# Automated and Controlled System for Analysis of Residual Limbs Thermograms of Transtibial Amputees
## 1 Introduction
Other devices with similar mechanism are used to generate 3D models using photogrammetry, a method used in various industries such as aeronautics, geology, meteorology, entertainment, and many others, such as the medical field 3D surface imaging and data acquisition [15; 16]. Devices used in photogrammetry consist of a camera rotating around an object to generate a collection of 2D images from an object later processed by software to generate the 3D model. The proposed system for thermography is not limited to it; for example, with a minor modification in the algorithm, the system can be used in photogrammetry. The main difference is that the current thermography protocol needs to capture an image every 90 degrees with only four thermal images. In addition, the application requires an isolated workspace to avoid thermal noise in the thermograms. The main **contributions** of the proposed work are:  
* The design of a portable structure that allows the analysis of residual human limb of transtibial amputee subjects with an adequate workspace by thermal imaging technology. * A graphic user interface (GUI) for the automated acquisition of thermal images and the selection of the operation mode of the device. * The control algorithm design considering partial state constraints. The design uses a barrier Lyapunov function to ensure the tracking trajectory of the mobile camera platform for each operation mode. As some model elements are considered uncertain,the estimation of the parameters is included in the analysis. Moreover, the use of Nussbaum functions helps with the uncertain control gains. * The electronic instrumentation, including sensors, power devices, microcontrollers, actuators, and all the electronic components selected for the system automation. * A virtual prototype based on the CAD model and the model for the actuator to test the functionality of the complete proposed design with the proposed control algorithm. Based on the contributions mentioned above, the novelties are the design of the proposed system because, to the author's knowledge, there are no automated devices for the same application, including the anthropometric measures of transtibial amputees and the user interface designed specifically for thermal analysis. On the other hand, the proposed controller does not require the exact parameters of the model and can be used in multiple applications where restrictions in the trajectory tracking error are required. The outline of this manuscript is presented as follows: Section 2 gives the problem formulation encompassed for the design of the automated cabin; in this section are described the system requirements. Section 3 contains a detailed description of the methodology, including the computed assisted design, the assembly, the instrumentation, and the user interface to regulate the device. Furthermore, the control algorithm to ensure the tracking of a predefined trajectory for the camera mobile platform and the virtual prototype used for numerical simulations to test the tracking and functionality are also explained. Section 4 shows the results of each stage proposed in the methodology. Finally, Section 5 gives some final remarks and perspectives for future research with the proposed design.