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Novel Sensory Tool Holder Design and Optimization for Multiaxis Cutting Force Sensing in Manufacturing
Multiaxis cutting force sensors enable smart process control and tool condition monitoring in manufacturing; they allow the detection of workpiece damage and suboptimal surface finish, which can arise from tool wear. Existing methods require complex structure modifications to enhance sensor sensitivity, leading to weakened processing performance and expensive customization costs. This article desc...Show More
Fault-Tolerant Control of an Overactuated UAV Platform Built on Quadcopters and Passive Hinges
Yao Su;Pengkang Yu;Matthew J. Gerber;Lecheng Ruan;Tsu-Chin Tsao
Propeller failure is a major cause of multirotor unmanned aerial vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, overactuated platforms can continue flying with appropriate fault-tolerant control (FTC). This article presents a robust FTC controller for an overactuated UAV platform composed of quadcopters mounted on passive joints...Show More
Accurate Robotic Posterior Capsule Polishing With Tissue Stabilization
Yu-Hsiu Lee;Yu-Ting Lai;Matthew J. Gerber;Jaime Dodds;Jean-Pierre Hubschman;Jacob Rosen;Tsu-Chin Tsao
Within cataract surgery, posterior capsule (PC) polishing is a specific procedure that has demonstrated value toward improving surgical outcomes, yet is not commonly performed by surgeons due to the risk of doing so. In this work, a robotic system is used to perform the polishing procedure through three main contributions: external stabilization of the eye using a dedicated docking device, regulat...Show More
Compensating Aerodynamics of Over-Actuated Multi-Rotor Aerial Platform With Data-Driven Iterative Learning Control
The performance of over-actuated Unmanned Aerial Vehicles (UAVs) is significantly influenced by aerodynamic effects, as they are subject to different airflow conditions. For those aerodynamic effects that are difficult to model but could occur repeatedly, Iterative Learning Control (ILC) has great potential to improve the system performance by learning from the error of previous trials. In this le...Show More
Data-Driven Iterative Learning Control of Nonlinear Systems by Adaptive Model Matching
Iterative learning control (ILC) has proven successful in the industry for enhancing tracking performance of repetitive tasks. The high accuracy and fast convergence of ILC algorithms hinge on: 1) the knowledge of the system model and 2) an effective learning algorithm. For general industrial systems with nonlinear dynamics, this raises technical challenges because acquiring a nonlinear dynamical ...Show More
A Fast and Efficient Attitude Control Algorithm of a Tilt-Rotor Aerial Platform Using Inputs Redundancies
Yao Su;Lecheng Ruan;Pengkang Yu;Chen-Huan Pi;Matthew J. Gerber;Tsu-Chin Tsao
Overactuated multirotor unmanned aerial vehicles (UAVs) usually consist of multiple tiltable thrust actuators. The controllers are mostly designed by regarding the thrust forces and actuator tilting angles as inputs of outer-loop position and attitude controllers, while formulating an inner-loop controller for each actuator to track the thrust and angle as required by the outer-loop. This hierarch...Show More
Accelerated Convergence Interleaving Iterative Learning Control and Inverse Dynamics Identification
This work aims to quickly identify an FIR inverse dynamical model for linear time-invariant (LTI) systems. Various applications are enabled using the constructed inverse filter, as illustrated by an inversion-based iterative learning control (ILC) algorithm. With the help of interleaving inversion-based ILC and ILC-based inverse dynamics identification, accelerated convergence is obtained. The pro...Show More
A Simple Six Degree-of-Freedom Aerial Vehicle Built on Quadcopters
Chen-Huan Pi;Lecheng Ruan;Pengkang Yu;Yao Su;Stone Cheng;Tsu-Chin Tsao
2021 IEEE Conference on Control Technology and Applications (CCTA)
Year: 2021 | Conference Paper |
Cited by: Papers (16)
Conventional multirotors have coupling between position and attitude control due to underactuation in dynamics, and thus can not track six degree-of-freedom (DoF) trajectories in space. Previous works proposed fully actuated multirotors with modifications to mechanical structure to provide varying orientations of thrust forces without changing the attitude, but usually introduced additional actuat...Show More
Physics-Driven Mask R-CNN for Physical Needle Localization in MRI-Guided Percutaneous Interventions
Xinzhou Li;Yu-Hsiu Lee;David S. Lu;Tsu-Chin Tsao;Holden H. Wu
Discrepancies between the needle feature position on magnetic resonance imaging (MRI) and the underlying physical needle position could increase localization errors during needle-based targeting procedures in MRI-guided percutaneous interventions. This work aimed to develop a deep learning-based framework to automatically localize the physical needle position using only the needle features on MR i...Show More
Nullspace-Based Control Allocation of Overactuated UAV Platforms
Yao Su;Pengkang Yu;Matthew J. Gerber;Lecheng Ruan;Tsu-Chin Tsao
Multirotor copters with full six Degree of Freedom (DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition (FD), which provides a robust least-square solution and is easy to implement, but it does not account for input constra...Show More
An Over-Actuated Multi-Rotor Aerial Vehicle With Unconstrained Attitude Angles and High Thrust Efficiencies
Pengkang Yu;Yao Su;Matthew J. Gerber;Lecheng Ruan;Tsu-Chin Tsao
Fully-actuated multi-rotor aerial platforms are receiving increasing research interests for the capability of six degree-of-freedom (DOF) motions such as hovering at non-horizontal attitude angles. Existing real world hardware and experiments have demonstrated such capability for a limited range of angles. This letter presents an aerial platform that achieves maneuvering at arbitrary attitudes wit...Show More
Semi-Automated Extraction of Lens Fragments Via a Surgical Robot Using Semantic Segmentation of OCT Images With Deep Learning - Experimental Results in Ex Vivo Animal Model
Changyeob Shin;Matthew J. Gerber;Yu-Hsiu Lee;Mercedes Rodriguez;Sahba Aghajani Pedram;Jean-Pierre Hubschman;Tsu-Chin Tsao;Jacob Rosen
The overarching goal of this letter is to demonstrate the feasibility of using optical coherence tomography (OCT) to guide a robotic system to extract lens fragments from ex vivo pig eyes. A convolutional neural network (CNN) was developed to semantically segment four intraocular structures (lens material, capsule, cornea, and iris) from OCT images. The neural network was trained on images from te...Show More
Semi-Automated Extraction of Lens Fragments Via a Surgical Robot Using Semantic Segmentation of OCT Images With Deep Learning - Experimental Results in Ex Vivo Animal Model
Changyeob Shin;Matthew J. Gerber;Yu-Hsiu Lee;Mercedes Rodriguez;Sahba Aghajani Pedram;Jean-Pierre Hubschman;Tsu-Chin Tsao;Jacob Rosen
Automated Retinal Vein Cannulation on Silicone Phantoms Using Optical-Coherence-Tomography-Guided Robotic Manipulations
Retinal vein of the most common causes of vision loss, occurring when a blood clot or other obstruction occludes a retinal vein. A potential remedy for retinal vein occlusion is retinal vein cannulation, a surgical procedure that involves infusing the occluded vein with a fibrinolytic drug to restore blood flow through the vascular lumen. This article presents an image-guided robotic system capabl...Show More
In this paper, an active transmission motion control system is proposed that appropriately regulates the speed of a generator. In conventional approaches to power electronic control, an AC/DC frequency converter is essential for the generator to be directly connected to the grid because of the generator's irregular power output. In this paper, a mechanical motion control structure is proposed, whe...Show More
Adaptive Tracking Control of One-Dimensional Respiration Induced Moving Targets by Real-Time Magnetic Resonance Imaging Feedback
Yu-Hsiu Lee;Xinzhou Li;James Simonelli;David Lu;Holden H. Wu;Tsu-Chin Tsao
One of the main challenges in magnetic resonance imaging (MRI) guided interventions is for an instrument to access and track a respiration-induced moving target inside the patient. In this article, we present a mechatronic system that demonstrates such capability for one-dimensional motion in phantom experiments. Our system consists of real-time sensing by MRI acquisition, detection, and localizat...Show More
Hydrostatic Actuation for Remote Operations in MR Environment
James Simonelli;Yu-Hsiu Lee;Cheng-Wei Chen;Xinzhou Li;Samantha Mikaiel;David Lu;Holden H. Wu;Tsu-Chin Tsao
This article presents a novel design and experiment of a system of hydrostatic actuation, transmission network, and control as a research platform for investigating magnetic resonance image (MRI) based tracking and intervention of a moving target. Based on novel double-acting piston-cylinder type rolling diaphragm fluid actuators, the system comprises two remotely controlled modules, an instrument...Show More
Iterative Learning of Dynamic Inverse Filters for Feedforward Tracking Control
A novel method to construct dynamic inversion compensation is proposed for feedforward tracking control. In contrast to common approaches involving parametric system identification followed by inversion synthesis, in this article we apply iterative learning control to track an impulse signal, where the converged control input is directly used to construct the inverse filter. The method is applicab...Show More
Respiratory Motion Prediction Using Fusion-Based Multi-Rate Kalman Filtering and Real-Time Golden-Angle Radial MRI
Xinzhou Li;Yu-Hsiu Lee;Samantha Mikaiel;James Simonelli;Tsu-Chin Tsao;Holden H. Wu
Objective: Magnetic resonance imaging (MRI) can provide guidance for interventions in organs affected by respiration (e.g., liver). This study aims to: 1) investigate image-based and surrogate-based motion tracking methods using real-time golden-angle radial MRI; and 2) propose and evaluate a new fusion-based respiratory motion prediction framework with multi-rate Kalman filtering. Methods: Images...Show More
This paper presents a new method of disturbance estimation in discrete time invariant linear systems using game theoretic detection filters. First, the direct unknown input observer (UIO) design is reviewed, and its application in disturbance estimation is discussed. Motivated by the UIO design limitations, the game theoretic detection filter is introduced which decouples the multi-variable distur...Show More
Dynamic Trajectory Tracking by Synergistic Dual-Stage Actuation and Control
This paper addresses precision tracking control of dual-stage actuators for machining of noncircular engine piston profiles. To achieve desired tracking performance, the capacity limits, dynamic characteristics, external disturbances, and model uncertainties of the dual-stage actuators pose significant challenges in control design and real-time implementation. The master-slave linear control confi...Show More
Mechatronics pedagogy in mechanical engineering capstone design
Sandeep Rai;James Simonelli;Kevin Chu;Herrick Chang;Christopher Kang;Christopher Lim;Robert Shaefer;Tsu-Chin Tsao
This paper presents the pedagogy of mechatronics in the mechanical engineering senior capstone design classes at the University of California Los Angeles during 2011-2016. Students entering the class with little hands-on experience in mechatronics are given lectures and hands-on laboratory tutorials and practice to conceptualize, design, and realize mechatronic systems. Students are then provided ...Show More
This paper addresses system identification and control for the wind turbine operating in region 3, where the wind is excessive and blades must pitch to regulate the rotor speed and alleviate the bending moments on the blades. This region is critical for safe operation of the wind turbine. First, this paper develops linear models for controller design of the individual and collective pitch control ...Show More
Data-based feedforward controller reconstruction from iterative learning control algorithm
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Year: 2016 | Conference Paper |
Cited by: Papers (4)
Different from previous work discussing how to improve the performance of the ILC algorithm by assigning a well-approximated plant inversion as the learning filter, a novel way to reconstruct a feedforward filter from the ILC algorithm is presented. Assuming the ILC algorithm has already been implemented for the controlled plant, a stable FIR feedforward filter can be extracted from the converged ...Show More
Real-Time Sub-Count Estimation With State Continuity for Asynchronous and Quantized Sensing
Precision motion control is often challenged by asynchronous sensor update and quantization noise, causing abrupt and untimely state variation to limit the machine precision. To provide smooth and accurate sensor interpretation, this study developed a novel event-triggered sub-count estimation method that addresses continuity on system states. By enforcing such state continuity on important proper...Show More
Receding-Horizon Adaptive Control of Laser Beam Jitter
This paper uses a new method for receding-horizon adaptive control to reduce laser beam jitter. The control scheme generates a control command derived from a receding-horizon performance index that involves predicted future values of an output disturbance. A recursive least-squares adaptive lattice filter performs the required prediction based on real-time measurements. In a laser beam steering ex...Show More
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