Fusion of Soft and Hard Control Strategies for Biomedical Engineering

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Fusion of Soft and Hard Control Strategies for
Biomedical Engineering

• D. Subbaram Naidu, PhD, PE, Fellow IEEE
• Professor, Electrical Engineering
• Director, Measurement and Control Engineering
  Research Center (MCERC)
• Associate Dean, College of Engineering
• Idaho State University
• Pocatello, ID, USA
• http//www.isu.edu/naiduds

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Outline

• Geography and Biography
• Biomedical Engineering
• Human Circulation System
• Smart Prosthetic Hand

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Where is Idaho State Univ. and Idaho?
DesinenISUbbaram NaIDu
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Idaho State University Facts Sheet

• Idaho State University (ISU) was founded in 1901
• Now ISU has 7 Colleges
• Arts Sciences Business Education
  Engineering Health Professions Pharmacy
  Technology
• ISU campuses in Pocatello, Idaho Falls (CHE),
  Boise, Twin Falls
• ISU has over 13,500 students (including 3,000 at
  IF CHE Campus)
• 10 Research Centers
• Center for Ecological Research and Education
• Center for Archeological Materials and Applied
  Spectroscopy
• Family Medicine Clinical Research Center
• GIS Teaching and Research Center
• Idaho Accelerator Center
• Informatics Research Institute
• Institute of Rural Health (IRH)
• Institute of Nuclear Science Engineering (INSE)
  
• ISU Biomedical Research Institute (IBRI)
• Measurement Control Engineering Research Center
  (MCERC)

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ISU College of Engineering

• 1902 Two of the first four graduates of the
  Academy of Idaho "Civil Engineers"
• 1964 BS in Engineering and MS in Nuclear Sci.
  Engr
• 1968 College of Engineering was established
• 1989 MS in Measurement and Control Engr.
• 1993 Measurement Control Engr. Research Center
  one of the 4 at ISU recognized by SBOE
• Now ISU Engineering has
• 5 BS programs in CE, CS, EE, ME, NE ABET
  accredited
• 1 Post BS Certificate program in Applied Nuclear
  Energy
• 6 MS programs in CE, ENVE, ESM, MCE, ME, NE
• 2 PhD programs in Nuclear Sci. Engr (NSE) and
• Engr. Appl. Science (EAS)

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Biography

• Born in Seshapuram, near Tirupati, India
  farmers family
• PhD, Indian Institute of Technology (IIT),
  Kharagpur (1977)
• NASA Langley Research Center, Hampton, VA
  (1985-90)
• Idaho State University, USA (1990-present)
• US Air Force Research Laboratory, WPAFB, OH
  (1998-99)
• Norwegian University of Science and Technology
  (1994)
• Swiss Federal Institute of Technology (ETH),
  Zurich (1995)
• Nantong University, Nantong, China (2007)
• University of Western Australia, Perth (Spring
  2008)
• University of South Australia, Adelaide (Spring
  2008)
• Publications Over 200 including 5 books
• Fellow IEEE USA (1995)

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Measurement Control Engineering Research Center
(MCERC)

• Established in 1993
• Renovated Building in 2007 09 on 1030, 2nd St.
• Several Research Laboratories
• Measurement Control
• Wind Tunnel
• Structures
• Robotics
• Biomedical Engineering
• Alternate Energy Systems
• Other labs proposed Computer Science, and
  Infrastructure

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Measurement and Control?
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Research at MCERC

• Order Reduction Sing. Pert. Time Scales
  (SPaTS)
• Unified Approach to Optimal and SP systems
• Model Ref. Adaptive Control for Gas Metal Arc
  Welding
• Fusion of Soft and Hard Control for Uninhabited
  Combat Aerial Vehicles (UCAVs)
• Advanced Control Strategies for Heating,
  Ventilation and Air Conditioning (HVAC)
• Hybrid Control Strategies for Biomedical
  Engineering (BME)
• Advanced Control Strategies for Alternate Energy
  Systems

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Biomedical Engineering ?

• Biomedical engineering (BME) is a discipline
  that advances knowledge in engineering, biology
  and medicine, and improves human health through
  cross-disciplinary activities that integrate the
  engineering sciences with the biomedical sciences
  and clinical practice.
• Source The Whitaker Foundation www.whitaker.org

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Biologist Takes Helm at MIT Dec. 2004

• Susan Hockfield and Charles Vest
• First women and biologist to lead MIT

• She notes convergence between engineering and
  biological sciences
• Largest single source of funding for MIT is NIH
  not NSF, DARPA, DoD!

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Fusion of Hard and Soft Computing Strategies for
Human Circulation System

Vidya Nandikolla, (PhD ISU 2006) Faculty
Advisors D. Subbaram Naidu, PhD Marco P.
Schoen, PhD
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for Human Circulation System

• Minimizing the energy requirements of the heart
  as the sum of the potential energy stored in the
  tissues and muscles of the heart and that
  required for pumping the blood through the
  circulatory system.

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Optimal Insulin Administration to Diabetic
Patient
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SMART PROSTHETIC HAND TECHNOLOGY Phase I to III
Interdisciplinary Biomedical Engineering Research
D. Subbaram Naidu, PhD, Electrical
Engineering Marco P. Schoen, PhD, Mechanical
Engineering Alba Perez, PhD, Mechanical
Engineering Solomon Leung, PhD, Environmental
Engineering Steve Chiu, Computer Science Jim Lai,
PhD, Pharmaceutical and Biomedical Sciences Alex
Urfer, PhD, Physical and Occupational Therapy
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What is Prosthetics?

• Prosthetics is the surgical and dental
  specialties concerned with artificial replacement
  of missing parts.
• Prosthesis is an artificial leg, arm, or any
  other missing body part.
• Prosthetic relating to prosthetics or prosthesis

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Military to Fund Prosthetics Research

• DoD is embarking on multi-million dollar
  research program to revolutionalize upper-body
  prosthetics after a surge in troops who have lost
  hands and arms in the Iraq and Afghanistan wars.
• Pentagon to spend 35M to develop artificial
  arms feel, look, perform like a real arm guided
  by the central nervous system.

USA Today October 05, 2005
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DARPA Neuro Prosthetic Arm
Jesse Sullivan became a real life "bionic man
after a terrible electrical accident.
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Electromyographic (EMG) Signal

• A myoelectric signal is a nerve impulse that
  excites a skeletal muscle.
• Can be measured as an electrical voltage
  potential on the skins surface.

Dr. Marco Schoen
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EMG Signal Identification

• Collect Data
• Analyze Data
• Perform System Identification

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Schematic of Prosthetic Technology
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Prosthetics Research Phase I

• United States Army Medical Research and Material
  Command (USAMRMC), Fort Detrick, MD
• Phase I 842K July 23, 07 to July 22, 09
• Identification of EMG Signals Schoen/ME
• Development of Hand Motion Kinematic and Sensing
  System Perez/ME
• Development of Adaptive Prediction Model
  Naidu/EE
• Biomaterials/Biocompatibility Lai/Pharmacy and
  Leung/ENVE
• Physical Therapy Urfer/Health Professions

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Smart Prosthetics Project Team
7 Faculty from 3 Colleges (CoE, Health, Pharmacy)
and 6 depts (CEE, CS, EE, ME, BioMed Sci,
Physical Occupational Therapy). 5 PhD, 6 MS,
and several UG students
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Prosthetics Research Phase II

• Building the Device

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Prosthetics Research Phase III

• Testing and Validation
• This phase addresses the demonstration of the
  smart prosthetic device developed under Phases I
  and II to realistic situations involving combat
  casualties (veterans) and non-veterans
  (civilians)

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Bionic Hand -IEEE Spectrum Oct. 2007
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ISU Smart Hand
feel, look, and work like a human hand!
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HYBRID OF HARD CONTROL AND SOFT COMPUTING FOR
FIVE-FINGERED PROSTHETIC HAND

• Cheng-Hung Chen, D. Subbaram Naidu, Alba
  Perez-Gracia and Marco P. Schoen
• Measurement and Control Engineering Research
  Center
• Idaho State University, Pocatello ID 83209, USA
• 2009 IEEE Conference on Decision and Control
  (CDC)
• Shanghai, China, December 16-18, 2009

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Statement of the Problem

• Hybrid of soft control technique of adaptive
  neuro-fuzzy inference system (ANFIS) and hard
  control technique of finite-time linear quadratic
  optimal control
• A 14 degrees of freedom (DOFs), five-fingered
  smart prosthetic hand.
• In particular, ANFIS is used for inverse
  kinematics, and the optimal control is used for
  feedback linearized dynamics to minimize tracking
  error.
• The simulations of this hybrid controller, when
  compared with the proportional-integral-derivativ
  e (PID) controller showed enhanced performance.

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Five Fingered Hand Global and Local Coordinates
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Block Diagram of Hybrid Optimal Controller
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Block Diagram of Hybrid PID Controller
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Five-Finger Prosthetic Hand Reaching a
Rectangular Rod
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Five-Fingered Prosthetic Hand with a Rectangular
Rod Work Space
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Tracking Error Joint Angle for PID Optimal
Controllers for Thumb
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Tracking Error Joint Angle for PID Optimal
Controllers for Index Finger
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Tracking Error Joint Angle for PID Optimal
Controllers for Middle Finger
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Tracking Error Joint Angle for PID Optimal
Controllers for Ring Finger
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Tracking Error Joint Angle for PID Optimal
Controllers for Little Finger
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OUTCOMES

• Adaptive Neuro-Fuzzy Inference System (ANFIS) was
  used for inverse kinematics.
• The hybrid optimal controller was used to
  minimize tracking error using feedback linearized
  dynamics.
• The simulations of this hybrid controller, when
  compared with the proportional-integral-derivative
  (PID) controller showed enhanced performance.

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Hybrid Control for a Two-Fingered Hand
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Smart Prosthetic Hand Movie Simulation
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Questions and Comments?