Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5551996
M. Zoppi, R. Molfino, P. Cerveri
The paper addresses the benefits and new perspectives in minimally invasive surgery, related to the development of a new generation of surgical robots for natural orifice transluminal endoscopic surgery (NOTES) with snail architecture and variable stiffness actuation. Snail surgical arms have been proposed and are under development for laparoscopic surgery with access to the patients's body through external incisions. The same concept can be transferred to NOTES procedures with the benefit to improve the reach of the organs by the robot and then to shorten the active portion of the snail arm (besides the general benefits of NOTES such as avoiding external scars). The use of variable stiffness actuation (together with the shortening of the arm portion active during the operation) can further improve controllability and safety. The research involves the development of a miniaturized VSA using superelastic alloy, small enough to be embedded in the joints of the arm. The targeted diameter is 6 mm for the first prototype. The new NOTES instruments proposed are expected to carry out surgical tasks in a large and complex workspace, overcoming obstacles and being safe in case of accidental impacts with the surgical environment. The research is carried out in the framework of the Italian Strategic Research Programmes 2008–2012. A detailed description of the project is provided.
{"title":"Modular micro robotic instruments for transluminal endoscopic robotic surgery: New perspectives","authors":"M. Zoppi, R. Molfino, P. Cerveri","doi":"10.1109/MESA.2010.5551996","DOIUrl":"https://doi.org/10.1109/MESA.2010.5551996","url":null,"abstract":"The paper addresses the benefits and new perspectives in minimally invasive surgery, related to the development of a new generation of surgical robots for natural orifice transluminal endoscopic surgery (NOTES) with snail architecture and variable stiffness actuation. Snail surgical arms have been proposed and are under development for laparoscopic surgery with access to the patients's body through external incisions. The same concept can be transferred to NOTES procedures with the benefit to improve the reach of the organs by the robot and then to shorten the active portion of the snail arm (besides the general benefits of NOTES such as avoiding external scars). The use of variable stiffness actuation (together with the shortening of the arm portion active during the operation) can further improve controllability and safety. The research involves the development of a miniaturized VSA using superelastic alloy, small enough to be embedded in the joints of the arm. The targeted diameter is 6 mm for the first prototype. The new NOTES instruments proposed are expected to carry out surgical tasks in a large and complex workspace, overcoming obstacles and being safe in case of accidental impacts with the surgical environment. The research is carried out in the framework of the Italian Strategic Research Programmes 2008–2012. A detailed description of the project is provided.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133124638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5551999
Yige Zhao, Shurong Sun, Z. Han, Meng Zhang
In this paper, we study the existence of positive solutions for the singular nonlinear fractional differential equation boundary value problem Dα0+u(t) + f(t, u(t)) = 0, 0 < t < 1, u(0) = u(1) = u′(0) = 0, where 2 < a ≤ 3 is a real number, Dα0+ is the Riemann-Liouville fractional derivative, and f : (0, 1] × [0,+∞) → [0,+∞) is continuous, limt→0+ f(t, ·) = +∞ (i.e., f is singular at t = 0). Our analysis rely on nonlinear alternative of Leray-Schauder type and Krasnosel'skii fixed point theorem on a cone. As an application, an example is presented to illustrate the main results.
{"title":"Existence on positive solutions for boundary value problems of singular nonlinear fractional differential equations","authors":"Yige Zhao, Shurong Sun, Z. Han, Meng Zhang","doi":"10.1109/MESA.2010.5551999","DOIUrl":"https://doi.org/10.1109/MESA.2010.5551999","url":null,"abstract":"In this paper, we study the existence of positive solutions for the singular nonlinear fractional differential equation boundary value problem D<sup>α</sup><inf>0+</inf>u(t) + f(t, u(t)) = 0, 0 < t < 1, u(0) = u(1) = u′(0) = 0, where 2 < a ≤ 3 is a real number, D<sup>α</sup><inf>0+</inf> is the Riemann-Liouville fractional derivative, and f : (0, 1] × [0,+∞) → [0,+∞) is continuous, lim<inf>t→0+</inf> f(t, ·) = +∞ (i.e., f is singular at t = 0). Our analysis rely on nonlinear alternative of Leray-Schauder type and Krasnosel'skii fixed point theorem on a cone. As an application, an example is presented to illustrate the main results.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133129944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552052
S. Dezfouli, A. Zabihollah
Buried pipe lines are an efficient way of transporting of water, sewage, oil, and gas resources in all over the world. Since the buried pipe lines are exposed to many unexpected conditions, such as landslides, corrosion, fatigue, earthquakes, material flaws or even intentional damaging, so the inspection requirements lead to adoption of new method of maintenance, protection and conserving. This report aims to improve the trustworthiness, reliability, yet economical technologies for monitoring of behavior and manner of buried pipe lines during operation and assessing the risk of pipe lines failure. Distributed sensors (piezoelectric) are surface designed and embedded to investigate the deformation, and deflection due to unexpected and external loadings over the pipes. Vibration and frequency responses of a modeled pipeline integrated with piezoelectric sensors would be investigated to identify, locate, and quantify the structural performance of the pipelines. By implementing a Structural health monitoring system with pipelines, their structural integrity can be continuously monitored.
{"title":"Structural health monitoring of buried pipelines under static dislocation and vibration","authors":"S. Dezfouli, A. Zabihollah","doi":"10.1109/MESA.2010.5552052","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552052","url":null,"abstract":"Buried pipe lines are an efficient way of transporting of water, sewage, oil, and gas resources in all over the world. Since the buried pipe lines are exposed to many unexpected conditions, such as landslides, corrosion, fatigue, earthquakes, material flaws or even intentional damaging, so the inspection requirements lead to adoption of new method of maintenance, protection and conserving. This report aims to improve the trustworthiness, reliability, yet economical technologies for monitoring of behavior and manner of buried pipe lines during operation and assessing the risk of pipe lines failure. Distributed sensors (piezoelectric) are surface designed and embedded to investigate the deformation, and deflection due to unexpected and external loadings over the pipes. Vibration and frequency responses of a modeled pipeline integrated with piezoelectric sensors would be investigated to identify, locate, and quantify the structural performance of the pipelines. By implementing a Structural health monitoring system with pipelines, their structural integrity can be continuously monitored.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"9 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131278984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5551997
Xicheng Li, Wen Chen
A layered model describing the drug delivery from polymeric coating into arteries after stenting procedures is developed. By the aid of the numerical technique, the effects of the order of the fractional derivative and the permeability of the membrane are examined. The results show that the order of the fractional derivative and the permeability affect the diffusion process in different ways. It can be used to study the effect of different coating parameters and configurations on the drug release.
{"title":"Numerical study on a layered fractional model of drug release","authors":"Xicheng Li, Wen Chen","doi":"10.1109/MESA.2010.5551997","DOIUrl":"https://doi.org/10.1109/MESA.2010.5551997","url":null,"abstract":"A layered model describing the drug delivery from polymeric coating into arteries after stenting procedures is developed. By the aid of the numerical technique, the effects of the order of the fractional derivative and the permeability of the membrane are examined. The results show that the order of the fractional derivative and the permeability affect the diffusion process in different ways. It can be used to study the effect of different coating parameters and configurations on the drug release.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"30 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133719610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552070
Shuangshuang Sun, Xiao-hui Liu
On the basis of considering the material nonlinearity of shape memory alloys, the mechanical model of the shape memory alloy composite film based on Si substrate is established by the method of mechanics of materials to study the coupled action between the shape memory alloy and Si substrate under thermal loads. The actuating performances of the SMA composite film are simulated and discussed for one whole thermal loading cycle, which verifies that large actuating forces and displacements can be produced in the narrow temperature range due to the phase transformations of shape memory alloys. It is also found that the maximum deflection of the composite film decreases with the increasing of the thickness ratio of the Si substrate to the shape memory alloy film. And the mechanical model established in this paper can describe and predict the actuating performances of the SMA composite film much more accurately when the thickness ratios are larger than five.
{"title":"Study on the actuating performance of NiTi/Si composite film","authors":"Shuangshuang Sun, Xiao-hui Liu","doi":"10.1109/MESA.2010.5552070","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552070","url":null,"abstract":"On the basis of considering the material nonlinearity of shape memory alloys, the mechanical model of the shape memory alloy composite film based on Si substrate is established by the method of mechanics of materials to study the coupled action between the shape memory alloy and Si substrate under thermal loads. The actuating performances of the SMA composite film are simulated and discussed for one whole thermal loading cycle, which verifies that large actuating forces and displacements can be produced in the narrow temperature range due to the phase transformations of shape memory alloys. It is also found that the maximum deflection of the composite film decreases with the increasing of the thickness ratio of the Si substrate to the shape memory alloy film. And the mechanical model established in this paper can describe and predict the actuating performances of the SMA composite film much more accurately when the thickness ratios are larger than five.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123957939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552089
Young-Cheol Choi, H. Ahn
Learning in multiagent system needs to solve the complexity of the task, so multiagent reinforcement learning has been focused on theoretical research and various applications. In multiagent reinforcement learning, agents can be compete or cooperate to accomplish the goal. For cooperative multiagent reinforcement learning(CMRL), agents have to coordinate with other agents. Therefore, coordination problems in CMRL are getting more and more important because of increasing the number of agents and actions. There are several algorithms dealt with cooperative multiagent reinforcement learning using stochastic games, coordinated graph, and so on. These algorithms have some assumptions to coordinate each other, however assumptions are not consistent with characteristics of the multiagent system. In this paper, we provide a survey on coordination problems in cooperative multiagent reinforcement learning, and propose new approach to solve coordination problems.
{"title":"A survey on multi-agent reinforcement learning: Coordination problems","authors":"Young-Cheol Choi, H. Ahn","doi":"10.1109/MESA.2010.5552089","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552089","url":null,"abstract":"Learning in multiagent system needs to solve the complexity of the task, so multiagent reinforcement learning has been focused on theoretical research and various applications. In multiagent reinforcement learning, agents can be compete or cooperate to accomplish the goal. For cooperative multiagent reinforcement learning(CMRL), agents have to coordinate with other agents. Therefore, coordination problems in CMRL are getting more and more important because of increasing the number of agents and actions. There are several algorithms dealt with cooperative multiagent reinforcement learning using stochastic games, coordinated graph, and so on. These algorithms have some assumptions to coordinate each other, however assumptions are not consistent with characteristics of the multiagent system. In this paper, we provide a survey on coordination problems in cooperative multiagent reinforcement learning, and propose new approach to solve coordination problems.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124804371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552010
A. F. Jahromi, A. Zabihollah
A novel semi-active control system for suspension systems of passenger car using Magnetorheological (MR) damper is introduced. The suspension system is considered as a mass-spring model with a seven-degrees-of-freedom, a passive damper and an active damper. The semi-active vibration control is designed to reduce the amplitude of automotive vibration caused by the alteration of road profile. The control mechanism is designed based on the optimal control algorithm and Fuzzy logic, Linear Quadratic Regulator (LQR) and Fuzzy controller. In this system, the damping coefficient of the shock absorber changes actively through inducing magnetic field. It is observed that utilizing the present control algorithm may significantly reduce the vibration response of the passenger car and eliminate effect of the disturbance in the system, thus, providing comfortable drive. The new developed suspension system may lead to design and manufacturing of passenger car in which the passenger may not feel the changes in road profile from highly bumpy to smooth profile.
{"title":"Linear Quadratic Regulator and Fuzzy controller application in full-car model of suspension system with Magnetorheological shock absorber","authors":"A. F. Jahromi, A. Zabihollah","doi":"10.1109/MESA.2010.5552010","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552010","url":null,"abstract":"A novel semi-active control system for suspension systems of passenger car using Magnetorheological (MR) damper is introduced. The suspension system is considered as a mass-spring model with a seven-degrees-of-freedom, a passive damper and an active damper. The semi-active vibration control is designed to reduce the amplitude of automotive vibration caused by the alteration of road profile. The control mechanism is designed based on the optimal control algorithm and Fuzzy logic, Linear Quadratic Regulator (LQR) and Fuzzy controller. In this system, the damping coefficient of the shock absorber changes actively through inducing magnetic field. It is observed that utilizing the present control algorithm may significantly reduce the vibration response of the passenger car and eliminate effect of the disturbance in the system, thus, providing comfortable drive. The new developed suspension system may lead to design and manufacturing of passenger car in which the passenger may not feel the changes in road profile from highly bumpy to smooth profile.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129351674","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552056
Jesús Ortiz, H. Calderon, J. Fontaine
This paper addresses the evaluation of a new disparity map computing algorithm characterized by a novel spurious removal strategy. Using this algorithm we eliminate a high percentage of wrong values with a low performance penalty. When testing images, incorrect percentages were reduced by 65% and 85%. This algorithm has been designed for scalable architectures with massive parallel processing elements. It works line by line with low memory requirements.
{"title":"Disparity map computation on scalable computing","authors":"Jesús Ortiz, H. Calderon, J. Fontaine","doi":"10.1109/MESA.2010.5552056","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552056","url":null,"abstract":"This paper addresses the evaluation of a new disparity map computing algorithm characterized by a novel spurious removal strategy. Using this algorithm we eliminate a high percentage of wrong values with a low performance penalty. When testing images, incorrect percentages were reduced by 65% and 85%. This algorithm has been designed for scalable architectures with massive parallel processing elements. It works line by line with low memory requirements.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127044849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552003
Y. Jin, Y. Chen
This paper presents a fractional order control method to achieve synchronization of two networked motion control systems. We propose a new structure to make the two motion control systems synchronized, irrespective of the time delay constant, which may be varying or different in each axis. We use the fractional order controller to improve the synchronization and tracking performance. When the range of time delay increases, a method is proposed to simplify the control parameter setting process. The simulation results have validated that this method can improve the performance of the system, and effectively reduce the synchronization error.
{"title":"A fractional-order synchronization of two networked motion control systems","authors":"Y. Jin, Y. Chen","doi":"10.1109/MESA.2010.5552003","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552003","url":null,"abstract":"This paper presents a fractional order control method to achieve synchronization of two networked motion control systems. We propose a new structure to make the two motion control systems synchronized, irrespective of the time delay constant, which may be varying or different in each axis. We use the fractional order controller to improve the synchronization and tracking performance. When the range of time delay increases, a method is proposed to simplify the control parameter setting process. The simulation results have validated that this method can improve the performance of the system, and effectively reduce the synchronization error.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126413163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552094
Sang-Chul Lee, H. Ahn
This paper presents a stochastic estimation method and a signal processing based method for estimating disturbance torques without using any force sensors. The first method will address a robustness against measurement noises by estimating noise covariance. The second method will show several practical merits. By containing system models inside of the estimator, the total disturbance torque injected into the plant is estimated. The experimental results conducted using a master-slave manipulator show the validity of two proposed methods.
{"title":"Sensorless torque estimation using adaptive Kalman filter and disturbance estimator","authors":"Sang-Chul Lee, H. Ahn","doi":"10.1109/MESA.2010.5552094","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552094","url":null,"abstract":"This paper presents a stochastic estimation method and a signal processing based method for estimating disturbance torques without using any force sensors. The first method will address a robustness against measurement noises by estimating noise covariance. The second method will show several practical merits. By containing system models inside of the estimator, the total disturbance torque injected into the plant is estimated. The experimental results conducted using a master-slave manipulator show the validity of two proposed methods.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116606707","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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