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

Hybrid biomedical intelligent systems

"Copyright © 2012 Maysam Abbod 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."The purpose of this special issue is to promote research and developments of the best work in the field of hybrid intelligent systems for biomedical applications

Optimization the initial weights of artificial neural networks via genetic algorithm applied to hip bone fracture prediction

This paper aims to find the optimal set of initial weights to enhance the accuracy of artificial neural networks (ANNs) by using genetic algorithms (GA). The sample in this study included 228 patients with first low-trauma hip fracture and 215 patients without hip fracture, both of them were interviewed with 78 questions. We used logistic regression to select 5 important factors (i.e., bone mineral density, experience of fracture, average hand grip strength, intake of coffee, and peak expiratory flow rate) for building artificial neural networks to predict the probabilities of hip fractures. Three-layer (one hidden layer) ANNs models with back-propagation training algorithms were adopted. The purpose in this paper is to find the optimal initial weights of neural networks via genetic algorithm to improve the predictability. Area under the ROC curve (AUC) was used to assess the performance of neural networks. The study results showed the genetic algorithm obtained an AUC of 0.858±0.00493 on modeling data and 0.802 ± 0.03318 on testing data. They were slightly better than the results of our previous study (0.868±0.00387 and 0.796±0.02559, resp.). Thus, the preliminary study for only using simple GA has been proved to be effective for improving the accuracy of artificial neural networks.This research was supported by the National Science Council (NSC) of Taiwan (Grant no. NSC98-2915-I-155-005), the Department of Education grant of Excellent Teaching Program of Yuan Ze University (Grant no. 217517) and the Center for Dynamical Biomarkers and Translational Medicine supported by National Science Council (Grant no. NSC 100- 2911-I-008-001)

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

Biosynthesis, structure, and biological activities of envelope protein gp65 of murine coronavirus.

We have previously shown that gp65 (E3) is a virion structural protein which varies widely in quantity among different strains of mouse hepatitis virus (MHV). In this study, the biosynthetic pathway and possible biological activities of this protein were examined. The glycosylation of gp65 in virus-infected cells was inhibited by tunicamycin but not by monensin, suggesting that it contains an N-glycosidic linkage. Glycosylation is cotranslational and appears to be complete before the glycoprotein reaches the Golgi complex. Pulse-chase experiments showed that this protein decreased in size after 30 min of chase, suggesting that the carbohydrate chains of gp65 undergo trimming during its transport across the Golgi. This interpretation is supported by the endoglycosidase treatment of gp65, which showed that the peptide backbone of gp65 did not decrease in size after pulse-chase periods. This maturation pathway is distinct from that of the E1 or E2 glycoproteins. Partial endoglycosidase treatment indicated that gp65 contains 9 to 10 carbohydrate side chains; thus, almost all of the potential glycosylation sites of gp65 were glycosylated. In vitro translation studies coupled with protease digestion suggest that gp65 is an integral membrane protein. The presence of gp65 in the virion is correlated with the presence of an acetylesterase activity. No hemagglutinin activity was detected

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)

Watershed rainfall forecasting using neuro-fuzzy networks with the assimilation of multi-sensor information

The complex temporal heterogeneity of rainfall coupled with mountainous physiographic context makes a great challenge in the development of accurate short-term rainfall forecasts. This study aims to explore the effectiveness of multiple rainfall sources (gauge measurement, and radar and satellite products) for assimilation-based multi-sensor precipitation estimates and make multi-step-ahead rainfall forecasts based on the assimilated precipitation. Bias correction procedures for both radar and satellite precipitation products were first built, and the radar and satellite precipitation products were generated through the Quantitative Precipitation Estimation and Segregation Using Multiple Sensors (QPESUMS) and the Precipitation Estimation from Remotely Sensed Information using Artificial Neural Networks-Cloud Classification System (PERSIANN-CCS), respectively. Next, the synthesized assimilated precipitation was obtained by merging three precipitation sources (gauges, radars and satellites) according to their individual weighting factors optimized by nonlinear search methods. Finally, the multi-step-ahead rainfall forecasting was carried out by using the adaptive network-based fuzzy inference system (ANFIS). The Shihmen Reservoir watershed in northern Taiwan was the study area, where 641 hourly data sets of thirteen historical typhoon events were collected. Results revealed that the bias adjustments in QPESUMS and PERSIANN-CCS products did improve the accuracy of these precipitation products (in particular, 30-60% improvement rates for the QPESUMS, in terms of RMSE), and the adjusted PERSIANN-CCS and QPESUMS individually provided about 10% and 24% contribution accordingly to the assimilated precipitation. As far as rainfall forecasting is concerned, the results demonstrated that the ANFIS fed with the assimilated precipitation provided reliable and stable forecasts with the correlation coefficients higher than 0.85 and 0.72 for one- and two-hour-ahead rainfall forecasting, respectively. The obtained forecasting results are very valuable information for the flood warning in the study watershed during typhoon periods. © 2013 Elsevier B.V

State-space self-tuner for on-line adaptive control

Dynamic systems, such as flight vehicles, satellites and space stations, operating in real environments, constantly face parameter and/or structural variations owing to nonlinear behavior of actuators, failure of sensors, changes in operating conditions, disturbances acting on the system, etc. In the past three decades, adaptive control has been shown to be effective in dealing with dynamic systems in the presence of parameter uncertainties, structural perturbations, random disturbances and environmental variations. Among the existing adaptive control methodologies, the state-space self-tuning control methods, initially proposed by us, are shown to be effective in designing advanced adaptive controllers for multivariable systems. In our approaches, we have embedded the standard Kalman state-estimation algorithm into an online parameter estimation algorithm. Thus, the advanced state-feedback controllers can be easily established for digital adaptive control of continuous-time stochastic multivariable systems. A state-space self-tuner for a general multivariable stochastic system has been developed and successfully applied to the space station for on-line adaptive control. Also, a technique for multistage design of an optimal momentum management controller for the space station has been developed and reported in. Moreover, we have successfully developed various digital redesign techniques which can convert a continuous-time controller to an equivalent digital controller. As a result, the expensive and unreliable continuous-time controller can be implemented using low-cost and high performance microprocessors. Recently, we have developed a new hybrid state-space self tuner using a new dual-rate sampling scheme for on-line adaptive control of continuous-time uncertain systems