Autonomous Robotic Ultrasound Vascular Imaging System With Decoupled Control Strategy for External-Vision-Free Environments.
Guochen NingHanying LiangXinran ZhangHongen LiaoPublished in: IEEE Trans. Biomed. Eng. (2023)
Keyphrases
- control strategy
- autonomous robotic
- control algorithm
- semi autonomous
- control system
- operating conditions
- mathematical model
- control method
- control strategies
- optimal control
- fuzzy controller
- control scheme
- speed control
- ultrasound images
- fully autonomous
- fuzzy neural network
- force control
- sliding mode control
- pi controller
- computer vision
- control law
- fuzzy logic control
- vision system
- real time
- matlab simulink
- predictive control
- sliding mode
- blood vessels
- dynamic environments
- transient response
- robotic systems
- variable structure
- closed loop