It is one of critical factors for a massage robot to find and position the acupuncture point precisely in order to cure the diseases. Based on large amount of sample data offline, Chinese medical empirical knowledge is also introduced to build the prediction model. The massagist prescription and the robot mechanism devise are both considered for robot positioning. Least squares method is of simplicity, easy to use and high efficiency. Its real-time calculation is very effective, too. A modeling method for robot positioning is proposed based on least squares. Knowledge consultation is set for the calculation of acupoint position. The robot needs to get the feature points of a foot to be massaged. The foot contour sampling data are divided into piecewise curve fitting. Qlearning is adopted to optimize the robot positioning for they are model free. CMAC (Cerebellar Model Articulation Controller) cerebellum model is incorporated into the function approximation of Q learning. The learning system is rewarded by referring to the strengths of instrumental signal. By the direct representation, the model of human pelma acupoint is expressed with the vector variables and formal computer language. Through prediction model's calculation, the robot will work out the rough position of acupuncture point. Meanwhile, Q learning does the online adjustment for accurate location. These strategies provide for the robot to automatically search and position the pelma acupoint with little real-time computation and storage. The idea of this paper also prompts a research cue for the development of Chinese medical standardization.
A new method for constructing a Petri net feedback controller based on constraints matrix is presented for a discrete event system modeled by a Petri net, which enforces linear inequality constraints involving the place marking and the firing transition. The controller is constructed based on the concepts of place invariants and the structural conflicts of Petri net theory, and the controller introduced is maximally permissive. Firstly, local incident matrix of constrained places is constructed based on part design and Petri net reduction technique, and then constraints matrix is constructed based on the local incident matrix. The constraints matrix eases the design of controller and holds remarkable advantages especially for systems with large scale, because it considers part of the plant only, not the entire plant, and it only concludes two rows. Finally, the method is proved to be simple and efficient through some examples.
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