Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems

An automated laparoscopic instrument capable of non-invasivemeasurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is introduced in this chapter. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of thispaper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this chapter. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.

New generalized Halanay inequalities with applications to stability of nonlinear non-autonomous time-delay systems

In this paper, a general class of Halanay-type non-autonomous functional differential inequalities is considered. A new concept of stability, namely global generalized exponential stability, is proposed. We first prove some new generalizations of the Halanay inequality. We then derive explicit criteria for global generalized exponential stability of nonlinear non-autonomous time-delay systems based on our new generalized Halanay inequalities. Numerical examples and simulations are provided to illustrate the effectiveness of the obtained results.

A practical functional observer scheme for interconnected time-delay systems

This paper proposes a partially distributed functional observer scheme for a class of interconnected linear systems with very strong non-instantaneous subsystems interaction and with time delays in the local states and in the transmission of output information from the remote subsystems. A set of easily verifiable existence conditions is established and upon its satisfaction, simple distributed observers are designed using a straightforward design procedure. Simulation results of a numerical example are given to substantiate the feasibility of the approach.

Controlador preditivo não linear aplicado ao controle de golfadas em processos de produção de petróleo

Slugging is a well-known slugging phenomenon in multiphase flow, which may cause problems such as vibration in pipeline and high liquid level in the separator. It can be classified according to the place of its occurrence. The most severe, known as slugging in the riser, occurs in the vertical pipe which feeds the platform. Also known as severe slugging, it is capable of causing severe pressure fluctuations in the flow of the process, excessive vibration, flooding in separator tanks, limited production, nonscheduled stop of production, among other negative aspects that motivated the production of this work . A feasible solution to deal with this problem would be to design an effective method for the removal or reduction of the system, a controller. According to the literature, a conventional PID controller did not produce good results due to the high degree of nonlinearity of the process, fueling the development of advanced control techniques. Among these, the model predictive controller (MPC), where the control action results from the solution of an optimization problem, it is robust, can incorporate physical and /or security constraints. The objective of this work is to apply a non-conventional non-linear model predictive control technique to severe slugging, where the amount of liquid mass in the riser is controlled by the production valve and, indirectly, the oscillation of flow and pressure is suppressed, while looking for environmental and economic benefits. The proposed strategy is based on the use of the model linear approximations and repeatedly solving of a quadratic optimization problem, providing solutions that improve at each iteration. In the event where the convergence of this algorithm is satisfied, the predicted values of the process variables are the same as to those obtained by the original nonlinear model, ensuring that the constraints are satisfied for them along the prediction horizon. A mathematical model recently published in the literature, capable of representing characteristics of severe slugging in a real oil well, is used both for simulation and for the project of the proposed controller, whose performance is compared to a linear MPC

Application of neural networks to identify features of dynamical grounding systems

The accurate identification of features of dynamical grounding systems are extremely important to define the operational safety and proper functioning of electric power systems. Several experimental tests and theoretical investigations have been carried out to obtain characteristics and parameters associated with the technique of grounding. The grounding system involves a lot of non-linear parameters. This paper describes a novel approach for mapping characteristics of dynamical grounding systems using artificial neural networks. The network acts as identifier of structural features of the grounding processes. So that output parameters can be estimated and generalized from an input parameter set. The results obtained by the network are compared with other approaches also used to model grounding systems.

Comparative degradation of ZnO- and SnO(2)-based polycrystalline non-ohmic devices by current pulse stress

The degradation behaviour of SnO(2)-based varistors (SCNCr) due to current pulses (8/20 mu s) is reported here for the first time in comparison with the ZnO-based commercial varistors (ZnO). Puncturing and/or cracking failures were observed in ZnO-based varistors possessing inferior thermo-mechanical properties in comparison with that found in a SCNCr system free of failures. Both systems presented electric degradation related to the increase in the leakage current and decrease in the electric breakdown field, non-linear coefficient and average value of the potential barrier height. However, it was found that a more severe degradation occurred in the ZnO-based varistors concerning their non-ohmic behaviour, while in the SCNCr system, a strong non-ohmic behaviour remained after the degradation. These results indicate that the degradation in the metal oxide varistors is controlled by a defect diffusion process whose rate depends on the mobility, the concentration of meta-stable defects and the amount of electrically active interfaces. The improved behaviour of the SCNCr system is then inferred to be associated with the higher amount of electrically active interfaces (85%) and to a higher energy necessary to activate the diffusion of the specific defects.

Optimised placement of control and protective devices in electric distribution systems through reactive tabu search algorithm

Optimised placement of control and protective devices in distribution networks allows for a better operation and improvement of the reliability indices of the system. Control devices (used to reconfigure the feeders) are placed in distribution networks to obtain an optimal operation strategy to facilitate power supply restoration in the case of a contingency. Protective devices (used to isolate faults) are placed in distribution systems to improve the reliability and continuity of the power supply, significantly reducing the impacts that a fault can have in terms of customer outages, and the time needed for fault location and system restoration. This paper presents a novel technique to optimally place both control and protective devices in the same optimisation process on radial distribution feeders. The problem is modelled through mixed integer non-linear programming (MINLP) with real and binary variables. The reactive tabu search algorithm (RTS) is proposed to solve this problem. Results and optimised strategies for placing control and protective devices considering a practical feeder are presented. (c) 2007 Elsevier B.V. All rights reserved.

Efficient heuristic algorithm used for optimal capacitor placement in distribution systems

An efficient heuristic algorithm is presented in this work in order to solve the optimal capacitor placement problem in radial distribution systems. The proposal uses the solution from the mathematical model after relaxing the integrality of the discrete variables as a strategy to identify the most attractive bus to add capacitors to each step of the heuristic algorithm. The relaxed mathematical model is a nonlinear programming problem and is solved using a specialized interior point method, The algorithm still incorporates an additional strategy of local search that enables the finding of a group of quality solutions after small alterations in the optimization strategy. Proposed solution methodology has been implemented and tested in known electric systems getting a satisfactory outcome compared with metaheuristic methods.The tests carried out in electric systems known in specialized literature reveal the satisfactory outcome of the proposed algorithm compared with metaheuristic methods. (C) 2009 Elsevier Ltd. All rights reserved.

Strategic capacitor placement in distribution systems by minimisation of harmonics amplification because of resonance

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Primary power distribution systems planning taking into account reliability, operation and expansion costs

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Synchronization and Non-Smooth Dynamical Systems

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Generalização de um modelo linear de impedância eletroquímica

Em geral, a função de um modelo de impedância para processos de eletrodo simples é deduzida de um modelo elétrico equivalente, denominado circuito de Randles. Neste trabalho estudou-se a generalização dessa função, mediante a introdução de um parâmetro não-elétrico, relacionado com a flexibilidade do ângulo de fase e da magnitude. A função foi ajustada às medidas experimentais de impedância obtidas de um sistema constituído de uma liga Ti-10%Al (m/m) em solução de cloreto de sódio 0,9%, variando-se a amplitude de perturbação. Verificou-se que a função generalizada foi adequada para descrever a impedância do sistema analisado, reduzindo as distorções entre a curva experimental e a curva teórica. Além disso, os melhores resultados foram obtidos para sinais de perturbação do sistema com amplitude igual a 10 mV.

Electrical and micro structural properties of (Zn, Nb, Fe)-doped SnO2 varistor systems

The electrical and microstructural properties of SnO2-based varistors with the addition of 0.025 and 0.050 mol% of Fe2O3 have been characterised. Electric field (E) versus current density (J) curves showed that the effect of Fe2O3 addition is to increase both the non-linear coefficient and the breakdown voltage. Variations in the potential barrier height were inferred from impedance spectroscopy (IS) analysis. Through transmission electron microscopy (TEM), the presence of precipitates of secondary phases was confirmed. Samples with precipitates displayed poor electrical properties. (c) 2004 Elsevier Ltd and Techna Group S.r.l. All rights reserved.

Efficient linear programming algorithm for the transmission network expansion planning problem

The transmission network planning problem is a non-linear integer mixed programming problem (NLIMP). Most of the algorithms used to solve this problem use a linear programming subroutine (LP) to solve LP problems resulting from planning algorithms. Sometimes the resolution of these LPs represents a major computational effort. The particularity of these LPs in the optimal solution is that only some inequality constraints are binding. This task transforms the LP into an equivalent problem with only one equality constraint (the power flow equation) and many inequality constraints, and uses a dual simplex algorithm and a relaxation strategy to solve the LPs. The optimisation process is started with only one equality constraint and, in each step, the most unfeasible constraint is added. The logic used is similar to a proposal for electric systems operation planning. The results show a higher performance of the algorithm when compared to primal simplex methods.

A new three-phase transformer modeling for three-phase harmonic analysis in distribution systems

This work presents a new three-phase transformer modeling suitable for simulations in Pspice environment, which until now represents the electrical characteristics of a real transformer. It is proposed the model comparison to a three-phase transformer modeling present in EMTP - ATP program, which includes the electrical and magnetic characteristics. In addition, a set including non-linear loads and a real three-phase transformer was prepared in order to compare and validate the results of this new proposed model. The three-phase Pspice transformer modeling, different from the conventional one using inductance coupling, is remarkable for its simplicity and ease in simulation process, since it uses available voltage and current sources present in Pspice program, enabling simulations of three-phase network system including the most common configuration, three wires in the primary side and four wires in the secondary side (three-phases and neutral). Finally, the proposed modeling becomes a powerful tool for three-phase network simulations due to its simplicity and accuracy, able to simulate and analyze harmonic flow in three-phase systems under balanced and unbalanced conditions.