Robot assisted training has proven beneficial as an extension of conventional therapy to improve rehabilitation outcome. Further facilitation of this positive impact is expected from the application of cooperative con...
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ISBN:
(纸本)9781424498628
Robot assisted training has proven beneficial as an extension of conventional therapy to improve rehabilitation outcome. Further facilitation of this positive impact is expected from the application of cooperative control algorithms to increase the patient's contribution to the training effort according to his level of ability. This paper presents an approach for cooperative training for end-effector based gait rehabilitation devices. Thereby it provides the basis to firstly establish sophisticated cooperative control methods in this class of devices. It uses a haptic control framework to synthesize and render complex, task specific training environments, which are composed of polygonal primitives. Training assistance is integrated as part of the environment into the haptic control framework. A compliant window is moved along a nominal training trajectory compliantly guiding and supporting the foot motion. The level of assistance is adjusted via the stiffness of the moving window. Further an iterative learning algorithm is used to automatically adjust this assistance level. Stable haptic rendering of the dynamic training environments and adaptive movement assistance have been evaluated in two example training scenarios: treadmill walking and stair climbing. Data from preliminary trials with one healthy subject is provided in this paper.
The performance comparison of PID controllers for idle speed control internal combustion engine (ICE) is presented in this paper. There are three methods of PID tuning applied: heuristic tuning, self-tuning by pole pl...
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ISBN:
(纸本)9780769549941;9781467364218
The performance comparison of PID controllers for idle speed control internal combustion engine (ICE) is presented in this paper. There are three methods of PID tuning applied: heuristic tuning, self-tuning by pole placement, and also iterative learning algorithm (ILA). Prior to that, data collection is gained from four cylinder spark-ignition engine modeling and used as the input-output data in the system identification part. The obtained transfer function from RLS technique is used in the development of the control system for the idle speed control by PID controllers. The main objective of the idle speed control is to maintain the idling speed at 650rpm and to reject as quickly as possible the extra load exerted on the engine system during idling mode. Comparing the three methods, it shows that PID tuning by ILA produced better results than heuristic tuning and pole placement.
In this paper, based on the electrothermal upsetting processing method, the process of valve upsetting is divided into two steps: initial upsetting and formal upsetting. Four parameters, including *** current;***;***;...
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In this paper, based on the electrothermal upsetting processing method, the process of valve upsetting is divided into two steps: initial upsetting and formal upsetting. Four parameters, including *** current;***;***;***, which influence the manufacture process in evidence, is mainly discussed. Analyzing defect and deficiency of tradition processing, the article puts forward to a controlling strategy with iteration technique and designed an embedded valve upset forging microcomputer control system. The electrothermal upsetting control system based on embedded technology stores the experience and technique of local worker, optimizes the tradition processing by using ARM S3C2410X chip. During the process, controlling parameters such as press, displacement and voltage are real-time monitored. Signal feeds back to system by sensors to realize the closed loop controlling on-line self-study function. And the technics parameters and the controlling process will display on the HMI (Human Machine Interface). Using the system, the quality and efficiency of the valve manufacture are improved, and the robustness gets stronger. The system has been applied in enterprises. Comparing with the tradition one, the automaticity in manufacture is improved, and the rejection rate is reduced. It also benefits the informationization of production of enterprise.
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