Earticle

초록

영어

The use of robots in medical applications has increased considerably in the last decade. Today, there are robots being used in complex surgeries such as those of the brain, eye, heart, and hip. Complex surgeries have complex requirements, such as high precision, reliability over multiple and long procedures, ease of use for physicians and other personnel, and a demonstrated advantage, to the patient, of using a robot. Furthermore, all new technologies in the medical area have to undergo strict regulatory clearance procedures, which may include clinical trials, as outlined by various government regulatory agencies. Variable Structure controller is a powerful nonlinear robust controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for surgical joints. Limitation of robustness in uncertain dynamic parameter is the main drawback in pure Variable Structure controller. This challenge in pure Variable Structure controller and intelligent Variable Structure controller is reduced by using sliding surface auto-tuning. Artificial intelligence theory is used to reduce the system’s limitation. In this research, PI fuzzy sliding surface tuning Variable Structure controller is introduced. To eliminate the uncertain limitation, 49 rules Mamdani inference system is design and supervised the Variable Structure methodology. This method is based on resolve the on line sliding surface slope as well as improve the output performance by tuning the sliding surface slope coefficient. The sliding surface gain (𝝀) of this controller is adjusted online depending on the last values of error (𝑒) and integral of error (Σ𝑒) by sliding surface slope updating factor (𝛼). Fuzzy-based tuning controller is stable controller, which does not need to limits the dynamic model of surgical joints.

목차

Abstract
 1. Introduction
 2. Theory
  A. Dynamic of Surgical Joints:
  B. Adaptive Control Methodology:
  C. Fuzzy Inference Engine:
  D. Conventional Sliding Mode Controller:
 3. Methodology
 4. Results
 5. Conclusion
 Acknowledgments
 References

키워드

저자

• Amirzubir Sahamijoo [ Intelligent Systems and Robotics Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
• Farzin Piltan [ Intelligent Systems and Robotics Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
• Mohammad Reza Avazpour [ Intelligent Systems and Robotics Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
• Hootan Ghiasi [ Intelligent Systems and Robotics Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]
• Mohammad Hadi Mazloom [ Intelligent Systems and Robotics Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz/Iran ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605