K. M. Deliparaschos

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BACKGROUND Autonomous control of surgical robotic platforms may offer enhancements such as higher precision, intelligent manoeuvres, tissue-damage avoidance, etc. Autonomous robotic systems in surgery are largely at the experimental level. However, they have also reached clinical application. METHODS A literature review pertaining to commercial medical(More)
9 Abstract. Fuzzy logic controllers (FLCs) are finding increasing popularity in real industrial 10 applications, especially when the available system models are inexact or unavailable. This paper 11 proposes a zero-order Takagi–Sugeno parameterized digital FLC, processing only the active rules 12 (rules that give a non-null contribution for a given input(More)
This paper presents a System on Chip (SoC) for the path following task of autonomous non-holonomic mobile robots. The SoC consists of a parameterized Digital Fuzzy Logic Controller (DFLC) core and a flow control algorithm that runs under the XilinxMicroblaze soft processor core. The fuzzy controller supports a fuzzy path tracking algorithm introduced by the(More)
The paper describes a low computational power method for detecting sensor faults. A typical fault detection unit for multiple sensor fault detection with modelbased approaches, requires a bank of estimators. The estimators can be either observer or artificial intelligence based. The proposed control scheme uses an artificial intelligence approach for the(More)
A low computational power method is proposed for detecting actuators/sensors faults. Typical model-based fault detection units for multiple sensor faults, require a bank of observers (these can be either conventional observers of artificial intelligence based). The proposed control scheme uses an artificial intelligence approach for the development of the(More)
A low computational cost method is proposed for detecting actuator/sensor faults. Typical model-based fault detection (FD) units for multiple sensor faults require a bank of estimators [i.e., conventional Kalman estimators or artificial intelligence (AI)-based ones]. The proposed FD scheme uses an AI approach for developing of a low computational power FD(More)
In order to alleviate interference and contention in a wireless network, we may exploit the existence of multiple orthogonal channels or time slots, thus achieving a substantial improvement in performance. In this paper, we study a joint transmission scheduling and power control problem that arises in wireless networks. The goal is to assign channels (or(More)
Introduction A parameterized GA IP core is designed and implemented on hardware, achieving impressive time–speedups when compared to its software version. The parameterization stands for the number of population individuals and their bit resolution, the bit resolution of each individual’s fitness, the number of elite genes in each generation, the crossover(More)