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University of Craiova, Romania

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49 Papers

Intelligent Robotic Approach for After-stroke Hand Rehabilitation

Topics: Wearable Health Informatics; Therapeutic Systems and Technologies; Human-Machine Interfaces for Disabled Persons; ICT, Ageing and Disability; Development of Assistive Technology

Authors: Nirvana Popescu ¹ , Decebal Popescu ¹ and Mircea Ivănescu ²

Affiliations: ¹ University Politehnica of Bucharest, Romania , ² University of Craiova, Romania

Digital Object Identifier: 10.5220/0005662400490057

Proceedings of HEALTHINF 2016/BIOSTEC, ISBN: 978-989-758-170-0

Quick Abstract

This paper presents the design of an intelligent haptic robotic glove (IHRG) model for the rehabilitation of the patients that have been diagnosed with a cerebrovascular accident (CVA). Total loss or loss of range of motion, decreased reaction times and disordered movement organization create deficits in motor control, which affect the patient’s independent living. The control system for a rehabilitation hand exoskeleton is discussed. One contribution is given by using a velocity observer and a force observer for performance evaluation. The disturbance effects are eliminated by a cascade closed loop control with velocity and force observers. The performance of the control system is demonstrated by the simulation. The second proposed control implementation version has a great advantage - the possibility to specify some vocal commands, which will help the patient to make a lot of medical exercises by themselves.

Related Ontology Subjects/Areas/Topics (11)

Biomedical Engineering	Health Information Systems	Physiological Computing Systems
Biomedical Signal Processing	Human-Computer Interaction	Therapeutic Systems and Technologies
Development of Assistive Technology	Human-Machine Interfaces for Disabled Persons	Wearable Sensors and Systems
Devices	ICT, Ageing and Disability

Control Algorithm for a Cooperative Robotic System in Fault Conditions

Topics: Robot Design, Development and Control; Control and Supervision Systems; Mechatronics Systems

Authors: Viorel Stoian and Eugen Bobasu

Affiliation: University of Craiova, Romania

Digital Object Identifier: 10.5220/0005538402810288

Proceedings of ICINCO 2015, ISBN: 978-989-758-123-6

Quick Abstract

This paper expounds a control procedure and a control algorithm with two levels to solve the control problem of a cooperating multi-arm robotic system. This system is composed of a structure like a gripper with n fingers manipulating a usual object. The control system is a hierarchical system. The problems of the inter-coordination and the force distribution are decided by the top tier coordinator which brings together all the appropriate information. This information is directed towards the n inferior level subsystems. The local control is solved by assigning the local controllers based on the inverse model method. The robotic structure is either in a correct position when possible, or by minimising the movements and using the adequate commands to the functional joints, in an acceptable proximity position of the desired co-ordinates. It is also proposed a synthesis of the commands. The paper presents a workspace analysis and an algorithm for the actuators in the terms of a good working for finding the optimal motions by blocking or unblocking some robotic joints.

Related Ontology Subjects/Areas/Topics (5)

Control and Supervision Systems		Mechatronics Systems		Robotics and Automation
Informatics in Control, Automation and Robotics		Robot Design, Development and Control

A Variable Structure Controller for a Class of Hyper-redundant Arms

Topics: Robot Design, Development and Control; Distributed Control Systems; Modeling, Analysis and Control of Hybrid Dynamical Systems

Authors: Decebal Popescu ¹ , Nirvana Popescu ¹ , Mircea Ivanescu ² and Dorin Popescu ²

Affiliations: ¹ POLITEHNICA University of Bucharest, Romania , ² University of Craiova, Romania

Digital Object Identifier: 10.5220/0005005901210126

Proceedings of ICINCO 2014, ISBN: 978-989-758-039-0

Quick Abstract

The paper treats the control problem of a class of hyper-redundant robot constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The driving system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. A sliding mode control system is used in order to achieve a desired shape of the arm. The stability of the closed loop control system is proven. Numerical simulations are also provided to verify the effectiveness of the presented approach.

Related Ontology Subjects/Areas/Topics (7)

Distributed Control Systems	Modeling, Analysis and Control of Hybrid Dynamical Systems	Robotics and Automation
Informatics in Control, Automation and Robotics	Robot Design, Development and Control	Signal Processing, Sensors, Systems Modeling and Control
Intelligent Control Systems and Optimization

Nonlinear Feedback Control and Artificial Intelligence Computational Methods applied to a Dissipative Dynamic Contact Problem

Topics: Nonlinear Signals and Systems; System Modeling; Engineering Applications

Authors: Daniela Danciu ¹ , Andaluzia Cristina Matei ¹ , Sorin Daniel Micu ² and Ionel Rovenţa ¹

Affiliations: ¹ University of Craiova, Romania , ² University of Craiova and Institute of Mathematical Statistics and Applied Mathematics, Romania

Digital Object Identifier: 10.5220/0005055005280539

Proceedings of ICINCO 2014, ISBN: 978-989-758-039-0

Quick Abstract

In this paper we consider a vibrational percussion system described by a one-dimensional hyperbolic partial differential equation with boundary dissipation at one extremity and a normal compliance contact condition at the other extremity. Firstly, we obtain the mathematical model using the Calculus of variations and we prove the existence of weak solutions. Secondly, we focus on the numerical approximation of solutions by using a neuromathematics approach – a well-structured numerical technique which combines a specific approach of Method of Lines with the paradigm of Cellular Neural Networks. Our technique ensures from the beginning the requirements for convergence and stability preservation of the initial problem and, exploiting the local connectivity of the approximating system, leads to a low computational effort. A comprehensive set of numerical simulations, considering both contact and non-contact cases, ends the contribution.

Related Ontology Subjects/Areas/Topics (7)

Engineering Applications	Nonlinear Signals and Systems	Signal Processing, Sensors, Systems Modeling and Control
Informatics in Control, Automation and Robotics	Robotics and Automation	System Modeling
Intelligent Control Systems and Optimization

On the Stabilization of the Flexible Manipulator - Liapunov based Design. Robustness.

Topics: Nonlinear Signals and Systems; System Modeling; Engineering Applications

Authors: Daniela Danciu , Dan Popescu and Vladimir Rasvan

Affiliation: University of Craiova, Romania

Digital Object Identifier: 10.5220/0005051705080518

Proceedings of ICINCO 2014, ISBN: 978-989-758-039-0

Quick Abstract

This work deals with dynamics and control of the flexible manipulator viewed as a system with distributed parameters. It is in fact described by a mixed problem (with initial and boundary conditions) for a hyperbolic partial differential equation, the flexible manipulator being assimilated to a rod. As a consequence of the deduction of the model via the variational principle of Hamilton from Rational Mechanics, the boundary conditions result as “derivative” in the sense that they contain time derivatives of higher order (in comparison with the standard Neumann or Robin type ones). To the controlled model there is associated a control Liapunov functional by using the energy identity which is well known in the theory of partial differential equations. Using this functional the boundary stabilizing controller is synthesized; this controller ensures high precision positioning and additional boundary damping. All this synthesis may remain at the formal level, mathematically speaking. The rigorous results are obtained by using a one to one correspondence between the solutions of the boundary value problem and of an associated system of functional differential equations of neutral type. This association allows to prove in a rigorous way existence, uniqueness and well posedness. Moreover, in several cases there is obtained global asymptotic stability which is robust with respect to the class of nonlinear controllers - being in fact absolute stability. The paper ends with conclusions and by pointing out possible extensions of the results.

Related Ontology Subjects/Areas/Topics (7)

Engineering Applications	Nonlinear Signals and Systems	Signal Processing, Sensors, Systems Modeling and Control
Informatics in Control, Automation and Robotics	Robotics and Automation	System Modeling
Intelligent Control Systems and Optimization

A Hybrid Control System for a Tentacle Arm

Topics: Robot Design, Development and Control; Engineering Applications; Engineering Applications

Authors: Nirvana Popescu ¹ , Decebal Popescu ¹ and Mircea Ivanescu ²

Affiliations: ¹ University Politehnica Bucharest, Romania , ² University of Craiova, Romania

Digital Object Identifier: 10.5220/0004403200500057

Proceedings of ICINCO 2013, ISBN: 978-989-8565-70-9

Quick Abstract

The paper studies the control problem of a class of light- hyper-redundant robots, a tentacle arm, described by hyperbolic Partial Differential Equations with uncertain components. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and a spatial weighted error control technique. A hybrid controller with two control components: a PD boundary control and a pneumatic system that controls the locking forces in the joints are discussed. Liapunov techniques are used to prove the control system stability. Numerical simulations and experimental results are also provided to verify the effectiveness of the presented approach.

Related Ontology Subjects/Areas/Topics (6)

Engineering Applications		Intelligent Control Systems and Optimization		Robotics and Automation
Informatics in Control, Automation and Robotics		Robot Design, Development and Control		Signal Processing, Sensors, Systems Modeling and Control

AUGMENTING SEMANTICS TO DISTRIBUTED AGENTS LOGS - Enabling Graphical After Action Analysis of Federated Agents Logs

Topics: Ontology Engineering; Decision Support Systems; Knowledge Representation; Information Integration; Context Analysis and Modeling; Intelligent Multi-Agent Systems; Applications and Case-Studies

Authors: Rani Pinchuk ¹ , Sorin Ilie ² , Thomas Neidhart ¹ , Tiphaine Dalmas ³ , Costin Bădică ² and Gregor Pavlin ⁴

Affiliations: ¹ Space Applications Services, Belgium , ² University of Craiova, Romania , ³ Aethys, United Kingdom , ⁴ Thales Nederland B.V., Netherlands

Digital Object Identifier: 10.5220/0003658802320241

Proceedings of KEOD 2011/IC3K, ISBN: 978-989-8425-80-5

Quick Abstract

A distributed multi-agent system is used to support collaborative situation assessment and decision making for effective management of chemical hazards crisis in industrial areas. The system of agents supports creation of complex information flows between large numbers of stakeholders. The disseminated information and the system states are logged, which supports the analysis of the collaborative crisis management processes as well as the performance of the multi-agent systems framework. An ontology is designed to model the logged process. The fragments of logs that are meaningful to the users are converted to topic maps using the designed ontology. These topic maps are then merged to provide a federated picture of the data. A graphical query mechanism for querying the topic maps has been developed. This query mechanism creates graphical representations of relevant excerpts of the merged topic map, allowing conducting a thorough analysis of the logs.

Related Ontology Subjects/Areas/Topics (23)

Agents	Distributed and Mobile Software Systems	Knowledge-Based Systems
Applications and Case-studies	e-Business	Multi-Agent Systems
Artificial Intelligence	Enterprise Information Systems	Ontologies and the Semantic Web
Artificial Intelligence and Decision Support Systems	Information Integration	Ontology Engineering
Collaboration and e-Services	Information Systems Analysis and Specification	Paradigm Trends
Context	Integration/Interoperability	Software Engineering
Data Engineering	Knowledge Engineering and Ontology Development	Symbolic Systems
Decision Support Systems	Knowledge Representation

A Multimedia Database Server for Content-Based Retrieval and Image Mining

Authors: Cosmin Stoica Spahiu , Liana Stanescu and Dumitru Dan Burdescu

Affiliation: University of Craiova, Romania

Digital Object Identifier: 10.5220/0004466001410148

Proceedings of I-WEST 2010, ISBN: 978-989-8425-44-7

Quick Abstract

This article presents a possible extension of a software tool implemented in C++ that manages multimedia data collections from medical domain. An element of originality for this database management system is that it includes a series of algorithms used for extracting visual information from images (texture and color characteristics) along with classical operations needed for databases servers. It is also presented a data mining algorithm adapted to the database system that will be included in a future version.

BIOMIMETIC CONTROL ALGORITHM FOR THE BALANCE AND LOCOMOTION OF WALKING SYSTEMS

Topic: Mobile Robots and Autonomous Systems

Authors: Nicu George Bîzdoacă ¹ , Anca Petrişor ¹ , Hani Hamdan ² and Khalid Al Mutib ³

Affiliations: ¹ University of Craiova, Faculty of Automation, Computers and Electronics, Romania , ² SUPELEC, France , ³ King Saud University, College of Computer and Information Sciences, Saudi Arabia

Digital Object Identifier: 10.5220/0002951102950300

Proceedings of ICINCO 2010, ISBN: 978-989-8425-01-0

Quick Abstract

Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control solutions regarding balance and locomotion of robotic systems. A first goal of the work consists in identifying solutions necessary to balance the individual systems. Research has been focused both on systems with a single foot, but also on biped, tripods, quadrupeds, hexapods and octopods. Static balance is achieved by a proper mechanical design (Bizdoaca and Petrisor, 2009), but also by a corresponding load / tensioning actuators systems that can compensate for inertial elements that can lead to system stability limit. Theoretical studies have been focused on developing an efficient stepping algorithm in environment with strong uncertainties, known as SSTA algorithm. The article present a series of experiments made with servo actuated and smart actuated (based on shape memory alloy, especially) walking biomimetic structures.

Related Ontology Subjects/Areas/Topics (3)

Informatics in Control, Automation and Robotics

Mobile Robots and Autonomous Systems

Robotics and Automation

Design of a Service-Oriented e-Learning Environment

Authors: Dumitru Dan Burdescu ¹ , Marian Cristian Mihăescu ¹ , Costel Marian Ionaşcu ¹ and Bogdan Logofatu ²

Affiliations: ¹ University of Craiova, Romania , ² CREDIS, University of Bucharest, Romania

Digital Object Identifier: 10.5220/0004465700980115

Proceedings of I-WEST 2010, ISBN: 978-989-8425-44-7

Quick Abstract

Within e-learning domain there is a tremendous effort trying to loosely couple the data management and data deployment in e-Learning environments. This paper presents a design of such a architecture which consists of three main pieces: (1) Global Repository, (2) Repository Manager and (3) Web Deployer. The architecture ensures scalability, interoperability and service composition for an enterprise e-Learning environment. The Global Repository consists of a suite of services that actually manage all the assets of the e-Learning environment. The Repository Manager is a data management tool which allows the maintenance of all assets from a desktop application. The Web Deployer tool actually creates e-Learning environments by using assets from the Global Repository. The overall architecture is Service Oriented such that each service publishes its functionality in a standardized way letting other services to access and use the functionality in a flexible manner.

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