In this work, a hybrid approach for the multimodal registration of carotid magnetic resonance and ultrasound images is described. Multimodal registration is vital for integrating or fusing complementary information from different sources into a composite form. It will provide synergistic information about the objects under examination and thus, help in the assessment of carotid artery disease. ...

Basing on a constraint Jacobian induced orthogonal decomposition of the task space and by requiring the force controller to be orthogonal to the constraint manifold, the dynamics of the constrained robots under hybrid control is decomposed into a set of two equations. One describes the motion of robots moving on the constraint manifold, while the other relates the constraint force with the hybr...

For tasks requiring robot-environment interaction, stiffness control is important to ensure both stable contact motion and collision safety. The variable stiffness approach has been used to address this problem. We propose a hybrid dual actuator unit (HDAU) which is a novel variable stiffness unit design. The HDAU is composed of a hybrid control module based on an adjustable moment arm mechanis...

In this paper, hybrid impedancehime-delay control is used for a robot to successfully achieve contact tasks without changing a control algorithm or controller gains throughout all three modes: free space, contact transition and constrained motion. In order to absorb impact forces and stabilize the system upon collision with a stiff environment, a nonlinear bang-bang impact controller is develop...

A hybrid ray-mode formulation is presented as an attractive alternative to the generalized ray formulation or normal mode formulation for the construction of synthetic seismograms. By the hybrid method, the motion is expressed as a combination of ray fields, modal fields, and a remainder. The number of retained ray fields can be chosen at will, and the required number of modes is thereby determ...

To improve product quality and productivity, one of the most critical factors for most manufacturers lies in quickly identifying root causes in machining process during ramp-up and production time. Though multivariate statistical process monitoring techniques using control charts have been successfully used to detect anomalies in machining processes, they cannot provide guidelines to identify a...