The Experts below are selected from a list of 180 Experts worldwide ranked by ideXlab platform

Shigeki Sugano - One of the best experts on this subject based on the ideXlab platform.

  • A Pragmatic Load Detecting System Based on Uncertainty
    SICE Journal of Control Measurement and System Integration, 2012
    Co-Authors: Mitsuhiro Kamezaki, Mitsuhiro K Amezaki, Hiroyasu I Wata, Hiroyasu Iwata, Shigeki Sugano, Shigeki S Ugano
    Abstract:

    A pragmatic framework for detecting (identifying the on-off state of) the external Force applied to a con-struction manipulator (front load) by using a hydraulic sensor is proposed. Such a load detecting system requires high accuracy and robustness considering the uncertainty in pressure-based Force measurement. The proposed framework first identifies the dominant error Force component, including self-weight and driving Force, using theoretical and experimental estimation and binarizes the analog cylinder external Force. It then evaluates detection conditions to address indetermi-nate conditions such as stroke-end, singular posture, and impulsive or Oscillatory Force and redefines three-valued outputs such as on, off, or not determinate (ND). It finally outputs the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Re-sults indicate that the proposed framework detects on, off, and ND outputs of the front load more accurately, robustly, and stably in various detection conditions.

  • A practical load detection framework considering uncertainty in hydraulic pressure-based Force measurement for construction manipulator
    Proceedings - IEEE International Conference on Robotics and Automation, 2011
    Co-Authors: Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano
    Abstract:

    This paper proposes a practical framework for detecting (identifying the on-off state of) the external Force applied to a construction manipulator (front load) by using a hydraulic sensor. Such a detection system requires high accuracy and robustness considering the uncertainty in pressure-based Force measurement. Our framework is thus organized into (i) identifying the dominant error Force component (self-weight and driving Force) using theoretical and experimental estimation and binarizing the analog external cylinder Force, (ii) evaluating detection conditions to address indeterminate conditions such as stroke-end, singular posture, and impulsive or Oscillatory Force and redefining three-valued outputs such as on, off, or not de terminate (ND), and (iii) outputting the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our frame work adequately detects on, off, and ND outputs of the front load in various detection conditions without misidentification.

Mitsuhiro Kamezaki - One of the best experts on this subject based on the ideXlab platform.

  • A Pragmatic Load Detecting System Based on Uncertainty
    SICE Journal of Control Measurement and System Integration, 2012
    Co-Authors: Mitsuhiro Kamezaki, Mitsuhiro K Amezaki, Hiroyasu I Wata, Hiroyasu Iwata, Shigeki Sugano, Shigeki S Ugano
    Abstract:

    A pragmatic framework for detecting (identifying the on-off state of) the external Force applied to a con-struction manipulator (front load) by using a hydraulic sensor is proposed. Such a load detecting system requires high accuracy and robustness considering the uncertainty in pressure-based Force measurement. The proposed framework first identifies the dominant error Force component, including self-weight and driving Force, using theoretical and experimental estimation and binarizes the analog cylinder external Force. It then evaluates detection conditions to address indetermi-nate conditions such as stroke-end, singular posture, and impulsive or Oscillatory Force and redefines three-valued outputs such as on, off, or not determinate (ND). It finally outputs the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Re-sults indicate that the proposed framework detects on, off, and ND outputs of the front load more accurately, robustly, and stably in various detection conditions.

  • A practical load detection framework considering uncertainty in hydraulic pressure-based Force measurement for construction manipulator
    Proceedings - IEEE International Conference on Robotics and Automation, 2011
    Co-Authors: Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano
    Abstract:

    This paper proposes a practical framework for detecting (identifying the on-off state of) the external Force applied to a construction manipulator (front load) by using a hydraulic sensor. Such a detection system requires high accuracy and robustness considering the uncertainty in pressure-based Force measurement. Our framework is thus organized into (i) identifying the dominant error Force component (self-weight and driving Force) using theoretical and experimental estimation and binarizing the analog external cylinder Force, (ii) evaluating detection conditions to address indeterminate conditions such as stroke-end, singular posture, and impulsive or Oscillatory Force and redefining three-valued outputs such as on, off, or not de terminate (ND), and (iii) outputting the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our frame work adequately detects on, off, and ND outputs of the front load in various detection conditions without misidentification.

Shigeki S Ugano - One of the best experts on this subject based on the ideXlab platform.

  • A Pragmatic Load Detecting System Based on Uncertainty
    SICE Journal of Control Measurement and System Integration, 2012
    Co-Authors: Mitsuhiro Kamezaki, Mitsuhiro K Amezaki, Hiroyasu I Wata, Hiroyasu Iwata, Shigeki Sugano, Shigeki S Ugano
    Abstract:

    A pragmatic framework for detecting (identifying the on-off state of) the external Force applied to a con-struction manipulator (front load) by using a hydraulic sensor is proposed. Such a load detecting system requires high accuracy and robustness considering the uncertainty in pressure-based Force measurement. The proposed framework first identifies the dominant error Force component, including self-weight and driving Force, using theoretical and experimental estimation and binarizes the analog cylinder external Force. It then evaluates detection conditions to address indetermi-nate conditions such as stroke-end, singular posture, and impulsive or Oscillatory Force and redefines three-valued outputs such as on, off, or not determinate (ND). It finally outputs the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Re-sults indicate that the proposed framework detects on, off, and ND outputs of the front load more accurately, robustly, and stably in various detection conditions.

Hiroyasu Iwata - One of the best experts on this subject based on the ideXlab platform.

  • A Pragmatic Load Detecting System Based on Uncertainty
    SICE Journal of Control Measurement and System Integration, 2012
    Co-Authors: Mitsuhiro Kamezaki, Mitsuhiro K Amezaki, Hiroyasu I Wata, Hiroyasu Iwata, Shigeki Sugano, Shigeki S Ugano
    Abstract:

    A pragmatic framework for detecting (identifying the on-off state of) the external Force applied to a con-struction manipulator (front load) by using a hydraulic sensor is proposed. Such a load detecting system requires high accuracy and robustness considering the uncertainty in pressure-based Force measurement. The proposed framework first identifies the dominant error Force component, including self-weight and driving Force, using theoretical and experimental estimation and binarizes the analog cylinder external Force. It then evaluates detection conditions to address indetermi-nate conditions such as stroke-end, singular posture, and impulsive or Oscillatory Force and redefines three-valued outputs such as on, off, or not determinate (ND). It finally outputs the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Re-sults indicate that the proposed framework detects on, off, and ND outputs of the front load more accurately, robustly, and stably in various detection conditions.

  • A practical load detection framework considering uncertainty in hydraulic pressure-based Force measurement for construction manipulator
    Proceedings - IEEE International Conference on Robotics and Automation, 2011
    Co-Authors: Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano
    Abstract:

    This paper proposes a practical framework for detecting (identifying the on-off state of) the external Force applied to a construction manipulator (front load) by using a hydraulic sensor. Such a detection system requires high accuracy and robustness considering the uncertainty in pressure-based Force measurement. Our framework is thus organized into (i) identifying the dominant error Force component (self-weight and driving Force) using theoretical and experimental estimation and binarizing the analog external cylinder Force, (ii) evaluating detection conditions to address indeterminate conditions such as stroke-end, singular posture, and impulsive or Oscillatory Force and redefining three-valued outputs such as on, off, or not de terminate (ND), and (iii) outputting the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our frame work adequately detects on, off, and ND outputs of the front load in various detection conditions without misidentification.

Mahdi Tavakoli - One of the best experts on this subject based on the ideXlab platform.

  • A multilateral impedance-controlled system for haptics-enabled surgical training and cooperation in beating-heart surgery
    International Journal of Intelligent Robotics and Applications, 2019
    Co-Authors: Lingbo Cheng, Mahdi Tavakoli
    Abstract:

    In this paper, an impedance-controlled multi-master/single-slave telerobotic system is developed for haptics-enabled surgical training and cooperation in beating-heart surgery. This system not only can enable automatically motion compensation for the beating heart’s motion as well as non-Oscillatory Force feedback to the human operators but can also enable training and cooperation for multiple users. A multi-user shared control architecture is developed, and a multilateral impedance-controlled strategy is employed for this architecture. The desired objectives of the proposed system are (a) providing position guidance to the trainees during training procedure, (b) providing Force feedback to all human operators (trainer and trainees) regardless of their levels of authority over the slave robot, (c) motion compensation for the heart’s motion, and (d) reflecting only the non-Oscillatory Force portion of the slave-heart tissue interaction Force to all human operators. To this end, virtual fixtures and a dominance factor are introduced, and a reference impedance model with adjusted parameters is designed for each master or slave robot. The proposed impedance-based control methodology is evaluated experimentally. The experimental results demonstrated that the proposed method could be used for surgical training and cooperation in beating-heart surgery by providing appropriate position guidance and environmental Force feedback to the human operators.

  • Semi-Autonomous Surgical Robot Control for Beating-Heart Surgery
    2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019
    Co-Authors: Lingbo Cheng, Jason Fong, Mahdi Tavakoli
    Abstract:

    In this paper, a semi-autonomous robot control system is developed for 3D robotic tracking of the complex physiological organ motion introduced by respiration and heartbeat in cardiac surgery. The same control system enables the surgeon's hand to perceive the non-Oscillatory portion of the surgical robot-heart tissue interaction Force. The semi-autonomous surgical system includes a slave surgical robot which can compensate for the physiological organ motion automatically and a master robot (user interface) which is manipulated by the surgeon to provide task commands to the surgical robot. The proposed impedance control method for the surgical robot only needs the frequency range of the physiological motion to synchronize the surgical instrument with the organ motion automatically. Another reference impedance model for the master robot is designed to provide non-Oscillatory Force feedback to the surgeon. A usability study emulating the motion requirements of tissue ablation is carried out. Experimental results are presented to show the effectiveness of the proposed method by comparing the results to the manual compensation method.