In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal w...In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.展开更多
Needle insertion procedures have been gaining in popularity with medical communities and patients over the recent years.Currently,their applications span a wide range of diagnostic and therapeutic procedures and there...Needle insertion procedures have been gaining in popularity with medical communities and patients over the recent years.Currently,their applications span a wide range of diagnostic and therapeutic procedures and there is still a growing tenden?cy toward integrating needle insertion into other procedures and surgeries.Its less invasive nature,which is performed locally on the body,largely explains this growing trend.This results in less intraoperative tissue damage and shorter post-operative recovery time.Many procedures like biopsy,deep brain stimulation,and cancer treatments are done using needles/eatheters.However,despite all the advantages of needle insertion procedures,the inherent complications resulting from them,such as tissue deformation,needle deflection,tissue inhomogeneity,patient variability,and associated uncertainty,can hardly be missed.Therefore,a needle insertion procedure requires that we address promising aspects and associated concerns.Against this backdrop,this paper provides a review of some of the main issues associated with a generic needle insertion procedure.展开更多
基金supported in part by the National Natural Science Foundation of China (61773051,61773072,61761166011)the Fundamental Research Fund for the Central Universities (2016RC021,2017JBZ003)
文摘In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.
文摘Needle insertion procedures have been gaining in popularity with medical communities and patients over the recent years.Currently,their applications span a wide range of diagnostic and therapeutic procedures and there is still a growing tenden?cy toward integrating needle insertion into other procedures and surgeries.Its less invasive nature,which is performed locally on the body,largely explains this growing trend.This results in less intraoperative tissue damage and shorter post-operative recovery time.Many procedures like biopsy,deep brain stimulation,and cancer treatments are done using needles/eatheters.However,despite all the advantages of needle insertion procedures,the inherent complications resulting from them,such as tissue deformation,needle deflection,tissue inhomogeneity,patient variability,and associated uncertainty,can hardly be missed.Therefore,a needle insertion procedure requires that we address promising aspects and associated concerns.Against this backdrop,this paper provides a review of some of the main issues associated with a generic needle insertion procedure.
