Hardware/Software Co-design of Control Algorithms

Petko, Maciej; Karpiel, Grzegorz

doi:10.1109/icma.2006.257627

Cited by 4 publications

(7 citation statements)

References 7 publications

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“…The robot is attached to a table by a system of holders for easy and quick emergency disconnection of the mechanism from the station. A field programmable gate array-based controller [10,11] controls the operation of the actuators and tools (a mechanism of needle extension, rotation of an endoscope optics) placed on a platform attached to the robot. The platform also houses the endoscope optics head (rotated by an additional actuator) with a camera and elements for urethral pressure profile measurements.…”

Section: The Concept Of the Demonstration Standmentioning

confidence: 99%

Operative procedures supported with robotics systems and available endoscope procedures in operative gynecology

Stangel-Wójcikiewicz

Basta

Piwowar

et al. 2014

Bio-Algorithms and Med-Systems

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Minimally invasive surgery revolutionized operative procedures in the last 20 years. Much of the progress in minimally invasive surgery can be attributed to the development of robot-based systems. The most apparent changes are found in laparoscopy procedures. Procedures in which only small skin incisions are made have revolutionized operating theaters. The learning curve, although long in itself, allows for the development of procedures with reduced perioperative risk (i.e., bleeding, pain) or shorter postoperative period. Convalescence after endoscopy procedures is significantly shorter compared with classic laparotomy. However, certain limitations apply to laparoscopy. Apart from the long learning curve, movements executed with long and rigid tools cannot strictly translate the precision of an operator's hand. The body position of the surgeon is often forced by the reach of the endoscope instrument. It is related to a significant physical load of personnel, especially during long operating procedures. For this reason, some therapeutic procedures are still executed using the laparotomy approach. Modern endoscopic proceduresModern operative medicine cannot exist without endoscopic solutions. Both indications and the perioperative period have an important effect on the selection of laparoscopic operating procedures for patients. Operative gynecology takes advantage of a broad range of possibilities offered by laparoscopy [1]. Indications allow the use of the described technique in cases of changes in adnexa and in the body of the uterus, infertility, repair of pelvic floor disorders, and in procedures performed for oncological reasons. In some cases, even a minimal increase in procedure duration leads to additional blood loss or postoperative pain. Compared with laparotomy, the postoperative course using endoscopic procedures allows faster recovery and restoration to a regular lifestyle. In addition, if maintaining a "youthful" appearance is one of the considerations, the aesthetic aspects of using endoscopy procedures cannot be over estimated either.The following is a review of the operative procedures that can be performed with specialized endoscopic equipments: -Hysterectomy -Laparoscopic supracervical hysterectomy -Laparoscopically assisted vaginal hysterectomy -Laparoscopic total hysterectomy -Laparoscopically assisted total vaginal hysterec tomy -Laparoscopically assisted radical vaginal hysterectomyIn laparoscopically assisted vaginal hysterectomy and laparoscopically assisted radical vaginal hysterectomy, a vaginal manipulator is used to expose the uterus. It is only allowed in non-oncological cases.-Ablation or enucleation of uterine myomas -Ablation or enucleation of ovarian cysts

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Section: The Concept Of the Demonstration Standmentioning

confidence: 99%

Operative procedures supported with robotics systems and available endoscope procedures in operative gynecology

Stangel-Wójcikiewicz

Basta

Piwowar

et al. 2014

Bio-Algorithms and Med-Systems

Self Cite

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“…In the same context, in [10] the case study is a neural controller for 3 D.o.f parallel robot for milling. This controller is based on neural model of the inverse dynamics of the manipulator, trained on data collected with the use of a computed torque stabilizing controller, and the authors propose that good candidates for hardware implementation are those fragments of an algorithm that can be calculated using only fixedpoint operations, due to the fact that they require less FPGA resources and, therefore, are faster whenever are compared with floating-point modules.…”

Section: Related Workmentioning

confidence: 99%

A Reconfigurable System Approach to the Direct Kinematics of a 5D.o.fRobotic Manipulator

Sánchez

Muñoz

Llanos

et al. 2010

International Journal of Reconfigurable Computing

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Hardware acceleration in high performance computer systems has a particular interest for many engineering and scientific applications in which a large number of arithmetic operations and transcendental functions must be computed. In this paper a hardware architecture for computing direct kinematics of robot manipulators with 5 degrees of freedom (5 D.o.f ) using floatingpoint arithmetic is presented for 32, 43, and 64 bit-width representations and it is implemented in Field Programmable Gate Arrays (FPGAs). The proposed architecture has been developed using several floating-point libraries for arithmetic and transcendental functions operators, allowing the designer to select (pre-synthesis) a suitable bit-width representation according to the accuracy and dynamic range, as well as the area, elapsed time and power consumption requirements of the application. Synthesis results demonstrate the effectiveness and high performance of the implemented cores on commercial FPGAs. Simulation results have been addressed in order to compute the Mean Square Error (MSE), using the Matlab as statistical estimator, validating the correct behavior of the implemented cores. Additionally, the processing time of the hardware architecture was compared with the same formulation implemented in software, using the PowerPC (FPGA embedded processor), demonstrating that the hardware architecture speeds-up by factor of 1298 the software implementation.

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“…compilers (Quartus, ISE), hardware description languages (Verilog, VHDL), and high-level hardware description languages such as Handel-C (named algorithmic HDL or algorithmic languages for clarity in the thesis), [21], [22], [25]. They allow for synthesis and prototyping of processing units in a relatively short time, skipping tedious low-level design techniques (with some additional power and hardware resources overheads, however), [21], [22] [27], [28]. Since standard C lacks notations typical to hardware, such as parallelism or the passage of time, the concepts are introduced, either as extensions to the relevant language (or via 'pragmas') or are built into the tool and annotated by a programmer against the standard C description.…”

Section: D) Mcu Disadvantagesmentioning

confidence: 99%

“…at low-level (often referred to a hardware-level) and at higher levels (e.g. at system-levels), [27], [136], [137], [138], [139], [140], [141], [142], [143], [144]. The low-level design partitioning is often in a form of design decomposition into multiple clock domains, while the latter approach addresses algorithm partitioning.…”

Section: Algorithm Partitioning Of Fpga-based Designsmentioning

confidence: 99%

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System-level methods for power and energy efficiency of FPGA-based embedded systems

Czapski¹

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Hardware/Software Co-design of Control Algorithms

Cited by 4 publications

References 7 publications

Operative procedures supported with robotics systems and available endoscope procedures in operative gynecology

Operative procedures supported with robotics systems and available endoscope procedures in operative gynecology

A Reconfigurable System Approach to the Direct Kinematics of a 5D.o.fRobotic Manipulator

System-level methods for power and energy efficiency of FPGA-based embedded systems

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