H. Harry Asada

Bio: H. Harry Asada is an academic researcher from Massachusetts Institute of Technology. The author has contributed to research in topics: Actuator & Robot. The author has an hindex of 64, co-authored 633 publications receiving 17358 citations. Previous affiliations of H. Harry Asada include Electric Power Research Institute & École Polytechnique Fédérale de Lausanne.

Robot analysis and control

Abstract: From the Publisher: Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.

Mobile monitoring with wearable photoplethysmographic biosensors

Abstract: We address both technical and clinical issues of wearable biosensors (WBS). First, design concepts of a WBS are presented, with emphasis on the ring sensor developed by the author's group at MIT. The ring sensor is an ambulatory, telemetric, continuous health-monitoring device. This WBS combines miniaturized data acquisition features with advanced photoplethysmographic (PPG) techniques to acquire data related to the patient's cardiovascular state using a method that is far superior to existing fingertip PPG sensors. In particular, the ring sensor is capable of reliably monitoring a patient's heart rate, oxygen saturation, and heart rate variability. Technical issues, including motion artifact, interference with blood circulation, and battery power issues, are addressed, and effective engineering solutions to alleviate these problems are presented. Second, based on the ring sensor technology the clinical potentials of WBS monitoring are addressed.

Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixtures

Abstract: The basic concept of an adaptable fixturing system and its hardware implementation are described. The system employs reconfigurable fixture elements that are used to locate and hold various workparts for assembly. The fixture configuration can be changed automatically depending upon the workpart geometry and the assembly operations required. Analytic tools are developed for designing fixture layouts. Kinematic modeling, analysis, and characterization of workpart fixturing are presented. The condition for a fixture layout to locate a given workpart uniquely at a desired location is derived. Desirable fixture layout characteristics are obtained for loading and unloading the workpart successfully despite errors in workpart manipulation. The fixturing of a plastic cover of an electrical appliance with complex shape is used as an example to verify the analytic results and for demonstrating the concept.

Artifact-resistant power-efficient design of finger-ring plethysmographic sensors

Abstract: A miniaturized, telemetric, photoplethysmograph (PPG) sensor for long-term, continuous monitoring is presented. The sensor, called a "ring sensor," is attached to a finger base for monitoring beat-to-beat pulsation, and the data is sent to a host computer via a radio-frequency transmitter. Two major design issues are addressed: one is to minimize motion artifact and the other is to minimize the consumption of battery power. An efficient double ring design is developed to lower the influence of external force, acceleration, and ambient light, and to hold the sensor gently and securely on the skin, so that the circulation at the finger may not be obstructed. Total power consumption is analyzed in relation to characteristics of individual components, sampling rate, and CPU clock speed. Optimal operating conditions are obtained for minimizing the power budget. A prototype ring sensor is designed and built based on the power budget analysis and the artifact-resistive attachment method. It is verified through experiments that the ring sensor is resistant to interfering forces and acceleration acting on the ring body. Benchmarking tests with FDA-approved PPG and electrocardiogram reveal that the ring sensor is comparable to those devices in detecting beat-to-beat pulsation despite disturbances.

Utility of the photoplethysmogram in circulatory monitoring.

Abstract: The photoplethysmogram is a noninvasive circulatory signal related to the pulsatile volume of blood in tissue and is displayed by many pulse oximeters and bedside monitors, along with the computed arterial oxygen saturation. The photoplethysmogram is similar in appearance to an arterial blood pressure waveform. Because the former is noninvasive and nearly ubiquitous in hospitals whereas the latter requires invasive measurement, the extraction of circulatory information from the photoplethysmogram has been a popular subject of contemporary research. The photoplethysmogram is a function of the underlying circulation, but the relation is complicated by optical, biomechanical, and physiologic covariates that affect the appearance of the photoplethysmogram. Overall, the photoplethysmogram provides a wealth of circulatory information, but its complex etiology may be a limitation in some novel applications.

Pattern Recognition and Machine Learning

Abstract: Probability Distributions.- Linear Models for Regression.- Linear Models for Classification.- Neural Networks.- Kernel Methods.- Sparse Kernel Machines.- Graphical Models.- Mixture Models and EM.- Approximate Inference.- Sampling Methods.- Continuous Latent Variables.- Sequential Data.- Combining Models.

A Mathematical Introduction to Robotic Manipulation

Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

Robot dynamics and control

Abstract: From the Publisher: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.

Stochastic Processes in Physics and Chemistry

Abstract: N G van Kampen 1981 Amsterdam: North-Holland xiv + 419 pp price Dfl 180 This is a book which, at a lower price, could be expected to become an essential part of the library of every physical scientist concerned with problems involving fluctuations and stochastic processes, as well as those who just enjoy a beautifully written book. It provides an extensive graduate-level introduction which is clear, cautious, interesting and readable.

Robot Modeling and Control

Abstract: Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent Joint Control. 7. Dynamics. 8. Multivariable Control. 9. Force Control. 10. Geometric Nonlinear Control. 11. Computer Vision. 12. Vision-Based Control. Appendix A: Trigonometry. Appendix B: Linear Algebra. Appendix C: Dynamical Systems. Appendix D: Lyapunov Stability. Index.