Climbing a flight of stairs using a wheelchair is not as simple as balancing it on two wheels. Stairs climbing involves several phases, to ensure stability and safety in an auto-mode system. The subtle design of a sta...
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ISBN:
(纸本)9781849197106
Climbing a flight of stairs using a wheelchair is not as simple as balancing it on two wheels. Stairs climbing involves several phases, to ensure stability and safety in an auto-mode system. The subtle design of a stair climbing wheelchair system consists of three main actuators;a pair of motors, one for acting on each wheel and one for seat position. The operation of the system is based on the wheel rotation by lifting and bringing the other pair of wheels over one another on the staircases and vice versa. The challenge resides in an appropriate mechanical design and implementation of robust controller for the system to guarantee stability of the overall wheelchair while performing stair ascending and descending task automatically, with an assistant-free mode. A dwi-phase fuzzy logic control is introduced in this work and evaluated through intensive visual simulation to verify the proposed control approach.
With the rapid growth of wind energy installed capacity, optimized maintenance has gained increasingly attentions from both researchers and wind farm owners. Condition-based maintenance (CBM) has been introduced to th...
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With the rapid growth of wind energy installed capacity, optimized maintenance has gained increasingly attentions from both researchers and wind farm owners. Condition-based maintenance (CBM) has been introduced to the wind energy industry in order to ensure the availability and safety of the wind energy conversion (WEC) system, while minimize the operating and maintenance (O&M) costs. In this paper a maintenance decision support system is introduced. By combining the information delivered by the data-driven WEC condition monitoring system and the economical benefits of each possible corrective maintenance action, the decision support system provides the operators with a choice of the most proper maintenance action for the current situation. The performance of the decision support system is tested with data collected from different WECs in a wind farm.
A suboptimal approach to distributed robust MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints is proposed. The approach applies the dynamic ...
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A suboptimal approach to distributed robust MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints is proposed. The approach applies the dynamic dual decomposition method and reformulates the original centralized robust MPC problem into a distributed robust MPC problem. It is based on distributed on-line optimization by applying an accelerated gradient method. The suggested approach is illustrated on a simulation example of an uncertain system consisting of two interconnected polytopic subsystems.
While motion tracking is of use in many computer vision applications, optical flow estimation has become a challenging task that attracts vast interest in the past decade. In this paper, different from conventional pi...
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This paper focuses on the development of a control strategy of a compact stair climbing wheelchair to maintain stable and balance while negotiating staircases in confined spaces for the elderly and disabled. The Visua...
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This paper focuses on the development of a control strategy of a compact stair climbing wheelchair to maintain stable and balance while negotiating staircases in confined spaces for the elderly and disabled. The Visual Nastran 4D is used to develop a simulation models and linked with Matlab platform for control and visual assessment purposes. The challenges are to control front and rear motors as well as tilt angle to ensure system stability and maintain smoothness of the climbing process. PD-Fuzzy controls are developed, tested and associated performances are assessed through intensive visual approach.
This paper focuses on the development of a control strategy of a compact stair climbing wheelchair to maintain stable and balance while negotiating staircases in confined spaces for the elderly and *** Visual Nastran ...
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This paper focuses on the development of a control strategy of a compact stair climbing wheelchair to maintain stable and balance while negotiating staircases in confined spaces for the elderly and *** Visual Nastran 4D is used to develop a simulation models and linked with Matlab platform for control and visual assessment *** challenges are to control front and rear motors as well as tilt angle to ensure system stability and maintain smoothness of the climbing ***-Fuzzy controls are developed,tested and associated performances are assessed through intensive visual approach.
The paper presents a conceptual model of the manufacturing enterprise of the future, which is centered on knowledge. It is introduced the concept of organizational wisdom, as an intelligence level that allows manufact...
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Road traffic is considered as a complex system organized in a decentralized structure composed of three levels. At the highest level of complexity we have a traffic region, considered as a part of a city's road in...
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Climbing a flight of stairs using a wheelchair is not as simple as balancing it on two wheels. Stairs climbing involves several phases, to ensure stability and safety in an auto-mode system. The subtle design of a sta...
详细信息
ISBN:
(纸本)9781629930824
Climbing a flight of stairs using a wheelchair is not as simple as balancing it on two wheels. Stairs climbing involves several phases, to ensure stability and safety in an auto-mode system. The subtle design of a stair climbing wheelchair system consists of three main actuators;a pair of motors, one for acting on each wheel and one for seat position. The operation of the system is based on the wheel rotation by lifting and bringing the other pair of wheels over one another on the staircases and vice versa. The challenge resides in an appropriate mechanical design and implementation of robust controller for the system to guarantee stability of the overall wheelchair while performing stair ascending and descending task automatically, with an assistant-free mode. A dwi-phase fuzzy logic control is introduced in this work and evaluated through intensive visual simulation to verify the proposed control approach.
This paper presents a development of quadriceps muscle models using ANFIS and Fuzzy Logic based on Functional Electrical Stimulation (FES). The models inputs parameter consists of stimulation frequency, pulse width, a...
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