W. Hamel

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Oleg Yu Vorobyev

Siberian Federal University

Ildar Farkhatdinov

Queen Mary, University of London

Shaun Wilson

RMIT University

Minas Liarokapis

The University of Auckland

Jamileh Yousefi

Cape Breton University

Fabio Cuzzolin

Oxford Brookes University

Galal Nadim

Fayoum University

Federico Vitella

University of Messina

Charalampos Dimoulas

Aristotle University of Thessaloniki

Shine Augustine

Sungkyunkwan University

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Papers by W. Hamel

In vivo kinematics for subjects implanted with either a traditional or a customized, individually made TKA

Objectives: The objective of this study was to use a state-of-the-art mobile fluoroscopy unit to ... more Objectives: The objective of this study was to use a state-of-the-art mobile fluoroscopy unit to determine the in vivo kinematics for subjects having a either a traditional, off-the-shelf (OTS) knee implant vs. subjects having a customized, individually made (CIM) knee implant that replicates their [for full text, please go to the a.m. URL]

Passive vs. aggressive strategies: A game theoretic analysis of military defense

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

This paper describes a basic passive vs. aggressive defense model, and analyzes it in terms of de... more This paper describes a basic passive vs. aggressive defense model, and analyzes it in terms of defense strategies against an intelligent enemy. In response to varying combinations of passive and aggressive defense, we assume that the enemy can up-or down-regulate recruitment activity. This leads to a differential game formulation of battle scenarios that we analyze for a warfare situation. Specifically, we consider military counterterrorist activities in a civilian population. Simulation results, including uncertainty and sensitivity analyses, are provided to demonstrate the benefits and limitations of the proposed model in terms of understanding army defense plans.

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IEEE Robotics and Automation Society

IEEE Robotics & Automation Magazine, 2012

IEEE ROBOTICS AND AUTOMATION SOCIETY President BRUNO SICILIANO Dip. di Inform. e Sistem. Univ. of... more IEEE ROBOTICS AND AUTOMATION SOCIETY President BRUNO SICILIANO Dip. di Inform. e Sistem. Univ. of Napoli Federico II 80125 Napoli Italy [email protected] ... Vice President, Conference Activities JOHN HOLLERBACH Dept. of Comput. Sci. Univ. of Utah Salt Lake City, UT 84112 USA [email protected] ... Vice President, Financial Activities IAN D. WALKER Dept. of Elect. &amp;amp;amp;amp;amp;amp;amp;amp;amp; Comput. Eng. Clemson Univ. Clemson, SC 29634 USA [email protected] ... Vice President, Industrial Activities ALEX ZELINSKY CSIRO ...

Conversion of a servomanipulator from analog to digital control

Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986

Oak Ridge National Laboratory (ORNL) has developed expertise in computer control of force-reflect... more Oak Ridge National Laboratory (ORNL) has developed expertise in computer control of force-reflecting master/slave servomanipulators as a result of research for the Consolidated Fuel Reprocessing Program. These computer control capabilities have been applied to a commercially available servomanipulator, the TeleOperator Systems SM-229. All of the servo drive and control circuitry has been replaced with commercially available digital controls and amplifiers, and a customer software package has been developed at ORNL. This conversion to digital computer control resulted in significant improvements in force-reflection characteristics, ease of operation, diagnostic capabilities, indexing features, and potential increased reliability. The system will be used at the Tokamak Fusion Test Reactor at the Princeton Plasma Physics Laboratory (PPPL) for maintenance demonstrations. Digital computer control offers several advantages over the analog system that it replaced. Long-term drift problems associated with analog electronics have been eliminated, and advanced indexing and scaling features have been added that would have been difficult to implement using analog circuitry. Some of these added features are adjustable force-reflection ratios over a range of 1:1 to 8:1, kinematic scaling ratios of 1:1 or 2:1, position-and drive-signal diagnostics, improved man-machine interface using a CRT touch screen, and indexing *Research sponsored by the Office of Facilities, Fuel Cycle, and Test Programs, U.S. Department of Energy under Contract No. DE-AC05-84OR21 400 with Martin Marietta Energy Systems, Inc. for all joints. Tests have confirmed that.the new control system significantly improved the overall force-reflection quality as judged by the accuracy of the operator's perception of force at the slave manipulators. This paper describes the original system, presents details of the digital control hardware implementation, discusses the software controls programmed in the language FORTH, and reviews test results which reveal improvements in force-reflection quality. Related applications of the control system developed at ORNL will also be discussed.

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Stiffness control of teleoperators with redundant, dissimilar kinematics

IEEE International Conference on Systems Engineering

The problem of dissimilar kinematic teleoperator systems is discussed. Three major problems are a... more The problem of dissimilar kinematic teleoperator systems is discussed. Three major problems are associated with this controller design: orientation representation, accurate force reflection, and redundancy resolution. It is shown how to incorporate Euler parameters (which are related to quaternions) into the controller design. To achieve accurate force reflection, a type of stiffness controller is designed for both master and slave.

Traction-drive telerobot for space manipulation

Proceedings. 1987 IEEE International Conference on Robotics and Automation, 1987

The National Aeronautics and Space Administration (NASA) Space Station Program marks the beginnin... more The National Aeronautics and Space Administration (NASA) Space Station Program marks the beginning of a new era in space utilization and habitation. Extensive use of remote manipulation and robotics to reduce astronaut extravehicular activity is expected. Emphasis on teleoperator technology in early space station phases, followed by growth of autonomous robotics capabilities, is planned. A new telerobot concept has been developed at Oak Ridge National Laboratory (ORNL), under NASA Langley Research Center sponsorship, to address the technical needs of both teleoperations and robotics for these future NASA programs. The concept is based on traction drives, redundant kinematics, modular construction, and a state-of-the-art distributed, hierarchical control system.

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Control concepts for transmission-based actuators in robotics

ICRA 2014 Hong Kong was a Super Technical Event in a Wonderful Location [Society News]

IEEE Robotics & Automation Magazine, 2014

Automatically image controlled mobile fluoroscope system

Journal of Biomechanics, 2006

Passive Versus Aggressive Strategies: A Game Theoretic Analysis of Military and Immune Defense

IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, 2000

This paper describes a basic passive-versus-aggressive defense model and analyzes it in terms of ... more This paper describes a basic passive-versus-aggressive defense model and analyzes it in terms of defense strategies against an intelligent enemy. In response to varying combinations of passive and aggressive defense, we assume that the enemy can up or down regulate the growth activity. This leads to a differential game formulation of battle scenarios. First, we examine military counterterrorist activities in

IEEE Transactions on Automation Science And Engineering - Call for Papers

IEEE Robotics & Automation Magazine, 2000

Operational fault detection for telerobotic systems using discrete wavelet transform (DWT) and AC analysis of position data

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

Grand Challenges in Bioengineered Nanorobotics for Cancer Therapy

IEEE Transactions on Biomedical Engineering, 2000

One of the grand challenges currently facing engineering, life sciences, and medicine is the deve... more One of the grand challenges currently facing engineering, life sciences, and medicine is the development of fully functional nanorobots capable of sensing, decision making, and actuation. These nanorobots may aid in cancer therapy, site-specific drug delivery, circulating diagnostics, advanced surgery, and tissue repair. In this paper, we will discuss, from a bioinspired perspective, the challenges currently facing nanorobotics, including core design, propulsion and power generation, sensing, actuation, control, decision making, and system integration. Using strategies inspired from microorganisms, we will discuss a potential bioengineered nanorobot for cancer therapy.

Adaptive immune system inspired perimeter patrol control strategy

by Mingjun Zhang, Tzyh-jong T J T J Tarn, and W. Hamel

International Conference on Intelligent RObots and Systems - IROS, 2009

This paper investigates a perimeter patrol control problem in which multiple agents travel back a... more This paper investigates a perimeter patrol control problem in which multiple agents travel back and forth defending a border. A decentralized control inspired from the adaptive immune system TH1/TH2 differentiation mechanism has been proposed. The resulting patrol control exhibits robustness under adversarial conditions. This is primarily because the motion period can be arbitrary, which makes it difficult for intruders to

In vivo kinematics for subjects implanted with either a traditional or a customized, individually made TKA

Passive vs. aggressive strategies: A game theoretic analysis of military defense

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

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IEEE Robotics and Automation Society

IEEE Robotics & Automation Magazine, 2012

Conversion of a servomanipulator from analog to digital control

Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986

Download

Stiffness control of teleoperators with redundant, dissimilar kinematics

IEEE International Conference on Systems Engineering

Traction-drive telerobot for space manipulation

Proceedings. 1987 IEEE International Conference on Robotics and Automation, 1987

Download

Control concepts for transmission-based actuators in robotics

ICRA 2014 Hong Kong was a Super Technical Event in a Wonderful Location [Society News]

IEEE Robotics & Automation Magazine, 2014

Automatically image controlled mobile fluoroscope system

Journal of Biomechanics, 2006

Passive Versus Aggressive Strategies: A Game Theoretic Analysis of Military and Immune Defense

IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, 2000

IEEE Transactions on Automation Science And Engineering - Call for Papers

IEEE Robotics & Automation Magazine, 2000

Operational fault detection for telerobotic systems using discrete wavelet transform (DWT) and AC analysis of position data

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

Grand Challenges in Bioengineered Nanorobotics for Cancer Therapy

IEEE Transactions on Biomedical Engineering, 2000

Adaptive immune system inspired perimeter patrol control strategy

by Mingjun Zhang, Tzyh-jong T J T J Tarn, and W. Hamel

International Conference on Intelligent RObots and Systems - IROS, 2009

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