Vision-based control of a soft robot for maskless head and neck cancer radiotherapy

Olalekan P. Ogunmolu, Xuejun Gu, Steve Jiang, Nicholas R. Gans

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This work presents an on-going investigation of the control of a pneumatic soft-robot actuator addressing accurate patient positioning systems in maskless head and neck cancer radiotherapy. We employ two RGB-D sensors in a sensor fusion scheme to better estimate a patient's head pitch motion. A system identification prediction error model is used to obtain a linear time invariant state space model. We then use the model to design a linear quadratic Gaussian feedback controller to manipulate the patient head position based on sensed head pitch motion. Experiments demonstrate the success of our approach.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PublisherIEEE Computer Society
Pages180-187
Number of pages8
Volume2016-November
ISBN (Electronic)9781509024094
DOIs
StatePublished - Nov 14 2016
Event2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 - Fort Worth, United States
Duration: Aug 21 2016Aug 24 2016

Other

Other2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
CountryUnited States
CityFort Worth
Period8/21/168/24/16

Fingerprint

Radiotherapy
Robots
Sensors
Pneumatics
Identification (control systems)
Fusion reactions
Actuators
Feedback
Controllers
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ogunmolu, O. P., Gu, X., Jiang, S., & Gans, N. R. (2016). Vision-based control of a soft robot for maskless head and neck cancer radiotherapy. In 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 (Vol. 2016-November, pp. 180-187). [7743378] IEEE Computer Society. https://doi.org/10.1109/COASE.2016.7743378

Vision-based control of a soft robot for maskless head and neck cancer radiotherapy. / Ogunmolu, Olalekan P.; Gu, Xuejun; Jiang, Steve; Gans, Nicholas R.

2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. Vol. 2016-November IEEE Computer Society, 2016. p. 180-187 7743378.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ogunmolu, OP, Gu, X, Jiang, S & Gans, NR 2016, Vision-based control of a soft robot for maskless head and neck cancer radiotherapy. in 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. vol. 2016-November, 7743378, IEEE Computer Society, pp. 180-187, 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016, Fort Worth, United States, 8/21/16. https://doi.org/10.1109/COASE.2016.7743378
Ogunmolu OP, Gu X, Jiang S, Gans NR. Vision-based control of a soft robot for maskless head and neck cancer radiotherapy. In 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. Vol. 2016-November. IEEE Computer Society. 2016. p. 180-187. 7743378 https://doi.org/10.1109/COASE.2016.7743378
Ogunmolu, Olalekan P. ; Gu, Xuejun ; Jiang, Steve ; Gans, Nicholas R. / Vision-based control of a soft robot for maskless head and neck cancer radiotherapy. 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. Vol. 2016-November IEEE Computer Society, 2016. pp. 180-187
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