The real-time application of VSS controllers: implementation on elements of a 'direct-drive' arm, a Syke robot and a PUMA robot

1992 ◽  
Vol 14 (3) ◽  
pp. 139-152 ◽  
Author(s):  
R.J. Richards ◽  
D.S. Reay
Keyword(s):  
Real Time ◽  
Direct Drive ◽  
The Real ◽  
Real Time Application ◽  
Puma Robot

scholarly journals Multi-Parameter Vital Sign Telemedicine System Using Web Socket for COVID-19 Pandemics

Healthcare ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 285
Author(s):  
Chuchart Pintavirooj ◽  
Tanapon Keatsamarn ◽  
Treesukon Treebupachatsakul
Keyword(s):  
Real Time ◽  
Vital Sign ◽  
Vital Signs ◽  
Mobile Network ◽  
Cloud Platform ◽  
Telemedicine System ◽  
Web Based ◽  
The Real ◽  
Real Time Application ◽  
Commercial Platform

Telemedicine has become an increasingly important part of the modern healthcare infrastructure, especially in the present situation with the COVID-19 pandemics. Many cloud platforms have been used intensively for Telemedicine. The most popular ones include PubNub, Amazon Web Service, Google Cloud Platform and Microsoft Azure. One of the crucial challenges of telemedicine is the real-time application monitoring for the vital sign. The commercial platform is, by far, not suitable for real-time applications. The alternative is to design a web-based application exploiting Web Socket. This research paper concerns the real-time six-parameter vital-sign monitoring using a web-based application. The six vital-sign parameters are electrocardiogram, temperature, plethysmogram, percent saturation oxygen, blood pressure and heart rate. The six vital-sign parameters were encoded in a web server site and sent to a client site upon logging on. The encoded parameters were then decoded into six vital sign signals. Our proposed multi-parameter vital-sign telemedicine system using Web Socket has successfully remotely monitored the six-parameter vital signs on 4G mobile network with a latency of less than 5 milliseconds.

Altitude Controller Design for Quadcopter UAV

2015 ◽  
Vol 74 (1) ◽  
Author(s):  
Muhammad Zaki Mustapa
Keyword(s):  
Real Time ◽  
Attitude Control ◽  
Controller Design ◽  
Design Method ◽  
Time Windows ◽  
The Real ◽  
Data Acquisition Card ◽  
Aerial Vehicle ◽  
Hovering Control ◽  
Real Time Application

This paper discusses on attitude control of a quadcopter unmanned aerial vehicle (UAV) in real time application. Newton-Euler equation is used to derive the model of system and the model characteristic is analyzed. The paper describes the controller design method for the hovering control of UAV automatic vertical take-off system. In order to take-off the quadcopter and stable the altitude, PID controller has been designed. The scope of study is to develop an altitude controller of the vertical take-off as realistic as possible. The quadcopter flight system has nonlinear characteristics. A simulation is conducted to test and analyze the control performance of the quadcopter model. The simulation was conducted by using Mat-lab Simulink. On the other hand, for the real time application, the PCI-1711 data acquisition card is used as an interface for controller design which routes from Simulink to hardware. This study showed the controller designs are implemented and tuned to the real system using Real Time Windows Target approach by Mat-Lab Simulink.

The Real-time Application Analysis of Highs-peed Train Scheduling System

2012 ◽  
Vol 11 (9) ◽  
pp. 1310-1315
Author(s):  
Xuedong Du ◽  
Guilin Li ◽  
Jiangtao Ji ◽  
Xiaomei Tan
Keyword(s):  
Real Time ◽  
Train Scheduling ◽  
Scheduling System ◽  
The Real ◽  
Application Analysis ◽  
Real Time Application

A New Kinematic Kalman Filter (KKF) for End-Effector Sensing of Robotic Manipulators

2007 ◽  
Author(s):  
Soo Jeon ◽  
Masayoshi Tomizuka ◽  
Tetsuaki Katou
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Sampling Rate ◽  
Accurate Estimation ◽  
Vision Sensor ◽  
Direct Drive ◽  
State Estimator ◽  
Parameter Uncertainties ◽  
End Effector ◽  
The Real

The kinematic Kalman filter (KKF) is a sensor-based state estimator which is immune to the external disturbances and the parameter uncertainties of mechanical plants. This paper extends the original idea of the KKF to a more general form as a means to enhance a real time vision sensor for the end-effector control of a robot manipulator, the performance of which is often limited by its slow sampling rate. The original one-dimensional KKF is reformulated in a higher dimensional form by incorporating the measurements from the vision sensor, accelerometers and gyroscopes. A nonlinear state space model of the kinematics of the end-effector is derived including the time delay associated with vision sensing. Then, the new KKF is formulated as a state estimator combining the inter-sample predictions with an extended Kalman filter (EKF). The paper discusses practical issues such as the real time computation to implement the EKF and the vision sensor to measure the absolute position. Experimental results are presented to confirm the benefits of the new KKF using a two-link direct drive manipulator equipped with a dual axis MEMS accelerometer, a single axis MEMS gyroscope and an end-effector mounted vision camera. The accurate estimation of the position and velocity of the end-effector from the new KKF will be useful for the real time visual-servo and the task space control of robot manipulators.

scholarly journals Virtual Belt Algorithm for the Management of Isolated Autonomous Intersection

Algorithms ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 183
Author(s):  
Chentong Bian ◽  
Guodong Yin ◽  
Liwei Xu ◽  
Ning Zhang
Keyword(s):  
Numerical Simulations ◽  
Real Time ◽  
Online Algorithm ◽  
The Real ◽  
Traffic Efficiency ◽  
Simulation Results ◽  
Intersection Management ◽  
Real Time Application

To enhance traffic efficiency, in this paper, a novel virtual belt algorithm is proposed for the management of an isolated autonomous intersection. The proposed virtual belt algorithm consists of an offline algorithm and an online algorithm. Using the offline algorithm, the considered intersection can be modeled as several virtual belts. The online algorithm is designed for the real-time application of the virtual belt algorithm. Compared with the related algorithms, the main advantage of the proposed algorithm is that, there are several candidate trajectories for each approaching vehicle. Thus, there are more opportunities for an approaching vehicle to obtain a permission to pass an intersection, which is effective to improve traffic efficiency. The proposed algorithm is validated using numerical simulations conducted by Matlab and VISSIM. The simulation results show that the proposed algorithm is effective for autonomous intersection management.

scholarly journals MUSCULOSKELETAL ULTRASOUND AND ITS APPLICATION IN SPORTS MEDICINE

2021 ◽  
Vol 27 (8) ◽  
pp. 764-766
Author(s):  
Qingwen Tan ◽  
Seung-Soo Baek
Keyword(s):  
Real Time ◽  
Sports Medicine ◽  
Sports Injuries ◽  
Treatment Plan ◽  
Musculoskeletal Ultrasound ◽  
Level Of Evidence ◽  
The Real ◽  
Main Site ◽  
Time Diagnosis ◽  
Real Time Application

ABSTRACT Introduction: Musculoskeletal ultrasound is a clinical auxiliary examination for the diagnosis of musculoskeletal system injuries by ultrasound imaging technology. Objective: To explore the real time application value of musculoskeletal ultrasound in exercise. Methods: The MSKUS technique was used to diagnose and classify the types, positions and degrees of sports injuries. Results: A total of 35 athletes received a MSKUS diagnosis; 2 athletes were recommended to withdraw from competition after the diagnosis and return to China for treatment. Among the athletes, 9 cases (25.71%) suffered muscle injury, 22 (62.86%) suffered tendon, ligament and fascia injury, 2 (5.71%) suffered bone and cartilage injury, and 2 (5.71%) suffered bursitis. The main site of injury was the lower extremity (74.29%). Most of the injuries were mild, and only 2 cases were severe. Conclusions: Musculoskeletal ultrasound has certain advantages in the real-time diagnosis of tendons, ligaments and soft tissue in the field. Using musculoskeletal ultrasounds, doctors can assess the injury situation more quickly and accurately, and choose the next steps concerning exercise prescription and a rehabilitation treatment plan more effectively. Musculoskeletal ultrasound is real time, reliable and convenient, and has application value in sports. Level of evidence II; Therapeutic studies - investigation of treatment results.

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