A Manipulator for Medical Applications: Design and Control

2010 ◽  
Vol 4 (4) ◽  
Author(s):  
Basem Fayez Yousef ◽  
Rajni V. Patel ◽  
Mehrdad Moallem
Keyword(s):  
Control Mode ◽  
Robot Arm ◽  
Medical Interventions ◽  
Surgical Tools ◽  
Workspace Analysis ◽  
Robot Performance ◽  
Safety Features ◽  
Lock In ◽  
And Control ◽  
Manual Mode

An actuated robot arm is designed for use as a gross positioning macro-manipulator that can carry, appropriately orient, precisely position, and firmly “lock” in place different types of micro-robots and surgical tools necessary for applications in minimally invasive therapy. With a simple manipulation protocol, the clinician can easily operate the robot in manual mode. A remote control mode can also be enabled for teleoperation of the robot. The robot’s normally locked braking system and the simple quick-release joint enhance its safety features for emergencies and power shutdown. Robot workspace analysis showed that the singularity regions are outside the usable work envelope of the robot. Performance analysis showed that the robot operates with an average displacement accuracy of 0.58 mm and a roll, pitch, and yaw angular accuracies of 0.26 deg, 0.26 deg, and 0.38 deg, respectively. The sophisticated configuration and joint architecture of the arm enable it to perform and interact efficiently with the constrained and limited workspace of surgical environments. The special features of the proposed robot make it well suited for use with new surgical tools and micro-robots for a range of medical interventions.

Monitoring, Diagnostics, and Prognostics for Robot Tool Center Accuracy Degradation

2018 ◽  
Author(s):  
Guixiu Qiao ◽  
Brian A. Weiss
Keyword(s):  
Health Management ◽  
Control Strategies ◽  
Test Methods ◽  
Component Level ◽  
Data Set ◽  
Root Cause ◽  
Robot Systems ◽  
Robot Performance ◽  
And Control ◽  
Constituent Elements

Over time, robots degrade because of age and wear, leading to decreased reliability and increasing potential for faults and failures; this negatively impacts robot availability. Economic factors motivate facilities and factories to improve maintenance operations to monitor robot degradation and detect faults and failures, especially to eliminate unexpected shutdowns. Since robot systems are complex, with sub-systems and components, it is challenging to determine these constituent elements’ specific influence on the overall system performance. The development of monitoring, diagnostic, and prognostic technologies (collectively known as Prognostics and Health Management (PHM)), can aid manufacturers in maintaining the performance of robot systems by providing intelligence to enhance maintenance and control strategies. This paper presents the strategy of integrating top level and component level PHM to detect robot performance degradation (including robot tool center accuracy degradation), supported by the development of a four-layer sensing and analysis structure. The top level PHM can quickly detect robot tool center accuracy degradation through advanced sensing and test methods developed at the National Institute of Standards and Technology (NIST). The component level PHM supports deep data analysis for root cause diagnostics and prognostics. A reference data set is collected and analyzed using the integration of top level PHM and component level PHM to understand the influence of temperature, speed, and payload on robot’s accuracy degradation.

Pilot Visual Behavior as a Function of Navigation and Flight Control Modes in the Boeing 757/767

1982 ◽  
Vol 26 (5) ◽  
pp. 441-445 ◽  
Author(s):  
Richard E. Edwards ◽  
Philip Tolin ◽  
Gordon L. Jonsen
Keyword(s):  
Flight Control ◽  
Control Mode ◽  
Pictorial Representation ◽  
Visual Behavior ◽  
Electronic Map ◽  
Coupled Mode ◽  
Navigation Mode ◽  
The Impact ◽  
Scan Pattern ◽  
Manual Mode

This report presents data obtained from two line-oriented simulations conducted in the Boeing 757/767 simulators. The purpose of these simulations was to assess the impact of two navigation- and two flight control modes on pilot visual behavior during an entire flight, from takeoff to touchdown. The two navigation modes were the traditional VOR mode, in which a compass rose was presented on the HSI, and the MAP mode, in which a pictorial representation of the airplane's flight path was presented on the HSI. The flight control modes were manual and coupled flight. The results indicated that: (a) the electronic map did not alter the basic “T” scan pattern, (b) the pilots' basic scan pattern did not differ in the two navigation modes when flying manually, (c) pilot scan patterns did vary as a function of flight control condition, with the basic “T” scan pattern accurately characterizing pilot visual behavior in the manual mode but not in the coupled mode, (d) several visual performance measures were sensitive to changes in flight phase, navigation mode, and flight control mode, and (e) no differences in pilot scan patterns were observed between an EICAS- equipped cockpit and a cockpit with conventional engine instruments.

scholarly journals Power Sharing and Control Strategy for Provisionally Coupled Microgrid Clusters through an Isolated Power Exchange Network

Energies ◽  
2021 ◽  
Vol 14 (22) ◽  
pp. 7514
Author(s):  
S.M. Ferdous ◽  
Farhad Shahnia ◽  
GM Shafiullah
Keyword(s):  
Power Sharing ◽  
Frequency Deviation ◽  
Load Shedding ◽  
Control Mode ◽  
Control Technique ◽  
Communication Link ◽  
Control Mechanisms ◽  
Power Exchange ◽  
Exchange Network ◽  
And Control

The two common mechanisms of load-shedding and renewable curtailment can prevent provisional overloading and excessive generation and the subsequent unacceptable voltage and frequency deviation in standalone microgrids (MGs), which makes MGs less resilient and reliable. However, instead of enabling load-shedding or renewable curtailment, such overloading or over-generation problems can be alleviated more efficiently and cost-effectively by provisionally interconnecting the neighboring MGs to exchange power amongst themselves. In such a scheme, the interconnected MGs can supply their local demand, as well as a portion of the demand of the adjacent MGs. In order to implement this strategy, a three-phase ac link can be used as the power exchange network, while each MG is coupled to the link through a back-to-back power electronics converter, in order to maintain the autonomy of each MG if they are eachoperated under different standards. This paper proposes a suitable decentralized power management strategy without a communication link between the MGs to achieve power-sharing amongst them and alleviate unacceptable voltage and frequency deviation along with the required control technique for the power electronic converters, which can be implemented at the primary level based on the measurement of the local parameters only. To this end, one of the converters should always regulate the dc link voltage while the other converter should operate in droop control mode when the MG is healthy and in constant PQ mode when overloaded or over-generating. Suitable status detection and mode transition algorithms and controllers were also developed and are proposed in this paper. The performance of the proposed power exchange and control mechanisms were evaluated and verified via PSIM®-based numerical simulation studies. The stability and sensitivity of the proposed power exchange topology are also analyzed against several critical design and operational parameters.

scholarly journals THE CORRELATION OF THE CATEGORIES OF “QUALITY” AND “SAFETY” OF PRODUCTS

2019 ◽  
pp. 74-78
Author(s):  
T.V. Malanchuk ◽  
E.A. Zaitsev
Keyword(s):  
Civil Rights ◽  
Legal Regulation ◽  
Poor Quality ◽  
Product Safety ◽  
Legal Rights ◽  
Safety Issues ◽  
State Supervision ◽  
Safety Features ◽  
And Control

The article analyzes the complex state of the modern legislative regulation of quality and product safety issues in the context of ensuring consumers’ rights to the proper quality of goods (works, services). It is stated that in view of the variety of different properties that make up the notion of quality, the most important are the defects, which are capable of damaging the life, health, or property of the consumer, that is, the defects, which indicate that the goods are dangerous. The safety of goods works, and services as a legal category are of particular importance and is one of the functions of the state to ensure public safety. State measures of influence on manufacturers and sellers of goods, persons who perform work and provide services should be aimed at ensuring the protection of fundamental civil rights. In most cases, these are imperative requirements for safety, which are approved by special legal acts, as well as measures of state supervision and control to ensure the safety of manufactured goods, works, and services. The legislator, when defining security, uses the term “safety of goods (works, services)”, but it would be advisable to carry out graduation of these concepts since the safety of goods is a state of goods that allows it to be sold, used, stored, transported, disposed of without harm for life, health, the property of the consumer and the environment in normal conditions, and the safety of works and services is the quality of protection of the legal rights of the consumer in carrying out the activities of persons who perform work and provide services, danger to life, health, the property should not manifest itself either in their implementation and providing or later. It is noted that quality requirements should be made mandatory when designing production specifications. It is stated that in order to ensure the effectiveness of legal regulation, the safety of a product, work, or service must be considered as a full-fledged property within the legal notion of quality. It is concluded that product safety is an integral feature of any product, work, and service, acting as an integral element of the quality category. Lack of safety features indicates that the product is of poor quality. Keywords: quality, safety, proper quality, improper quality, specifications, consumers.

Computer-Aided Dynamic Analysis and Simulation of Multibody Manufacturing Systems

2015 ◽  
Vol 764-765 ◽  
pp. 757-761 ◽  
Author(s):  
Yunn Lin Hwang ◽  
Jung Kuang Cheng ◽  
Van Thuan Truong
Keyword(s):  
Dynamic Analysis ◽  
Computer Aided Design ◽  
Manufacturing Systems ◽  
Robot Arm ◽  
Effective Factors ◽  
Driving System ◽  
Computer Aided ◽  
Numerical Tools ◽  
Aided Design ◽  
And Control

This paper presents simulation of multibody manufacturing systems with the support of numerical tools. The dynamic and cybernetic characteristics of driving system are discussed. Simple prototype models of robot arm and machine tool’s driving system are quickly established in Computer Aided Design (CAD) software inwhich the whole specification of material, inertia and so on are involved. The prototypes therefore are simulated in RecurDyn- a Computer Aided Engineering (CAE) software. The models are driven by controllers built in Matlab/Simulink via co-simulation. The results are suitable with theory and able to exploied for expansion of complexly effective factors. The research indicates that dynamic analysis and control could be done via numerical method instead of directly dynamic equation creation for multibody manufacturing systems.

Study on Management and Organization Innovation of Low-Carbon Scenic Spots

2012 ◽  
Vol 573-574 ◽  
pp. 797-800
Author(s):  
Miao Wang ◽  
Jing Fei Ren ◽  
Jing Li
Keyword(s):  
Information Technology ◽  
Sustainable Development ◽  
Economic Development ◽  
Environmental Protection ◽  
Control Mode ◽  
Matrix Structure ◽  
Low Carbon ◽  
Management Information ◽  
Current Management ◽  
And Control

There are many problems about the current management mode of the scenic spots in China with the contradiction between the economic development and environmental protection as the key problem. The study on the management and control mode of the low-carbon scenic spots can alleviate the overload operation in the scenic spots to a great extent and it can help increase the economic income as well as achieve a sustainable development of the scenic spots. The straight-matrix structure constructs a horizontal and vertical management coordination platform with the information technology as the support and it enables the management information to be processed and conveyed within the organization so as to realize a win-win development of economy and environmental protection in the scenic spots.

Research on a Novel Two-Phase Hybrid Stepping Motor

2011 ◽  
Vol 121-126 ◽  
pp. 4122-4126
Author(s):  
Yong Kui Man ◽  
Yu Yan Ma ◽  
Yu Shuang Zhao ◽  
Chang Cheng Xu ◽  
Wen Sheng Hao
Keyword(s):  
Fast Response ◽  
Control Mode ◽  
Stepping Motor ◽  
Two Phase ◽  
Motor Torque ◽  
Response Characteristics ◽  
Torque Vector ◽  
Hybrid Stepping Motor ◽  
Motor Operation ◽  
And Control

In this paper, the mechanical structure of a novel two-phase hybrid stepping motor, which offers big transmission ratio and fast response characteristics, is proposed. Comparing with typical two-phase hybrid stepping motor, permanent magnet of the new model is placed on the stator, thus it has better utilization of space than conventional two-phase hybrid stepping motor. Furthermore, new two-phase hybrid stepping motor torque mathematical model is established. And the two-phase hybrid stepping motor torque vector analysis method we provide here provide you with an intuitive way of research on the new type two-phase hybrid stepping motor operation principle and control mode.

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