Show simple item record

dc.contributor.authorShin, J
dc.contributor.authorZhong, Y
dc.contributor.authorOetomo, D
dc.contributor.authorGu, C
dc.date.accessioned2020-12-17T04:11:28Z
dc.date.available2020-12-17T04:11:28Z
dc.date.issued2018-05-01
dc.identifierpii: s18051650
dc.identifier.citationShin, J., Zhong, Y., Oetomo, D. & Gu, C. (2018). Random Weighting, Strong Tracking, and Unscented Kalman Filter for Soft Tissue Characterization. SENSORS, 18 (5), https://doi.org/10.3390/s18051650.
dc.identifier.issn1424-8220
dc.identifier.urihttp://hdl.handle.net/11343/255200
dc.description.abstractThis paper presents a new nonlinear filtering method based on the Hunt-Crossley model for online nonlinear soft tissue characterization. This method overcomes the problem of performance degradation in the unscented Kalman filter due to contact model error. It adopts the concept of Mahalanobis distance to identify contact model error, and further incorporates a scaling factor in predicted state covariance to compensate identified model error. This scaling factor is determined according to the principle of innovation orthogonality to avoid the cumbersome computation of Jacobian matrix, where the random weighting concept is adopted to improve the estimation accuracy of innovation covariance. A master-slave robotic indentation system is developed to validate the performance of the proposed method. Simulation and experimental results as well as comparison analyses demonstrate that the efficacy of the proposed method for online characterization of soft tissue parameters in the presence of contact model error.
dc.languageEnglish
dc.publisherMDPI
dc.titleRandom Weighting, Strong Tracking, and Unscented Kalman Filter for Soft Tissue Characterization
dc.typeJournal Article
dc.identifier.doi10.3390/s18051650
melbourne.affiliation.departmentMechanical Engineering
melbourne.source.titleSensors
melbourne.source.volume18
melbourne.source.issue5
dc.rights.licenseCC BY
melbourne.elementsid1332022
melbourne.contributor.authorOetomo, Denny
dc.identifier.eissn1424-8220
melbourne.accessrightsOpen Access


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record