Journal of Dynamic Systems, Measurement, and Control最新文献

Special Issue on Energy in Smart Infrastructures: Storage and Utilizations 智能基础设施中的能源特刊：存储与利用

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2024-01-01 DOI: 10.1115/1.4064469

Satadru Dey, Donald Docimo, Yuanyuan Shi, H. Pangborn

引用次数: 0

A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter. 机器人心内导管接触稳定性及接触安全性分析的概率方法。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2021-09-01 Epub Date: 2021-05-10 DOI: 10.1115/1.4050692

Ran Hao, M Cenk Çavuşoğlu

引用次数: 0

Observer-Based Deconvolution of Deterministic Input in Coprime Multichannel Systems With Its Application to Noninvasive Central Blood Pressure Monitoring. 基于观测器的多通道系统确定性输入反卷积及其在无创中心血压监测中的应用。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2020-09-01 Epub Date: 2020-05-25 DOI: 10.1115/1.4047060

Zahra Ghasemi, Woongsun Jeon, Chang-Sei Kim, Anuj Gupta, Rajesh Rajamani, Jin-Oh Hahn

{"title":"Observer-Based Deconvolution of Deterministic Input in Coprime Multichannel Systems With Its Application to Noninvasive Central Blood Pressure Monitoring.","authors":"Zahra Ghasemi, Woongsun Jeon, Chang-Sei Kim, Anuj Gupta, Rajesh Rajamani, Jin-Oh Hahn","doi":"10.1115/1.4047060","DOIUrl":"https://doi.org/10.1115/1.4047060","url":null,"abstract":"Estimating central aortic blood pressure (BP) is important for cardiovascular (CV) health and risk prediction purposes. CV system is a multichannel dynamical system that yields multiple BPs at various body sites in response to central aortic BP. This paper concerns the development and analysis of an observer-based approach to deconvolution of unknown input in a class of coprime multichannel systems applicable to noninvasive estimation of central aortic BP. A multichannel system yields multiple outputs in response to a common input. Hence, the relationship between any pair of two outputs constitutes a hypothetical input-output system with unknown input embedded as a state. The central idea underlying our approach is to derive the unknown input by designing an observer for the hypothetical input-output system. In this paper, we developed an unknown input observer (UIO) for input deconvolution in coprime multichannel systems. We provided a universal design algorithm as well as meaningful physical insights and inherent performance limitations associated with the algorithm. The validity and potential of our approach were illustrated using a case study of estimating central aortic BP waveform from two noninvasively acquired peripheral arterial pulse waveforms. The UIO could reduce the root-mean-squared error (RMSE) associated with the central aortic BP by up to 27.5% and 28.8% against conventional inverse filtering (IF) and peripheral arterial pulse scaling techniques.","PeriodicalId":516721,"journal":{"name":"Journal of Dynamic Systems, Measurement, and Control","volume":"142 9","pages":"091006"},"PeriodicalIF":1.7,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7247534/pdf/ds-19-1309_091006.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37994624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic Validation. 基于键合图和机器人验证的人体手指肌腱系统同步运动和接触力建模。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2020-03-01 Epub Date: 2019-12-23 DOI: 10.1115/1.4045494

James A Tigue, Raymond J King, Stephen A Mascaro

{"title":"Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic Validation.","authors":"James A Tigue, Raymond J King, Stephen A Mascaro","doi":"10.1115/1.4045494","DOIUrl":"https://doi.org/10.1115/1.4045494","url":null,"abstract":"This paper aims to use bond graph modeling to create the most comprehensive finger tendon model and simulation to date. Current models are limited to either free motion without external contact or fixed finger force transmission between tendons and fingertip. The forward dynamics model, presented in this work, simultaneously simulates the kinematics of tendon-finger motion and contact forces of a central finger given finger tendon inputs. The model equations derived from bond graphs are accompanied by nonlinear relationships modeling the anatomical complexities of moment arms, tendon slacking, and joint range of motion (ROM). The structure of the model is validated using a robotic testbed, Utah's Anatomically correct Robotic Testbed (UART) finger. Experimental motion of the UART finger during free motion (no external contact) and surface contact are simulated using the bond graph model. The contact forces during the surface contact experiments are also simulated. On average, the model was able to predict the steady-state pose of the finger with joint angle errors less than 6 deg across both free motion and surface contact experiments. The static contact forces were accurately predicted with an average of 11.5% force magnitude error and average direction error of 12 deg.","PeriodicalId":516721,"journal":{"name":"Journal of Dynamic Systems, Measurement, and Control","volume":"142 3","pages":"0310071-3100714"},"PeriodicalIF":1.7,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7104745/pdf/ds-19-1285_031007.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37824952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Optimal Control for Partially Observed Nonlinear Interval Systems. 部分可观测非线性区间系统的最优控制。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2019-09-01 Epub Date: 2019-05-02 DOI: 10.1115/1.4042670

T E Dabbous

引用次数: 0

Design of a Tri-Axial Force Measurement Transducer for Plantar Force Measurements. 用于足底力测量的三轴力测量传感器的设计。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2018-08-01 Epub Date: 2018-03-13 DOI: 10.1115/1.4039205

Weizi Li, Roberto Dugnani

{"title":"Design of a Tri-Axial Force Measurement Transducer for Plantar Force Measurements.","authors":"Weizi Li, Roberto Dugnani","doi":"10.1115/1.4039205","DOIUrl":"https://doi.org/10.1115/1.4039205","url":null,"abstract":"Transducers for spatial plantar force measurements have numerous applications in biomechanics, rehabilitation medicine, and gait analysis. In this work, the design of a novel, tri-axial transducer for plantar force measurements was presented. The proposed design could resolve both the normal and the shear forces applied at the foot's sole. The novelty of the design consisted in using a rotating bump to translate the external loads into axial compressive forces which could be measured effectively by conventional pressure sensors. For the prototype presented, multilayer polydimethylsiloxane (PDMS) thin-film capacitive stacks were manufactured and used as sensing units, although in principle the design could be extended to various types of sensors. A quasi-static analytic solution to describe the behavior of the transducer was also derived and used to optimize the design. To characterize the performance of the transducer, a 3 cm diameter, 1 cm tall prototype was manufactured and tested under various combination of shear and normal loading scenarios. The tests confirmed the ability of the transducer to generate strong capacitive signals and measure both the magnitude and direction of the normal and shear loads in the dynamic range of interest.","PeriodicalId":516721,"journal":{"name":"Journal of Dynamic Systems, Measurement, and Control","volume":"140 8","pages":"0810121-8101210"},"PeriodicalIF":1.7,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1115/1.4039205","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"36924056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Run-to-Run Optimization Control Within Exact Inverse Framework for Scan Tracking. 扫描跟踪精确逆框架下的运行优化控制。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2017-09-01 Epub Date: 2017-06-05 DOI: 10.1115/1.4036231

Ivan L Yeoh, Per G Reinhall, Martin C Berg, Howard J Chizeck, Eric J Seibel

引用次数: 1

Automatic Detection of Endotracheal Intubation During the Anesthesia Procedure. 麻醉过程中气管插管的自动检测。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2016-11-01 Epub Date: 2016-08-09 DOI: 10.1115/1.4033864

Ali Jalali, Mohamed Rehman, Arul Lingappan, C Nataraj

引用次数: 4

Pneumatic Variable Series Elastic Actuator. 气动可变系列弹性执行器。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2016-08-01 Epub Date: 2016-06-15 DOI: 10.1115/1.4033620

Hao Zheng, Molei Wu, Xiangrong Shen

{"title":"Pneumatic Variable Series Elastic Actuator.","authors":"Hao Zheng, Molei Wu, Xiangrong Shen","doi":"10.1115/1.4033620","DOIUrl":"https://doi.org/10.1115/1.4033620","url":null,"abstract":"Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on-off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator.","PeriodicalId":516721,"journal":{"name":"Journal of Dynamic Systems, Measurement, and Control","volume":"138 8","pages":"0810111-8101110"},"PeriodicalIF":1.7,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1115/1.4033620","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34522371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Control of Magnetic Bearings for Rotor Unbalance With Plug-In Time-Varying Resonators. 插入式时变谐振器控制转子不平衡磁轴承。

IF 1.7

Journal of Dynamic Systems, Measurement, and Control Pub Date : 2016-01-01 Epub Date: 2015-10-12 DOI: 10.1115/1.4031575

Christopher Kang, Tsu-Chin Tsao

引用次数: 12