1. How to submit my research paper? What’s the process of publication of my paper?
The journal receives submitted manuscripts via email only. Please submit your research paper in .doc or .pdf format to the submission email: joace@ejournal.net.
2.Can I submit an abstract?
The journal publishes full research papers. So only full paper submission...[Read More]

Control of Shape Memory Alloy Actuated Flexible Needle Using Multimodal Sensory Feedbacks

Felix Orlando Maria Joseph 1, Madhukar Kumar 2, Karly Franz 2, Bardia Konh 3, Parsaoran Hutapea 3, and Yan-Jiang Zhao 4, Adam P. Dicker 4, Yan Yu 4, Tarun K. Podder 5
1. Department of Radiation Oncology, Case Western Reserve University, Cleveland, Ohio, USA
2. Department of Engineering, Case Western Reserve University, Cleveland, Ohio, USA
3. Department of Mechanical Engineering, Temple University, Philadelphia, PA, USA
4. Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA, USA
5. Department of Radiation Oncology, University Hospitals, Case Western Reserve University, Cleveland, Ohio, USA
Abstract—In this paper, closed loop nonlinear control of a shape memory alloy (SMA) actuated flexible needle is presented. Merits of different modalities of sensory feedbacks are studied. In order to track the given desired trajectory, the actual position of the needle tip is controlled using three different feedback signals (i) Vision, (ii) Electromagnetic (EM), and (iii) Ultrasound (US) imaging feedback signals are considered independently. From the experimental results it appeared that the EM sensor feedback control of the flexible needle has the best tracking performance compared to the other two feedbacks.

Index Terms—first term, second term, third term, fourth term, fifth term, sixth term

Cite: Felix Orlando Maria Joseph, Madhukar Kumar, Karly Franz, Bardia Konh, Parsaoran Hutapea, Yan-Jiang Zhao, Adam P. Dicker, Yan Yu, and Tarun K. Podder, "Control of Shape Memory Alloy Actuated Flexible Needle Using Multimodal Sensory Feedbacks," Jounal of Automation and Control Engineering, Vol. 3, No. 5, pp. 428-434, October, 2015. doi: 10.12720/joace.3.5.428-434
Copyright © 2018-2021 Journal of Automation and Control Engineering, All Rights Reserved
E-mail: joace@ejournal.net