This paper focuses on the impedance control for robotic manipulators with time-varying output constraints. High-order control barrier functions (HoCBFs) are firstly proposed for a nonlinear system with high relative-degree time-varying constraints. T...
BACKGROUND/OBJECTIVES: Body composition and anthropometry assessment from two-dimensional smartphone images is possible through advancement of computational hardware and artificial intelligence (AI) techniques. This study established agreement of a n...
Faults in distribution networks occur unpredictably, causing a threat to public safety and resulting in power outages. Automated, efficient, and precise detection of faulty sections could be a major element in immediately restoring networks and avoid...
Single-cell impedance flow cytometry (IFC) is emerging as a label-free and non-invasive method for characterizing the electrical properties and revealing sample heterogeneity. At present, most IFC studies utilize phenomenological parameters (, impeda...
IEEE transactions on bio-medical engineering
Dec 23, 2021
In Robot Assisted Minimally Invasive Surgery, discriminating critical subsurface structures is essential to make the surgical procedure safer and more efficient. In this paper, a novel robot assisted electrical bio-impedance scanning (RAEIS) system i...
Single-cell isolation is a truly transformative tool for the understanding of biological systems. It allows single-cell molecular analyses and considers the heterogeneity of cell populations, which is of particular relevance for the diagnosis and tre...
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine
Nov 1, 2021
A nonlinear Time Delay Estimation (TDE) based model reference adaptive impedance controller was developed for Tarbiat Modares University Upper Limbs Rehabilitation Robot (TUERR). The proposed controller uses a stable reference impedance model, which ...
We propose a deep neural network (DNN) to determine the matching circuit parameters for antenna impedance matching. The DNN determines the element values of the matching circuit without requiring a mathematical description of matching methods, and it...
Telesurgical robot control is a significant example of an uncertain nonlinear system, as it involves various complexities, including unknown master/slave dynamics, environmental uncertainties, joint elasticities, and communication time delays. This p...
Patient transfer, such as carrying a bedridden patient from a bed to a pedestal pan or a wheelchair and back, is one of the most physically challenging tasks in nursing care facilities. To reduce the intensity of physical labor on nurses or caregiver...
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