ABSTRACT
In this article, we present a novel stochastic algorithm called simultaneous sensor calibration and deformation estimation (SCADE) to address the problem of modeling deformation behavior of a generic continuum manipulator (CM) in free and obstructed environments. In SCADE, using a novel mathematical formulation, we introduce a priori model-independent filtering algorithm to fuse the continuous and inaccurate measurements of an embedded sensor (e.g., magnetic or piezoelectric sensors) with an intermittent but accurate data of an external imaging system (e.g., optical trackers or cameras). The main motivation of this article is the crucial need of obtaining an accurate shape/position estimation of a CM utilized in a surgical intervention. In these robotic procedures, the CM is typically equipped with an embedded sensing unit (ESU) while an external imaging modality (e.g., ultrasound or a fluoroscopy machine) is also available in the surgical site. The results of two different set of prior experiments in free and obstructed environments were used to evaluate the efficacy of SCADE algorithm. The experiments were performed with a CM specifically designed for orthopaedic interventions equipped with an inaccurate Fiber Bragg Grating (FBG) ESU and overhead camera. The results demonstrated the successful performance of the SCADE algorithm in simultaneous estimation of unknown deformation behavior of the utilized unmodeled CM together with realizing the time-varying drift of the poor-calibrated FBG sensing unit. Moreover, the results showed the phenomenal out-performance of the SCADE algorithm in estimation of the CM's tip position as compared to FBG-based position estimations.
ABSTRACT
The cooperative control of satellite clusters in elliptical, low-Earth orbit is studied, with the goal of minimizing the necessary information passed among the individual satellites in the cluster. We investigate two possible control paradigms in this paper. The system is described using linearized equations of motion, allowing it to be expressed as a time-varying linear system. The control objective is to attain a required formation at a specified point along the orbit. A decentralized controller is used, in which each satellite maintains a local estimate of the overall state of the cluster. These estimates, along with any control information, are shared after any satellite executes a control action. The second paradigm is an extension of the first, in which state estimates are never shared, and only the control information is passed. In each case, less information being passed results in a higher computational burden on each satellite. Simulation results show cyclic errors, likely induced by higher-order terms in eccentricity and inclinations. The controller that shares state estimates performs much better than the controller that passes only control information.
