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A case study on a capsule robot in the gastrointestinal tract to teach robot programming and navigation / Yi Guo in IEEE transactions on education, Vol. 57 N° 2 (Mai 2014) 

Public ISBD [article]  in IEEE transactions on education > Vol. 57 N° 2 (Mai 2014) . - pp. 112 - 121 Titre : A case study on a capsule robot in the gastrointestinal tract to teach robot programming and navigation Type de document : texte imprimé Auteurs : Yi Guo, Auteur Année de publication : 2015 Article en page(s) : pp. 112 - 121 Note générale : Education Langues : Anglais (eng) Mots-clés : Behavior-based  robot  programming  Webots  Gastrointestinal  tract  Robot  navigation  Robot  simulation  Robotics  Wireless  capsule  endoscopy Résumé : Despite the increasing importance of robotics, there is a significant challenge involved in teaching this to undergraduate students in biomedical engineering (BME) and other related disciplines in which robotics techniques could be readily applied. This paper addresses this challenge through the development and pilot testing of a bio-microrobotics case study that can be integrated into curricula in BME, electrical and computer engineering (ECE), and other disciplines. This case study is based on the existing technology of wireless capsule endoscopy and centered on a “grand challenge” of building a capsule robot to navigate the human gastrointestinal tract to detect abnormality or to destroy malignant tissues. First, a conceptual design example for building such a capsule robot is presented, followed by a laboratory module that demonstrates robot navigation techniques using Webots simulation. The case study introduces robotic technologies, including robot building components, operating modes, and behavior-based programming, and students experience robot simulation in the laboratory module. The case study developed was pilot tested in three BME and ECE courses at the authors' institution. The evaluation results demonstrate the effectiveness of the case study in enhancing students' understanding of robotics, interdisciplinary skills, and critical thinking. The case study is shown to support challenge-based learning, which promotes adaptive expertise through rapid knowledge building and innovation. ISSN : 0018-9359 En ligne : http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6609123&sortType%3Das [...] [article] A case study on a capsule robot in the gastrointestinal tract to teach robot programming and navigation [texte imprimé] / Yi Guo, Auteur . - 2015 . - pp. 112 - 121. Education Langues : Anglais (eng) in IEEE transactions on education > Vol. 57 N° 2 (Mai 2014) . - pp. 112 - 121 Mots-clés : Behavior-based  robot  programming  Webots  Gastrointestinal  tract  Robot  navigation  Robot  simulation  Robotics  Wireless  capsule  endoscopy Résumé : Despite the increasing importance of robotics, there is a significant challenge involved in teaching this to undergraduate students in biomedical engineering (BME) and other related disciplines in which robotics techniques could be readily applied. This paper addresses this challenge through the development and pilot testing of a bio-microrobotics case study that can be integrated into curricula in BME, electrical and computer engineering (ECE), and other disciplines. This case study is based on the existing technology of wireless capsule endoscopy and centered on a “grand challenge” of building a capsule robot to navigate the human gastrointestinal tract to detect abnormality or to destroy malignant tissues. First, a conceptual design example for building such a capsule robot is presented, followed by a laboratory module that demonstrates robot navigation techniques using Webots simulation. The case study introduces robotic technologies, including robot building components, operating modes, and behavior-based programming, and students experience robot simulation in the laboratory module. The case study developed was pilot tested in three BME and ECE courses at the authors' institution. The evaluation results demonstrate the effectiveness of the case study in enhancing students' understanding of robotics, interdisciplinary skills, and critical thinking. The case study is shown to support challenge-based learning, which promotes adaptive expertise through rapid knowledge building and innovation. ISSN : 0018-9359 En ligne : http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6609123&sortType%3Das [...]

Oscillatory tracking control of a class of nonlinear systems / Zheng Wang in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 3 (Mai 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 3 (Mai 2012) . - 06 p. Titre : Oscillatory tracking control of a class of nonlinear systems Type de document : texte imprimé Auteurs : Zheng Wang, Auteur ; Yi Guo, Auteur Année de publication : 2012 Article en page(s) : 06 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Vibration  control  Feedback  and  feedforward  control  Oscillatory  tracking  control  Nonlinear  systems Index. décimale : 629.8 Résumé : Vibration control is an effective alternative to conventional feedback and feedforward control. Motivated by its important application in physical systems and few results on general oscillatory tracking control, we consider tracking control of a class of nonlinear systems using oscillation in the paper. We propose a new oscillatory control design using general averaging analysis for the tracking problem. Based on the oscillation functions associated with accessible vibrating components of the system, oscillatory control is designed to track a desired trajectory. Comparing to existing oscillatory tracking control, our approach is robust to initial conditions. We show the effectiveness of the proposed method by two simulation examples, which include a second-order nonholonomic integrator and the inverted pendulum system. For the inverted pendulum system, we show that our designed oscillatory control does not need state feedback to track a desired trajectory, which is desirable for systems where state measurement is not feasible. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000003 [...] [article] Oscillatory tracking control of a class of nonlinear systems [texte imprimé] / Zheng Wang, Auteur ; Yi Guo, Auteur . - 2012 . - 06 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 3 (Mai 2012) . - 06 p. Mots-clés : Vibration  control  Feedback  and  feedforward  control  Oscillatory  tracking  control  Nonlinear  systems Index. décimale : 629.8 Résumé : Vibration control is an effective alternative to conventional feedback and feedforward control. Motivated by its important application in physical systems and few results on general oscillatory tracking control, we consider tracking control of a class of nonlinear systems using oscillation in the paper. We propose a new oscillatory control design using general averaging analysis for the tracking problem. Based on the oscillation functions associated with accessible vibrating components of the system, oscillatory control is designed to track a desired trajectory. Comparing to existing oscillatory tracking control, our approach is robust to initial conditions. We show the effectiveness of the proposed method by two simulation examples, which include a second-order nonholonomic integrator and the inverted pendulum system. For the inverted pendulum system, we show that our designed oscillatory control does not need state feedback to track a desired trajectory, which is desirable for systems where state measurement is not feasible. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000003 [...]