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Proceedings Papers

A Novel Approach to Time Series Forecasting Using Model-Free Adaptive Control Framework

Meenakshi Narayan, Ann Majewicz Fey
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T12A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3329
https://doi.org/10.1115/DSCC2020-3329
View Paper titled, A Novel Approach to Time Series Forecasting Using Model-Free Adaptive Control Framework
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Topics: Adaptive control, Time series, Algorithms, Computation, Control systems, Errors, Force sensors, Machine learning, Needles, Optimal control
Proceedings Papers

Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach

Hui Xiao, Xu Chen
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A004, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9022
https://doi.org/10.1115/DSCC2019-9022
View Paper titled, Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach
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Topics: Feedback, Kalman filters, Delays, Robotics, Dynamics (Mechanics), Algorithms, Manipulators, Modeling, Navigation, Robots
Proceedings Papers

Stiffness Control of Parallel Continuum Robots

Vincent Aloi, Caroline Black, Caleb Rucker
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A012, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9112
https://doi.org/10.1115/DSCC2018-9112
View Paper titled, Stiffness Control of Parallel Continuum Robots
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Topics: Robots, Stiffness, Actuators, Calibration, End effectors, Force measurement, Human-robot interaction, Modeling, Position control, Robotics
Proceedings Papers

Muscle Effort Using a Reacher Assistive Device: The Influence of Forearm Support

Scott Chappell, Anne Schmitz, Julie Hartmann, Davide Piovesan
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T30A006, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5172
https://doi.org/10.1115/DSCC2017-5172
View Paper titled, Muscle Effort Using a Reacher Assistive Device: The Influence of Forearm Support
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Topics: Arthroplasty, Collapse, Electromyography, Muscle, Surgery, Wounds
Proceedings Papers

Dynamically Planning Operating Room Schedules Using Model Predictive Control

Zhigang Zeng, Theodor Freiheit
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T27A016, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5359
https://doi.org/10.1115/DSCC2017-5359
View Paper titled, Dynamically Planning Operating Room Schedules Using Model Predictive Control
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Topics: Predictive control, Surgery, Chain, Machinery, Manufacturing systems, Polishing equipment, Uncertainty
Proceedings Papers

Performance Evaluation of a Sensorized Arthroscopic Grasper

Behnaz Poursartip, Daniel Yurkewich, Marie-Eve LeBel, Rajni V. Patel, Ana Luisa Trejos, Michael D. Naish
Proc. ASME. DSCC2015, Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems, V001T15A004, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9946
https://doi.org/10.1115/DSCC2015-9946
View Paper titled, Performance Evaluation of a Sensorized Arthroscopic Grasper
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Topics: Arthroscopy, Performance evaluation, Instrumentation, Surgery, Fiber Bragg gratings, Optics, Robotics, Sensors
Proceedings Papers

Towards the Development of a New Tendon-Driven Minimally Invasive Neurosurgical Intracranial Robot

Wenxue Zhao, Jaydev P. Desai
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T17A006, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6328
https://doi.org/10.1115/DSCC2014-6328
View Paper titled, Towards the Development of a New Tendon-Driven Minimally Invasive Neurosurgical Intracranial Robot
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Topics: Neurosurgery, Robots, Tendons, Tumors, Magnetic resonance imaging, Brain, Chain, Degrees of freedom, Design, Machinery
Proceedings Papers

Towards the Development of a Low-Cost Minimally Invasive Highly Articulated MRI-Compatible Neurosurgical Robot

Sagar Chowdhury, Jaydev P. Desai, Mahamadou Diakite, Taehoon Shin, Rao P. Gullapalli, Satyandra K. Gupta
Proc. ASME. DSCC2014, Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy, V003T46A003, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6075
https://doi.org/10.1115/DSCC2014-6075
View Paper titled, Towards the Development of a Low-Cost Minimally Invasive Highly Articulated MRI-Compatible Neurosurgical Robot
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Topics: Magnetic resonance imaging, Neurosurgery, Robots, Surgery, Cables, Injection molding, Manufacturing, Biological tissues, Brain, Compliant mechanisms
Proceedings Papers

Robot Guided Sheaths (RoGS) for Percutaneous Access to the Pediatric Kidney: Patient-Specific Design and Preliminary Results

Tania K. Morimoto, Michael H. Hsieh, Allison M. Okamura
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T08A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3917
https://doi.org/10.1115/DSCC2013-3917
View Paper titled, Robot Guided Sheaths (RoGS) for Percutaneous Access to the Pediatric Kidney: Patient-Specific Design and Preliminary Results
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Topics: Design, Kidney, Pediatrics, Robots, Surgery, Biological tissues, Damage, Diluents, Endoscopes, Instrumentation
Proceedings Papers

ROBOCATH: A Patient-Mounted Parallel Robot to Position and Orient Surgical Catheters

Amirhossein Salimi, Amin Ramezanifar, Javad Mohammadpour, K. Grigoriadis, N. V. Tsekos
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 471-480, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8846
https://doi.org/10.1115/DSCC2012-MOVIC2012-8846
View Paper titled, ROBOCATH: A Patient-Mounted Parallel Robot to Position and Orient Surgical Catheters
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Topics: Catheters, Robots, Surgery, Manipulators, Robotics, Biomedicine, Cables, Collisions (Physics), Degrees of freedom, Design
Proceedings Papers

A Multi-Master / Single-Slave Teleoperation System

M. Shahbazi, S. F. Atashzar, H. A. Talebi, R. V. Patel
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 107-112, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8714
https://doi.org/10.1115/DSCC2012-MOVIC2012-8714
View Paper titled, A Multi-Master / Single-Slave Teleoperation System
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Topics: Closed loop systems, Delays, Internet, Stability, Surgery, Theorems (Mathematics)
Proceedings Papers

A Handheld Device for Measurement of Tension: An Aide to Surgeons for Soft Tissue Balance During Orthopedic Surgeries

K. Singal, P. Peng, R. Rajamani, J. E. Bechtold
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 403-409, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8590
https://doi.org/10.1115/DSCC2012-MOVIC2012-8590
View Paper titled, A Handheld Device for Measurement of Tension: An Aide to Surgeons for Soft Tissue Balance During Orthopedic Surgeries
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Topics: Orthopedics, Soft tissues, Surgery, Tension, Bone, Maintenance, Anterior cruciate ligament, Biological tissues, Dislocations, Displacement
Proceedings Papers

Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the Use of Hydraulics

Devin R. Berg, Perry Y. Li, Arthur G. Erdman
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 429-438, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8685
https://doi.org/10.1115/DSCC2012-MOVIC2012-8685
View Paper titled, Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the Use of Hydraulics
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Topics: Hydraulics, Robots, Surgery, Design, Computer simulation, Robotics, Dynamic models, Endoscopes, Endoscopic devices, Engineering prototypes
Proceedings Papers

Time-Frequency Analysis of Hemodynamic Waveforms to Predict the Occurrence and Severity of Periventricular Leukomalacia

Ali Jalali, Daniel Licht, C. Nataraj
Proc. ASME. DSCC2012-MOVIC2012, Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control, 561-566, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8601
https://doi.org/10.1115/DSCC2012-MOVIC2012-8601
View Paper titled, Time-Frequency Analysis of Hemodynamic Waveforms to Predict the Occurrence and Severity of Periventricular Leukomalacia
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Topics: Hemodynamics, Time-frequency analysis, Physiology, Surgery, Fault diagnosis, Modeling, Oxygen, Pressure, Traumatic brain injury, Uncertainty
Proceedings Papers

Interactive Simulation of Surgical Needle Insertion Into Soft Tissue

Xin Jin, Dedong Gao, Yong Lei
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 457-464, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8760
https://doi.org/10.1115/DSCC2012-MOVIC2012-8760
View Paper titled, Interactive Simulation of Surgical Needle Insertion Into Soft Tissue
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Topics: Deflection, Needles, Simulation, Soft tissues, Stick-slip, Surgery
Proceedings Papers

Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery

Philip J. Swaney, Jordan M. Croom, Jessica Burgner, Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster, III, Kyle D. Weaver, Paul T. Russell, III
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 387-393, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8536
https://doi.org/10.1115/DSCC2012-MOVIC2012-8536
View Paper titled, Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery
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Topics: Design, Robots, Surgery, Biomedicine, Degrees of freedom, Engineering prototypes, Manipulators, Robotics
Proceedings Papers

Improvement of Tactile Sensitivity by Stochastic Resonance: Application to Vibrating Forceps

Yuichi Kurita, Yamato Sueda, Toshio Tsuji, Minoru Hattori, Masakazu Tokunaga, Hiroyuki Egi, Hideki Ohdan, Hiroshi Takemura, Jun Ueda
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 465-469, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8811
https://doi.org/10.1115/DSCC2012-MOVIC2012-8811
View Paper titled, Improvement of Tactile Sensitivity by Stochastic Resonance: Application to Vibrating Forceps
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Topics: Resonance, Vibration, Actuators, Surgery
Proceedings Papers

Linear Parameter Varying Control of a Robot Manipulator for Aortic Valve Implantation

A. Ramezanifar, A. Salimi, J. Mohammadpour, A. Kilicarslan, K. Grigoriadis, N. V. Tsekos
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 121-127, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6186
https://doi.org/10.1115/DSCC2011-6186
View Paper titled, Linear Parameter Varying Control of a Robot Manipulator for Aortic Valve Implantation
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Topics: Manipulators, Valves, Catheters, Navigation, Annulus, Artificial limbs, Biomedicine, Collisions (Physics), Degrees of freedom, Design
Proceedings Papers

Design and Development of a 2-DOF Miniature Force Sensor for Surgical Procedures

U-Xuan Tan, Jaydev P. Desai
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 459-462, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6027
https://doi.org/10.1115/DSCC2011-6027
View Paper titled, Design and Development of a 2-DOF Miniature Force Sensor for Surgical Procedures
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Topics: Design, Force sensors, Surgery, Biological tissues, Microfabrication, Catheters, Damage, Sensors, Surgical tools
Proceedings Papers

Toward Fluoroscopic Shape Reconstruction for Control of Steerable Medical Devices

Jessica Burgner, S. Duke Herrell, Robert J. Webster, III
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 791-794, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6029
https://doi.org/10.1115/DSCC2011-6029
View Paper titled, Toward Fluoroscopic Shape Reconstruction for Control of Steerable Medical Devices
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Topics: Medical devices, Shapes, Needles, Biological tissues, Biomedical imaging, Feedback, Image segmentation, Manipulators, Robots, Surgery