Physical rehabilitation aims to improve the condition of people with any musculoskeletal disorder. Different assistive technologies have been developed to provide support to this process. In this context, human-machin...
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ISBN:
(纸本)9789897585227
Physical rehabilitation aims to improve the condition of people with any musculoskeletal disorder. Different assistive technologies have been developed to provide support to this process. In this context, human-machine interaction has progressively improved to avoid abrupt movements and vibrations, to obtain a more natural interaction, where control strategies play a key role. In this work, a control technique based on the combination of nonlinear adaptive theory with a hybrid impedance control applied to a 7-DoF upper limb assistance robotic device is proposed. Additionally, we include the stability analysis using Lyapunov functions. Then, we validate the strategies through simulations for one rehabilitation routine test. The articular and cartesian obtained results demonstrate the effectiveness of the control to follow trajectories. The control stabilizes the trajectories in 0.9 seconds even when the initial conditions start far from the desired trajectories, without producing vibrations or overshoots, which is the desired behavior in rehabilitation applications like the one we propose.
This paper deals with an iterative learning control law for multivariable systems. The desired inputs are supposed to be known and periodic. The principle of the control is to make outputs as close as possible to desi...
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This paper proposes a metaheuristic for solving the Single Machine Scheduling Problem that is implemented by a hybrid system made up of an Ant Colony System and a stochastic descent algorithm called Kangaroo. The hybr...
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ISBN:
(纸本)9789898111999
This paper proposes a metaheuristic for solving the Single Machine Scheduling Problem that is implemented by a hybrid system made up of an Ant Colony System and a stochastic descent algorithm called Kangaroo. The hybrid system is based on the collaboration between a social type multiagent system and an Iterated Solution Improvement method.
A three dimensional localisation algorithm for a swarm of underwater vehicles is presented. The proposed approach is grounded on an extended Kalman filter (EKF) scheme used to fuse some proprioceptive data such as the...
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ISBN:
(纸本)9789898565716
A three dimensional localisation algorithm for a swarm of underwater vehicles is presented. The proposed approach is grounded on an extended Kalman filter (EKF) scheme used to fuse some proprioceptive data such as the vessel's speed and some esteroceptive measurement such as the time of flight (TOF) sonar distance of the companion vessels. The results of several simulations are presented. Some considerations about the available underwater bandwidth and the communication needed by the approach are discussed.
In this paper, the problem of optimal resource allocation depending on the system evolution is faced. A preliminary analysis defines the global effort required in any subset of the system state space according to need...
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ISBN:
(纸本)9789897583049
In this paper, the problem of optimal resource allocation depending on the system evolution is faced. A preliminary analysis defines the global effort required in any subset of the system state space according to needed or desired goals. Then, in the definition of the cost function, the control action is weighted by a piecewise constant function of the state, whose different constant values are defined for each subset previously defined. The aim is to weight the control according to the distinct conditions, so getting different solutions in each state space region so to optimize the planned resources according to the global goal. A constructive algorithm to compute iteratively the final control law. is outlined. The effectiveness of the proposed approach is tested on a typical model of human immunodeficiency virus (HIV) present in literature.
In order to improve the reliability, stability and economy of power supply of a microgrid, some fundamental work on microgrid energy management method is carried out. Firstly, models of microgrid components under stea...
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ISBN:
(纸本)9789897583803
In order to improve the reliability, stability and economy of power supply of a microgrid, some fundamental work on microgrid energy management method is carried out. Firstly, models of microgrid components under steady state are established in MATLAB/SIMULINK. Secondly, an operation cost function of microgrid is proposed, together with the constraint conditions. Then, in order to solve the energy management problem, Particle Swarm Optimization (PSO) is declared by using m-files programming. The algorithm will be explained in chart flow and pseudo code. Finally, a simulation scenario is designed to show the good performance of this control method.
In the paper application of constrained predictive control to multi input, multi output system is presented. The method is based on feedback linearization and LQ control. Constraints of the system are implemented by i...
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An efficient genetic reinforcement learning algorithm for designing Fuzzy Inference System (FIS) with out any priory knowledge is proposed in this paper. Reinforcement learning using Fuzzy Q-Learning (FQL) is applied ...
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ISBN:
(纸本)9789728865825
An efficient genetic reinforcement learning algorithm for designing Fuzzy Inference System (FIS) with out any priory knowledge is proposed in this paper. Reinforcement learning using Fuzzy Q-Learning (FQL) is applied to select the consequent action values of a fuzzy inference system, in this method, the consequent value is selected from a predefined value set which is kept unchanged during learning and if the optimal solution is not present in the randomly generated set, then the performance may be poor. Also genetic algorithms (Genetic Algorithm) are performed to on line search for better consequent and premises parameters based on the learned Q-values as adaptation function. In Fuzzy-Q-Learning Genetic Algorithm (FQLGA), memberships (premises) parameters are distributed equidistant and the consequent parts of fuzzy rules are randomly generated. The algorithm is validated in simulation and experimentation on mobile robot reactive navigation behaviors.
In this research, a self-driving bicycle is constructed and the balancing control using the handlebar is studied. The controller is designed based on a model which characterizes the bicycle's lateral dynamics unde...
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ISBN:
(纸本)9789897583803
In this research, a self-driving bicycle is constructed and the balancing control using the handlebar is studied. The controller is designed based on a model which characterizes the bicycle's lateral dynamics under speed variations. As the model can be decomposed into a convex combination of four linear subsystems with time-varying coefficients, the proposed controller also consists of a convex combination of four linear, full-state feedback controllers. It is proved that if the full-state feedback controllers satisfy a set of linear matrix inequalities, the bicycle can maintain its lateral stability regardless of speed changes. Both simulations and experiments verify that the proposed controller can achieve robust balancing performance under various operating conditions.
This paper presents a viability study on autonomous car driving in highways using low cost sensors for environment perception. The solution is based on a simple behaviour-based architecture implementing the standard p...
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ISBN:
(纸本)9789728865832
This paper presents a viability study on autonomous car driving in highways using low cost sensors for environment perception. The solution is based on a simple behaviour-based architecture implementing the standard perception-to-action scheme. The perception of the surrounding environment is obtained through the construction of an occupancy grid based on the processing of data from a single video camera and a small number of ultrasound sensors. A finite automaton integrates a set of primitive behaviours defined after the typical human highway driving behaviors. The system was successfully tested in both simulations and in a laboratory environment using a mobile robot to emulate the car-like vehicle. The robot was able to navigate in an autonomous and safe manner, performing trajectories similar to the ones carried out by human drivers. The paper includes results on the perception obtained in a real highway that support the claim that low cost sensing can be effective in this problem.
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