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IEEE International Conference on Rehabilitation Robotics (ICORR)/International Neurorehabilitation Symposium (INRS)/International Conference on Virtual Rehabilitation (ICVR)

作者： Kordasz, Marta Kuczkowski, Krzysztof Sauer, Piotr Poznan Univ Tech Chair Control & Syst Engn Ul Piotrowo 3A PL-61965 Poznan Poland

ISBN: (纸本)9781424498628

In this paper, one of the possibilities of introduction of variable stiffness in a rehabilitation manipulator for lower limbs, is described. Mechanical design and working principle of a proposed system are presented. The following control algorithms for manipulators with flexible joints are suggested: the position control and the active impedance control. The tracking performance is experimentally studied for sinusoidal and polynomial reference trajectories. Obtained results confirm that both control strategies are suitable for controlling a rehabilitation manipulator with changeable stiffness.

关键词： Manipulator dynamics Mathematical model Rotors Torque Trajectory active impedance control biomechanics changeable stiffness control algorithms flexible joints flexible manipulators lower limb rehabilitation system manipulators mechanical design patient rehabilitation polynomial reference trajectories position control position control rehabilitation manipulator sinusoidal reference trajectories tracking performance variable stiffness

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Software System for Modeling Nanosatellites Motion control algorithms Using a Planar Air-Bearing Testbed

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Mathematical Models and Computer Simulations 2023年第3期15卷 384-400页

作者： Kozin, F.A. Keldysh Institute of Applied Mathematics Russian Academy of Sciences Moscow Russian Federation

Abstract: This article describes a software system for algorithms modeling nanosatellite motion control on a laboratory facility with an aerodynamic table. The structure of the program, mathematical models of motion, and algorithms for controlling the motion and navigation of nanosatellite mockups on a plane are described. The software system communicates between the station and onboard computers of the mockups on the table, the mockups receive information on the position on the aerodynamic table based on the results of camera image processing. Before the experiments, preliminary calibration tests are carried out to determine the disturbances acting on the table and estimate the values of the control forces of the actuators. Experiments on the autonomous mockup motion in group flight tasks are conducted on the stand and various approaches to actively remove space debris are tested. © 2023, Pleiades Publishing, Ltd.

关键词： aerodynamic table control algorithms formation flying motion simulation nanosatellite software system

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Modeling of the control algorithms in Case of a Self Reconfiguring Mobile Robotic System

Modeling of the Control Algorithms in Case of a Self Reconfi...

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5th International Conference on Robotics and Automation Systems

作者： Raducu, Mihai-George Nitulescu, Mircea Fac Automat Craiova 200440 Romania

ISBN: (纸本)3908451884

Self reconfiguring robots are complex robotic systems composed of a finite number of modules, where each module of the system is considered to be a simple agent. Based on this context, the reconfiguration represents the process of re-arranging each agent of the robotic system in order to have a working system. One versatile method to determine the most adequate movement and reconfiguration algorithms can be done using modeling methods and tools. Using this approach, the control algorithms necessary to drive such a system can be modeled, tested and implemented in an embedded system much easier than in a classical approach. This paper presents the case of a self reconfiguring robot for which, a reconfiguration algorithm and a movement algorithm were determined, analyzed, tested and validated.

关键词： self reconfiguring mobile robot control algorithms modeling simulations

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SPIDER BOTS: A LOW COST PLATFORM FOR TESTING AND VALIDATING COOPERATIVE control algorithms

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ASME 7th Annual Dynamic Systems and control Conference

作者： Price, Jack Laird, Damien Raptis, Ioannis Univ Massachusetts Dept Elect & Comp Engn Lowell MA 01854 USA Univ Massachusetts Dept Mech Engn Lowell MA 01854 USA

ISBN: (纸本)9780791846186

A primary factor limiting the development, testing, and validation of decentralized algorithms for large-scale multi-robot teams is the high cost of the available systems. When a successful test necessitates that an algorithm functions on dozens or even hundreds of robots simultaneously, a low price tag on each robot is crucial. This paper presents Spider-Bots, a low cost platform for testing and validating control algorithms for multi-robot swarms. The platform is comprised of centimeter-scale mobile robots that can communicate wirelessly and interact with their environment, along with easy to use software libraries. The resulting platform was validated by testing its ability to execute and record data from three separate algorithms: Set-point navigation, object manipulation, and collision avoidance.

关键词： Testing control algorithms

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Implementation of MPC and PID control algorithms to the Artificial Pancreas for Diabetes Mellitus Type 1

Implementation of MPC and PID Control Algorithms to the Arti...

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IEEE International Conference on Machine Learning and Applied Network Technologies (ICMLANT)

作者： Matamoros-Alcivar, Esther Ascencio-Lino, Tanya Fonseca, Rigoberto Villalba-Meneses, Gandhi Tirado-Espin, Andres Barona, Lorena Almeida-Galarraga, Diego Univ Yachay Tech Sch Biol Sci & Engn San Miguel De Urcuqui Ecuador Autonomous Metropolitan Univ Iztapalapa Mexico Univ Yachay Tech Sch Math & Computat Sci San Miguel De Urcuqui Ecuador Escuela Politec Nacl Dept Informat & Ciencias Comp Quito Ecuador

ISBN: (纸本)9781665449502

Type 1 Diabetes Mellitus (T1DM) patients live with the need for insulin replacement for life. Closed-loop therapies or Artificial Pancreas consist of a continuous subcutaneous insulin infusion pump, a continuous glucose monitoring sensor, and a control algorithm. It automatically adjusts insulin infusion in real time, functioning as a healthy pancreas would regulate glucose levels through the administration of hormones with little or no user input. The control algorithms widely used for artificial pancreas development are Model Predictive control (MPC) and Proportional-Integral-Derivative (PID) and these are adapted to help TD1M patients to regulate their blood glucose levels. The development of the artificial pancreas has to consider disturbances such as meal intake and physical activity. These disturbances can be unannounced which can bring blood glucose levels down and cause hypoglycemia. Therefore, in this work, two control algorithms are compared facing meal intake and exercise to compensate for the effects of exercise and food and avoid hypoglycemia.

关键词： Artificial Pancreas Type 1 Diabetes Mellitus Exercise control algorithms

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Review of Reinforcement Learning-Based control algorithms in Artificial Pancreas Systems for Diabetes Mellitus Management 18

Review of Reinforcement Learning-Based Control Algorithms in...

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18th IEEE International Symposium on Applied Computational Intelligence and Informatics (SACI)

作者： Denes-Fazakas, Lehel Fazakas, Gyozo Dates Eigner, Gyorgy Kovacs, Levente Szilagyi, Laszlo Obuda Univ Univ Res & Innovat Ctr Physiol Controls Res Ctr Budapest Hungary Obuda Univ John von Neumann Fac Informat Biomat & Appl Artificial Intelligence Inst Budapest Hungary Obuda Univ Appl Informat & Appl Math Doctoral Sch Becsi St 96-B H-1034 Budapest Hungary

ISBN: (纸本)9798350329537;9798350329520

The escalating prevalence of diabetes mellitus presents a pressing global health challenge, with projections indicating a further rise in both type 1 and type 2 diabetes cases. While type 1 diabetes necessitates external insulin administration due to pancreatic insufficiency, type 2 diabetes may also require insulin supplementation, albeit in lesser amounts. Traditional insulin delivery methods, involving multiple daily injections, can be burdensome for patients, particularly those with type 1 diabetes, which requires higher insulin doses. To mitigate these challenges, researchers have developed artificial pancreas systems-a closed-loop approach capable of automatically measuring blood glucose levels and administering insulin. These systems integrate insulin pumps with continuous glucose monitors (CGMs) to maintain glycemic control. However, the effectiveness of these systems heavily depends on the control algorithm employed. While conventional control engineering algorithms have been predominant, recent advancements in artificial intelligence (AI) have led to the exploration of AI-based controllers, particularly those leveraging reinforcement learning (RL). RL-based algorithms, categorized as semi-supervised learning, demonstrate promise in adapting to individual patient dynamics without the need for labeled data. This review investigates the utilization of various mathematical models, such as UVA/PADOVA, Bergman's minimal, and Hovorka models, in conjunction with RL-based algorithms in diabetes management. By examining existing research findings, we elucidate the efficacy of RL-based approaches in patient-specific learning and offer insights into future directions for optimizing diabetes management strategies.

关键词： Diabetes Mellitus Artificial Pancreas Insulin Delivery Continuous Glucose Monitoring Reinforcement Learning control algorithms Patient-Specific Learning Mathematical Models Semi-Supervised Learning Glycemic control

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Developing Model of Switched Reluctance Electric Vibration Drive for Debugging of Executive Body Complicated Movements control algorithms

Developing Model of Switched Reluctance Electric Vibration D...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Sergeev, Yu. S. Sandalov, V. M. Karpov, G. E. South Ural State Univ Chelyabinsk Russia

ISBN: (纸本)9781538643075

The article deals with the issue that there is no study on the designing of switched reluctance electric vibration drives. The mathematical models of an electromechanical converter and electronic commutator with a motor phase 90-degree switching algorithm are presented. The interdisciplinary calculation of the built models was carried out. The results of modeling and simulation are motor winding currents and induced voltage graphs. The experimental prototype of the switched reluctance vibration drive with the microprocessor-based control system is developed and made. An experimental research that proves the adequacy of the models has been performed.

关键词： switched reluctance drive mathematical model control algorithms vibration machines

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Research on Adaptive Road control algorithms of Anti-lock Braking System

Research on Adaptive Road Control Algorithms of Anti-lock Br...

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10th IEEE International Conference on Computer-Aided Industrial Design and Conceptual Design

作者： Ma, Mingxing Chen, Jingxin Xu, Guomin Yangzhou Univ Sch Mech Engn Yangzhou 225009 Jiangsu Peoples R China

ISBN: (纸本)9781424452675

Using vehicle dynamics, in this paper an automotive ABS control algorithms, which adaptive to the adhesive coefficient of road surface was proposed. And also an ABS experiment bench was explored. Simulation and experiment studies results show that this ABS system can control the wheel slip well and the control effect is good, it provides an effective method of ABS research.

关键词： Automotive Anti-lock Braking System control algorithms

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Implementation of control algorithms for Laboratory Model of Traction Drive with High Voltage Matrix Converters and Medium Frequency Transformer 11

Implementation of Control Algorithms for Laboratory Model of...

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ELEKTRO 11th International Conference

作者： Bednar, Bedrich Drabek, Pavel Pittermann, Martin Univ West Bohemia Dept Electromech & Power Elect Plzen Czech Republic

ISBN: (纸本)9781467386982

This paper deals with problematic of realization and implementation of control algorithms for laboratory model of electric drive of traction drive with medium frequency transformer MFT supplied by high voltage matrix converter MC. Output (from secondary winding from MFT) is rectified by active rectifier and it used form voltage source rectifier. control algorithms for these parts are implemented into digital system with digital signal processor. Practical using of this electric drive is possibility of reducing of mass of traction transformer in locomotives for system 15kV/16.7Hz and 25kV/50Hz etc.

关键词： Single phase matrix converter control algorithms Traction drive Medium frequency transformer

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Comparison of multiconjugate adaptive optics configurations and control algorithms for the Gemini-South 8-m telescope

Comparison of multiconjugate adaptive optics configurations ...

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Conference on Adaptive Optical Systems Technology

作者： Flicker, R Rigaut, F Ellerbroek, B Lund Observ SE-22100 Lund Sweden

ISBN: (纸本)0819436321

This paper focuses on two main categories of the multiconjugate adaptive optics (MCAO) parameter space for performance optimization: the geometrical configuration of guide stars and deformable mirrors (DMs), and the wavefront reconstructors. From the first category it is shown how, for a fixed reconstructor and imaging wavelength, the performance metrics with a few important exceptions improve with an increasing number of i) DMs, ii) actuators per DM and iii) guide stars. The metrics are seen to degrade with i) an increasing field of compensation and ii) DM conjugation altitude mismatch with the significant turbulent atmospheric layers. In the second category, this study also compares the performance with a fixed MCAO configuration using the least-square estimator (LSE) and the maximum a posteriori estimator (MAP) for wavefront reconstruction. The MAP is shown to perform significantly better than the LSE at low or intermediate signal-to-noise ratios (SNRs), and somewhat better even in the absence of noise due to its a priori knowledge of the phase statistics.

关键词： multiconjugate adaptive optics control algorithms wavefront reconstruction

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