Analytical kinematics framework for the control of a parallel manipulator : A generalized kinematics framework for parallel manipulators
- Authors: Saleem, Muhammad Saad , Sultan, Ibrahim , Khan, Asim
- Date: 2009
- Type: Text , Conference paper
- Relation: Paper presented at ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Milan : 2nd-5th July 2009 Vol. 2 RA, p. 280-286
- Full Text: false
- Description: Forward and inverse kinematics operations are important in the operational space control of mechanical manipulators. In case of a parallel manipulator, the forward kinematics function relates the joint variables of the active joints to the position of end-effector. This paper finds analytically forward kinematics function by exploiting the position-closure property. Using the proposed function along with the analytical Jacobian presented in the literature, the forward and the inverse kinematics blocks are formulated for a prospective operational space control scheme. Finally, an example is presented for a 3-RPR robot.
Automatic sleep stage identification: difficulties and possible solutions
- Authors: Sukhorukova, Nadezda , Stranieri, Andrew , Ofoghi, Bahadorreza , Vamplew, Peter , Saleem, Muhammad Saad , Ma, Liping , Ugon, Adrien , Ugon, Julien , Muecke, Nial , Amiel, Hélène , Philippe, Carole , Bani-Mustafa, Ahmed , Huda, Shamsul , Bertoli, Marcello , Levy, P , Ganascia, J.G
- Date: 2010
- Type: Text , Conference proceedings
- Full Text:
- Description: The diagnosis of many sleep disorders is a labour intensive task that involves the specialised interpretation of numerous signals including brain wave, breath and heart rate captured in overnight polysomnogram sessions. The automation of diagnoses is challenging for data mining algorithms because the data sets are extremely large and noisy, the signals are complex and specialist's analyses vary. This work reports on the adaptation of approaches from four fields; neural networks, mathematical optimisation, financial forecasting and frequency domain analysis to the problem of automatically determing a patient's stage of sleep. Results, though preliminary, are promising and indicate that combined approaches may prove more fruitful than the reliance on a approach.
Coding OSICS sports injury diagnoses in epidemiological studies : Does the background of the coder matter?
- Authors: Finch, Caroline , Orchard, John , Twomey, Dara , Saleem, Muhammad Saad , Ekegren, Christina , Lloyd, David , Elliott, Bruce
- Date: 2012
- Type: Text , Journal article
- Relation: British Journal of Sports Medicine, Vol.48, p.552-556.
- Relation: http://purl.org/au-research/grants/nhmrc/565900
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- Reviewed:
- Description: Objective: To compare Orchard Sports Injury Classification System (OSICS-10) sports medicine diagnoses assigned by a clinical and non-clinical coder. Design: Assessment of intercoder agreement. Setting: Community Australian football. Participants: 1082 standardised injury surveillance records. Main outcome measurements: Direct comparison of the four-character hierarchical OSICS-10 codes assigned by two independent coders (a sports physician and an epidemiologist). Adjudication by a third coder (biomechanist). Results: The coders agreed on the first character 95% of the time and on the first two characters 86% of the time. They assigned the same four-digit OSICS-10 code for only 46% of the 1082 injuries. The majority of disagreements occurred for the third character; 85% were because one coder assigned a non-specific 'X' code. The sports physician code was deemed correct in 53% of cases and the epidemiologist in 44%. Reasons for disagreement included the physician not using all of the collected information and the epidemiologist lacking specific anatomical knowledge. Conclusions: Sports injury research requires accurate identification and classification of specific injuries and this study found an overall high level of agreement in coding according to OSICS-10. The fact that the majority of the disagreements occurred for the third OSICS character highlights the fact that increasing complexity and diagnostic specificity in injury coding can result in a loss of reliability and demands a high level of anatomical knowledge. Injury report form details need to reflect this level of complexity and data management teams need to include a broad range of expertise. Copyright Article author (or their employer) 2012.
Feasibility of subspace identification for bipeds an innovative approach for kino-dynamic systems
- Authors: Saleem, Muhammad Saad , Sultan, Ibrahim
- Date: 2007
- Type: Text , Conference paper
- Relation: Paper presented at 4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, Angers, France : 9th-12th May 2007 Vol. ICSO, p. 133-140
- Full Text: false
- Description: Different approaches have been briefly overviewed which have been used in stability of biped robots. Current implementations either mimic human behavior or use heuristic control. This paper suggests the use of modelfree crisp control in operational space configuration for better control and understanding of kino-dynamic systems and biped robots.
- Description: 2003004805
Model free operational space control of mechanical manipulators
- Authors: Saleem, Muhammad Saad
- Date: 2009
- Type: Text , Thesis , PhD
- Full Text:
- Description: Doctor of Philosophy
Model-free subspace based dynamic control of mechanical manipulators
- Authors: Saleem, Muhammad Saad , Sultan, Ibrahim
- Date: 2008
- Type: Text , Book chapter
- Relation: Robotics Automation and Control Chapter p. 457-472
- Full Text:
- Description: 2003006359