This paper discusses the human postural control as an interdisciplinary problem. The goal of posture control is to maintain the orientation of the body upright. Two main approaches are presented to address the problem...
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This paper discusses the human postural control as an interdisciplinary problem. The goal of posture control is to maintain the orientation of the body upright. Two main approaches are presented to address the problem: neurological and engineering. Tackling the problem from the two perspectives aims to shed light on possible tools and techniques that may be borrowed from one field to the other. Accordingly, the two approaches are detailed first and then compared and linked. In the previously established neurological approach, the problem is described, main sensory systems are identified, sensor fusion is suggested, a control system architecture in most basic form is presented, and simulations and experiments on a special-purpose humanoid were performed yielding results similar to human performance. The engineering approach aims to yield a deeper understanding of the neurological perspective. In currently applied first steps regarding this approach, the humanoid parameters are identified, its dynamic model is derived, an external-disturbance estimation method is presented, a control concept for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown in simulations. The simulation results demonstrate the validity and merits of this engineering approach. Finally, a comparison is made between the two approaches pointing out both, common and different features.
This paper proposes the formula used for finding the continuous-time PIDA (Proportional-Integral-Derivative-Acceleration) controller39;s parameters based on pole placement technique. Also, provide the formulas for d...
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ISBN:
(纸本)9781538666630
This paper proposes the formula used for finding the continuous-time PIDA (Proportional-Integral-Derivative-Acceleration) controller's parameters based on pole placement technique. Also, provide the formulas for designing the discrete-time PIDA controllers for both of Tustin's method with and without frequency pre-warping. The designers can use the frequency pre-warping to get the better specification as desired. Moreover, as both of these discrete-time PIDA controllers, theirs transfer functions are proper. Then, they are easy to implement in real-time by the Observable Canonical Form of the difference equations.
The study was conducted to automate and optimize the UPLB Bean Roaster for soybean. A temperature automationcontrol system was installed using an Arduino Mega 2560 microcontroller board and other electronic component...
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Results from simulations of a Planar Robot Model, when it is placed in the same plane of the action of the gravity force are reviewed in this paper. The model includes several parameters usually discarded in current m...
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ISBN:
(纸本)9789898111319
Results from simulations of a Planar Robot Model, when it is placed in the same plane of the action of the gravity force are reviewed in this paper. The model includes several parameters usually discarded in current models, such as Driving, and Non-linear Friction, for an industrial-type robotic manipulator and its actuators. When we develop more exact representations of the dynamics of a manipulator and their actuators, chaotic behavior is detected for certain parameter values of the robotic manipulator. This chaotic behavior - without external inputs - was exactly controlled by Sliding Modes.
In this research the boundary controllability (boundary control) of three-dimensional micropolar elastic media using mathematical tool has been demonstrated. The advantage of the boundary control laws for boundary con...
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ISBN:
(纸本)9781467372343
In this research the boundary controllability (boundary control) of three-dimensional micropolar elastic media using mathematical tool has been demonstrated. The advantage of the boundary control laws for boundary controllability problems was investigated. These control laws are simple and linear. For boundary control, the boundary observability for the dual system was utilized. For ordinary differential equations (ODEs), this method is standard but for the distributed parameter systems the proofs of the problem are based on a series of inequalities and mainly the boundary observability of dual system.
Noise removal is an important image processing problem which has wide applications in different fields. The noise removal and edge preservation algorithm based on variational method and partial differential equation (...
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Estimating a robot39;s reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic struc...
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ISBN:
(纸本)9789896740009
Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic structures and cluttered environments, the problem becomes more challenging. An efficient probabilistic method for workspace estimation is developed by applying a hierarchical strategy and developing extensions to a probabilistic motion planner. Rather than treating each of the degrees of freedom (DOFs) 'equally', a hierarchical representation is used to maximize the volume of the robot's workspace that is identified as reachable for each probe of the environment. Experiments with a simulated mobile manipulator demonstrate that the hierarchical approach is an effective alternative to the use of an estimation process based on the use of a traditional probabilistic planner.
This paper presents a conceptual framework to integrate a spatial memory, derived from a 3D simulator, with a visual attention model. The proposed system is inspired from brain research that explicitly accounts for th...
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ISBN:
(纸本)9789896740009
This paper presents a conceptual framework to integrate a spatial memory, derived from a 3D simulator, with a visual attention model. The proposed system is inspired from brain research that explicitly accounts for the use of spatial memory structures in intelligent object recognition and navigation by humans in the three dimensional space. The experiments presented here extend the capability of visual attention modeling to work in 3D space by connecting it to simulated maneuvers in virtual reality. The introduction of this concept opens new directions for work to reach the goal of intelligent machine vision, especially by mobile vision systems.
作者:
Zhu HeJing ShaohongWang XiaohongJinan Univ
Room 1012Informat Bldg Jinan Shandong Peoples R China Jinan Univ
Room 1010Informat Bldg Jinan Shandong Peoples R China Jinan Univ
Room 100Informat Bldg336 Nan Xin Zhuang West Rd Jinan Shandong Peoples R China
This paper aims at the problems of low CPU utilization, poor independence between tasks and poor stability of the system, which are common in the single-threaded data acquisition system of traditional cement enterpris...
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ISBN:
(纸本)9781450365307
This paper aims at the problems of low CPU utilization, poor independence between tasks and poor stability of the system, which are common in the single-threaded data acquisition system of traditional cement enterprises, and carry out multi-threaded research and development for the data acquisition system of cement enterprises. The research and development uses the C# to complete the multi-threaded technology, uses the SQL Sever 2012 to store the data, and realizes the collection of each data in the cement enterprise under the Visual Studio 2012 development environment. This paper first introduces the research of multi-threaded technology, and then introduces the design of this multi-threaded data acquisition system software and the design of specific modules. At the end of this paper, the design of data storage table structure and the realization of its function are introduced.
A transmission line remote monitoring system combined with wireless sensor technology was designed, through the single-chip computer control to complete the system data from the collection to send all aspects of data ...
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ISBN:
(纸本)9781510873377
A transmission line remote monitoring system combined with wireless sensor technology was designed, through the single-chip computer control to complete the system data from the collection to send all aspects of data processing work. The icing monitoring system uses capacitive thickness detection sensors to collect data from multiple capacitance values and send the collected data to the control center processor through the serial port. The processor then processes the data and stores it on the SD card. in. Through the single-chip computer control to complete the system data from collection to send all aspects of data processing. The processor finishes the data transmission and connects with the GPRS communication module through the RS232 serial port. The automatic detection of ice thickness using the difference in resistance characteristics of air and ice, it is a new type of object surface ice coating thickness detection method. The utility model can be applied to real-time continuous automatic monitoring engineering application fields of high-pressure transmission lines and fixed towers, buildings or various equipment surfaces, suspension brackets, forest branches, and the like.
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