Estimation of Nonlinear ARX Model for Soft Tissue by Wavenet and Sigmoid Estimators
Keywords:
System Identification, Soft Tissue Modeling, RV-2AJ, MATLAB, Simulink, Nonlinear ARX,Abstract
This paper presents a model-based design technique to estimate the dynamic model of a nonlinear soft tissue phantom using MATLAB Simulink. The soft tissue model was developed using black-box modeling approach; simulations were performed based on acquired set of single input-output data and processed using MATLAB System Identification toolbox. Wavenet and sigmoid estimators were used to acquire the best overall performance. Comparison study has been made between the simulation and experimental results. Our finding shows that the obtained model is sufficient to represent the model of soft tissue phantom with a mean error of 4.12% compared to the real system.References
MATLAB, “Model-Based Design.” [Online]. Available:
http://www.mathworks.com/help/simulink/gs/model-based-design.html. [Accessed: 03-Oct-2015].
H. Shakouri G. and H. R. Radmanesh, “Identification of a continuous time nonlinear state space model for the external power system dynamic equivalent by neural networks,” Int. J. Electr. Power Energy Syst., vol. 31, no. 7–8, pp. 334–344, 2009.
L. Ljung, Ed., System Identification (2Nd Ed.): Theory for the User. Upper Saddle River, NJ, USA: Prentice Hall PTR, 1999.
H. J. Palanthandalam-Madapusi, S. Lacy, J. B. Hoagg, and D. S. Bernstein, “Subspace-Based Identification for Linear and Nonlinear Systems,” Am. Control Conf., p. 15, 2005.
T. G. Ling, M. F. Rahmat, a. R. Husain, and R. Ghazali, “System identification of electro-hydraulic actuator servo system,” in 2011 4th International Conference on Mechatronics (ICOM), 2011, no. May, pp. 1–7.
F. Pierrot, E. Dombre, E. Dégoulange, L. Urbain, P. Caron, S. Boudet, J. Gariépy, and J.-L. Mégnien, “Hippocrate: a safe robot arm for medical applications with force feedback,” Med. Image Anal., vol. 3, no. 3, pp. 285–300, Sep. 1999.
C. Preusche, T. Ortmaier, and G. Hirzinger, “Teleoperation concepts in minimal invasive surgery,” Control Eng. Pract., vol. 10, no. 11, pp. 1245–1250, Nov. 2002.
G. Song and S. Guo, “A novel force feedback-based teleoperation system for medical application,” Int. J. Innov. Comput. Inf. Control, vol. 3, no. 3, pp. 737–750, 2007.
J. Park, “A Haptic Teleoperation Approach Based on Contact Force Control,” Int. J. Rob. Res., vol. 25, no. 5–6, pp. 575–591, May 2006.
K. Masuda, Y. Urayama, S. Saito, and Y. Takachi, “Development of cooperate system with medical robot to alleviate fatigue in echography,” in The 4th 2011 Biomedical Engineering International Conference, 2012, pp. 161–164.
N. Ismail, N. Tajjudin, M. H. F. Rahiman, and M. N. Taib, “Estimation of nonlinear ARX model for steam distillation process by wavenet estimator,” in 2009 IEEE Student Conference on Research and Development (SCOReD), 2009, pp. 562–565.
Y. Hasuike, M. Izutsu, and S. Hatakeyama, “A Identification Method of a nonlinear ARX Model with Variable Order for Nonlinear Systems,” pp. 3244–3249.
C. Galván-Duque, R. Zavala-Yoé, G. Rodríguez-Reyes, F. MendozaCruz, and R. Ramírez, “Classical and intelligent ARX models for classification of gait events,” Proc. - 2013 Int. Conf. Mechatronics, Electron. Automot. Eng. ICMEAE 2013, pp. 78–83, 2013.
Z. Li, M. Hayashibe, Q. Zhang, and D. Guiraud, “FES-induced muscular torque prediction with evoked EMG synthesized by NARX-type recurrent neural network,” IEEE Int. Conf. Intell. Robot. Syst., pp. 2198–2203, 2012.
N. Shamsuddin and M. N. Taib, “Nonlinear ARX modeling of heart diseases based on heart sounds,” Signal Process. its Appl. (CSPA), 2011 IEEE 7th Int. Colloq., pp. 382–387, 2011.
M. F. M. Esa, H. Ibrahim, N. H. Mustaffa, and H. A. Majid, “The Mitsubishi MelfaRxm middleware and application: A case study of RV-2AJ robot,” in 2011 IEEE Conference on Sustainable Utilization and Development in Engineering and Technology (STUDENT), 2011, no. October, pp. 138–143.
M. Mamdouh and A. a. Ramadan, “Development of a teleoperation system with a new workspace spanning technique,” 2012 IEEE Int. Conf. Robot. Biomimetics, pp. 1570–1575, Dec. 2012.
M. I. Jambak, H. Haron, and D. Nasien, “Development of Robot Simulation Software for Five Joints Mitsubishi RV-2AJ Robot Using MATLAB/Simulink and V-Realm Builder,” 2008 Fifth Int. Conf. Comput. Graph. Imaging Vis., pp. 83–87, Aug. 2008.
J. a. Buitrago, F. D. Giraldo, and J. a. Lamprea, “Remote access lab for Mitsubishi RV-2AJ robot,” IX Lat. Am. Robot. Symp. IEEE Colomb. Conf. Autom. Control. 2011 IEEE, pp. 1–7, Oct. 2011.
M. F. Crainic and S. Preitl, “Virtual laboratory for a remotely operating robot arm,” SACI 2014 - 9th IEEE Int. Symp. Appl. Comput. Intell. Informatics, Proc., no. 1, pp. 101–104, 2014.
S. Yussof, A. Anuar, and K. Fernandez, “Algorithm for robot writing using character segmentation,” in Proceedings - 3rd International Conference on Information Technology and Applications, ICITA 2005, 2005.
M.-F. Crainic, S. Preitl, L. A. Sandru, and V. Dolga, “Secure handwriting using a robot arm for educational purpose,” Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On. pp. 58–63, 2014.
E. Dombre, G. Duchemin, P. Poignet, and F. Pierrot, “Dermarob: a safe robot for reconstructive surgery,” IEEE Trans. Robot. Autom., vol. 19, no. 5, pp. 876–884, 2003.
F. Pierrot, E. Dombre, L. Teot, and E. Degoulange, “Robotized reconstructive surgery: ongoing study and first results,” Proc. IEEE Int. Conf. Robot. Autom., no. April, pp. 1615–1620, 2000.
G. Duchemin, P. Maillet, P. Poignet, E. Dombre, and F. Pierrot, “A hybrid position/force control approach for identification of deformation models of skin and underlying tissues,” IEEE Trans. Biomed. Eng., vol. 52, no. 2, pp. 160–170, 2005.
Y. Tsumaki, T. Kon, A. Suginuma, K. Imada, A. Sekiguchi, D. N. Nenchev, H. Nakano, and K. Hanada, “Development of a skincare robot,” 2008 IEEE Int. Conf. Robot. Autom., pp. 2963–2968, 2008.
S. F. Atashzar, I. Khalaji, M. Shahbazi, A. Talasaz, R. V. Patel, and M. D. Naish, “Robot-assisted lung motion compensation during needle insertion,” 2013 IEEE Int. Conf. Robot. Autom., pp. 1682–1687, 2013.
T. Lehmann, C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli, “A virtual sensor for needle deflection estimation during soft-tissue needle insertion,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 1217–1222.
H. M. Kim, T. K. Hong, and G. S. Kim, “Design of a wrist rotation rehabilitation robot,” 4th Annu. IEEE Int. Conf. Cyber Technol. Autom. Control Intell., pp. 240–245, 2014.
M. A. Ayob, W. N. W. Zakaria, and J. Jalani, “Forward kinematics analysis of a 5-axis RV-2AJ robot manipulator,” in Electrical Power, Electronics, Communications, Controls and Informatics Seminar (EECCIS), 2014, 2014, pp. 87–92.
M. A. Ayob, W. N. Wan Zakaria, J. Jalani, and M. R. Md Tomari, “Inverse kinematics analysis of a 5-axis RV-2AJ robot manipulator,” ARPN J. Eng. Appl. Sci., vol. 10, no. 18, pp. 8388–8394, 2015.
M. A. Ayob, W. N. Wan Zakaria, J. Jalani, and M. R. Md Tomari, “MODELING AND SIMULATION OF A 5-AXIS RV-2AJ ROBOT USING SIMMECHANICS,” J. Teknol., vol. 76, no. 4, pp. 59–63, Sep.2015.
Downloads
Published
How to Cite
Issue
Section
License
TRANSFER OF COPYRIGHT AGREEMENT
The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):
- All proprietary right other than copyright, such as patent rights
- The right to make further copies of all or part of the published article for my use in classroom teaching
- The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
- The right to make copies of the published work for internal distribution within the institution that employs me
I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.