A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter [0.03%]
机器人 intracardiac 导管接触稳定性和接触安全性分析的概率方法
Ran Hao,M Cenk Çavuşoğlu
Ran Hao
The disturbances caused by the blood flow and tissue surface motions are major concerns during the motion planning of an intracardiac robotic catheter. Maintaining a stable and safe contact on the desired ablation point is essential for ach...
Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion [0.03%]
心脏表面运动下磁共振引导的导管机器人稳定性与安全性研究
Ran Hao,E Erdem Tuna,M Cenk Çavuşoğlu
Ran Hao
Contact force quality is one of the most critical factors for safe and effective lesion formation during catheter based atrial fibrillation ablation procedures. In this paper, the contact stability and contact safety of a novel magnetic res...
T E Dabbous
T E Dabbous
In this paper, we consider the optimal control problem for a class of systems governed by nonlinear time-varying partially observed interval differential equations. The control process is assumed to be governed by linear time varying interv...
Observer-Based Deconvolution of Deterministic Input in Coprime Multichannel Systems With Its Application to Noninvasive Central Blood Pressure Monitoring [0.03%]
基于观测器的广义互素多通道系统中确定性输入去卷积及其在无创中央血压监测中的应用
Zahra Ghasemi,Woongsun Jeon,Chang-Sei Kim et al.
Zahra Ghasemi et al.
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 aorti...
Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic Validation [0.03%]
基于邦迪图的人手指腱系统的同时动力学和接触力模型及其机器人验证方法研究
James A Tigue,Raymond J King,Stephen A Mascaro
James A Tigue
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 ten...
Decentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion [0.03%]
基于去中心化被动控制的鲁棒双足行走控制方法（采用广义储能函数）
Mark Yeatman,Ge Lv,Robert D Gregg
Mark Yeatman
This paper details a decentralized passivity-based control (PBC) to improve the robustness of biped locomotion in the presence of gait-generating external torques and parametric errors in the biped model. Previous work demonstrated a passiv...
Nanometer Positional Control using Magnetic Suspension for Vacuum-to-Air Mass Metrology [0.03%]
基于磁悬浮的纳米级位置控制真空至空气环境下质量计量研究
Nicholas Vlajic,Melissa Davis,Corey Stambaugh
Nicholas Vlajic
This paper explains the control scheme that is to be used in the Magnetic Suspension Mass Comparator (MSMC), an instrument designed to directly compare mass artifacts in air to those in vacuum, at the United States National Institute of Sta...
Design of a Tri-Axial Force Measurement Transducer for Plantar Force Measurements [0.03%]
用于足底测力的三轴力传感器设计
Weizi Li,Roberto Dugnani
Weizi Li
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 presente...
Run-to-Run Optimization Control Within Exact Inverse Framework for Scan Tracking [0.03%]
基于精确逆模型的扫描跟踪run-to-run优化控制方法研究
Ivan L Yeoh,Per G Reinhall,Martin C Berg et al.
Ivan L Yeoh et al.
A run-to-run optimization controller uses a reduced set of measurement parameters, in comparison to more general feedback controllers, to converge to the best control point for a repetitive process. A new run-to-run optimization controller ...
Automatic Detection of Endotracheal Intubation During the Anesthesia Procedure [0.03%]
麻醉过程中气管内插管的自动检测技术研究
Ali Jalali,Mohamed Rehman,Arul Lingappan et al.
Ali Jalali et al.
This paper is concerned with the mathematical modeling and detection of endotracheal (ET) intubation in children under general anesthesia during surgery. In major pediatric surgeries, the airway is often secured with an endotracheal tube (E...