rate applications. The stable filter that inverts the dynamics of a nonminimum system is based on cascading a stable pole-zero cancellation infinite impulse response (IIR) filter with a high-order finite impulse response (FIR) filter which inverts the unstable zero dynamics. The high-order FIR filter is realized based on efficient IIR filter implementation first introduced by Powell and Chau then later modified by Kurosu. As a demonstrative example, the inversion filters are applied to feedforward tracking and repetitive control algorithms and realized by a field programmable gate array. The controllers are implemented at 100-kHz sampling rate to control the motion of a 4 degrees-of-freedom magnetically levitated shaft in experiment.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 41
    facet.materialart.
    Unknown
    Enhanced Low-Latency Detection of Motor Intention From EEG for Closed-Loop Brain-Computer Interface Applications (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: In recent years, the detection of voluntary motor intentions from electroencephalogram (EEG) has been used for triggering external devices in closed-loop brain–computer interface (BCI) research. Movement-related cortical potentials (MRCP), a type of slow cortical potentials, have been recently used for detection. In order to enhance the efficacy of closed-loop BCI systems based on MRCPs, a manifold method called Locality Preserving Projection, followed by a linear discriminant analysis (LDA) classifier (LPP-LDA) is proposed in this paper to detect MRCPs from scalp EEG in real time. In an online experiment on nine healthy subjects, LPP-LDA statistically outperformed the classic matched filter approach with greater true positive rate (79 ± 11% versus 68 ± 10%; $p = 0.007$ ) and less false positives (1.4 ± 0.8/min versus 2.3 ± 1.1/min; $p = 0.016$ ). Moreover, the proposed system performed detections with significantly shorter latency (315 ± 165 ms versus 460 ± 123 ms; $p = 0.013$ ), which is a fundamental characteristics to induce neuroplastic changes in closed-loop BCIs, following the Hebbian principle. In conclusion, the proposed system works as a generic brain switch, with high accuracy, low latency, and easy online implementation. It can thus be used as a fundamental element of BCI systems for neuromodulation and motor function rehabilitation.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 42
    facet.materialart.
    Unknown
    Stepped Impedance Resonators for High-Field Magnetic Resonance Imaging (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Multi-element volume radio-frequency (RF) coils are an integral aspect of the growing field of high-field magnetic resonance imaging. In these systems, a popular volume coil of choice has become the transverse electromagnetic (TEM) transceiver coil consisting of microstrip resonators. In this paper, to further advance this design approach, a new microstrip resonator strategy in which the transmission line is segmented into alternating impedance sections, referred to as stepped impedance resonators (SIRs), is investigated. Single-element simulation results in free space and in a phantom at 7 T (298 MHz) demonstrate the rationale and feasibility of the SIR design strategy. Simulation and image results at 7 T in a phantom and human head illustrate the improvements in a transmit magnetic field, as well as RF efficiency (transmit magnetic field versus specific absorption rate) when two different SIR designs are incorporated in 8-element volume coil configurations and compared to a volume coil consisting of microstrip elements.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 43
    facet.materialart.
    Unknown
    Influences of Interpolation Error, Electrode Geometry, and the Electrode–Tissue Interface on Models of Electric Fields Produced by Deep Brain Stimulation (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Deep brain stimulation (DBS) is an established therapy for movement disorders, but the fundamental mechanisms by which DBS has its effects remain unknown. Computational models can provide insights into the mechanisms of DBS, but to be useful, the models must have sufficient detail to predict accurately the electric fields produced by DBS. We used a finite-element method model of the Medtronic 3387 electrode array, coupled to cable models of myelinated axons, to quantify how interpolation errors, electrode geometry, and the electrode–tissue interface affect calculation of electrical potentials and stimulation thresholds for populations of model nerve fibers. Convergence of the potentials was not a sufficient criterion for ensuring the same degree of accuracy in subsequent determination of stimulation thresholds, because the accuracy of the stimulation thresholds depended on the order of the elements. Simplifying the 3387 electrode array by ignoring the inactive contacts and extending the terminated end of the shaft had position-dependent effects on the potentials and excitation thresholds, and these simplifications may impact correlations between DBS parameters and clinical outcomes. When the current density in the bulk tissue is uniform, the effect of the electrode–tissue interface impedance could be approximated by filtering the potentials calculated with a static lumped electrical equivalent circuit. Further, for typical DBS parameters during voltage-regulated stimulation, it was valid to approximate the electrode as an ideal polarized electrode with a nonlinear capacitance. Validation of these computational considerations enables accurate modeling of the electric field produced by DBS.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 44
    facet.materialart.
    Unknown
    Comparative Evaluation of Methodologies for T-Wave Alternans Mapping in Electrograms (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Electrograms (EGM) recorded from the surface of the myocardium are becoming more and more accessible. T-wave alternans (TWA) is associated with increased vulnerability to ventricular tachycardia/fibrillation and it occurs before the onset of ventricular arrhythmias. Thus, accurate methodologies for time-varying alternans estimation/detection in EGM are needed. In this paper, we perform a simulation study based on epicardial EGM recorded in vivo in humans to compare the accuracy of four methodologies: the spectral method (SM), modified moving average method, laplacian likelihood ratio method (LLR), and a novel method based on time-frequency distributions. A variety of effects are considered, which include the presence of wide band noise, respiration, and impulse artifacts. We found that 1) EGM-TWA can be detected accurately when the standard deviation of wide-band noise is equal or smaller than ten times the magnitude of EGM-TWA. 2) Respiration can be critical for EGM-TWA analysis, even at typical respiratory rates. 3) Impulse noise strongly reduces the accuracy of all methods, except LLR. 4) If depolarization time is used as a fiducial point, the localization of the T-wave is not critical for the accuracy of EGM-TWA detection. 5) According to this study, all methodologies provided accurate EGM-TWA detection/quantification in ideal conditions, while LLR was the most robust, providing better detection-rates in noisy conditions. Application on epicardial mapping of the in vivo human heart shows that EGM-TWA has heterogeneous spatio-temporal distribution.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 45
    facet.materialart.
    Unknown
    Beam Position and Energy Monitoring in Compact Linear Accelerators for Radiotherapy (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: The experimental verification of a novel sensor topology capable of measuring both the position and energy of an electron beam inside a compact electron linear accelerator for radiotherapy is presented. The method applies microwave sensing techniques and allows for the noninterceptive monitoring of the respective beam parameters within compact accelerators for medical or industrial purposes. A state space feedback approach is described with the help of which beam displacements, once detected, can be corrected within a few system macropulses. The proof-of-principle experiments have been conducted with a prototype accelerator and customized hardware. Additionally, closed-loop operation with high accuracy is demonstrated.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 46
    facet.materialart.
    Unknown
    Metrics for Describing Soft-Tissue Artefact and Its Effect on Pose, Size, and Shape of Marker Clusters (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: In human movement analysis based on stereophotogrammetry, bone pose is reconstructed by observing a cluster of skin markers. Each marker undergoes a displacement relative to the underlying bone that is regarded as an artefact (soft-tissue artefact, STA) since it affects accuracy in bone pose estimation. This paper proposes a set of metrics for the statistical description of the STA and its effects on cluster pose, size, and shape, with the intent of contributing to a clearer knowledge of its characteristics, and consequently of setting the bases for the development of more accurate bone pose estimators than presently available. Skin marker clusters behave as deformable bodies in motion relative to the underlying bone. Their motion can be described, based on Procrustes analysis, as the composition of four independent transformations: translation and rotation (rigid motion, RM), and change in size and shape (nonrigid motion, NRM). Statistical parameters describing the time histories of both the individual marker STA and the cluster transformations listed earlier were defined. For demonstration purposes, data collected ex vivo were used. The lower limbs of three cadavers were made to undergo movements with prevailing flexion–extension components. Femur pose was accurately measured using pin markers and the movement of twelve thigh skin markers observed relative to it. The STAs of all possible clusters of four skin markers were analysed. RM and NRM exhibited similar magnitudes and therefore impact on bone pose estimation. Thus bone pose estimators should not account for NRM only, as is normally the case, but also for RM.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 47
    facet.materialart.
    Unknown
    Sleep and Wakefulness State Detection in Nocturnal Actigraphy Based on Movement Information (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Wrist actigraphy (ACT) is a low-cost and well-established technique for long-term monitoring of human activity. It has a special relevance in sleep studies, where its noninvasive nature makes it a valuable tool for behavioral characterization and for the detection and diagnosis of some sleep disorders. The traditional sleep/ wakefulness state estimation algorithms from the nocturnal ACT data are unbalanced from a sensitivity and specificity points of view since they tend to overestimate sleep state, with severe consequences from a diagnosis point of view. They usually maximize the overall accuracy that does not take into account the highly unbalanced state distribution. In this paper, a method is proposed to appropriately deal with this unbalanced problem, achieving similar sensitivity and specificity scores in the state estimation process. The proposed method combines two linear discriminant classifiers, trained with two different criteria involving movement detection to generate a first state estimate. This result is then refined by a Hidden Markov Model-based algorithm. The global accuracy, the sensitivity, and the specificity of the method are $77.8 %, 75.6 %$ , and $81.6 %$ , respectively, performing better than the tested algorithms. If the performance is assessed only for movement periods, this improvement is even higher.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 48
    facet.materialart.
    Unknown
    Mathematical Modeling of Tumor Growth, Drug-Resistance, Toxicity, and Optimal Therapy Design (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: The combination of mathematical modeling and optimal control techniques holds great potential for quantitatively describing tumor progression and optimal treatment planning. Hereby, we use a Gompertz-type growth law and a pharmacokinetic-pharmacodynamic approach for modeling the effects of drugs on tumor progression in tumor bearing mice, and we combine these in order to design optimal therapeutic patterns. Specifically, we describe colon cancer progression in both untreated mice as well as mice treated with widely used anticancer agents. We also present a pharmacokinetic model to describe the kinetics of drugs in the body as well as detailed toxicity models to describe the severity of side effects. Finally, we propose a promising methodology by which cancer progression in mice with drug resistance can be controlled. By using optimal control, we demonstrate that the optimal planning of the frequency and magnitude of treatment interruptions is key to the control of cancer progression in subjects with resistance and should be further investigated in an experimental setting, which is currently underway.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 49
    facet.materialart.
    Unknown
    A New Actuator With Adjustable Stiffness Based on a Variable Ratio Lever Mechanism (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper presents the actuator with adjustable stiffness (AwAS-II), an enhanced version of the original realization AwAS. This new variable stiffness actuator significantly differs from its predecessor on the mechanism used for the stiffness regulation. While AwAS tunes the stiffness by regulating the position of the compliant elements along the lever arm, AwAS-II changes the position of the lever's pivot point. As a result of the new principle, AwAS-II can change the stiffness in a much broader range (from zero to infinity) even by using softer springs and shorter lever arm, compared to AwAS. This makes the setup of AwAS-II more compact and lighter and improves the stiffness regulation response. To evaluate the aptitude of the fast stiffness adjustment, experiments on reproducing the stiffness profile of the human ankle during the stance phase of a normal walking gait are conducted. Results indicate that AwAS-II is capable of reproducing an interpolated stiffness profile of the ankle while providing a net positive work and thus a sufficient amount of energy as required for the toe-off.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 50
    facet.materialart.
    Unknown
    Design, Development, and Evaluation of a Pinch–Grasp Haptic Interface (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Interaction with virtual or teleoperated environments requires contact with objects on a multipoint level. We describe the design of a pinch–grasp hand interface device for use as a grasping mechanism to complement haptic interfaces. To preserve a suitable level of transparency for human–computer interaction, this novel interface is designed for high-resolution contact forces, while centered around a lightweight structure. This functionality renders the device scalable and adaptable to a wide range of haptic interface structures and force level requirements. We present an optimal configuration for a pinch–grasp interface, which produces bidirectional forces to an operator’s fingers and a rotational force to the wrist through a cable drive system. The device is characterized for use on a commercial haptic interface through demonstration of sustained peak performance and also workspace utilization. The dynamic performance of the pinch–grasp interface is experimentally determined, and the frequency response is identified to illustrate its contact force resolution.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 51
    facet.materialart.
    Unknown
    Can DC Motors Directly Drive Flapping Wings at High Frequency and Large Wing Strokes? (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper proposes and experimentally validates a method for driving flapping wings at large wing strokes and high frequencies with a DC motor, based on direct, elastic transmission. The DC motor undergoes reciprocating, rather than rotary, motion avoiding the use of nonlinear transmissions such as slider-crank mechanisms. This is key to compact, easy to fabricate, power efficient, and controllable flapping mechanisms. First, an appropriate motor based on maximum power transfer arguments is selected. Then, a flapping mechanism is prototyped and its experimental performance is compared with simulations, which take into account the full dynamics of the system. Despite inherent nonlinearities due to the aerodynamic damping, the linearity of the direct, elastic transmission allows one to fully exploit resonance. This benefit is best captured by the dynamic efficiency, close to 90% at larger wing strokes in both experimental data and simulations. We finally show a compact flapping mechanism implementation with independent flapping motion control for the two wings, which could be used for future autonomous micro-aerial vehicles.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 52
    facet.materialart.
    Unknown
    Design and Development of the Cable Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Finger impairment following stroke results in significant deficits in hand manipulation and the performance of everyday tasks. While recent advances in rehabilitation robotics have shown promise for facilitating functional improvement, it remains unclear how best to employ these devices to maximize benefits. Current devices for the hand, however, lack the capacity to fully explore the space of possible training paradigms. Particularly, they cannot provide the independent joint control and levels of velocity and torque required. To fill this need, we have developed a prototype for one digit, the cable actuated finger exoskeleton (CAFE), a three-degree-of-freedom robotic exoskeleton for the index finger. This paper presents the design and development of the CAFE, with performance testing results.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 53
    facet.materialart.
    Unknown
    Complementary Observer for Body Segments Motion Capturing by Inertial and Magnetic Sensors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper presents a viable quaternion-based complementary observer (CO) that is designed for rigid body attitude estimation. We claim that this approach is an alternative one to overcome the limitations of the extended Kalman filter. The CO processes data from a small inertial/magnetic sensor module containing triaxial angular rate sensors, accelerometers, and magnetometers, without resorting to GPS data. The proposed algorithm incorporates a motion kinematic model and adopts a two-layer filter architecture. In the latter, the Levenberg Marquardt algorithm preprocesses acceleration and local magnetic field measurements, to produce what will be called the system's output. The system's output together with the angular rate measurements will become measurement signals for the CO. In this way, the overall CO design is greatly simplified. The efficiency of the CO is experimentally investigated through an industrial robot and a commercial IMU during human segment motion exercises. These results are promising for human motion applications, in particular future ambulatory monitoring.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 54
    facet.materialart.
    Unknown
    An Adaptive Wearable Parallel Robot for the Treatment of Ankle Injuries (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper presents the development of a novel adaptive wearable ankle robot for the treatments of ankle sprain through physical rehabilitation. The ankle robot has a bioinspired design, devised after a careful study of the improvement opportunities in the existing ankle robots. Robot design is adaptable to subjects of varying physiological abilities and age groups. Ankle robot employs lightweight but powerful pneumatic muscle actuators (PMA) which mimics skeletal muscles in actuation. To address nonlinear characteristics of PMA, a fuzzy-based disturbance observer (FBDO) has been developed. Another instance of an adaptive fuzzy logic controller based on Mamdani inference has been developed and appended with the FBDO to compensate for the transient nature of the PMA. With the proposed control scheme, it is possible to simultaneously control four parallel actuators of the ankle robot and achieve three rotational degrees of freedom. To evaluate the robot design, the disturbance observer, and the adaptive fuzzy logic controller, experiments were performed. The ankle robot was used by a neurologically intact subject. The robot–human interaction was kept as active–passive while the robot was operated on predefined trajectories commonly adopted by the therapists. Trajectory tracking results are reported in the presence of an unpredicted human user intervention, use of compliant and nonlinear actuators, and parallel kinematic structure of the ankle robot.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 55
    facet.materialart.
    Unknown
    Integrating the Microsoft Kinect With Simulink: Real-Time Object Tracking Example (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: The introduction of low-cost, relatively high-resolution 3-D sensing systems, like the Microsoft Kinect, has considerable potential in autonomous system applications. One of the impediments to wider Kinect application development is that the available Kinect drivers define C language interfaces. To help fully realize the Kinect’s potential, the aims of this paper are 1) to develop a “VU-Kinect ” block which provides easy access to the sensor’s camera and depth image streams, and which enables them to be incorporated seamlessly within a higher level, Simulink-based, image-processing and real-time control strategy; 2) to address implementation issues associated with the Kinect, such as sensor calibration; and 3) to show the utility of both the VU-Kinect block and the Kinect itself through a simple 3-D object tracking example.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 56
    facet.materialart.
    Unknown
    Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper focuses mainly on the control issues of replicating fast C-start maneuvers commonly found in fish propelled by their bodies and/or caudal fins. To generate an escape maneuver that combines a high degree of flexibility and precision, major factors related to the caudal fins, the moving joints, and the used motors are explored. Specifically, the turning rate is maximized by finely designing the preparatory and propulsive stages, while the relatively precise turning angle is achieved by a closed-loop control strategy in the propulsive and variable stages. Different types of C-starts are extensively implemented and compared by using a four-joint robotic fish. The latest results obtained show that the robotic fish is able to execute C-starts flexibly with a turning angle of up to 213 $^circ$ , a top turning rate of approximately 670 $^circ$ /s measured by the onboard gyroscope. Meanwhile, an upper limit of turning precision of less than 10 $^circ$ is achieved.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 57
    facet.materialart.
    Unknown
    Bipolar Piezoelectric Buckling Actuators (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: A nonlinear piezoelectric amplification mechanism utilizing structural buckling is presented, and its static and dynamic properties are measured and analyzed. Buckling is a pronounced nonlinear effect that occurs at a structurally singular point. A small piezoelectric displacement on the order of 10 μm results in a large buckling displacement on the order of millimeter. Furthermore, the usable stroke is doubled if both sides of the singular point can be reached resulting in bipolar motion. Despite the large gain, buckling is an erratic, singular phenomenon; the side on which deflection will occur is unpredictable. In this paper, multiple design concepts are presented for regulating the buckling direction as well as for extending its usable stroke to bipolar motion. Nonlinear force–displacement relationships are modeled and measured. Nonlinear dynamic analysis using phase planes reveals that the buckling actuator can generate bipolar motion above a specific amplitude. Below this amplitude, it generates only monopolar oscillation. The proposed design concepts are implemented on monolithic flexure mechanisms, and prototype buckling actuators are tested to verify the concepts. Experiments show promising results: 20 N of peak-to-peak output force, and 6.2 mm of bipolar displacement generated by piezoelectric actuators with free displacement of 42 μm.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 58
    facet.materialart.
    Unknown
    Electromechanical Piezoelectric Power Harvester Frequency Response Modeling Using Closed-Form Boundary Value Methods (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: The conversion of mechanical vibration to electrical energy has shown great promise for extending battery life of smart sensor wireless devices for various engineering applications. This paper presents novel analytical models of a piezoelectric bimorph, using the closed-form boundary value (CFBV) method, for predicting the electromechanical power harvester frequency response. The derivations of the coupled electromechanical dynamic response of the transverse-longitudinal (CEDRTL) form based on the CFBV method were developed using the reduced strong form method of the Hamiltonian principle. The equations from CEDRTL can be reduced to give the coupled electromechanical dynamic response of the transverse (CEDRT) form. The electromechanical frequency response functions with variable load resistance were also given in detail using Laplace transformation. The two theoretical studies are compared together and validated with an experimental study. For some cases, when the load resistance approached open circuit, the difference between CEDRTL and CEDRT tended to be more pronounced. Conversely, the CEDRTL and CEDRT models tended to overlap when the load resistance approached short circuit. Nyquist plots are used to demonstrate the shifting frequency and amplitude changes due to variable resistance. Overall, the experimental and CEDRTL model results were very close to each other.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 59
    facet.materialart.
    Unknown
    Robust Control of a MEMS Probing Device (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: In this paper, a systematic design based on the robust control theory is developed for a microelectromechanical systems nanopositioning/probing device. The device is fabricated on a silicon-on-insulator substrate, and provides decoupled XY motion by using a parallel kinematics mechanism design. Each axis of the device is actuated by linear comb-drives and the corresponding displacements are sensed by separate comb structures. To improve the sensing resolution, the sensing and driving combs are electrically isolated. The nonlinear dynamic model between the actuation voltage and the sensed displacement will increase the complexity of model identification and control design. We circumvent the nonlinear model by redefining the input and output (I/O) signals during the model definition and identification, which results in linear and time-invariant models. A dynamical model of the system is identified through experimental input–output frequency-domain identification. The implemented $H_{bm infty}$ control design achieves a significant improvement over the response speed, where the bandwidths from the closed-loop sensitivity and complementary sensitivity functions, respectively, are 68 and 74 Hz. When compared to open-loop characteristics, enhancement in reliability and repeatability (robustness to uncertainties) as well as noise attenuation (by over 12%) is demonstrated through this design.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 60
    facet.materialart.
    Unknown
    Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper presents a novel approach to force sensing by integrating prismatic-tip optical fibers with an orthoplanar spring structure. The complete force sensing solution integrating the prismatic-tip-based sensing concept with an orthoplanar spring mechanism to convert applied forces into a well-delivered displacement whose magnitude can be measured using the optical sensing technique is introduced in this paper. To the best knowledge of the authors, this is the first time that such a force sensing concept has been proposed and studied. The compact force sensor prototype described in this paper demonstrates its capability and feasibility in performing force measurement over a range of 0–2.8 N. The combination of the novel concepts of prismatic-tip optical fiber sensing and the planar spring minimizes the thickness of the sensing device. Due to its simple sensing structure, the sensor is easy to manufacture and can be miniaturized for applications in dexterous robotic handling and the aerospace industry. The proposed sensor is made of nonmetallic materials and operates without the need of electronics components in the sensing area; thus, the sensor is not susceptible to electric or magnetic fields.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 61
    facet.materialart.
    Unknown
    Regression Methods for Virtual Metrology of Layer Thickness in Chemical Vapor Deposition (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: The quality of wafer production in semiconductor manufacturing cannot always be monitored by a costly physical measurement. Instead of measuring a quantity directly, it can be predicted by a regression method (virtual metrology). In this paper, a survey on regression methods is given to predict average silicon nitride cap layer thickness for the plasma-enhanced chemical vapor deposition dual-layer metal passivation stack process. Process and production equipment fault detection and classification data are used as predictor variables. Various variable sets are compared: one most predictive variable alone, the three most predictive variables, an expert selection, and full set. The following regression methods are compared: simple linear regression, multiple linear regression, partial least square regression, and ridge linear regression utilizing the partial least square estimate algorithm, and support vector regression (SVR). On a test set, SVR outperforms the other methods by a large margin, being more robust toward changes in the production conditions. The method performs better on high-dimensional multivariate input data than on the most predictive variables alone. Process expert knowledge used for a priori variable selection further enhances the performance slightly. The results confirm earlier findings that virtual metrology can benefit from the robustness of SVR, an adaptive generic method that performs well even if no process knowledge is applied. However, the integration of process expertise into the method improves the performance once more.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 62
    facet.materialart.
    Unknown
    IEEE/ASME Transactions on Mechatronics publication information (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 63
    facet.materialart.
    Unknown
    Kinematic Algorithms and Robust Controller Design for Inertially Stabilized System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper describes a controller design method for the inertially stabilized system of a tracking radar. Its aim is to track a reference target trajectory with high accuracy while isolating rigid body rotational motions of a host ship. First, we investigate the trajectory generation problem to make the control input for a target tracking on the moving base. Second, dynamic equations of motion are formulated by the spring-mass-damper system to include rigid body dynamics as well as structural flexibility. The unknown parameters of dynamic equations are estimated with experimental input and output data by minimizing a predicted error. Third, mixed sensitivity ${cal H}_infty$ robust controllers are designed to meet the conflict requirements of robustness and performance in the face of uncertainty. Finally, the proposed optimal controllers demonstrate the effectiveness of design methodology, and show high performance by numerical and experimental results.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 64
    facet.materialart.
    Unknown
    A Cooperative Heterogeneous Mobile Wireless Mechatronic System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper describes a framework for controlling a heterogeneous wireless robotic network consisting of aerial and ground vehicles. By use of the term heterogeneous, we imply the synergy of multiple robotic platforms characterized by different dynamics and specialized sensing capabilities. Two main scenarios concerning wireless communications are presented: 1) a decentralized connectivity strategy in which a mesh of ground mobile routers swarms in a cluttered environment maintaining communication constraints based on spring-mass virtual physics, potential functions, and routing optimization and 2) an autonomous communications relay in GPS-denied environments via antenna diversity and extremum-seeking SNR optimization. For both scenarios, we validate the proposed methodologies by numerical simulations and experiments. One important feature of our test bed is that it can be used for both indoor and outdoor operations.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 65
    facet.materialart.
    Unknown
    Cardiac Electrophysiological Activation Pattern Estimation From Images Using a Patient-Specific Database of Synthetic Image Sequences (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: While abnormal patterns of cardiac electrophysiological activation are at the origin of important cardiovascular diseases (e.g., arrhythmia, asynchrony), the only clinically available method to observe detailed left ventricular endocardial surface activation pattern is through invasive catheter mapping. However, this electrophysiological activation controls the onset of the mechanical contraction; therefore, important information about the electrophysiology could be deduced from the detailed observation of the resulting motion patterns. In this paper, we present the study of this inverse cardiac electrokinematic relationship. The objective is to predict the activation pattern knowing the cardiac motion from the analysis of cardiac image sequences. To achieve this, we propose to create a rich patient-specific database of synthetic time series of the cardiac images using simulations of a personalized cardiac electromechanical model, in order to study this complex relationship between electrical activity and kinematic patterns in the context of this specific patient. We use this database to train a machine-learning algorithm which estimates the depolarization times of each cardiac segment from global and regional kinematic descriptors based on displacements or strains and their derivatives. Finally, we use this learning to estimate the patient’s electrical activation times using the acquired clinical images. Experiments on the inverse electrokinematic learning are demonstrated on synthetic sequences and are evaluated on clinical data with promising results. The error calculated between our prediction and the invasive intracardiac mapping ground truth is relatively small (around 10 ms for ischemic patients and 20 ms for nonischemic patient). This approach suggests the possibility of noninvasive electrophysiological pattern estimation using cardiac motion imaging.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 66
    facet.materialart.
    Unknown
    IEEE Transactions on Biomedical Engineering publication information (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 67
    facet.materialart.
    Unknown
    A New Head Phantom With Realistic Shape and Spatially Varying Skull Resistivity Distribution (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Brain electrical impedance tomography (EIT) is an emerging method for monitoring brain injuries. To effectively evaluate brain EIT systems and reconstruction algorithms, we have developed a novel head phantom that features realistic anatomy and spatially varying skull resistivity. The head phantom was created with three layers, representing scalp, skull, and brain tissues. The fabrication process entailed 3-D printing of the anatomical geometry for mold creation followed by casting to ensure high geometrical precision and accuracy of the resistivity distribution. We evaluated the accuracy and stability of the phantom. Results showed that the head phantom achieved high geometric accuracy, accurate skull resistivity values, and good stability over time and in the frequency domain. Experimental impedance reconstructions performed using the head phantom and computer simulations were found to be consistent for the same perturbation object. In conclusion, this new phantom could provide a more accurate test platform for brain EIT research.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 68
    facet.materialart.
    Unknown
    First In Vivo Potassium-39 $(^{bf 39}$ K) MRI at 9.4 T Using Conventional Copper Radio Frequency Surface Coil Cooled to 77 K (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Potassium-39 ( $^{39}$ K) magnetic resonance imaging (MRI) is a noninvasive technique which could potentially allow for detecting intracellular physiological variations in common human pathologies such as stroke and cancer. However, the low signal-to-noise ratio (SNR) achieved in $^{39}$ K-MR images hampered data acquisition with sufficiently high spatial and temporal resolution in animal models so far. Full wave electromagnetic (EM) simulations were performed for a single-loop copper (Cu) radio frequency (RF) surface resonator with a diameter of 30 mm optimized for rat brain imaging at room temperature (RT) and at liquid nitrogen (LN $_{2})$ with a temperature of 77 K. A novel cryogenic Cu RF surface resonator with home-built LN $_{2}$ nonmagnetic G10 fiberglass cryostat system for small animal scanner at 9.4 T was designed, built and tested in phantom and in in vivo MR measurements. Aerogel was used for thermal insulation in the developed LN $_{2}$ cryostat. In this paper, we present the first in vivo $^{39}$ K-MR images at 9.4 T for both healthy and stroke-induced rats using the developed cryogenic coil at 77 K. In good agreement with EM-simulations and bench-top measurements, the developed cryogenic coil improved the SNR by factor of 2.7 ± 0.2 in both phantom and in in vivo MR imaging compared with the same coil at RT.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 69
    facet.materialart.
    Unknown
    Iterative Method to Detect Atrial Activations and Measure Cycle Length From Electrograms During Atrial Fibrillation (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Atrial fibrillation (AF) electrograms are characterized by varying morphologies, amplitudes, and cycle lengths (CLs), presenting a challenge for automated detection of individual activations and the activation rate. In this study, we evaluate an algorithm to detect activations and measure CLs from AF electrograms. This algorithm iteratively adjusts the detection threshold level until the mean CL converges with the median CL to detect all individual activations. A total of 291 AF electrogram recordings from 13 patients (11 male, 58 ± 10 years old) undergoing AF ablation were obtained. Using manual markings by two independent reviewers as the standard, we compared the cycle length iteration algorithm with a fixed threshold algorithm and dominant frequency (DF) for the estimation of CL. At segment lengths of 10 s, when comparing the algorithm detected to the manually detected activation, the undersensing, oversensing, and total discrepancy rates were 2.4%, 4.6%, and 7.0%, respectively, and with absolute differences in mean and median CLs were 7.9 ± 9.6 ms and 5.6 ± 6.8 ms, respectively. These results outperformed DF and fixed threshold-based measurements. This robust method can be used for CL measurements in either real-time and offline settings and may be useful in the mapping of AF.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 70
    facet.materialart.
    Unknown
    Unconstrained Video Monitoring of Breathing Behavior and Application to Diagnosis of Sleep Apnea (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: This paper presents a new real-time automated infrared video monitoring technique for detection of breathing anomalies, and its application in the diagnosis of obstructive sleep apnea. We introduce a novel motion model to detect subtle, cyclical breathing signals from video, a new 3-D unsupervised self-adaptive breathing template to learn individuals’ normal breathing patterns online, and a robust action classification method to recognize abnormal breathing activities and limb movements. This technique avoids imposing positional constraints on the patient, allowing patients to sleep on their back or side, with or without facing the camera, fully or partially occluded by the bed clothes. Moreover, shallow and abdominal breathing patterns do not adversely affect the performance of the method, and it is insensitive to environmental settings such as infrared lighting levels and camera view angles. The experimental results show that the technique achieves high accuracy ( $hbox{94}%$ for the clinical data) in recognizing apnea episodes and body movements and is robust to various occlusion levels, body poses, body movements (i.e., minor head movement, limb movement, body rotation, and slight torso movement), and breathing behavior (e.g., shallow versus heavy breathing, mouth breathing, chest breathing, and abdominal breathing).
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 71
    facet.materialart.
    Unknown
    A Constrained ICA Approach for Real-Time Cardiac Artifact Rejection in Magnetoencephalography (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Recently, magnetoencephalography (MEG)-based real-time brain computing interfaces (BCI) have been developed to enable novel and promising methods of neuroscience research and therapy. Artifact rejection prior to source localization largely enhances the localization accuracy. However, many BCI approaches neglect real-time artifact removal due to its time consuming processing. With cardiac artifact rejection for real-time analysis (CARTA), we introduce a novel algorithm capable of real-time cardiac artifact (CA) rejection. The method is based on constrained independent component analysis (ICA), where a priori information of the underlying source signal is used to optimize and accelerate signal decomposition. In CARTA, this is performed by estimating the subject's individual density distribution of the cardiac activity, which leads to a subject-specific signal decomposition algorithm. We show that the new method is capable of effectively reducing CAs within one iteration and a time delay of 1 ms. In contrast, Infomax and Extended Infomax ICA converged not until seven iterations, while FastICA needs at least ten iterations. CARTA was tested and applied to data from three different but most common MEG systems (4-D-Neuroimaging, VSM MedTech Inc., and Elekta Neuromag). Therefore, the new method contributes to reliable signal analysis utilizing BCI approaches.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 72
    facet.materialart.
    Unknown
    A Mathematical Model of Cellular Metabolism During Ischemic Stroke and Hypothermia (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Stroke is a major cause of death and disability worldwide. Therapeutic hypothermia is a potentially useful neuroprotective treatment. A mathematical model of brain metabolism during stroke is extended here to simulate the effect of hypothermia on cell survival. Temperature decreases were set to reduce chemical reaction rates and slow diffusion through ion channels according to the $Q_{10}$ rule. Heat delivery to tissues was set to depend on metabolic heat generation rate and perfusion. Two cooling methods, scalp and vascular, were simulated to approximate temperature variation in the brain during treatment. Cell death was assumed to occur at continued cell membrane depolarization. Simulations showed that hypothermia to 34.5 °C induced within 1–1.5 h of stroke onset could extend cell survival time by at least 5 h in tissue with perfusion reduced by 80% of normal. There was good agreement between simulated metabolite dynamics and those reported in rat model studies.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 73
    facet.materialart.
    Unknown
    Induced Current Pharmacological Split Stimulation System for Neuronal Networks (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Magnetic stimulation noninvasively modulates neuronal activity through a magnetically induced current. However, despite the usefulness and popularity of this method, the effects of neuronal activity in the nonstimulated regions on the stimulus responses are unknown. Here, we report that the induced current-evoked responses were affected by neuronal activities in the nonstimulated regions. Our experiment used a Mu-metal-based localized induced current stimulation (LICS) system combined with the microfabricated cell culture chamber system and a microelectrode array (MEA). The cell culture chamber system has radiating microtunnels connecting one central and eight outer chambers, which were fabricated using soft lithography and a replica modeling technique with SU-8 photoresist and polydimethylsiloxane (PDMS). Rat cortical neurons were separately cultured in the chambers and formed functional synaptic connections through the microtunnels. By applying a biphasic alternating pulsed magnetic field to the Mu-metal located in the central chamber, induced currents were mainly generated near the cultured neurons and modified the neuronal activities, which were recorded through MEA. Furthermore, we confirmed that the evoked responses were modified by localized pharmacological stimulation (LPS) in the outer chambers. These results suggest that our system would be promising tool for analyzing the effect of magnetic stimulation on interacting neuronal activity.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 74
    facet.materialart.
    Unknown
    Predicting and Evaluating the Effect of Bivalirudin in Cardiac Surgical Patients (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Bivalirudin, used in patients with heparin-induced thrombocytopenia, is a direct thrombin inhibitor. Since it is a rarely used drug, clinical experience with its dosing is sparse. We develop two approaches to predict the Partial Thromboplastin Time (PTT) based on bivalirudin infusion rates. The first approach is model free and utilizes regularized regression. It is flexible enough to be used as predictors bivalirudin infusion rates measured over several time instances before the time at which a PTT prediction is sought. The second approach is model based and proposes a specific model for obtaining PTT which uses a shorter history of the past measurements. We learn population-wide model parameters by solving a nonlinear optimization problem. We also devise an adaptive algorithm based on the extended Kalman filter that can adapt model parameters to individual patients. The latter adaptive model emerges as the most promising as it yields reduced mean error compared to the model-free approach. The model accuracy we demonstrate on actual patient measurements is sufficient to be useful in guiding the optimal therapy.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 75
    facet.materialart.
    Unknown
    Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing, and Retrieving Untethered Microgrippers (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (μ-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the μ-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarchical approach combining the advanced navigation skills of centimeter-scaled untethered magnetic capsule endoscopes with highly parallel, autonomous, submillimeter scale tissue sampling μ-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 76
    facet.materialart.
    Unknown
    Detecting Diabetes Mellitus and Nonproliferative Diabetic Retinopathy Using Tongue Color, Texture, and Geometry Features (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Diabetes mellitus (DM) and its complications leading to diabetic retinopathy (DR) are soon to become one of the 21st century's major health problems. This represents a huge financial burden to healthcare officials and governments. To combat this approaching epidemic, this paper proposes a noninvasive method to detect DM and nonproliferative diabetic retinopathy (NPDR), the initial stage of DR based on three groups of features extracted from tongue images. They include color, texture, and geometry. A noninvasive capture device with image correction first captures the tongue images. A tongue color gamut is established with 12 colors representing the tongue color features. The texture values of eight blocks strategically located on the tongue surface, with the additional mean of all eight blocks are used to characterize the nine tongue texture features. Finally, 13 features extracted from tongue images based on measurements, distances, areas, and their ratios represent the geometry features. Applying a combination of the 34 features, the proposed method can separate Healthy/DM tongues as well as NPDR/DM-sans NPDR (DM samples without NPDR) tongues using features from each of the three groups with average accuracies of 80.52% and 80.33%, respectively. This is on a database consisting of 130 Healthy and 296 DM samples, where 29 of those in DM are NPDR.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 77
    facet.materialart.
    Unknown
    Optimization of Measurement Arrangements for Magnetic Detection Electrical Impedance Tomography (2014)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2014-01-18
    Description: Magnetic detection electrical impedance tomography (MDEIT) is an imaging modality that aims to compute the cross-sectional distribution of the conductivity inside a volume. The current is injected into the volume by the surface electrodes and the resulting magnetic fields surrounding the object are detected by coils. The image resolution and contrast in MDEIT image reconstruction are affected by the parameters such as the numbers and locations of electrodes and measurements, and the finite-element mesh resolution. This paper addresses the numerical experiment applied to the singular value analysis (SVA) of the sensitivity matrix in the presence of noisy measurements, subsequently suggesting the optimal electrode and detector configurations for the whole imaging object region. For the region of interest (RoI), the combined SVA and redundancy reduction is used to obtain the optimum measurement arrangement. Finally, the optimum design is confirmed by examining the image reconstructions of the simulated data acquired with different measurement arrangements. The results indicate that properly increasing the number of current injections and the number of measurement circles, and locating preferentially the electrodes and detectors on the region nearest to the RoI produce more useful singular values and better reconstructed images. These results provide guidelines for the design of the MDEIT experimental system.
    Print ISSN: 0018-9294
    Electronic ISSN: 1558-2531
    Topics: Medicine , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Engineering in Medicine and Biology Society.
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 78
    facet.materialart.
    Unknown
    An Instrumented Walking Aid to Assess and Retrain Gait (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: An instrumented walking aid, the iWA system, has been developed to measure kinematic and kinetic properties of walking aid (WA) use and deliver feedback to improve gait. The clinical requirements, technical specification and design of the system are developed through clinical collaboration. The development of the system is described, including hardware components and data analysis used to process the measured data for assessment. The system measurements are validated under controlled laboratory conditions. The iWA system is evaluated in a typical U.K. clinical environment by a participant in a rehabilitation session. The resultant data successfully capture the quality of the participant's WA use and agree with clinical opinion, supporting the efficacy of this approach.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 79
    facet.materialart.
    Unknown
    A Near-Optimal Sensor Scheduling Strategy for an on–off Controller With an Expensive Sensor (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper describes an efficient method for scheduling an energy-consuming sensor sparingly in combination with an on–off controller, specifically for a finite horizon control problem in which only end states are critical. In certain low-power applications, such as autonomous microrobotics, on–off controllers can be very efficient in operating piezoelectric actuators (and other capacitive actuation schemes) compared to traditional analog and pulsewidth modulation controllers. However, with existing sensing circuitry, sensing at the same frequency as control can be prohibitively expensive, because energy consumption in the sensing circuitry may be comparable or even much higher than energy consumption for actuation. Instead, a method is presented for best scheduling a limited number of sensor measurements and updates to control inputs during a finite horizon on–off control problem, in response to Gaussian disturbances and measurement noise. To simplify the problem, a lower bound for the expected value of a quadratic error function of the end states is found, which permits rapid evaluation of candidate sensor times. When actuator energy consumption is incorporated in the optimization, this produces a numerically efficient near-optimal strategy for determining best measurement times and updates to the control input sequence.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 80
    facet.materialart.
    Unknown
    Nonlinear Characteristic Output Spectrum for Nonlinear Analysis and Design (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: A systematic method for nonlinear analysis, design, and estimation in the frequency domain is proposed in this study using a new concept—nonlinear characteristic output spectrum (nCOS). The nCOS function is an analytical and explicit expression for the relationship between nonlinear output spectrum and system characteristic parameters of interest (including frequency, nonlinear parameters, and excitation magnitude), and can provide a significant insight into nonlinear analysis and design in the frequency domain. Given some simulation or experimental output data of a nonlinear system, the nCOS function of the system can be accurately determined up to any high nonlinear orders with less simulation trials and computation cost compared with a pure simulation-based study or traditional theoretical computations. Moreover, the method can also be used to accurately determine the linear and nonlinear components in the nonlinear output frequency response (or an output spectrum) of a nonlinear system. These results are definitely of significance to nonlinear analysis and design, nonlinear signal processing, system identification, fault detection, etc., in practice. Examples and case studies including analysis of a nonlinear vehicle suspension system are given to illustrate the results.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 81
    facet.materialart.
    Unknown
    Niching Genetic Scheme With Bond Graphs for Topology and Parameter Optimization of a Mechatronic System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper presents a novel multimodal evolutionary optimization algorithm for the complex problem of concurrent and integrated design of a mechatronic system, with the objective of realizing the best topology and the best parameters from a multicriteria viewpoint and with different preferences. The associated search space can be large and complex due to the existence of different classes of configurations, possible topologies, and the parameter values of the elements. The proposed algorithm efficiently explores the search space to find several elite configurations for different preferences, with more detailed competition by incorporating the domain knowledge of experts and considering some criteria that are not included in the course of regular evolutionary optimization. The developed approach consists of a two-loop optimization. For each topology, a genetic algorithm-based optimization is performed to find an elite representative of the topology. The elites will compete with each other to become the best design. A strategy of restricted competition selection is employed in the competition of topologies, with the aim of finding alternative elites from which the one that best satisfies the customer preference may be chosen. The designer may incorporate a higher level competition between elites in order to obtain the global optimum.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 82
    facet.materialart.
    Unknown
    Advanced Motion Control of Electric Vehicles Based on Robust Lateral Tire Force Control via Active Front Steering (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper presents a new motion control method based on robust lateral tire force control (LTFC) to improve vehicle stability or maneuverability. During cornering, vehicle motion is totally governed by lateral forces acting on tires. Thus, the real-time information on tire forces provides advantages in vehicle motion control. Since the lateral tire force measurements are available by using multisensing hub (MSHub) units which were invented by NSK Ltd., the direct LTFC is realizable via active front steering. In control design, a robust control method, e.g., two degree-of-freedom control (2-DOF) with a disturbance observer, is used for improving the reference tracking performance. Moreover, the stability of the proposed control system is discussed by using small gain theorem. The proposed motion controller is implemented on an experimental in-wheel-motor-driven electric vehicle and its performance and effectiveness are verified by field tests. Finally, practical applications of lateral tire force sensors to vehicle motion control systems are discussed.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 83
    facet.materialart.
    Unknown
    Performance Tradeoffs Posed by Moving Magnet Actuators in Flexure-Based Nanopositioning (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Moving magnet actuators (MMAs) are direct-drive, single-phase electromagnetic linear actuators that provide frictionless and backlash-free motion over a range of several millimeters. This paper investigates the feasibility of using MMAs to simultaneously achieve large range, high speed, and high motion quality in flexure-based nanopositioning systems. Component and system level design challenges and associated tradeoffs in meeting the aforementioned nanopositioning performance are discussed and derived. In particular, it is shown that even as the overall size of a traditional MMA is varied, the actuation force remains directly proportional to the square root of the actuator's moving magnet mass and the square root of power consumed. This proportionality constant, identified as the dynamic actuator constant, serves as a figure of merit for MMAs. When an MMA is employed in a flexure-based nanopositioning system, this constant directly impacts the system-level positioning performance in terms of range, resolution, speed, and temperature rise. This quantitative determination highlights the significance of incorporating a thermal management system for heat dissipation, minimizing noise and harmonic distortion in the current driver, and improving the force–stroke uniformity of the actuator. Based on this understanding, a single-axis nanopositioning system, which simultaneously achieves 10 mm range, 4 nm resolution, open-loop natural frequency of 25 Hz, and temperature rise of less than 0.5 °C, is designed, fabricated, and tested. Preliminary controller design and closed-loop operation highlight the potential and limitations of MMAs in large-range, high-speed nanopositioning.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 84
    facet.materialart.
    Unknown
    Call for papers- focused section on Mechatronics for Intelligent Manufacturing (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 85
    facet.materialart.
    Unknown
    State Recognition of Pedicle Drilling With Force Sensing in a Robotic Spinal Surgical System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Spinal orthopedic surgery is one of the typical high-risk surgeries. During the surgery, bone screws need to be inserted into the narrower vertebral pedicles and any failures in the screw-path-drilling process will directly hurt the important nerves and vessels of the patient. In this paper, a robotic spinal surgical system (RSSS) for assisting pedicle screw insertion surgery is proposed. The novel structural configuration of the RSSS can balance the gravity effects of the arms, and the workspace envelope of the RSSS can better fit the requirements of spinal surgery. The procedure of the screw insertion operation with the proposed RSSS is presented. To simulate the hand feel of the surgeon in surgical operations, a real-time force-sensing algorithm is developed for the screw-path-drilling process using a spherical or a twist drill. With the force sensing, five key states, including the initial state, the outer cortical state, the cancellous state, the transitional state, and the inner cortical state, are recognized. In particular, the clear recognition of the transitional zone between the cancellous bone and the inner cortical bone is very important as the drilled screw path ends in this zone. State recognition with force sensing can effectively improve the quality of the screw paths so as to enhance the quality of the spinal surgery. Experiments were carried out to verify the state recognition effects of the pedicle drilling process with force sensing.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 86
    facet.materialart.
    Unknown
    A New Wheelchair Ergometer Designed as an Admittance-Controlled Haptic Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Wheelchair ergometers aim to simulate the propulsion of a wheelchair in a controlled laboratory setup. One drawback of current ergometers is that the simulated wheelchair is always modeled as a simple unidimensional mass and friction, which do not allow a correct simulation of turning maneuvers. In this paper, we present a new design for a wheelchair ergometer based on haptic robotics. This ergometer allows us to simulate any linear or nonlinear model of the wheelchair–user system in real time, including models that implement turning maneuvers. The presented prototype was validated experimentally. The rear wheels of the ergometer match the rear wheels’ velocities of the simulated wheelchair with a root-mean-square error of 0.9 %. Therefore, the ergometer’s accuracy is mainly bounded by the accuracy of the wheelchair–user model, which means that future improvements of the wheelchair–user model will be directly reflected by the ergometer. The conditions for stability were also evaluated. A minimal simulated mass of 18 kg and a minimal simulated moment of inertia of 1 kg $cdot$ m $^2$ are needed. These requirements are encountered by any wheelchair–user combination.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 87
    facet.materialart.
    Unknown
    Development of Mechanostimulated Patch-Clamp System for Cellular Physiological Study (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: Mechanosensitive ion channels play important roles for sensing and responding to the mechanical stimuli signals in living life. Here we report the development of a mechanostimulated patch-clamp system for simultaneous recording of external stimuli and acquisition of cellular physiological responses. This system integrates a custom-designed planar patch-clamp system with a robot-assisted atomic force microscope (AFM) system. The former, with a microfluidic channel, can realize not only recording electrical signals but also exchanging intracellular solution; while the latter, enhanced by robotic techniques (local scan force feedback, augmented reality vision feedback), can generate force stimuli with controllable patterns and magnitudes under the operator's real-time monitoring. To verify the performance of the developed system, we first measured the whole-cell current of the voltage-gated potassium ion channel Kv1.1 expressed on Human Embryonic Kidney (HEK293) cells and then recorded the mechanosensitive ion channel current in a mouse neuroblastoma cell line (Neuro2 A) in the whole-cell configuration during the AFM indenting on the membrane surface; finally, confirmed the ability to exchange intracellular solution by delivering propidium iodide into the captured cell through intracellular solution. The results prove the effectiveness of the system.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 88
    facet.materialart.
    Unknown
    Adaptive Fault-Tolerant Spacecraft Attitude Control Design With Transient Response Control (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: This paper proposes an adaptive fault tolerant attitude controller, based on variable structure control, to address tracking control problem of spacecraft in the presence of unknown actuator failure, control input saturation and external disturbances. In contrast to traditional robust fault tolerant attitude controllers, the proposed controller is capable of controlling the transient response of the closed loop system by means of a dedicated parameter. Also this method does not require exact knowledge of the actuator faults and is implemented with uncertain value of fault information. By adjusting a simple parameter dynamically and using Lyapunov direct method and the properties of quaternion representation, the ultimate boundedness of attitude and angular velocity errors in presence of external disturbances is proven. Numerical simulations used to prove the success of proposed controller in achieving high attitude performance in the presence of external disturbances, inexact knowledge of fault information, actuator failures and control input saturation.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 89
    facet.materialart.
    Unknown
    Design and Development of a Single-Motor, Two-DOF, Safe Manipulator (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: This paper presents the design and development of a novel two degrees-of-freedom safe robot manipulator. Magnetorheological clutches are incorporated in the design to enable antagonistic actuation at the joints. A single unidirectional motor supports bidirectional actuation of all joints. Unlike most current safe robots, high-quality actuation is preserved, while the manipulator weight and effective inertia are reduced. This is achieved by relocating the driving motor to the base of the robot. Moreover, magnetorheological clutches have been shown to pose superior torque to mass, and torque to inertia characteristics over conventional servo motors, further contributing to the reduction of manipulator mass and inertia. The manipulator exhibits both high performance and intrinsic safety as a result of mechanically passive dynamics. A set of experiments is performed to validate the manipulator performance.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 90
    facet.materialart.
    Unknown
    A Nonlinear Controller for Pneumatic Servo Systems: Design and Experimental Tests (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: This paper is dedicated to the problem of pneumatic cylinder control without pressure measurement. Based on the theory of homogeneous, finite-time stable, ordinary differential equations, a state-feedback nonlinear controller is proposed. The closed-loop system stability is proved and an attraction domain of the controller is given. The performances and the effectiveness of the proposed controller are illustrated against an experimental setup consisting of a pneumatic cylinder controlled by a dSPACE dS1103 microcontroller.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 91
    facet.materialart.
    Unknown
    MRI-Safe Robot for Endorectal Prostate Biopsy (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: This paper reports the development of an MRI-Safe robot for direct (interventional) MRI-guided endorectal prostate biopsy. The robot is constructed of nonmagnetic and electrically nonconductive materials, and is electricity free, using pneumatic actuation and optical sensors. Targeting biopsy lesions of MRI abnormality presents substantial clinical potential for the management of prostate cancer. This paper describes MRI-Safe requirements and presents the kinematic architecture, design, and construction of the robot, and a comprehensive set of preclinical tests for MRI compatibility and needle targeting accuracy. The robot has a compact and simple three degree-of-freedom (DoF) structure, two for orienting a needle-guide and one to preset the depth of needle insertion. The actual insertion is performed manually through the guide and up to the preset depth. To reduce the complexity and size of the robot next to the patient, the depth setting DoF is remote. Experimental results show that the robot is safe to use in any MRI environment (MRI-Safe). Comprehensive MRI tests show that the presence and motion of the robot in the MRI scanner cause virtually no image deterioration or signal-to-noise ratio change. Robot's accuracy in bench test, CT-guided in-vitro, MRI-guided in-vitro , and animal tests are 0.37, 1.10, 2.09, and 2.58 mm, respectively. These values are acceptable for clinical use.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 92
    facet.materialart.
    Unknown
    Estimating Dynamics On-the-Fly Using Monocular Video For Vision-Based Robotics (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: Estimating the physical parameters of articulated multibody systems (AMBSs) using an uncalibrated monocular camera poses significant challenges for vision-based robotics. Articulated multibody models, especially ones including dynamics, have shown good performance for pose tracking, but require good estimates of system parameters. In this paper, we first propose a technique for estimating parameters of a dynamically equivalent model (kinematic/geometric lengths as well as mass, inertia, damping coefficients) given only the underlying articulated model topology. The estimated dynamically equivalent model is then employed to help predict/filter/gap-fill the raw pose estimates, using an unscented Kalman filter. The framework is tested initially on videos of a relatively simple AMBS (double pendulum in a structured laboratory environment). The double pendulum not only served as a surrogate model for the human lower limb in flight phase, but also helped evaluate the role of model fidelity. The treatment is then extended to realize physically plausible pose-estimates of human lower-limb motions, in more-complex uncalibrated monocular videos (from the publicly available DARPA Mind’s Eye Year 1 corpus). Beyond the immediate problem-at-hand, the presented work has applications in creation of low-order surrogate computational dynamics models for analysis, control, and tracking of many other articulated multibody robotic systems (e.g., manipulators, humanoids) using vision.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 93
    facet.materialart.
    Unknown
    A Simple and Parallel Algorithm for Real-Time Robot Localization by Fusing Monocular Vision and Odometry/AHRS Sensors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: Vision and odometry/attitude and heading reference system (AHRS, three-axial gyroscopes, accelerometers, and magnetometers) sensors fusion strategy is prevalent in the recent years for the robot localization, due to its low cost and effectiveness in global positioning system (GPS)-denied environments. In this paper, a new adaptive estimation algorithm is proposed to estimate the robot position by fusing the monocular vision and odometry/AHRS sensors, and utilizing the properties of perspective projection. By the new method, the robot can be localized in real time in the GPS-denied and mapless environments, and the localization results can be theoretically proved convergent to their real values. Compared to other methods, our algorithm is simple to implement and suitable for parallel processing. To achieve the real-time performance, the algorithm is implemented in parallel using graphics processing unit (GPU), and therefore, it can be easily integrated into mobile robots’ tasks like navigation and motion control, which need the real-time localization information. Simulations and experiments were conducted to validate the good convergence and longtime robustness performances of the proposed real-time localization algorithm.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 94
    facet.materialart.
    Unknown
    IEEE/ASME Transactions on Mechatronics information for authors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 95
    facet.materialart.
    Unknown
    IEEE/ASME Transactions on Mechatronics publication information (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 96
    facet.materialart.
    Unknown
    Tracking of Triangular Reference Signals Using LQG Controllers for Lateral Positioning of an AFM Scanner Stage (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: This paper presents the design of an internal reference model-based optimal linear quadratic Gaussian (LQG) controller for the lateral positioning of a piezoelectric tube actuator (PTA) used in an atomic force microscope (AFM). In this control design, internal modeling of the reference signal and system error are considered. As a result, the steady-state tracking error is minimized. In addition to the LQG controller, a vibration compensator is incorporated with the plant to suppress the vibration of the PTA at the resonance frequency. It achieves a high closed-loop bandwidth and significant damping of the resonant mode of the PTA, which enables a reference triangular signal to be tracked. Comparison of performance of the optimal LQG controller augmented with a vibration compensator and a PI controller demonstrates that the proposed controller shows significant improvements over the existing AFM PI controller.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 97
    facet.materialart.
    Unknown
    Event-Based Localization in Ackermann Steering Limited Resource Mobile Robots (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: This paper presents a local sensor fusion technique with an event-based global position correction to improve the localization of a mobile robot with limited computational resources. The proposed algorithms use a modified Kalman filter and a new local dynamic model of an Ackermann steering mobile robot. It has a similar performance but faster execution when compared to more complex fusion schemes, allowing its implementation inside the robot. As a global sensor, an event-based position correction is implemented using the Kalman filter error covariance and the position measurement obtained from a zenithal camera. The solution is tested during a long walk with different trajectories using a LEGO Mindstorm NXT robot.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 98
    facet.materialart.
    Unknown
    Shape Tracking of Planar Hyper-Flexible Beams via Embedded PVDF Deflection Sensors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: In this paper, we present an embedded shape-sensing method for soft robotics. Soft actuators and structures are paramount for safe human–robot interaction and are of interest in biomimetics, biotechnology and defense. Control of compliant manipulators is challenging because of their large deformations, hence a form of shape feedback is required. We propose a tracking system for continuum structures using deflection sensors made of polyvinylidene fluoride (PVDF), a thin piezoelectric polymer. We demonstrate that hyper-flexible beam shapes may be parameterized with a small set of basis functions and that the deflection sensors can be used to determine the weights of the basis functions. In other words, shape reconstruction of the beam shape is reduced to solving a linear interpolation problem defined by the sensors. Interpreting the sensors with this method can reduce the cumulative errors associated with piecewise methods. We demonstrate shape tracking of a hyper-flexible beam in two-dimensional (2-D) on two experimental test beds: a pneumatic bellows actuator and a hyper-flexible plastic ruler. In addition, the data were used in simulation, for systematic investigation of several aspects: number of sensors, their relative-size, and the type of basis functions used for parameterization. We demonstrate tracking capabilities and propose guidelines for the ideal sensor layout. Our approach facilitates kinematic monitoring and control of continuum manipulators and flexible structures.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 99
    facet.materialart.
    Unknown
    Adaptive Knee Joint Exoskeleton Based on Biological Geometries (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: This paper presents a relatively complete analytical model of a knee joint interacting with a two-link exoskeleton for investigating the effects of different exoskeleton designs on the internal joint forces/torque in the knee. The closed kinematic chain formed by the leg and exoskeleton has a significant effect on the joint forces/torque in the knee. A bio-joint model is used to capture this effect by relaxing a commonly made assumption that approximates a knee joint as a perfect engineering pin-joint in designing an exoskeleton. Based on the knowledge of a knee-joint kinematics, an adaptive knee-joint exoskeleton has been designed to eliminate negative effects associated with the closed leg-exoskeleton kinematic chain on a human knee. For experimental validation, the flexion motion of an artificial human knee is investigated comparing the performances of five exoskeleton designs against the case with no exoskeleton. Analytical results that estimate internal forces/torque using the kinematic and dynamic models (based on the properties of a knee joint) agree well with data obtained experimentally. This investigation illustrates the applications of the analytical model for designing an adaptive exoskeleton that minimizes internal joint forces due to a knee-exoskeleton interaction.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
  • 100
    facet.materialart.
    Unknown
    Bioinspired Hydrodynamic Force Feedforward for Autonomous Underwater Vehicle Control (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-04-30
    Description: It is believed that the lateral line found in most fish and some other aquatic organisms plays an important role in many behaviors by providing hydrodynamic information about the surrounding fluid. This paper presents a lateral line inspired feedforward control design for the autonomous underwater vehicles. The goal of this paper is to improve maneuvering accuracy for underwater exploration and environmental monitoring. The proposed controller takes pressure measurements at multiple locations over the entire vehicle hull and forms a B-spline surface approximation of the pressure distribution. Hydrodynamic forces acting on the vehicle are then estimated and passed to the controller for the improved trajectory tracking performance. The algorithm is formulated in such a way that the force estimation is a linear, fixed weight combination of the pressure signals, which enables rapid online computation. The performance of the feedforward controller is simulated in conjunction with the “robust integral of the sign of the error” control design. Trajectory tracking is investigated for control accuracy in the presence of localization errors. Reduced tracking errors are observed with the feedforward design. Experimental tests with pressure sensors on a moving cylinder further vindicate the force estimation algorithm.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    PAPER CURRENT
Close ⊗
This website uses cookies and the analysis tool Matomo. More information can be found here...