Precise computer controlled positioning of robot end effectors using force sensors

A major problem in space applications of robotics and docking of spacecraft is the development of technology for automated precise positioning of mating components with smooth motion and soft contact. To achieve the above objective, a design method was developed for optimally placing the closed-loop poles of a discretized robotic control system at exact prescribed locations inside the unit circle of the complex z-plane. The design method combines the merits of the pole placement and the linear quadratic design approaches. The proposed design procedure is based on the assignment of one real eigenvalue or two complex conjugate (or real) eigenvalues at each design step. The method involves solutions of simple algebraic equations and this is considered to be efficient for on-line or off-line computations. Also, two methods for the linearization of the nonlinear model of a robotic manipulator were presented. Since automatic control of multi-degree freedom robotic manipulators involves high nonlinear equations of systems, a pilot project was proposed involving the control of a one-dimensional system. This simple system can be readily implemented for testing the concepts and algorithms

Precise computer controlled positioning of robot end effectors using force sensors

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided

Two-dimensional matrix algorithm using detrended fluctuation analysis to distinguish Burkitt and diffuse large B-cell lymphoma

Copyright © 2012 Rong-Guan Yeh et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.A detrended fluctuation analysis (DFA) method is applied to image analysis. The 2-dimensional (2D) DFA algorithms is proposed for recharacterizing images of lymph sections. Due to Burkitt lymphoma (BL) and diffuse large B-cell lymphoma (DLBCL), there is a significant different 5-year survival rates after multiagent chemotherapy. Therefore, distinguishing the difference between BL and DLBCL is very important. In this study, eighteen BL images were classified as group A, which have one to five cytogenetic changes. Ten BL images were classified as group B, which have more than five cytogenetic changes. Both groups A and B BLs are aggressive lymphomas, which grow very fast and require more intensive chemotherapy. Finally, ten DLBCL images were classified as group C. The short-term correlation exponent α1 values of DFA of groups A, B, and C were 0.370 ± 0.033, 0.382 ± 0.022, and 0.435 ± 0.053, respectively. It was found that α1 value of BL image was significantly lower (P < 0.05) than DLBCL. However, there is no difference between the groups A and B BLs. Hence, it can be concluded that α1 value based on DFA statistics concept can clearly distinguish BL and DLBCL image.National Science Council (NSC) of Taiwan the Center for Dynamical Biomarkers and Translational Medicine, National Central University, Taiwan (also sponsored by National Science Council)

Thermoelastic Damping in Micro- and Nano-Mechanical Systems

The importance of thermoelastic damping as a fundamental dissipation mechanism for small-scale mechanical resonators is evaluated in light of recent efforts to design high-Q micrometer- and nanometer-scale electro-mechanical systems (MEMS and NEMS). The equations of linear thermoelasticity are used to give a simple derivation for thermoelastic damping of small flexural vibrations in thin beams. It is shown that Zener's well-known approximation by a Lorentzian with a single thermal relaxation time slightly deviates from the exact expression.Comment: 10 pages. Submitted to Phys. Rev.

Fatal encephalitis and myocarditis in young domestic geese (Anser anser domesticus) caused by West Nile virus.

During 1999 and 2000, a disease outbreak of West Nile (WN) virus occurred in humans, horses, and wild and zoological birds in the northeastern USA. In our experiments, WN virus infection of young domestic geese (Anser anser domesticus) caused depression, weight loss, torticollis, opisthotonus, and death with accompanying encephalitis and myocarditis. Based on this experimental study and a field outbreak in Israel, WN virus is a disease threat to young goslings and viremia levels are potentially sufficient to infect mosquitoes and transmit WN virus to other animal species

Type-2 fuzzy sets applied to multivariable self-organizing fuzzy logic controllers for regulating anesthesia

In this paper, novel interval and general type-2 self-organizing fuzzy logic controllers (SOFLCs) are proposed for the automatic control of anesthesia during surgical procedures. The type-2 SOFLC is a hierarchical adaptive fuzzy controller able to generate and modify its rule-base in response to the controller's performance. The type-2 SOFLC uses type-2 fuzzy sets derived from real surgical data capturing patient variability in monitored physiological parameters during anesthetic sedation, which are used to define the footprint of uncertainty (FOU) of the type-2 fuzzy sets. Experimental simulations were carried out to evaluate the performance of the type-2 SOFLCs in their ability to control anesthetic delivery rates for maintaining desired physiological set points for anesthesia (muscle relaxation and blood pressure) under signal and patient noise. Results show that the type-2 SOFLCs can perform well and outperform previous type-1 SOFLC and comparative approaches for anesthesia control producing lower performance errors while using better defined rules in regulating anesthesia set points while handling the control uncertainties. The results are further supported by statistical analysis which also show that zSlices general type-2 SOFLCs are able to outperform interval type-2 SOFLC in terms of their steady state performance

64, 195, Sec. 4, Chung Hsing Rd

Abstract In this paper, a solid adsorption cooling system with silica gel as the adsorbent and water as the adsorbate was experimentally studied. To reduce the manufacturing costs and simplify the construction of the adsorption chiller, a vacuum tank was designed to contain the adsorption bed and evaporator/condenser. Flat-tube type heat exchangers were used for adsorption beds in order to increase the heat transfer area and improve the heat transfer ability between the adsorbent and heat exchanger fins. Under the standard test conditions of 80°C hot water, 30°C cooling water, and 14°C chilled water inlet temperatures, a cooling power of 4.3 kW and a coefficient of performance (COP) for cooling of 0.45 can be achieved. It has provided a specific cooling power (SCP) of about 176 W/(kg adsorbent). With lower hot water flow rates, a higher COP of 0.53 can be achieved

Nonlinear and conventional biosignal analyses applied to tilt table test for evaluating autonomic nervous system and autoregulation

Copyright © Tseng et al.; Licensee Bentham Open. This is an open access article licensed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/ by-nc/3.0/) which permits unrestricted, non-commercial use, distribution and reproduction in any medium, provided the work is properly cited.Tilt table test (TTT) is a standard examination for patients with suspected autonomic nervous system (ANS) dysfunction or uncertain causes of syncope. Currently, the analytical method based on blood pressure (BP) or heart rate (HR) changes during the TTT is linear but normal physiological modulations of BP and HR are thought to be predominately nonlinear. Therefore, this study consists of two parts: the first part is analyzing the HR during TTT which is compared to three methods to distinguish normal controls and subjects with ANS dysfunction. The first method is power spectrum density (PSD), while the second method is detrended fluctuation analysis (DFA), and the third method is multiscale entropy (MSE) to calculate the complexity of system. The second part of the study is to analyze BP and cerebral blood flow velocity (CBFV) changes during TTT. Two measures were used to compare the results, namely correlation coefficient analysis (nMxa) and MSE. The first part of this study has concluded that the ratio of the low frequency power to total power of PSD, and MSE methods are better than DFA to distinguish the difference between normal controls and patients groups. While in the second part, the nMxa of the three stages moving average window is better than the nMxa with all three stages together. Furthermore the analysis of BP data using MSE is better than CBFV data.The Stroke Center and Department of Neurology, National Taiwan University, National Science Council in Taiwan, and the Center for Dynamical Biomarkers and Translational Medicine, National Central University, which is sponsored by National Science Council and Min-Sheng General Hospital Taoyuan