Abstract: There are various kinds of medical equipment which
requires relatively accurate positional adjustments for successful
treatment. However, patients tend to move without notice during a
certain span of operations. Therefore, it is common practice that
accompanying operators adjust the focus of the equipment. In this
paper, tracking controllers for medical equipment are suggested to
replace the operators. The tracking controllers use AHRS sensor
information to recognize the movements of patients. Sensor fusion is
applied to reducing the error magnitudes through linear Kalman filters.
The image processing of optical markers is included to adjust the
accumulation errors of gyroscope sensor data especially for yaw
angles.
The tracking controller reduces the positional errors between the
current focus of a device and the target position on the body of a
patient. Since the sensing frequencies of AHRS sensors are very high
compared to the physical movements, the control performance is
satisfactory. The typical applications are, for example, ESWT or
rTMS, which have the error ranges of a few centimeters.
Abstract: To explore pipelines is one of various bio-mimetic
robot applications. The robot may work in common buildings such as
between ceilings and ducts, in addition to complicated and massive
pipeline systems of large industrial plants. The bio-mimetic robot finds
any troubled area or malfunction and then reports its data. Importantly,
it can not only prepare for but also react to any abnormal routes in the
pipeline. The pipeline monitoring tasks require special types of mobile
robots. For an effective movement along a pipeline, the movement of
the robot will be similar to that of insects or crawling animals. During
its movement along the pipelines, a pipeline monitoring robot has an
important task of finding the shapes of the approaching path on the
pipes. In this paper we propose an effective solution to the pipeline
pattern recognition, based on the fuzzy classification rules for the
measured IR distance data.
Abstract: Recently there has been a growing interest in the field
of bio-mimetic robots that resemble the behaviors of an insect or an
aquatic animal, among many others. One of various bio-mimetic robot
applications is to explore pipelines, spotting any troubled areas or
malfunctions and reporting its data. Moreover, the robot is able to
prepare for and react to any abnormal routes in the pipeline. Special
types of mobile robots are necessary for the pipeline monitoring tasks.
In order to move effectively along a pipeline, the robot-s movement
will resemble that of insects or crawling animals. When situated in
massive pipelines with complex routes, the robot places fixed sensors
in several important spots in order to complete its monitoring. This
monitoring task is to prevent a major system failure by preemptively
recognizing any minor or partial malfunctions. Areas uncovered by
fixed sensors are usually impossible to provide real-time observation
and examination, and thus are dependent on periodical offline
monitoring. This paper proposes a monitoring system that is able to
monitor the entire area of pipelines–with and without fixed
sensors–by using the bio-mimetic robot.
Abstract: There has been a growing interest in the field of
bio-mimetic robots that resemble the shape of an insect or an aquatic
animal, among many others. One bio-mimetic robot serves the
purpose of exploring pipelines, spotting any troubled areas or
malfunctions and reporting its data. Moreover, the robot is able to
prepare for and react to any abnormal routes in the pipeline. In order
to move effectively inside a pipeline, the robot-s movement will
resemble that of a lizard. When situated in massive pipelines with
complex routes, the robot places fixed sensors in several important
spots in order to complete its monitoring. This monitoring task is to
prevent a major system failure by preemptively recognizing any minor
or partial malfunctions. Areas uncovered by fixed sensors are usually
impossible to provide real-time observation and examination, and thus
are dependant on periodical offline monitoring. This paper provides
the Monitoring System that is able to monitor the entire area of
pipelines–with and without fixed sensors–by using the bio-mimetic
robot.