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<p class=MsoNormal style='text-autospace:none'><span style='font-family:"Garamond","serif"'>Ph.D.
Dissertation Defense <o:p></o:p></span></p>
<p class=MsoNormal style='text-align:justify;text-autospace:none'><span
style='font-family:"Garamond","serif"'>Room : 102D <o:p></o:p></span></p>
<p class=MsoNormal style='text-align:justify;text-autospace:none'><span
style='font-family:"Garamond","serif"'>Date :
07.23.2010 (1-3pm)<o:p></o:p></span></p>
<p class=MsoNormal align=center style='text-align:center;text-autospace:none'><span
style='font-family:"Garamond","serif"'><o:p> </o:p></span></p>
<p class=MsoNormal align=center style='text-align:center;text-autospace:none'><b><span
style='font-family:"Garamond","serif"'>LPV GAIN SCHEDULING CONTROL AND ITS
APPLICATIONS ON HYSTERESIS COMPENSATION AND BIOMEDICAL ROBOTICS<o:p></o:p></span></b></p>
<p class=MsoNormal align=center style='text-align:center;text-autospace:none'><span
style='font-family:"Garamond","serif"'><o:p> </o:p></span></p>
<p class=MsoNormal align=center style='text-align:center;text-autospace:none'><span
style='font-family:"Garamond","serif"'>Atilla Kilicarslan<o:p></o:p></span></p>
<p class=MsoNormal style='text-align:justify;text-autospace:none'><b><span
style='font-family:"Garamond","serif"'>Abstract:<o:p></o:p></span></b></p>
<p class=MsoNormal style='text-align:justify;text-indent:.5in;text-autospace:
none'><span style='font-family:"Garamond","serif"'>This dissertation addresses
the problems of compensating for the hysteresis nonlinearity present in Shape
Memory Alloy (SMA) wire actuators and control of a biomedical robotic system.<o:p></o:p></span></p>
<p class=MsoNormal style='text-align:justify;text-indent:.5in;text-autospace:
none'><span style='font-family:"Garamond","serif"'>At first, we examine some
important properties of the hysteresis nonlinearity and formulate the control
methods implemented on the designed experimental systems. The first system is
actuated with an SMA wire actuator. Due to the temperature dependent hysteretic
nonlinearity, it is a challenging problem to model and control the response of
the SMA system precisely. We formulate an Adaptive Neuro-Fuzzy Inference System
(ANFIS) model and controller, robust H<sub>∞</sub> and LPV gain scheduling
controllers for this purpose. <o:p></o:p></span></p>
<p class=MsoNormal style='text-align:justify;text-indent:.5in;text-autospace:
none'><span style='font-family:"Garamond","serif"'>In the second part, we
experimentally verify the designed modeling and control methods and compensate
for the hysteretic nonlinearity in real time. The robustness of the controllers
plays an important role in hysteresis compensation especially for systems
actuated with SMA wires. Having a responsive behavior highly dependent on the
applied heat, environmental disturbance acting on these systems can greatly
affect the displacement response, or make the overall closed loop system
unstable. We compare the performances of the controllers under high levels of
plant disturbance (heat fluctuations).<o:p></o:p></span></p>
<p class=MsoNormal style='text-align:justify;text-indent:.5in;text-autospace:
none'><span style='font-family:"Garamond","serif"'>The third part is dedicated
to the modeling, prototyping and control of a novel biomedical robotic system.
This system is designed to assist the surgeon during the delicate minimally
invasive direct apical approach to aortic valve replacement operations. The
designed robot has the capability of exerting haptic force feedback on the
medical tool that the surgeon uses during the operation. We define the design
constraints, work space and working principle of the robot in detail. We then introduce
the prototype of the robot and discuss; the details of the mechanical
components and assembly, electronics used for actuation, the real time data
acquisition system and the software development for real time control purposes.
For a realistic real time implementation, we use a dynamic virtual model of the
left ventricle of the heart. The workspace of the robot is defined as the
boundaries of the left ventricle. For haptic controller, we model these
boundaries as virtual walls and provide operator the interaction forces acting
between the end effector of the robot and these unilateral constraints. These
safe boundaries define the dynamically changing maximum available workspace
that separates the inner gap and the inner most layer (endocardium) of the heart.
By proving the haptic effect, the robotic system assists the surgeon to keep
the end effector position between these safe boundaries. A virtual frictionless
environmental model is also introduced to compensate for the inherent damping
of the system to let the end effector move freely if the tool’s end effector is
not interacting with the unilateral constraints. Finally an LPV gain scheduling
controller is implemented on the haptic system for precise trajectory tracking
applications. The designed controller then tested on the experimental system in
real time for a pre-defined trajectory on the workspace of the robot. This
controller’s performance yields promising results to be used for developing
teleoperation (remote surgery) applications where the needs of precise and
robust trajectory tracking control schemes are essential.<o:p></o:p></span></p>
<p class=MsoNormal><u><span style='font-family:"Garamond","serif"'><o:p><span
style='text-decoration:none'> </span></o:p></span></u></p>
<p class=MsoNormal><u><span style='font-family:"Garamond","serif"'>Committee
Members</span></u><span style='font-family:"Garamond","serif"'><br>
Dr. Karolos Grigoriadis (Advisor, Chair of the Committee) <br>
Dr. Gangbing
Song
<br>
Dr. Javad Mohammadpour <br>
Dr. Nikolaos
Tsekos
<br>
Dr. </span><a href="http://www.egr.uh.edu/me/faculty/rao/"><span
style='font-family:"Garamond","serif";color:windowtext;text-decoration:none'>Jagannatha
R. Rao</span></a><o:p></o:p></p>
<p class=MsoNormal><o:p> </o:p></p>
<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Book Antiqua","serif";
color:blue'>_______________________________________________________</span><o:p></o:p></p>
<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Book Antiqua","serif";
color:blue'>Suresh K. Khator, Ph.D., P.E.
Phone:
713-743-4205 <o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Book Antiqua","serif";
color:blue'>Associate Dean, College of Engineering Fax:
713-743-4214<o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Book Antiqua","serif";
color:blue'>University of
Houston Email:
skhator@uh.edu <o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Book Antiqua","serif";
color:blue'>E421 Engineering Bldg 2 www.egr.uh.edu/ie<o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Book Antiqua","serif";
color:blue'>Houston, TX 77204-4008<o:p></o:p></span></p>
<p class=MsoNormal><o:p> </o:p></p>
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