The Experts below are selected from a list of 216 Experts worldwide ranked by ideXlab platform
Bijan Shirinzadeh - One of the best experts on this subject based on the ideXlab platform.
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Motion control analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS)
Robotics and Computer-integrated Manufacturing, 2013Co-Authors: Mohsen Moradi Dalvand, Bijan ShirinzadehAbstract:This paper presents motion control architectures for a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) that enable it to achieve milli/micro-manipulations under the Constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) point without any mechanical Constraint. Two control structures suitable for minimally invasive surgery operations with submillimeter accuracy and for minimally invasive microsurgery operations with the desired accuracy in micron range are proposed. The control algorithm also applies orientation Constraints preventing the tip from orienting around the instrument axis due to the robot movements as well as a minimum Displacement Constraint to minimise the movements of the parallel micropositioning robot. Experiments were performed and the results are analysed in this paper to verify accuracy and effectiveness of the proposed control algorithm for both cases of minimally invasive surgery and microsurgery operations. The experimental results present good accuracy and performance of the control algorithm. The numerical modelling and graphical simulations were also carried out and the results are also provided that demonstrate the correlation between the experimental results and physical responses.
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motion control analysis of a parallel robot assisted minimally invasive surgery microsurgery system pramiss
Robotics and Computer-integrated Manufacturing, 2013Co-Authors: Mohsen Moradi Dalvand, Bijan ShirinzadehAbstract:This paper presents motion control architectures for a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) that enable it to achieve milli/micro-manipulations under the Constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) point without any mechanical Constraint. Two control structures suitable for minimally invasive surgery operations with submillimeter accuracy and for minimally invasive microsurgery operations with the desired accuracy in micron range are proposed. The control algorithm also applies orientation Constraints preventing the tip from orienting around the instrument axis due to the robot movements as well as a minimum Displacement Constraint to minimise the movements of the parallel micropositioning robot. Experiments were performed and the results are analysed in this paper to verify accuracy and effectiveness of the proposed control algorithm for both cases of minimally invasive surgery and microsurgery operations. The experimental results present good accuracy and performance of the control algorithm. The numerical modelling and graphical simulations were also carried out and the results are also provided that demonstrate the correlation between the experimental results and physical responses.
Mohsen Moradi Dalvand - One of the best experts on this subject based on the ideXlab platform.
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Motion control analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS)
Robotics and Computer-integrated Manufacturing, 2013Co-Authors: Mohsen Moradi Dalvand, Bijan ShirinzadehAbstract:This paper presents motion control architectures for a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) that enable it to achieve milli/micro-manipulations under the Constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) point without any mechanical Constraint. Two control structures suitable for minimally invasive surgery operations with submillimeter accuracy and for minimally invasive microsurgery operations with the desired accuracy in micron range are proposed. The control algorithm also applies orientation Constraints preventing the tip from orienting around the instrument axis due to the robot movements as well as a minimum Displacement Constraint to minimise the movements of the parallel micropositioning robot. Experiments were performed and the results are analysed in this paper to verify accuracy and effectiveness of the proposed control algorithm for both cases of minimally invasive surgery and microsurgery operations. The experimental results present good accuracy and performance of the control algorithm. The numerical modelling and graphical simulations were also carried out and the results are also provided that demonstrate the correlation between the experimental results and physical responses.
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motion control analysis of a parallel robot assisted minimally invasive surgery microsurgery system pramiss
Robotics and Computer-integrated Manufacturing, 2013Co-Authors: Mohsen Moradi Dalvand, Bijan ShirinzadehAbstract:This paper presents motion control architectures for a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) that enable it to achieve milli/micro-manipulations under the Constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) point without any mechanical Constraint. Two control structures suitable for minimally invasive surgery operations with submillimeter accuracy and for minimally invasive microsurgery operations with the desired accuracy in micron range are proposed. The control algorithm also applies orientation Constraints preventing the tip from orienting around the instrument axis due to the robot movements as well as a minimum Displacement Constraint to minimise the movements of the parallel micropositioning robot. Experiments were performed and the results are analysed in this paper to verify accuracy and effectiveness of the proposed control algorithm for both cases of minimally invasive surgery and microsurgery operations. The experimental results present good accuracy and performance of the control algorithm. The numerical modelling and graphical simulations were also carried out and the results are also provided that demonstrate the correlation between the experimental results and physical responses.
Evangeline F Y Young - One of the best experts on this subject based on the ideXlab platform.
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cell density driven detailed placement with Displacement Constraint
International Symposium on Physical Design, 2014Co-Authors: Wingkai Chow, Jian Kuang, Xu He, Evangeline F Y YoungAbstract:Modern placement process involves global placement, legalization, and detailed placement. Global placement produce a placement solution with minimized target objective, which is usually wire-length, routability, timing, etc. Legalization removes cell overlap and aligns the cells to the placement sites. Detailed placement further improves the solution by relocating cells. Since target objectives like wire-length and timing are optimized in global placement, legalization and detailed placement should not only minimize their own objectives but also preserve the global placement solution. In this paper, we propose a detailed placement algorithm for minimizing wire-length, while preserving the global placement solution by cell Displacement Constraint and target cell density objective. Our detailed placer involves two steps: Global Move that allocates each cell into a bin/region that minimizes wire-length, while not overflowing the target cell density. Local Move that finely adjust the cell locations in local regions to further minimize the wire-length objective. With large-scale benchmarks from ICCAD 2013 detailed placement contest, the results show that our detailed placer, RippleDP, can improve the global placement results by 13.38% - 16.41% on average under Displacement Constraint and target placement density objective.
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ISPD - Cell density-driven detailed placement with Displacement Constraint
Proceedings of the 2014 on International symposium on physical design - ISPD '14, 2014Co-Authors: Wingkai Chow, Jian Kuang, Xu He, Evangeline F Y YoungAbstract:Modern placement process involves global placement, legalization, and detailed placement. Global placement produce a placement solution with minimized target objective, which is usually wire-length, routability, timing, etc. Legalization removes cell overlap and aligns the cells to the placement sites. Detailed placement further improves the solution by relocating cells. Since target objectives like wire-length and timing are optimized in global placement, legalization and detailed placement should not only minimize their own objectives but also preserve the global placement solution. In this paper, we propose a detailed placement algorithm for minimizing wire-length, while preserving the global placement solution by cell Displacement Constraint and target cell density objective. Our detailed placer involves two steps: Global Move that allocates each cell into a bin/region that minimizes wire-length, while not overflowing the target cell density. Local Move that finely adjust the cell locations in local regions to further minimize the wire-length objective. With large-scale benchmarks from ICCAD 2013 detailed placement contest, the results show that our detailed placer, RippleDP, can improve the global placement results by 13.38% - 16.41% on average under Displacement Constraint and target placement density objective.
Wingkai Chow - One of the best experts on this subject based on the ideXlab platform.
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cell density driven detailed placement with Displacement Constraint
International Symposium on Physical Design, 2014Co-Authors: Wingkai Chow, Jian Kuang, Xu He, Evangeline F Y YoungAbstract:Modern placement process involves global placement, legalization, and detailed placement. Global placement produce a placement solution with minimized target objective, which is usually wire-length, routability, timing, etc. Legalization removes cell overlap and aligns the cells to the placement sites. Detailed placement further improves the solution by relocating cells. Since target objectives like wire-length and timing are optimized in global placement, legalization and detailed placement should not only minimize their own objectives but also preserve the global placement solution. In this paper, we propose a detailed placement algorithm for minimizing wire-length, while preserving the global placement solution by cell Displacement Constraint and target cell density objective. Our detailed placer involves two steps: Global Move that allocates each cell into a bin/region that minimizes wire-length, while not overflowing the target cell density. Local Move that finely adjust the cell locations in local regions to further minimize the wire-length objective. With large-scale benchmarks from ICCAD 2013 detailed placement contest, the results show that our detailed placer, RippleDP, can improve the global placement results by 13.38% - 16.41% on average under Displacement Constraint and target placement density objective.
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ISPD - Cell density-driven detailed placement with Displacement Constraint
Proceedings of the 2014 on International symposium on physical design - ISPD '14, 2014Co-Authors: Wingkai Chow, Jian Kuang, Xu He, Evangeline F Y YoungAbstract:Modern placement process involves global placement, legalization, and detailed placement. Global placement produce a placement solution with minimized target objective, which is usually wire-length, routability, timing, etc. Legalization removes cell overlap and aligns the cells to the placement sites. Detailed placement further improves the solution by relocating cells. Since target objectives like wire-length and timing are optimized in global placement, legalization and detailed placement should not only minimize their own objectives but also preserve the global placement solution. In this paper, we propose a detailed placement algorithm for minimizing wire-length, while preserving the global placement solution by cell Displacement Constraint and target cell density objective. Our detailed placer involves two steps: Global Move that allocates each cell into a bin/region that minimizes wire-length, while not overflowing the target cell density. Local Move that finely adjust the cell locations in local regions to further minimize the wire-length objective. With large-scale benchmarks from ICCAD 2013 detailed placement contest, the results show that our detailed placer, RippleDP, can improve the global placement results by 13.38% - 16.41% on average under Displacement Constraint and target placement density objective.
Steve Ulrich - One of the best experts on this subject based on the ideXlab platform.
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Close-Range Rendezvous with a Moving Target Spacecraft using Udwadia- Kalaba Equation
2019 American Control Conference (ACC), 2019Co-Authors: Abin Alex Pothen, Steve UlrichAbstract:This paper presents an analytical dynamics based formulation for close-range planar rendezvous of two chaser spacecraft onto an uncontrolled target spacecraft. The control requirements on the chaser system is formulated based on Displacement Constraints with respect to target. Exact control forces are then generated based on the acceleration Constraint equation, which is derived from the Displacement Constraint, and substituted into the Udwadia-Kalaba equation. As the major contribution, a new formulation is developed for both a single and dual-chaser close-range rendezvous. The simulation results highlight the simultaneous angular velocity synchronization and stand-off distance maintenance with respect to the target.
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ACC - Close-Range Rendezvous with a Moving Target Spacecraft using Udwadia- Kalaba Equation
2019 American Control Conference (ACC), 2019Co-Authors: Abin Alex Pothen, Steve UlrichAbstract:This paper presents an analytical dynamics based formulation for close-range planar rendezvous of two chaser spacecraft onto an uncontrolled target spacecraft. The control requirements on the chaser system is formulated based on Displacement Constraints with respect to target. Exact control forces are then generated based on the acceleration Constraint equation, which is derived from the Displacement Constraint, and substituted into the Udwadia-Kalaba equation. As the major contribution, a new formulation is developed for both a single and dual-chaser close-range rendezvous. The simulation results highlight the simultaneous angular velocity synchronization and stand-off distance maintenance with respect to the target.