Abstract: Teleoperation had become one of the most prolific areas of research due to the great nu... more Abstract: Teleoperation had become one of the most prolific areas of research due to the great number of applications in which the remote operation paradigm can be applied. Teleoperation is made from several disciplines, areas or techniques, ranging from communications to systems control and from virtual reality to digital signal processing. Hence, individual advancements in these areas could be applied to developments in teleoperation systems. This article presents a compilation of important terms and concepts. It also presents a compilation of the state of the art in teleoperation systems, with special emphasis in telesurgery applications and related research studies in the area comprising image processing and cooperative robotics, which have been used to increase the effectiveness in telemedicine systems and to increase the quality of surgical procedures. Resumen: La teleoperacion se ha convertido en una de las areas de investigacion mas prolificas, debido al gran numero de aplicaciones en las que se puede aplicar el paradigma de operacion remota. La teleoperacion esta conformada de varias disciplinas, areas o tecnicas, desde comunicaciones hasta control de sistemas y desde realidad virtual hasta procesamiento de senales digitales. Asi, avances individuales en estas areas podrian ser aplicados a la evolucion de los sistemas de teleoperacion. En este articulo se presenta una compilacion de terminos y conceptos importantes en el area. Tambien se presenta una recopilacion de los mas recientes avances en sistemas de teleoperacion, haciendo un especial enfasis en la telecirugia y en las investigaciones en esta area que durante los ultimos anos, hacen uso del procesamiento de imagenes y de la robotica cooperativa para aumentar la efectividad de los sistemas de telemedicina con el fin de incrementar la calidad de los procedimientos quirurgicos. Sumario: A teleoperacao tornou-se uma das areas mais prolificas de pesquisa, devido ao grande numero de aplicacoes em que se pode aplicar o paradigma de operacao remota. A teleoperacao consiste em varias disciplinas, areas ou tecnicas, desde comunicacao ate controle de sistemas e desde realidade virtual ate processamento de sinal digital. Assim, o progresso individual nestas areas pode ser aplicado ao desenvolvimento de sistemas de teleoperacao. Este artigo fornece uma compilacao de termos e conceitos importantes apresentados na area. Tambem apresenta-se uma colecao dos mais recentes avancos nos sistemas de teleoperacao, com especial enfase na telesurgery e investigacao nesta area nos ultimos anos, fazendo uso de processamento de imagens e robotica cooperativa para aumentar a eficacia sistemas de telemedicina, a fim de aumentar a qualidade de procedimentos cirurgicos.
International Review of Mechanical Engineering-IREME, Apr 30, 2018
Nowadays, the design phase of any mechatronic system is mandatory before the implementation and t... more Nowadays, the design phase of any mechatronic system is mandatory before the implementation and the construction of a prototype. In the design phase, it is crucial to minimize failures, without under-dimensioning, any drive system in the desired prototype, using different simulation tools to test the proposed design under varied conditions.In this paper, the design, the simulation, and the control of a holonomic or omnidirectional mobile robot are presented. The design approach consists of a mathematically based method. The obtained model is an approach of the studied mobile robot, that allows an approach to the system’s behaviour, to a testing platform, and to a simulator for the desired robot, including most of the innerrobot’s interactions. The main contributions of this paper are the presentation and the study case of a proposed structured methodology for the study of any mechatronic-robotic system.
The implementation of the most recent technologies is a requirement in this fast-growing and comp... more The implementation of the most recent technologies is a requirement in this fast-growing and competitive world, especially in the improvement and development of the healthcare area, that is fundamental in life quality enhancement. This article has as objective the utilization of AI and Industry 4.0 concepts oriented to the optimization of a hospital, using a case study an Emergency Department (ED). This proposal allows the development of a current proposal of e-Hospital based on Health 4.0 features and the use of computational ED models will allow the avoidance and detection of bottlenecks in the workflow. Those blockages are automatically removed using an improved shift management proposal based on control theory, AI, and telemedicine. The results show an optimization in the use of the resources and a reduction of the length of stay improving the service quality. The simulation tools allow the test and validation of novel proposals for e-health.
The development of dynamical prosthesis can be considered as an effort of the bioengineering to s... more The development of dynamical prosthesis can be considered as an effort of the bioengineering to substitute the functions of the member affected by an amputation. The performance of these devices is strictly related with its control system. In this way, this work aims proposinga control architecture for transfemoral prosthesis, based on the complementary limb motion estimation, considering the hypothesis about the symmetry of the human gait and the characteristic potentially predictive of itself. Thus, it is developed an analysis about the rotation of the articulation and its relation with the prosthesis. From of this, it is developed two level of control, that aims to determinate the movement and regulate the behavior of the actuator. This development provides a different perspective about solutions related to the control parameters of this kind of devices. Through of this work, it concludes about the existence of a relation between the behavior of the articulations during a normal gait cycle, and its applicability to solve the prosthesis problem control.
International Journal on Communications Antenna and Propagation, Oct 31, 2018
One of the most recent applications for the Brain Compute Interfaces (BCI) is the recognition of ... more One of the most recent applications for the Brain Compute Interfaces (BCI) is the recognition of Electroencephalograms (EEG) related with the imagination of specific words or letters, with the purpose to develop speech prosthesis or communication devices for people with neurological disorders or communication difficulties. This paper’s aim is to acquire signals related with the imagination of the pronunciation of two phonetically opposite vowels (/a/ and /u/), then process these EEGs through the multiclass features extraction methods as the common spatial patterns (CSP) in cascade and the Independent Components Analysis (ICA), with the purpose of comparing the percentage of classification obtained from these features through the Linear Discriminant Analysis (LDA) and through the Support Vector Machines (SVM) with multiclass classification technique of One Vs One. As a result, the features extracted with ICA and classified with SVM with the One vs One technique were the 24 % more accurate than the other combinations of multiclass methods; this combination of methods recognized the 80% of the signals related with the imagination of the vowel /u/ and the 70% of the signals corresponding to the imagination of the vowel /a/.
Abstract: Teleoperation had become one of the most prolific areas of research due to the great nu... more Abstract: Teleoperation had become one of the most prolific areas of research due to the great number of applications in which the remote operation paradigm can be applied. Teleoperation is made from several disciplines, areas or techniques, ranging from communications to systems control and from virtual reality to digital signal processing. Hence, individual advancements in these areas could be applied to developments in teleoperation systems. This article presents a compilation of important terms and concepts. It also presents a compilation of the state of the art in teleoperation systems, with special emphasis in telesurgery applications and related research studies in the area comprising image processing and cooperative robotics, which have been used to increase the effectiveness in telemedicine systems and to increase the quality of surgical procedures. Resumen: La teleoperacion se ha convertido en una de las areas de investigacion mas prolificas, debido al gran numero de aplicaciones en las que se puede aplicar el paradigma de operacion remota. La teleoperacion esta conformada de varias disciplinas, areas o tecnicas, desde comunicaciones hasta control de sistemas y desde realidad virtual hasta procesamiento de senales digitales. Asi, avances individuales en estas areas podrian ser aplicados a la evolucion de los sistemas de teleoperacion. En este articulo se presenta una compilacion de terminos y conceptos importantes en el area. Tambien se presenta una recopilacion de los mas recientes avances en sistemas de teleoperacion, haciendo un especial enfasis en la telecirugia y en las investigaciones en esta area que durante los ultimos anos, hacen uso del procesamiento de imagenes y de la robotica cooperativa para aumentar la efectividad de los sistemas de telemedicina con el fin de incrementar la calidad de los procedimientos quirurgicos. Sumario: A teleoperacao tornou-se uma das areas mais prolificas de pesquisa, devido ao grande numero de aplicacoes em que se pode aplicar o paradigma de operacao remota. A teleoperacao consiste em varias disciplinas, areas ou tecnicas, desde comunicacao ate controle de sistemas e desde realidade virtual ate processamento de sinal digital. Assim, o progresso individual nestas areas pode ser aplicado ao desenvolvimento de sistemas de teleoperacao. Este artigo fornece uma compilacao de termos e conceitos importantes apresentados na area. Tambem apresenta-se uma colecao dos mais recentes avancos nos sistemas de teleoperacao, com especial enfase na telesurgery e investigacao nesta area nos ultimos anos, fazendo uso de processamento de imagens e robotica cooperativa para aumentar a eficacia sistemas de telemedicina, a fim de aumentar a qualidade de procedimentos cirurgicos.
International Review of Mechanical Engineering-IREME, Apr 30, 2018
Nowadays, the design phase of any mechatronic system is mandatory before the implementation and t... more Nowadays, the design phase of any mechatronic system is mandatory before the implementation and the construction of a prototype. In the design phase, it is crucial to minimize failures, without under-dimensioning, any drive system in the desired prototype, using different simulation tools to test the proposed design under varied conditions.In this paper, the design, the simulation, and the control of a holonomic or omnidirectional mobile robot are presented. The design approach consists of a mathematically based method. The obtained model is an approach of the studied mobile robot, that allows an approach to the system’s behaviour, to a testing platform, and to a simulator for the desired robot, including most of the innerrobot’s interactions. The main contributions of this paper are the presentation and the study case of a proposed structured methodology for the study of any mechatronic-robotic system.
The implementation of the most recent technologies is a requirement in this fast-growing and comp... more The implementation of the most recent technologies is a requirement in this fast-growing and competitive world, especially in the improvement and development of the healthcare area, that is fundamental in life quality enhancement. This article has as objective the utilization of AI and Industry 4.0 concepts oriented to the optimization of a hospital, using a case study an Emergency Department (ED). This proposal allows the development of a current proposal of e-Hospital based on Health 4.0 features and the use of computational ED models will allow the avoidance and detection of bottlenecks in the workflow. Those blockages are automatically removed using an improved shift management proposal based on control theory, AI, and telemedicine. The results show an optimization in the use of the resources and a reduction of the length of stay improving the service quality. The simulation tools allow the test and validation of novel proposals for e-health.
The development of dynamical prosthesis can be considered as an effort of the bioengineering to s... more The development of dynamical prosthesis can be considered as an effort of the bioengineering to substitute the functions of the member affected by an amputation. The performance of these devices is strictly related with its control system. In this way, this work aims proposinga control architecture for transfemoral prosthesis, based on the complementary limb motion estimation, considering the hypothesis about the symmetry of the human gait and the characteristic potentially predictive of itself. Thus, it is developed an analysis about the rotation of the articulation and its relation with the prosthesis. From of this, it is developed two level of control, that aims to determinate the movement and regulate the behavior of the actuator. This development provides a different perspective about solutions related to the control parameters of this kind of devices. Through of this work, it concludes about the existence of a relation between the behavior of the articulations during a normal gait cycle, and its applicability to solve the prosthesis problem control.
International Journal on Communications Antenna and Propagation, Oct 31, 2018
One of the most recent applications for the Brain Compute Interfaces (BCI) is the recognition of ... more One of the most recent applications for the Brain Compute Interfaces (BCI) is the recognition of Electroencephalograms (EEG) related with the imagination of specific words or letters, with the purpose to develop speech prosthesis or communication devices for people with neurological disorders or communication difficulties. This paper’s aim is to acquire signals related with the imagination of the pronunciation of two phonetically opposite vowels (/a/ and /u/), then process these EEGs through the multiclass features extraction methods as the common spatial patterns (CSP) in cascade and the Independent Components Analysis (ICA), with the purpose of comparing the percentage of classification obtained from these features through the Linear Discriminant Analysis (LDA) and through the Support Vector Machines (SVM) with multiclass classification technique of One Vs One. As a result, the features extracted with ICA and classified with SVM with the One vs One technique were the 24 % more accurate than the other combinations of multiclass methods; this combination of methods recognized the 80% of the signals related with the imagination of the vowel /u/ and the 70% of the signals corresponding to the imagination of the vowel /a/.
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