Mechatronic Integration in the Design of Ambulatory Rehabilitation Device

2010 ◽  
Author(s):  
Devdas Shetty ◽  
Avital Fast ◽  
Claudio Campana ◽  
Lou Manzione
Keyword(s):  
Control Process ◽  
Vertical Axis ◽  
Product Development Process ◽  
Mechatronic Systems ◽  
Feed Drives ◽  
Accuracy And Precision ◽  
Hospital Patients ◽  
Ambulatory Rehabilitation ◽  
Tilt Sensors ◽  
Smart Machine

Increasing demands on the productivity and growing technological complexity will require the application of new methods in the product development process. A smart machine is one that can make decisions about the mechanical motion and respond to the commands in real time. It is possible to arrive at ways of optimizing the design of the structural components, the construction of the feed drives or the controller strategy. The distinguishing feature of mechatronic systems is the achievement of system functionality through intensive integration. That allows a better understanding of the dynamic behavior and interactions of the components. This paper shows that the simulation results from the mechatronic model of the rehabilitation equipment. The rehabilitation device is an apparatus developed with the intent of aiding in the rehabilitation of hospital patients learning to walk again. It is comprised of a gantry system which provides motion in the horizontal (x, y) plane and vertical axis (z). The z axis motion is provided by a hoist motor which is actively controlled using feedback from strain gauge sensors. As the patient walks around within the confines of the room-sized gantry, the hoist will follow the patient around. The closed loop motor control reacts to feedback from multi-axis tilt sensors on the hoist line. If ever the patient were to fall, the hoist system would to keep the patient in place. This paper shows how the sensor is integrated to the system in order to ensure the required control accuracy and precision in combination with enhanced motion dynamics, the interactions between a rehabilitation patient and tilt-sensor, the influence of the control system and the control process.

scholarly journals Survey of Mechatronic Techniques in Modern Machine Design

2012 ◽  
Vol 2012 ◽  
pp. 1-9
Author(s):  
Devdas Shetty ◽  
Lou Manzione ◽  
Ahad Ali
Keyword(s):  
Design Process ◽  
Machining Process ◽  
Frame Structure ◽  
Automated System ◽  
Product Development Process ◽  
Mechatronic Systems ◽  
Adaptive Controls ◽  
Feed Drives ◽  
Simulation Based ◽  
Smart Machine

Increasing demands on the productivity of complex systems, such as manufacturing machines and their steadily growing technological importance will require the application of new methods in the product development process. A smart machine can make decisions about the process in real-time with plenty of adaptive controls. This paper shows the simulation based mechatronic model of a complex system with a better understanding of the dynamic behavior and interactions of the components. This offers improved possibilities of evaluating and optimizing the dynamic motion performance of the entire automated system in the early stages of the design process. Another effect is the growing influence of interactions between machine components on achievable machine dynamics and precision and quality of components. The examples cited in this paper, demonstrate the distinguishing feature of mechatronic systems through intensive integration. The case studies also show that it will no longer be sufficient to focus solely on the optimization of subsystems. Instead it will be necessary to strive for optimization of the complete system. The interactions between machine components, the influence of the control system and the machining process will have to be considered during the design process and the coordination of feed drives and frame structure components.

scholarly journals VP203 Performance Evaluation Of Eye-Tracking Devices

2017 ◽  
Vol 33 (S1) ◽  
pp. 245-245
Author(s):  
Luciano Recalde ◽  
José Núñez ◽  
César Yegros ◽  
Carolina Villegas
Keyword(s):  
Eye Tracking ◽  
Interface Design ◽  
Vertical Axis ◽  
Horizontal Axis ◽  
Precision Data ◽  
Limited Mobility ◽  
The Gaze ◽  
Accuracy And Precision ◽  
Tracking Device ◽  
Tracking Devices

INTRODUCTION:There are different devices, systems and technologies for people with disabilities. It's necessary to provide information on the effectiveness of products in the market and competitiveness in terms of price-quality, and providing an endorsement in the acquisition of technologies that improve their quality of life. The use of eye tracking devices is growing and its implementation in different areas has attracted the attention of several developers. Therefore the need to generate a product that evaluates the functionality of such devices is necessary in order to avoid unnecessary expenses when acquiring or repairing one of these devices.METHODS:An interface was created with different functionalities such as the location of the coordinates in which the pointer is located, standardized graphic interface design to provide statistical data that allow an objective result for its subsequent analysis and an endless number of design possibilities.The tests performed were of accuracy and precision where the subject was asked to follow the instructions given and observe a sequence of points, especially the points located at the ends of the monitor as these are the critical points in which there is less coincidence between the cursor and the gaze.RESULTS:The results obtained provided information on the performance of the tracking device. In this way it was possible to establish that the accuracy of the ocular tracker: it was ± 12.83 pixels on the horizontal axis and ± 10.66 pixels on the vertical axis. The precision was ± 9.8 pixels on the horizontal axis and ± 14.23 pixels on the vertical axis.This shows the use phenomenon caused due to the limited mobility of the eyes in the vertical axis in comparison to the horizontal mobility. The precision data obtained indicate that, because the movement on the vertical axis is smaller, there is a less continuous spectrum of positions on the axis, which translates to less precision.CONCLUSIONS:The data obtained can be used to compare with the results of the test with other eye tracking devices and thus this could serve as a tool to select an eye tracking device according to the user's need and his economical capabilities.

ON NONLINEARITY CONTROL OF CNC FEED DRIVES

2006 ◽  
Vol 30 (1) ◽  
pp. 63-80
Author(s):  
Rami M. Shahin ◽  
Waguih H. ElMaraghy ◽  
EISayed M. ElBeheiry
Keyword(s):  
Machine Tools ◽  
Manufacturing Systems ◽  
Hierarchical Control ◽  
Control Process ◽  
Main Function ◽  
Reconfigurable Manufacturing ◽  
Feed Drives ◽  
Control Scheme ◽  
Contouring Accuracy ◽  
And Control

A Unified Reconfigurable Open Control Architecture (UROCA) aims at unifying the reconfiguration aspects and managing the interaction amongst the different operating levels of individual machining control systems that are likely to perform in reconfigurable manufacturing systems. The hierarchical control structure of UROCA demands the usage of a supervisory control scheme in order to manage operations of supervisory and servo controllers altogether into a reconfigurable control process. The main function of the supervisory unit is to serve as a switching/reconfiguring logic amongst different available controllers, according to need, in order to maintain motion output within the permitted limits. Due to backlash, efficiency of machine tools will be undesirably turned down causing higher vibrations, lower contouring accuracy, and may draw the whole system into instability region. A Switching control scheme designated to manage the control process where two different controllers with two different control functionalities, acting differently in two vital zones - one of them where the backlash lies, and the other when moving past the backlash - is the main topic of this paper. The proposed switching schemes emphasize a reconfiguration aspect on the control process level for machine tools as perceived, investigated and resolved by the physical and control layers located at the deliberative part of the UROCA architecture.

Novel ICT-Enabled Collaborative Design Processes and Tools for Developing Non-Road Mobile Machinery

2015 ◽  
Author(s):  
Rafael Åman ◽  
Heikki Handroos ◽  
Hannu Kärkkäinen ◽  
Jari Jussila ◽  
Pasi Korkealaakso
Keyword(s):  
Life Cycle ◽  
Real Time ◽  
Collaborative Design ◽  
Power Transmission ◽  
Cost Effective ◽  
Product Development Process ◽  
Mechatronic Systems ◽  
Design Processes ◽  
Mobile Machinery ◽  
Wheel Loaders

The improvement of the energy efficiency is an important topic for non-road mobile machinery developers and manufacturers. These machines normally use fluid power transmission in drivelines and working actuators. New energy efficient technologies, e.g. a hybrid power transmission with an energy recovery feature, have been introduced. Currently most of the manufacturers are still using conventional technologies in their product development process. Human operators have an effect on the overall efficiency of the machines. Taking into account the human effects is difficult and expensive using the conventional design processes and tools. The objective of this study is to provide international machine manufacturers instrumental, yet novel, community and simulation-based (ICT-enabled) tools/methods for the strategic and cost effective development of their product practices and design processes. The development of models and methods will allow for rapid real-time virtual prototyping of complex machines and machine fleets that operate within a number of worksites or geographical conditions. The introduction of this state-of-the art (and going beyond) advancement in real-time virtual technology, simulation, internet based design technologies and software, cyber-physical and big data processing systems, will present a holistic approach to improve the entire product life. Targeted user groups are manufacturers of non-road mobile machinery (i.e. excavators, wheel loaders, etc.). These machines and production systems share the following key features: 1) They are complex mechatronic systems with several interconnections between hydraulic drives; mechanics, electronics, software and 2) they include autonomous, semiautonomous and human driven operated systems. Methods developed will enable machine manufacturers’ access to technologies that will lead to a more cost effective consumer ordinated, life cycle optimization process. This paper will introduce the method of developing customized products in a fast, agile and networked way that will lead to significantly reduced life-cycle costs.

Software-Agent Supported Virtual Experimental Environment for Virtual Prototypes of Mechatronic Systems

2010 ◽  
Author(s):  
Rafael Radkowski ◽  
Helene Waßmann
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Internal Model ◽  
Development Process ◽  
Test Methods ◽  
Product Development Process ◽  
Mechatronic Systems ◽  
Experimental Environment ◽  
Virtual Prototypes ◽  
Formal Test

This paper presents a virtual experimental environment for testing virtual prototypes of intelligent mechatronic systems. A virtual prototype is a computer internal model of a real product. Virtual environments are used to verify the functionality of these virtual prototypes during the product development process. But normally, the virtual environments are composed manually. Engineers model the set of virtual prototypes and the relations between them manually. Furthermore, a lack of formal test methods exists for testing virtual prototypes of mechatronic systems. This paper presents software agents, which detect relations between virtual prototypes in a virtual environment, automatically. The concept of the agent-supported virtual environment is presented as well as the data needed by the agents for identifying relations between the virtual prototypes. The concept has been tested. One of the examples is described.

Mechatronic Systems in Mechanical Engineering

2014 ◽  
Vol 644-650 ◽  
pp. 134-136
Author(s):  
Bai Jun Zhang ◽  
Wang Wei
Keyword(s):  
Mechanical Engineering ◽  
Science And Technology ◽  
Mechatronic Systems ◽  
Continuous Innovation ◽  
Accuracy And Precision ◽  
Key Technologies ◽  
Innovation And Development

With the continuous innovation and development of China's science and technology, as a set of information across many disciplines , mechanics , electronics and other technology for the integration of mechanical and electrical integration has been an unprecedented development , this technology has also been widely used in the engineering machinery. It makes reference to the technology of mechanical engineering automation or semi-automated as possible , thereby greatly increasing the accuracy and precision mechanical engineering jobs.This paper describes the key technologies and applications in mechatronics engineering machinery.

scholarly journals Analysis and Improvements in AprilTag Based State Estimation

Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5480 ◽  
Author(s):  
Syed Muhammad Abbas ◽  
Salman Aslam ◽  
Karsten Berns ◽  
Abubakr Muhammad
Keyword(s):  
Error Propagation ◽  
Primary Source ◽  
Vertical Axis ◽  
Viewing Angle ◽  
Angular Rotation ◽  
Accuracy And Precision ◽  
Yaw Angle ◽  
First Time ◽  
Source Of Error ◽  
Localization Systems

In this paper, we analyzed the accuracy and precision of AprilTag as a visual fiducial marker in detail. We have analyzed error propagation along two horizontal axes along with the effect of angular rotation about the vertical axis. We have identified that the angular rotation of the camera (yaw angle) about its vertical axis is the primary source of error that decreases the precision to the point where the marker system is not potentially viable for sub-decimeter precise tasks. Other factors are the distance and viewing angle of the camera from the AprilTag. Based on these observations, three improvement steps have been proposed. One is the trigonometric correction of the yaw angle to point the camera towards the center of the tag. Second, the use of a custom-built yaw-axis gimbal, which tracks the center of the tag in real-time. Third, we have presented for the first time a pose-indexed probabilistic sensor error model of the AprilTag using a Gaussian Processes based regression of experimental data, validated by particle filter tracking. Our proposed approach, which can be deployed with all three improvement steps, increases the system’s overall accuracy and precision by manifolds with a slight trade-off with execution time over commonly available AprilTag library. These proposed improvements make AprilTag suitable to be used as precision localization systems for outdoor and indoor applications.

scholarly journals MET-10 Preliminary report of radiotherapy for brain metastases from breast and kidney using mask system of Leksell Gamma Knife Icon

2020 ◽  
Vol 2 (Supplement_3) ◽  
pp. ii20-ii20
Author(s):  
Takuya Kawabe ◽  
Manabu Sato
Keyword(s):  
Brain Metastases ◽  
Gamma Knife ◽  
Local Control ◽  
Survival Rates ◽  
Survival Times ◽  
Single Session ◽  
Accuracy And Precision ◽  
Tumor Number ◽  
Eloquent Area ◽  
Hospital Patients

Abstract Object: Leksell Gamma Knife Icon enables us to apply new methods of immobilization using mask fixation and the option of fractionated treatment. This provides exceptional accuracy and precision of radiosurgery, making it a possibility for many more disease types and many more patients to be treated. Methods: We retrospectively analyzed 97 patients (140 times) with brain metastases from breast (B group) and 26 patients (33 times) with brain metastases from kidney (K group) and who underwent Gamma Knife Icon using mask fixation between September 25th, 2017 and June 30th, 2020 at Rakusai Shimizu Hospital. Patients with small, few, newly diagnosed, and non-eloquent area tumors were treated in a single session. If the tumor volume was larger than 5.0 ml, recurrence, or the location was in an eloquent area, we applied a fractionated schedule. If the tumor number was large, we selected a multisession schedule. Median tumor number was three (1–64) in B group and two (1–31) in K group. Median tumor size was 2.7 (0. 01-58.8) ml in B group and 2.8 (0.02–123.5) ml in K group. We selected fractionated schedules as follows; 7.0 Gy x 5Fr (5–10 ml), 4.2Gy x 10Fr (10-20ml), 3.7Gy x 10Fr (20-30ml), 3.2Gy x 10Fr (30ml-). Results: 32 (B) and 14 (K) cases were treated in a single session, 80 (B) and 17 (K) with fractionation, and 28 (B) and 2 (K) with multiple sessions. Median survival times after Icon treatment was 28.2 (B) and 15.5 (K) months. Local control rates were 89 % (B) and 85% after 12-month Icon treatment. Qualitative survival rates were 91% (B) and 86% (K) after 12-month Icon treatment. There were no statistically differences between two groups. Conclusions: Although these results are limited to short periods, survival rates, local control rates and qualitative survival rates were within the acceptable ranges.

scholarly journals Does gravity influence the visual line bisection task?

2016 ◽  
Vol 116 (2) ◽  
pp. 629-636
Author(s):  
A. Drakul ◽  
C. J. Bockisch ◽  
A. A. Tarnutzer
Keyword(s):  
Healthy Subjects ◽  
Vertical Axis ◽  
Line Bisection ◽  
Horizontal Line ◽  
Bisection Task ◽  
Accuracy And Precision ◽  
Visual Vertical ◽  
Allocentric Reference Frame ◽  
Line Bisection Task ◽  
Roll Tilt

The visual line bisection task (LBT) is sensitive to perceptual biases of visuospatial attention, showing slight leftward (for horizontal lines) and upward (for vertical lines) errors in healthy subjects. It may be solved in an egocentric or allocentric reference frame, and there is no obvious need for graviceptive input. However, for other visual line adjustments, such as the subjective visual vertical, otolith input is integrated. We hypothesized that graviceptive input is incorporated when performing the LBT and predicted reduced accuracy and precision when roll-tilted. Twenty healthy right-handed subjects repetitively bisected Earth-horizontal and body-horizontal lines in darkness. Recordings were obtained before, during, and after roll-tilt (±45°, ±90°) for 5 min each. Additionally, bisections of Earth-vertical and oblique lines were obtained in 17 subjects. When roll-tilted ±90° ear-down, bisections of Earth-horizontal (i.e., body-vertical) lines were shifted toward the direction of the head ( P < 0.001). However, after correction for vertical line-bisection errors when upright, shifts disappeared. Bisecting body-horizontal lines while roll-tilted did not cause any shifts. The precision of Earth-horizontal line bisections decreased ( P ≤ 0.006) when roll-tilted, while no such changes were observed for body-horizontal lines. Regardless of the trial condition and paradigm, the scanning direction of the bisecting cursor (leftward vs. rightward) significantly ( P ≤ 0.021) affected line bisections. Our findings reject our hypothesis and suggest that gravity does not modulate the LBT. Roll-tilt-dependent shifts are instead explained by the headward bias when bisecting lines oriented along a body-vertical axis. Increased variability when roll-tilted likely reflects larger variability when bisecting body-vertical than body-horizontal lines.

Spatial Representations as an Emergent Feature of Perceptual Processing

2010 ◽  
Vol 24 (3) ◽  
pp. 161-172 ◽  
Author(s):  
Edmund Wascher ◽  
C. Beste
Keyword(s):  
Common Ground ◽  
Event Related Potentials ◽  
Vertical Axis ◽  
Relevant Information ◽  
Sources Of Information ◽  
Integrated Network ◽  
Perceptual Maps ◽  
Emergent Feature ◽  
Related Potentials ◽  
Selection Of

Spatial selection of relevant information has been proposed to reflect an emergent feature of stimulus processing within an integrated network of perceptual areas. Stimulus-based and intention-based sources of information might converge in a common stage when spatial maps are generated. This approach appears to be inconsistent with the assumption of distinct mechanisms for stimulus-driven and top-down controlled attention. In two experiments, the common ground of stimulus-driven and intention-based attention was tested by means of event-related potentials (ERPs) in the human EEG. In both experiments, the processing of a single transient was compared to the selection of a physically comparable stimulus among distractors. While single transients evoked a spatially sensitive N1, the extraction of relevant information out of a more complex display was reflected in an N2pc. The high similarity of the spatial portion of these two components (Experiment 1), and the replication of this finding for the vertical axis (Experiment 2) indicate that these two ERP components might both reflect the spatial representation of relevant information as derived from the organization of perceptual maps, just at different points in time.

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