Yvan Michellod

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization

The goal of the present work was assess the feasibility of using a pseudo-inverse and null-space optimization approach in the modeling of the shoulder biomechanics. The method was applied to a simplified musculoskeletal shoulder model. The mechanical system consisted in the arm, and the external forces were the arm weight, 6 scapulo-humeral muscles and the reaction at the glenohumeral joint, which was considered as a spherical joint. The muscle wrapping was considered around the humeral head assumed spherical. The dynamical equations were solved in a Lagrangian approach. The mathematical redundancy of the mechanical system was solved in two steps: a pseudo-inverse optimization to minimize the square of the muscle stress and a null-space optimization to restrict the muscle force to physiological limits. Several movements were simulated. The mathematical and numerical aspects of the constrained redundancy problem were efficiently solved by the proposed method. The prediction of muscle moment arms was consistent with cadaveric measurements and the joint reaction force was consistent with in vivo measurements. This preliminary work demonstrated that the developed algorithm has a great potential for more complex musculoskeletal modeling of the shoulder joint. In particular it could be further applied to a non-spherical joint model, allowing for the natural translation of the humeral head in the glenoid fossa.

Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology

A double-stage feedback control structure for a double-stage mechanical system, with a single optical metrology is developed to reach nanometer accuracy at high bandwidth over large displacements. A piezoelectric stack actuator is used for fine positioning, while a permanent magnet (PM) stepper motor handles the coarse positioning. Two different control approaches are compared for driving the PM stepper motor, while a classical PID controller is designed to drive the piezoelectric actuator. Since only a single measurement device is used, the references for both control loops (fine and coarse) must be appropriately obtained. An adequate control structure including a partial observer is designed so as to take into account the influence of the fine actuator on the position estimation of the coarse actuator. The complete control mechanism and strategy ensure the tracking of the real reference with sufficient accuracy and bandwidth

Real-time compensation of hysteresis in a piezoelectric-stack actuator tracking a stochastic reference

This paper presents a convenient way to invert the classical Preisach model to compensate the hysteresis of a piezoelectric stack actuator in real-time. The advantage of the proposed method lies the possibility to track a stochastic signal and compensate the hysteresis in real-time. Experimental results show a reduction of the RMS tracking error by 67% to 90% by using the compensation algorithm designed.

The ESPRI project: astrometric exoplanet search with PRIMA I. Instrument description and performance of first light observations

Context. The ESPRI project relies on the astrometric capabilities offered by the PRIMA facility of the Very Large Telescope Interferometer for discovering and studying planetary systems. Our survey consists of obtaining high-precision astrometry for a large sample of stars over several years to detect their barycentric motions due to orbiting planets. We present the operations principle, the instruments implementation, and the results of a first series of test observations. Aims. We give a comprehensive overview of the instrument infrastructure and present the observation strategy for dual-field relative astrometry in the infrared K-band. We describe the differential delay lines, a key component of the PRIMA facility that was delivered by the ESPRI consortium, and discuss their performance within the facility. This paper serves as reference for future ESPRI publications and for the users of the PRIMA facility. Methods. Observations of bright visual binaries were used to test the observation procedures and to establish the instruments astrometric precision and accuracy. The data reduction strategy for the astrometry and the necessary corrections to the raw data are presented. Adaptive optics observations with NACO were used as an independent verification of PRIMA astrometric observations. Results. The PRIMA facility was used to carry out tests of astrometric observations. The astrometric performance in terms of precision is limited by the atmospheric turbulence at a level close to the theoretical expectations and a precision of 30 mu as was achieved. In contrast, the astrometric accuracy is insufficient for the goals of the ESPRI project and is currently limited by systematic errors that originate in the part of the interferometer beamtrain that is not monitored by the internal metrology system. Conclusions. Our observations led to defining corrective actions required to make the facility ready for carrying out the ESPRI search for extrasolar planets.

Dynamical biomechanical model of the shoulder: Null space based optimization of the overactuated system.

A new dynamical model of the shoulder has been developed. It consisted of eleven muscles. The glenohumeral joint is modeled as a spherical joint, allowing for three rotations. Muscle wrapping around a spherical humeral head is calculated analytically. The problem of indeterminated muscle forces is solved in two steps. First, an intermediate solution is calculated using the pseudo-inverse of the moment arms matrix providing the mapping between the muscle forces (actuators) and the generalized forces (system). In a second step the intermediate solution is modified using the column vectors of the moment arms matrixs null space in order to verify the constraints on the muscle forces. This approach of modifying the muscle forces assures that the predicted movement is followed precisely. The joint reaction force calculated by the model for abduction is comparable to results found in the litterature.

On Achieving Periodic Joint-Motion for Redundant Robots

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working surface, is realized through the computation of joint velocities in the configuration space. Depending on the manner in which the joint velocity is computed from the end-effector velocity, the resulting joint motion can become unpredictable and of a chaotical nature, even though the end-effector movement is periodic and predictable. The paper proposes an improvement over classical pseudo-inverse computation of the joint motion by first suitably selecting two involutive vector fields (used as a basis for parameterization) in the tangent bundle of the output manifold. It also presents a sufficient condition for the periodicity of all the joint configuration based on the involutivity of two vector fields in the tangent bundle of the joint space. The results are illustrated on a five-link rotary redundant robot (5R robot).

Dedicated controller design for a dual-stage opto-mechatronic system

To improve the resolution of the very large telescope interferometer (VLTI) a two-stage mechanical system, a so called differential delay line (DDL), is developed jointly by the EPFL and the Observatory of Geneva. The system is designed to reach nanometer accuracy at high bandwidth over large displacements. The coarse stage features a permanent magnet (PM) stepper motor driving a lead screw connected to a double-parallelogram flexure with notch-hinges (blade) guiding system, and the fine stage features a stacked piezoelectric device, combine to one single measurable output. This paper compares different control approaches for the DDL with their respective advantages and disadvantages. The developed control methods are based on modern linear and nonlinear control theory. The performance of the control schemes is illustrated via simulation and measurement on the available prototype. The new developed methods are compared to the currently implemented decoupled SISO design which features a direct-coil controller for the coarse stage and a simple PID-controller for the fine one.

HANDS-ON INTRODUCTION TO AUTOMATIC CONTROL WITH FOCUS ON TELEOPERATION AND REAL-TIME INTERACTION

Introducing automatic control has always been challenging. As a technology, control is generally hidden by the enclosing application. As a methodology, control is often seen as a theoretical subject. Therefore, to grasp the interest of both practitioners enrolled in continuing education programs and students enrolled in introductory control courses, novel applications should be exploited. This paper presents an approach to demonstrate basic control concepts using a micropositioning experiment. It also shows that the importance of real-time interaction and teleoperation features in today control solutions can be implicitly underlined by providing a remote access to the experiment.