Tremor is a common, debilitating movement condition commonly occurring in neurological disorders, with invasive and pharmacological treatment methods often ineffective. Functional electrical stimulation (FES) holds po...
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ISBN:
(纸本)9781479950119
Tremor is a common, debilitating movement condition commonly occurring in neurological disorders, with invasive and pharmacological treatment methods often ineffective. Functional electrical stimulation (FES) holds potential to supress tremor, but previous control methods have proven of limited success. This paper establishes the feasibility of using repetitive control, a framework which is able to eliminate the effect of periodic disturbances by including an internal model of the oscillation within the control structure. A model of the wrist is developed and two different repetitive control algorithms are applied to suppress tremor via stimulation of wrist flexors and extensors. Experimental results are compared with filter-based methods to establish the efficacy of the proposed approach.
In recent years quadrotor unmanned aerial vehicles are being used in various different studies. A regular quadrotor has fixed rotors. This inability to tilt its rotors lead to limited success in trajectory tracking du...
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ISBN:
(纸本)9781479923762
In recent years quadrotor unmanned aerial vehicles are being used in various different studies. A regular quadrotor has fixed rotors. This inability to tilt its rotors lead to limited success in trajectory tracking due to controlling 6 DOF systems only with 4 input parameters. There are some studies on tilt rotor and tilt-roll rotor quadrotors that can compensate for versatile conditions. Some of these proposed quadrotors are able to hover and position hold at user defined desired angles unlike regular quadrotors. This study presents the design and control of a novel quadrotor system that can tilt its rotors independently so that it can adaptively update its rotor angles and speeds to compensate for more chaotic and realistic scenarios. After deriving the mathematical model, the designed control algorithms are explained by comparing with the latter studies' abilities. Proposed quadrotor with adaptive control is compared with regular and non-adaptive tilt-roll rotor type multicopters, in various simulations. The results show that the proposed design has clear advantages in certain situations, especially when environmental limitations and hardware inconsistencies and inefficiencies exist.
There is presented a method for calculation of inertial model for an open-loop oscillating system based on the system step response. Presented method is simple and can be easily used in automatic control practice. Ide...
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ISBN:
(纸本)9781479950812
There is presented a method for calculation of inertial model for an open-loop oscillating system based on the system step response. Presented method is simple and can be easily used in automatic control practice. Identified model can be applied in control algorithms more advanced than the PID controller, for instance in the predictive control.
This paper presents a model predictive control for the quantum series-parallel LCC-type resonant converter. A hybrid model for the converter including the autonomous change of the systems structure by the output recti...
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ISBN:
(纸本)9781479921478
This paper presents a model predictive control for the quantum series-parallel LCC-type resonant converter. A hybrid model for the converter including the autonomous change of the systems structure by the output rectifier of the converter is derived. By solving the piecewise linear state equations for the possible input voltages, generated by an II-bridge, the change of the output voltage can be calculated. The maximum resonant current and the voltage across the series-resonant capacitor at the next zero crossing of the resonant current can be estimated, too. Simulation results and measurements show the effectiveness of the control algorithm with constrained resonant current and multistep prediction.
Mechanical vibrations have a deleterious effect on the performance of high accuracy astronomical instruments. In particular the future generation of astronomical instruments is designed to deliver images of unpreceden...
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ISBN:
(纸本)9783952426913
Mechanical vibrations have a deleterious effect on the performance of high accuracy astronomical instruments. In particular the future generation of astronomical instruments is designed to deliver images of unprecedent accuracy and are therefore expected to be even more sensitive to telescope vibrations. It is then necessary to implement mechanical and software counter actions to mitigate their effect and to guarantee the expected accuracy and resolution. In this paper we report on the implementation of an adaptive control algorithm for the vibration rejection in single conjugated and laser tomography adaptive optics systems. The proposed approach can be easily adapted to the two different AO control architectures delivering the expected performance. Experimental validations at the telescope are also reported.
In order to evaluate ventricular assist devices in heart failure (HF) patients, an optimised lumped parameter model of cardiovascular system (CVS) in conjunction with left ventricle assist devices (LVAD) was used to i...
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ISBN:
(纸本)9781479974092
In order to evaluate ventricular assist devices in heart failure (HF) patients, an optimised lumped parameter model of cardiovascular system (CVS) in conjunction with left ventricle assist devices (LVAD) was used to investigate different control strategies. This paper presents the design of an advanced physiological method for the control of average pump flow in LVADs. The purpose of the proposed control method is to automatically adjust the pump speed to meet for changes in physiological demand. We propose an innovative approach combining a feed-forward and a dynamic sliding mode control (SMC) to determine an appropriate pump flow. Sensor-less measurement of pulse width modulation (PWM) signal is used as inputs to the dynamical model for pump flow estimation previously developed and verified in our laboratory using dogs data. The performance of the proposed control method is tested by carefully examining the immediate response of the controllers to short term of circulatory changes ranging from rest to exercise in CVS - LVAD interactions. Simulation results demonstrate that the developed controller properly tracks the desired reference flow in presence of model uncertainties and external disturbances for LVADs.
In order to identify an object, human eyes firstly search the field of view for points or areas which have particular properties. These properties are used to recognise an image or an object. Then this process could b...
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ISBN:
(纸本)9781479945061
In order to identify an object, human eyes firstly search the field of view for points or areas which have particular properties. These properties are used to recognise an image or an object. Then this process could be taken as a model to develop computer algorithms for images identification. This paper proposes the idea of applying the simplified firefly algorithm to search for key-areas in 2D images. For a set of input test images the proposed version of firefly algorithm has been examined. Research results are presented and discussed to show the efficiency of this evolutionary computation method.
This article analyses an application of a grid connected battery-based storage system to profit from net-metering and variable rate electricity available in some Canadian provinces. It is possible for customers to man...
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ISBN:
(纸本)9781479930999
This article analyses an application of a grid connected battery-based storage system to profit from net-metering and variable rate electricity available in some Canadian provinces. It is possible for customers to manage their energy consumption in response to energy prices variation over a day by integrating an energy storage system in a home. In the present analysis a prototype of the battery based energy storage system has been designed and implemented. A control algorithm has been proposed to investigate the impacts of different charging and discharging scenarios. The proposed control algorithm is able to control the battery energy system as required in a typical home. Sizing and cost calculations indicate that such a system can profit from variable rate electricity. The outcome of this case study can be extended and used by residents who are interested to generate profit from variable rate electricity.
This paper shows how a real-time simulation can be applied for rapid prototyping of an unconventional current regulator in electrical drives. The case study refers to a permanent magnet synchronous motor, with field o...
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ISBN:
(纸本)9781479968435
This paper shows how a real-time simulation can be applied for rapid prototyping of an unconventional current regulator in electrical drives. The case study refers to a permanent magnet synchronous motor, with field oriented speed control algorithm arranged in the rotor fixed d-q frame. The novelty introduced in this control scheme is represented by the use of a novel PI current regulator, formerly called multivariable. This regulator has some additional features, like the capability to conduct the machine into the flux-weakening operating area. In the rapid prototyping system, based on the TMS320F2812 microcontroller, the actual motor is replaced by a proper model running on the controller, while the control algorithm is implemented as in the actual application. The case study demonstrates the simplicity of the proposed approach, leading to a sure save of time during the testing and troubleshooting action.
For the built environment it is envisaged that in the next decades the total annual energy demand, both thermal and electric, could be covered by renewable sources generated within the built environment. An increasing...
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ISBN:
(纸本)9781479924493
For the built environment it is envisaged that in the next decades the total annual energy demand, both thermal and electric, could be covered by renewable sources generated within the built environment. An increasing number of thermoelectric elements, such as heat pumps and thermal storage, will enable conversion from heat to electricity and vice versa. Control in this environment therefore requires an integral management of both the heat network and the electricity network. In this paper we present a simulation framework which is able to simulate and coordinate multi-commodity flows on a district level using a wide variety of appliance models, taking into account different types of business objectives (e. g. time of use tariffs, peak shaving, etc.). To manage these flows a market-based multi-commodity algorithm, for integrated coordination of electricity and heat flows, was developed and integrated in the simulation framework. The algorithm is an enhancement of the PowerMatcher concept and thus inherits its advantages such as scalability and user autonomy. An example is given to demonstrate the use of both the simulation framework and integrated control algorithm.
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