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Biological and engineering approaches to human postural control

INTEGRATED COMPUTER-AIDED ENGINEERING 2007年第1期14卷 15-31页

作者： Tahboub, Karim Mergner, Thomas Palestine Polytech Univ Coll Engn & Technol Hebron Israel Univ Freiburg Neuroctr Neurol Univ Clin D-79106 Freiburg Germany

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.

关键词： POSTURE BIOMECHANICS SENSE organs BIOLOGICAL control systems ROBOTS robotics

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Discrete-Time PIDA controller Designed by Tustin's Method with and without Frequency Pre-warping 3

Discrete-Time PIDA Controller Designed by Tustin's Method wi...

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3rd international conference on control and robotics Engineering (ICCRE)

作者： Ukakimaparn, Prapart Khwunthong, Mathee Trisuwannawat, Thanit Pannil, Pittaya King Mongkuts Inst Technol Ladkrabang Fac Engn Dept Instrumentat & Control Engn Bangkok Thailand

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.

关键词： component PIDA controller pole placement Tustin's method with and without frequency pre-warping

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Temperature automation and optimization of the UPLB bean roaster for soybean (Glycine Max L. Merr) 3

Temperature automation and optimization of the UPLB bean roa...

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3rd international conference on control and robotics Engineering, ICCRE 2018

作者： Ancheta, Romeo G. Paras, Fernando O. Suministrado, Delfin C. Fajardo, Arthur L. Yaptenco, Kevin F. Agricultural Engineering Department Pangasinan State University Santa Maria Campus Pangasinan Philippines Institute of Agricultural Engineering CEAT University of the Philippines Los Baños College Laguna Philippines ABProD Institute of Agricultural Engineering CEAT University of the Philippines Los Baños College Laguna Philippines

ISBN: (纸本)9781538666630

The study was conducted to automate and optimize the UPLB Bean Roaster for soybean. A temperature automation control system was installed using an Arduino Mega 2560 microcontroller board and other electronic components. An algorithm that automatically controls the gas valves to control roasting air temperature, prevent overheating and over-roasting was programmed. An emergency switch to close the gas valves, and a switch option for the manual operation was also included. Response Surface Methodology using Box and Behnken Design was used to optimize the roasting conditions for the automated UPLB Bean Roaster for soybeans. Operational parameters considered were roasting air temperature (105, 115, 125°C), roasting duration (25, 30, 35 minutes), load (30, 35, 40 kg). The response variables were urease activity (pH), LPG consumption (kg) and moisture content (%). The ideal region of operation was roasting air temperature of 115 to 122°C, roasted for 30-35 minutes, with a load of 30 kg. The optimum operational setting for roasting soybeans using the prototype was 115.07C for 35 minutes with a load of 30 kg. The Automated UPLB Bean Roaster was optimized for roasting soybeans. However, the designed automatic controls system would be beneficial for optimizing the machine's performance for roasting other beans. © 2018 IEEE.

关键词： automation

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Detection and control of Non-linear behavior by Sliding Modes control in a 3 d.o.f. robot

Detection and control of Non-linear behavior by Sliding Mode...

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5th international conference on informatics in control, automation and robotics

作者： Urrea, Claudio Jamett, Marcela Univ Santiago Chile Dept Ingn Elect Santiago Chile

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.

关键词： Planar Robot Model chaotic behaviour Sliding Modes

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Boundary controllability of a Micropolar Elastic Body 3

Boundary Controllability of a Micropolar Elastic Body

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3rd RSI/ISM international conference on robotics and Mechatronics (ICROM)

作者： Najafi, A. Eghtesad, M. Vatankhah, R. Daneshmand, F. KN Toosi Univ Tech Fac Mech Engn Tehran Iran Shiraz Univ Dept Mech Engn Shiraz Iran McGill Univ Fac Agr & Environm Sci Montreal PQ H3A 2T5 Canada

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.

关键词： Observability

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Noise removal based on fourth order partial differential equation

Noise removal based on fourth order partial differential equ...

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3rd international conference on Innovative Computing Information and control, ICICIC'08

作者： Zhifeng, Wang Yandong, Tang Yingkui, Du State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Graduate School Chinese Academy of Sciences China

ISBN: (纸本)9780769531618

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 (PDE) for processing Magnetic Resonance images is proposed. The proposed method can avoid the blocky effects and false edges, compared with other second-order PDE method;moreover, it is realized easily. Experimental results illustrate the effectiveness of the model in the Magnetic Resonance image noise removal. © 2008 IEEE.

关键词： Partial differential equations

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HIERARCHICAL PROBABILISTIC ESTIMATION OF ROBOT REACHABLE WORKSPACE

HIERARCHICAL PROBABILISTIC ESTIMATION OF ROBOT REACHABLE WOR...

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6th international conference on informatics in control, automation and robotics

作者： Yang, Jing Dymond, Patrick Jenkin, Michael York Univ Dept Comp Sci & Engn Toronto ON M3J 2R7 Canada

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.

关键词： Reachable workspace Probabilistic motion planning Mobile robotics

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VISUAL ATTENTION IN 3D SPACE Using a Virtual Reality Framework as Spatial Memory

VISUAL ATTENTION IN 3D SPACE <i>Using a Virtual Reality Fram...

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6th international conference on informatics in control, automation and robotics

作者： Aziz, M. Zaheer Mertsching, Baerbel Univ Paderborn GET Lab D-33098 Paderborn Germany

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.

关键词： Visual attention Virtual reality simulator 3D space Spatial memory Robotic vision

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Research and Development of Data Acquisition System for Cement Enterprises Based on Multi-threading Technology 18

Research and Development of Data Acquisition System for Ceme...

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3rd international conference on robotics, control and automation (ICRCA) / 3rd international conference on robotics and Machine Vision (ICRMV)

作者： Zhu He Jing Shaohong Wang Xiaohong Jinan 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

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.

关键词： Cement enterprise Data collection Multi-threading research and development

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The Research on the Ice Thickness Detection System Based On Capacitance Sensor 3

The Research on the Ice Thickness Detection System Based On ...

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3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Du Xiaoting Anhui Sanlian Coll Econ & Technol Dev Zone 47 Hean Rd Hefei Anhui Peoples R China

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.

关键词： Electric lines

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