Download or read book Design and Implementation of DSP based Magnetic Control System for Capsule Endoscope written by Ibrahim Khalaf Mohammed Mohammed and published by . This book was released on 2012 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design and Implementation of DSP based Magnetic Control System for Capsule Endoscope written by Ibrahim Khalaf Mohammed Al-Lehaby and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Early detection methods are key to reducing morbidity rates from digestive tract cancer which is currently one of the fastest growing cancers in the World. Capsule endoscopes (CEs) are a new technology that can be used to improve early detection of the gastrointestinal (GI) tract disorder. The device integrates the technologies such as image processing, optoelectronic engineering, information communication, and biomedical engineering. The capsule is the size and shape of a pill and contains an optoelectronic camera, antenna, transmitter, battery and optoelectronic illuminating light emitting diodes (LEDs). The small size of these devices enables them to offer many advantages over conventional endoscopes such as accessibility to the entire intestine and minimising the risk of perforation, particularly for patients with difficult anatomy (e.g. post-operative scar tissue). Currently used devices are passive and can only follow the natural transit of the intestines, and hence there is considerable interest in methods of controlled actuation for these devices. In this thesis, a novel actuation system based on magnetic levitation is designed, developed and implemented, utilizing a small permanent magnet embedded within the capsule and an arrangement of digitally controlled electromagnets outside the body. The proposed approach is that the magnet can be moved and oriented by DC magnetic force and torque produced by coils placed outside of the human body, with a suitable position feedback sensor enabling closed-loop control. Theoretical analyses of the proposed actuation system are presented which model the magnetic field, force and torque exerted by electromagnetic coil on the embedded magnet. Based on the distribution of the magnetic field, an optimal geometry for the coils is proposed in order to achieve a levitation distance which is realistic for the inspection of the GI tract. Two types of systems are investigated in the thesis, namely single-input single-output (SISO) and multi-input multi-output (MIMO), and the dynamics of these systems are modelled in state space form and hence linear controllers are designed for capsule actuation. The controllers are simulated using Matlab/ Simulink tools to realize the mathematical analysis of the system, and then implemented digitally in real-time using Texas Instruments (TI) TMS320F2812 Digital Signal Processor (DSP) to validate the proposed actuation system. In the SISO system, a linear one degree of freedom (1DOF) proportionalintegral- derivative (PID) controller is designed to move the inserted magnet in the vertical dimension within an area around the operating point and to maintain it at a desired position. A realistic simulation model is designed and implemented to evaluate the proposed controller. Simulation results have shown that the controller is able to successfully hold the embedded magnet in the desired position. For practical validation, the PID controller is implemented in real-time on the DSP system, where pulse width modulation (PWM) is generated to control the coil current, and Hall effect sensors are used for position feedback. Experimental results are obtained under step and square wave input demand. In the proposed system, high frequency noise on the position sensor is initially rejected by hardware implementation of resistor capacitor-low pass filter (RC-LPF) circuit. The accuracy of the position feedback is increased by calibrating the DSP's on-chip analogue-digital converter (ADC) in order to reduce conversion error due to inherent gain and offset errors. To further reduce the influence of the position feedback noise, an average of ten repeated samples based on mean filter is implemented by the DSP in order to reduce the influctuation of the sensor reading. The tracking performance of the actuation system based on two Hall effect sensors on the opposite coil's poles is investigated under step trajectory input. In an improved actuation system, position feedback is provided by using an AC magnetic field to obtain the capsule position information, decoupling this from the DC actuation field. The noise of the position feedback in the improved system is reduced by replacing the PWM current drive with a linear power amplifier driven from a digital to analogue converter (DAC), hence reducing AC interference. Positioning sensor noise was found to be further reduced by implementing digital filtering based on a coherent detector using the DSP, without increasing response time. The performance of the actuation system using these position sensors is compared based on settling time, overshoot, steady-state error, and control input parameters in order to validate the proposed improvement in the position feedback. The experimental results have shown that the controller based on both sensing strategies satisfactory control of the magnet's position. However, the response of the system based on AC position sensing has the shortest settling time, smallest overshoot value and steady-state error. In the MIMO system, several linear controllers such as pole placement (PP), Entire Eigenstructure Assignment (EEA), and linear Quadratic regulator (LQR) techniques are designed and their tracking performances are compared. Simulation results have shown that, based on acceptable control inputs, the LQR controller has the fastest response with minimal overshoot value and steady state error. However, the LQR controller based on 2DOF is unable to maintain stable control of the magnet due to the insufficient position feedback from the two coil sensors. Specifically, it is not possible to achieve a stable 2D system since the orientation angle of the magnet is not resolvable. Therefore, the position feedback is improved by obtaining the device position and orientation information from a pair of 3-axis orthogonal coils. A realistic simulation model for the 3DOF LQR controller is designed and implemented to evaluate the developed system. Simulation results have shown that this controller is can achieve the necessary stability. In conclusion, based on the results from the 1D control system, the thesis shows that the DC magnetic field, which is used for capsule movement, can be also used to provide the controller acceptable position feedback. However, the use of AC magnetic field for positioning purpose provides more accurate position information. In order to implement 2DOF control system successfully, two 3-axis orthogonal coil sensors are considered which are used to provide the actuation algorithm with more accurate feedback of position and orientation information.

Download or read book The Design and Implementation of a Real time DSP Based Control System written by Qiang Li and published by . This book was released on 2001 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Simulation and Analysis of a New Magnetic Control System Used in Capsule Endoscope written by 林馬特 and published by . This book was released on 2007 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design and Implementation of a DSP based Induction Motor Drive Using a Model Reference Adaptive Control Technique written by Liyong Chen and published by . This book was released on 1994 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design and Implementation of FPGA based Control Using Digital Redesign for a Magnetic Bearing Application written by Frederick W. Krach and published by . This book was released on 2003 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.

Download or read book Embedded Vision written by S. R. Vijayalakshmi and published by . This book was released on 2019-08-15 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introductory guide for anyone who is interested in designing machines that have vision-enabled, embedded products, this book covers topics encountered in hardware architecture, software algorithms, applications, advancements in processors and sensors. --

Download or read book Advancements in Electric Machines written by J. F. Gieras and published by Springer Science & Business Media. This book was released on 2008-11-14 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: Traditionally, electrical machines are classi?ed into d. c. commutator (brushed) machines, induction (asynchronous) machines and synchronous machines. These three types of electrical machines are still regarded in many academic curricula as fundamental types, despite that d. c. brushed machines (except small machines) have been gradually abandoned and PM brushless machines (PMBM) and switched reluctance machines (SRM) have been in mass p- duction and use for at least two decades. Recently, new topologies of high torque density motors, high speed motors, integrated motor drives and special motors have been developed. Progress in electric machines technology is stimulated by new materials, new areas of applications, impact of power electronics, need for energy saving and new technological challenges. The development of electric machines in the next few years will mostly be stimulated by computer hardware, residential and public applications and transportation systems (land, sea and air). At many Universities teaching and research strategy oriented towards el- trical machinery is not up to date and has not been changed in some co- tries almost since the end of the WWII. In spite of many excellent academic research achievements, the academia–industry collaboration and technology transfer are underestimated or, quite often, neglected. Underestimation of the role of industry, unfamiliarity with new trends and restraint from technology transfer results, with time, in lack of external ?nancial support and drastic - cline in the number of students interested in Power Electrical Engineering.

Download or read book Integrated Circuits for Analog Signal Processing written by Esteban Tlelo-Cuautle and published by Springer Science & Business Media. This book was released on 2012-07-27 with total page 327 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents theory, design methods and novel applications for integrated circuits for analog signal processing. The discussion covers a wide variety of active devices, active elements and amplifiers, working in voltage mode, current mode and mixed mode. This includes voltage operational amplifiers, current operational amplifiers, operational transconductance amplifiers, operational transresistance amplifiers, current conveyors, current differencing transconductance amplifiers, etc. Design methods and challenges posed by nanometer technology are discussed and applications described, including signal amplification, filtering, data acquisition systems such as neural recording, sensor conditioning such as biomedical implants, actuator conditioning, noise generators, oscillators, mixers, etc. Presents analysis and synthesis methods to generate all circuit topologies from which the designer can select the best one for the desired application; Includes design guidelines for active devices/elements with low voltage and low power constraints; Offers guidelines for selecting the right active devices/elements in the design of linear and nonlinear circuits; Discusses optimization of the active devices/elements for process and manufacturing issues of nanometer technology.

Download or read book Human Activity Recognition and Prediction written by Yun Fu and published by Springer. This book was released on 2015-12-23 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a unique view of human activity recognition, especially fine-grained human activity structure learning, human-interaction recognition, RGB-D data based action recognition, temporal decomposition, and causality learning in unconstrained human activity videos. The techniques discussed give readers tools that provide a significant improvement over existing methodologies of video content understanding by taking advantage of activity recognition. It links multiple popular research fields in computer vision, machine learning, human-centered computing, human-computer interaction, image classification, and pattern recognition. In addition, the book includes several key chapters covering multiple emerging topics in the field. Contributed by top experts and practitioners, the chapters present key topics from different angles and blend both methodology and application, composing a solid overview of the human activity recognition techniques.

Download or read book Implantable Bioelectronics written by Evgeny Katz and published by John Wiley & Sons. This book was released on 2014-02-27 with total page 566 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here the renowned editor Evgeny Katz has chosen contributions that cover a wide range of examples and issues in implantable bioelectronics, resulting in an excellent overview of the topic. The various implants covered include biosensoric and prosthetic devices, as well as neural and brain implants, while ethical issues, suitable materials, biocompatibility, and energy-harvesting devices are also discussed. A must-have for both newcomers and established researchers in this interdisciplinary field that connects scientists from chemistry, material science, biology, medicine, and electrical engineering.

Download or read book Intra Abdominal Hypertension written by Manu Malbrain and published by Cambridge University Press. This book was released on 2013-08-15 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: Practical clinical handbook reviewing all aspects of the diagnosis and management of intra-abdominal hypertension; essential reading for all critical care staff.

Download or read book Medical Image Computing and Computer Assisted Intervention MICCAI 2002 written by Takeyoshi Dohi and published by Springer. This book was released on 2003-06-30 with total page 855 pages. Available in PDF, EPUB and Kindle. Book excerpt: The fifth international Conference in Medical Image Computing and Computer Assisted Intervention (MICCAI 2002) was held in Tokyo from September 25th to 28th, 2002. This was the first time that the conference was held in Asia since its foundation in 1998. The objective of the conference is to offer clinicians and scientists the opportunity to collaboratively create and explore the new medical field. Specifically, MICCAI offers a forum for the discussion of the state of art in computer-assisted interventions, medical robotics, and image processing among experts from multi-disciplinary professions, including but not limited to clinical doctors, computer scientists, and mechanical and biomedical engineers. The expectations of society are very high; the advancement of medicine will depend on computer and device technology in coming decades, as they did in the last decades. We received 321 manuscripts, of which 41 were chosen for oral presentation and 143 for poster presentation. Each paper has been included in these proceedings in eight-page full paper format, without any differentiation between oral and poster papers. Adherence to this full paper format, along with the increased number of manuscripts, surpassing all our expectations, has led us to issue two proceedings volumes for the first time in MICCAI’s history. Keeping to a single volume by assigning fewer pages to each paper was certainly an option for us considering our budget constraints. However, we decided to increase the volume to offer authors maximum opportunity to argue the state of art in their work and to initiate constructive discussions among the MICCAI audience.

Download or read book Springer Handbook of Speech Processing written by Jacob Benesty and published by Springer Science & Business Media. This book was released on 2007-11-28 with total page 1170 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook plays a fundamental role in sustainable progress in speech research and development. With an accessible format and with accompanying DVD-Rom, it targets three categories of readers: graduate students, professors and active researchers in academia, and engineers in industry who need to understand or implement some specific algorithms for their speech-related products. It is a superb source of application-oriented, authoritative and comprehensive information about these technologies, this work combines the established knowledge derived from research in such fast evolving disciplines as Signal Processing and Communications, Acoustics, Computer Science and Linguistics.

Download or read book Bad Bug Book written by Mark Walderhaug and published by Createspace Independent Publishing Platform. This book was released on 2014-01-14 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Bad Bug Book 2nd Edition, released in 2012, provides current information about the major known agents that cause foodborne illness.Each chapter in this book is about a pathogen—a bacterium, virus, or parasite—or a natural toxin that can contaminate food and cause illness. The book contains scientific and technical information about the major pathogens that cause these kinds of illnesses.A separate “consumer box” in each chapter provides non-technical information, in everyday language. The boxes describe plainly what can make you sick and, more important, how to prevent it.The information provided in this handbook is abbreviated and general in nature, and is intended for practical use. It is not intended to be a comprehensive scientific or clinical reference.The Bad Bug Book is published by the Center for Food Safety and Applied Nutrition (CFSAN) of the Food and Drug Administration (FDA), U.S. Department of Health and Human Services.

Download or read book Space Vehicle Mechanisms written by Peter L. Conley and published by John Wiley & Sons. This book was released on 1998-02-27 with total page 814 pages. Available in PDF, EPUB and Kindle. Book excerpt: Die Entwicklung von Weltraumfahrzeugen ist ein Industriezweig, der in den vergangenen drei Jahrzehnten beständig gewachsen ist. Heute ist es eine komplexe technische, internationale Branche. Dieses Buch vermittelt Informationen über alle Mechanismen von Weltraumfahrzeugen. Spitzenexperten auf diesem Gebiet, die in verschiedenen Disziplinen zu Hause sind, haben einen wichtigen Beitrag hierzu geleistet. Das Buch ist in drei Teile untergliedert: Grundlagen und technische Eigenschaften wichtiger Materialien; Entwicklung und Verhalten kritischer Komponenten und eine Einführung in Fahrzeugniveau-Analysen und Integrationstechniken. (01/98)