Design Methodology for a Magnetic Levitation System Based on a New Multi-Objective Optimization Algorithm.

Multi-objective (MO) optimization is a developing technique for increasing closed-loop performance and robustness. However, its applications to control engineering mostly concern first or second order approximation models. This article proposes a novel MO algorithm, suitable for the design and control of mechanical systems, which does not require any order reduction techniques. The controller parameters are determined directly from a special type of rapid analysis of simulated transient responses. The case study presented in this article consists of a magnetic levitation system. Certain difficulties such as the nonlinearity identification of the magnetic force and duo magnetic field sensor scheme were addressed. To point out the advantages of using the developed approach, the simulations as well as the experiments performed with the help of the created algorithm were compared to those made with common MO algorithms.

A Wearable IMU System for Flexible Teleoperation of a Collaborative Industrial Robot.

Increasing the accessibility of collaborative robotics requires interfaces that support intuitive teleoperation. One possibility for an intuitive interface is offered by wearable systems that measure the operator's movement and use the information for robot control. Such wearable systems should preserve the operator's movement capabilities and, thus, their ability to flexibly operate in the workspace. This paper presents a novel wireless wearable system that uses only inertial measurement units (IMUs) to determine the orientation of the operator's upper body parts. An algorithm was developed to transform the measured orientations to movement commands for an industrial collaborative robot. The algorithm includes a calibration procedure, which aligns the coordinate systems of all IMUs, the operator, and the robot, and the transformation of the operator's relative hand motions to the movement of the robot's end effector, which takes into account the operator's orientation relative to the robot. The developed system is demonstrated with an example of an industrial application in which a workpiece needs to be inserted into a fixture. The robot's motion is compared between the developed system and a standard robot controller. The results confirm that the developed system is intuitive, allows for flexible control, and is robust enough for use in industrial collaborative robotic applications.

Comparison of hydraulic, pneumatic and electric linear actuation systems.

Different applications or industries use different systems for linear actuation, such as hydraulic, pneumatic or electric. Electric systems are becoming increasingly popular and are already replacing hydraulic systems in various applications. These are known to be potentially harmful to the environment, as large amounts of fluid can be released into the environment in the event of a pipe burst or other accident. This paper presents the results of a comparison between hydraulic, pneumatic and electric systems under variable conditions but with similar loads in all three systems. The common feature of all three systems is the input power, which was limited to 1.1 kW. There was no hydraulic accumulator in the hydraulic system and no pressure vessel in the pneumatic system, so no stored energy could influence the system behaviour or results. The main difference between the systems studied was the profile of displacement and power consumption. The most consistent response and lowest power consumption were obtained with the electric system, although both hydraulic and pneumatic systems can achieve consistent response with some modifications.

Feasibility of assessing ultra-short-term pulse rate variability from video recordings.

OBJECTIVES: Remote photoplethysmography (rPPG) is a promising non-contact measurement technique for assessing numerous physiological parameters: pulse rate, pulse rate variability (PRV), respiratory rate, pulse wave velocity, blood saturation, blood pressure, etc. To justify its use in ultra-short-term (UST) PRV analysis, which is of great benefit for several healthcare applications, the agreement between rPPG- and PPG-derived UST-PRV metrics was studied. APPROACH: Three time-domain metrics-standard deviation of normal-to-normal (NN) intervals (SDNN), root mean square of successive NN interval differences (RMSSD), and the percentage of adjacent NN intervals that differ from each other by more than 50 ms (pNN50)-were extracted from 56 video recordings in a publicly available data set. The selected metrics were calculated on the basis of three groups of 10 s recordings and their average, two groups of 30 s recordings and their average, and a group of 60 s recordings taken from the full-length recordings and then compared with metrics derived from the corresponding reference (PPG) pulse waveform signals by using correlation and effect size parameters, and Bland-Altman plots. MAIN RESULTS: The results show there is stronger agreement as the recording length increases for SDNN and RMSSD, yet there is no significant change for pNN50. The agreement parameters reach r = 0.841 (p < 0.001), r = 0.529 (p < 0.001), and r = 0.657 (p < 0.001), estimated median bias -1.52, -2.28 ms and -1.95% and a small effect size for SDNN, RMSSD, and pNN50 derived from the 60 s recordings, respectively. SIGNIFICANCE: Remote photoplethysmography-derived UST-PRV metrics manage to capture UST-PRV metrics derived from reference (PPG) recordings well. This feature is highly desirable in numerous applications for the assessment of one's health and well-being. In future research, the validity of rPPG-derived UST-PRV metrics compared to the gold standard electrocardiography recordings is to be assessed.

A wavelet-based decomposition method for a robust extraction of pulse rate from video recordings.

BACKGROUND: Remote photoplethysmography (rPPG) is a promising optical method for non-contact assessment of pulse rate (PR) from video recordings. In order to implement the method in real-time applications, it is necessary for the rPPG algorithms to be capable of eliminating as many distortions from the pulse signal as possible. METHODS: In order to increase the degrees-of-freedom of the distortion elimination, the dimensionality of the RGB video signals is increased by the wavelet transform decomposition using the generalized Morse wavelet. The proposed Continuous-Wavelet-Transform-based Sub-Band rPPG method (SB-CWT) is evaluated on the 101 publicly available RGB facial video recordings and corresponding reference blood volume pulse (BVP) signals taken from the MMSE-HR database. The performance of the SB-CWT is compared with the performance of the state-of-the-art Sub-band rPPG (SB). RESULTS: Median signal-to-noise ratio (SNR) for the proposed SB-CWT ranges from 6.63 to 10.39 dB and for the SB from 4.23 to 6.24 dB. The agreement between the estimated PRs from rPPG pulse signals and the reference signals in terms of the coefficients of determination ranges from 0.81 to 0.91 for SB-CWT and from 0.41 to 0.47 for SB. All the correlation coefficients are statistically significant (p < 0.001). The Bland-Altman plots show that mean difference range from 5.37 to 1.82 BPM for SB-CWT and from 22.18 to 18.80 BPM for SB. DISCUSSION: The results show that the proposed SB-CWT outperforms SB in terms of SNR and the agreement between the estimated PRs from RGB video signals and PRs from the reference BVP signals.