This paper proposes a scalable DAQ system using a 12-bit DAC, Op-Amp, and I/O expander connected to an ESP32 via Ethernet. Prioritizing its precision and amplified voltage control, component selection considering DAC ...
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Fetal brain anomaly prediction is important for fetal medicine, as well as for prenatal health care. Fetal anomalies are classified into two types, anomalies in the fetus' body parts including heart, lung, and kid...
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To detect early indications and control heart disease, appropriate monitoring methods are needed. This research introduces clever hybrid inference systems to improve heart disease monitoring. These technologies make p...
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This paper focuses on the tracking control design of the lower limb exoskeleton rehabilitation robot. A Takagi-Sugeno (T-S) fuzzy model of the lower limb exoskeleton rehabilitation robot is constructed. Then, a T-S fu...
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ISBN:
(纸本)9798350364200;9798350364194
This paper focuses on the tracking control design of the lower limb exoskeleton rehabilitation robot. A Takagi-Sugeno (T-S) fuzzy model of the lower limb exoskeleton rehabilitation robot is constructed. Then, a T-S fuzzy-model-based tracking control system can be formed by the T-S fuzzy model, a reference model and a tracking controller. The stability analysis of the T-S fuzzy-model-based tracking control system is performed on the basis of the Lyapunov stability theory, and stability conditions in terms of linear matrix inequalities (LMIs) are developed. Finally, the simulation results on a lower limb exoskeleton robot demonstrate the effectiveness of the proposed method.
During the inspection process of seamless steel tubes, the circumferential dynamic deviation of the multi-hub serpentine robot complicates the accurate estimation and control of its axial operating state. To address t...
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The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motio...
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ISBN:
(纸本)9798350377712;9798350377705
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy, and it is difficult to measure complex body motions in detail due to the influence of numerous muscles and soft tissues, mainly ligaments. In response, various musculoskeletal simulators have been developed and applied to motion analysis and robotics. However, none of them reproduce the ligaments but only the muscles, nor do they focus on the shoulder complex, including the clavicle and scapula, which is one of the most complex parts of the body. Therefore, in this study, a detailed simulation model of the shoulder complex including ligaments is constructed. The model will mimic not only the skeletal structure and muscle arrangement but also the ligament arrangement and maximum muscle strength. Through model predictive control based on the constructed simulation, we confirmed that the ligaments contribute to joint stabilization in the first movement and that the proper distribution of maximum muscle force contributes to the equalization of the load on each muscle, demonstrating the effectiveness of this simulation.
In the era of smart cities with Internet of Things every time there is a need of innovative and sustainable solutions for parking and smart cities management. The solutions which are developed are not sufficient enoug...
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We present a viewpoint-based non-linear Model Predictive control (MPC) for evacuation guiding robots. Specifically, the proposed MPC algorithm enables evacuation guiding robots to track and guide cooperative human tar...
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ISBN:
(纸本)9798350377712;9798350377705
We present a viewpoint-based non-linear Model Predictive control (MPC) for evacuation guiding robots. Specifically, the proposed MPC algorithm enables evacuation guiding robots to track and guide cooperative human targets in emergency scenarios. Our algorithm accounts for the environment layout as well as distances between the robot and human target and distance to the goal location. A key challenge for evacuation guiding robot is the trade-off between its planned motion for leading the target toward a goal position and staying in the target's viewpoint while maintaining line-of-sight for guiding. We illustrate the effectiveness of our proposed evacuation guiding algorithm in both simulated and real-world environments with an Unmanned Aerial Vehicle (UAV) guiding a human. Our results suggest that using the contextual information from the environment for motion planning, increases the visibility of the guiding UAV to the human while achieving faster total evacuation time.
The meal is one of the elements that affect blood glucose levels. Given that diabetes is a metabolic disease in which insulin production and utilization are impaired, resulting in elevated blood glucose levels (BGL) b...
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In this paper, we conduct an in-depth analysis of radio signal propagation characteristics within the urban environment of Poznan (Poland). The study specifically addresses the deployment of a 5th generation (5G NR - ...
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ISBN:
(纸本)9798350387452;9798350387445
In this paper, we conduct an in-depth analysis of radio signal propagation characteristics within the urban environment of Poznan (Poland). The study specifically addresses the deployment of a 5th generation (5G NR - New Radio) Radio Access Network (RAN), which comprises 8 strategically positioned Base Stations (BSs). These base stations are configured with either Single Input Single Output (SISO) or Multiple Input Multiple Output (MIMO) antenna technologies, contingent upon the specific requirements of the network cells they serve. A key focus of our research is the integration of 15 reflecting arrays, known as Reconfigurable intelligent Surfaces (RISs), which were installed throughout the study area. These RISs were deployed at various suspension heights to evaluate their impact on radio signal propagation and coverage. By exploring the influence of these RIS matrices, our research sheds light on their potential to significantly enhance signal quality, particularly in urban environments.
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