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Hybrid Orthosis: The Technology for Spinal Cord Injury

Journal of Applied Sciences 2010年第22期10卷 2785-2792页

作者： Jailani, R. Tokhi, M.O. Gharooni, S. Department of Automatic Control and System Engineering University of Sheffield United Kingdom Faculty of Electrical Engineering Universiti Teknologi MARA Selangor Malaysia

Hybrid ohosis combined Functional Electrical Stimulation (FES) with a lower limb ohotic brace. The first hybrid ohosis system is introduce in 1972 and since many researchers began to produced hybrid orthosis from complex research devices to nearly commercialized products. The purpose of this study is to provide a review of hybrid ohosis available for rehabilitation of paraplegics. Ths review should provide a guide to biomedcal engineers to understand the tools developed the design characteristics, the advantages and disadvantages of hybrid ohosis that strive to improve paraplegic mobility especially in walking. © 2010 Asian Network for Scientific Information.

关键词： Functional electric stimulation

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Basic principles of hybrid excitation PM synchronous generator utilizing harmonic for excitation

Basic principles of hybrid excitation PM synchronous generat...

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作者： Xia, Yonghong Wang, Shanming Ma, Mingyuan Hao, Liangliang Qiu, Arui Huang, Shaogang State Key Laboratory of Control and Simulation of Power System and Generation Equipments Department of Electrical Engineering Tsinghua University Beijing 100084 China Department of Electrical and Automatic Engineering Nanchang University Nanchang Jiangxi 330031 China

ISBN: (纸本)9788986510119

A novel method, which utilizes harmonic for excitation, is presented to adjust the air-gap magnetic field for permanent magnet synchronous machine. The structure and basic principles of the hybrid excitation PM synchronous generator(HEPMSG) are introduced. The no-load and on-load electromagnetic field are calculated based on finite element method, and the waveform and effective value of the winding voltage and characteristics of the machine are gained for different loads. Calculation results demonstrate the new hybrid excitation scheme is feasible. This new method combines the advantages of PM machines and electrical excitation machines. The machine removes the brushes and slip rings, which makes permanent magnet machine keep simple and highly reliable.

关键词： Synchronous generators

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A robust wind turbine control using a Neural Network based wind speed estimator

A robust wind turbine control using a Neural Network based w...

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International Joint Conference on Neural Networks (IJCNN)

作者： Oscar Barambones Department of Automatic Control and System Engineering University of Basque Country (UPV-EHU) Vitoria Spain

Modern wind turbines are capable to work in variable speed operations. These wind turbines are provided with adjustable speed generators, like the double feed induction generator. One of the main advantage of adjustable speed generators is that they improve the system efficiency compared to fixed speed generators because turbine speed is adjusted as a function of wind speed to maximize output power. In this sense, to implement maximum wind power extraction, most controller designs of the variable-speed wind turbine generators employ anemometers to measure wind speed in order to obtain the desired optimal generator speed. In this paper a Neural Network based wind speed estimator for a wind turbine control is proposed. The design uses a feedforward Artificial Neural Network (ANN) to implement a wind speed estimator. In this work, a sliding mode control for variable speed wind turbines is also proposed. The stability analysis of the proposed controller is provided under disturbances and parameter uncertainties by using the Lyapunov stability theory. Finally simulated results show, on the one hand that the proposed control scheme using an ANN estimator provides high-performance dynamic characteristics, and on the other hand that this scheme is robust under uncertainties that usually appear in the real systems and under wind speed variations.

关键词： Wind turbines Wind speed Artificial neural networks Generators Rotors Blades Stators

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Simulation and test of backscattering from nonspherical soot particles swarm using laser

Simulation and test of backscattering from nonspherical soot...

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2010 Academic Symposium on Optoelectronics and Microelectronics Technology and 10th Chinese-Russian Symposium on Laser Physics and Laser Technology, RCSLPLT/ASOT 2010

作者： Xing, Jian Zhao, Jiaqun Liu, Yang Sun, Xiaogang College of Science Harbin Engineering University Harbin China State Key Laboratory of Tunable Laser Technology Harbin Institute of Technology Harbin China Harbin Institute of Technology Insititute of Automatic Detecting and Process Control System Harbin China

ISBN: (纸本)9781424455133

When the backscattering method is adopted to test the concentration and the size of soot, it's very important to analyze the backscattering characteristics of soot to determine the optimal light source, detector and detection angle. In this paper, the backscattering characteristics of nonspherical soot particles swarm are investigated. The size and shape of soot particles are determined by microscopic measurement. According to the micrograph, both Ellipsoid model and generalized Chebyshev models are selected to imitate soot particles. With the Monte-Carlo method, a random oriented particles swarm is created, and backscattering relative intensity is calculated by T-matrix method with different parameters. A simple backscattering test system was established, in which the light source and detector are selected based on the calculation results. The numerical and experimental results show that the combination of the Monte- Carlo method and the T-matrix calculation can be successfully applied to simulate the backscattering of the nonspherical particles swarm, and the experimental system has higher backscattering intensity according to simulation result. It provides a reference for improving the measurement accuracy of particles size and concentration. © 2010 IEEE.

关键词： Backscattering

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Improving motion of robotic manipulators by an embedded optimizer

Improving motion of robotic manipulators by an embedded opti...

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2010 IEEE International Conference on Automation Science and engineering, CASE 2010

作者： Ding, Hao Schnattinger, Georg Passenberg, Benjamin Stursberg, Olaf Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel Germany Institute for High-Frequency Engineering Technische Universität München 80290 München Germany Institute of Automatic Control Engineering Technische Universität München 80290 München Germany

ISBN: (纸本)9781424454471

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs] in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario. ©2010 IEEE.

关键词： Motion planning

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Parameter Optimization of FES-Assisted Indoor Rowing Exercise Using MOGA

Parameter Optimization of FES-Assisted Indoor Rowing Exercis...

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Asia International Conference on Modeling & Simulation

作者： Zakaria Hussain M. Osman Tokhi Rozita Jailani Fadzil Ahmad Department of Automatic Control and System Engineering University of Sheffield UK Faculty of Electrical Engineering Universiti Teknologi Mara Malaysia

ISBN: (纸本)9781424471966;9780769540627

This paper describes the parameter optimization of fuzzy logic control (FLC) of FES-assisted indoor rowing exercise (FES-rowing) using multi objective genetic algorithm (MOGA). The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities through the application of functional electrical stimulation (FES). FLC is used to control the knee and elbow trajectories for smooth rowing manoeuvre. MOGA is implemented in Matlab with a dynamic simulation model of indoor rowing exercise is developed using Visual Nastran (vN4D) software environment. MOGA is used to optimize the FES-rowing with two objective functions specified that are i) to minimize the mean squared error of knee angle trajectory and ii) to minimize the total electrical stimulation required by the muscles. In view of good results obtained, it is concluded that MOGA is able to obtain the optimal design of FLC for FES-rowing with two conflicting objectives.

关键词： Knee Fuzzy logic Genetic algorithms Extremities Application software Neuromuscular stimulation Elbow Mathematical model Electrical stimulation Muscles

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Modeling, control and robustness analysis for a road sector

Modeling, control and robustness analysis for a road sector

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作者： Dimon, Catalin Dauphin-Tanguy, Geneviève Popescu, Dumitru Department of Automatic Control and System Engineering University Politehnica of Bucharest 313 Splaiul Independentei 060042 Bucharest Romania LAGIS Ecole Centrale de Lille Cité Scientifique BP 48 59651 Villeneuve d'Ascq Cedex France

ISBN: (纸本)9783902661814

When modeling a real process the effects of nonlinearities must be taken into account, especially when designing a control algorithm. Such is the case of a road traffic sector, which will be considered from a macroscopic point of view. An input-output model is proposed, based on experimental data, and then a control algorithm is used to obtain imposed performances for the closed loop system. The robustness of control is taken into account, by assessing the modulus margin. Based on this indicator the robustness of the control law is analyzed in order to find what nonlinearities it can cope with. Following, we try to prove that the system can be controlled using the same algorithm, when different types of perturbations affect the system. © 2010 IFAC.

关键词： Closed loop systems

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PID control of Knee Extension for FES-Assisted Walking with Spring Brake Orthosis

PID Control of Knee Extension for FES-Assisted Walking with ...

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Asia International Conference on Modeling & Simulation

作者： R. Jailani M.O. Tokhi S.C. Gharooni Z. Hussain Department of Automatic Control and System Engineering University of Sheffield UK Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Malaysia

ISBN: (纸本)9781424471966

This paper presents a simulation of bipedal locomotion to control the stimulation pulses of functional electrical stimulation (FES) for activating muscles for paraplegic walking with spring brake orthosis (SBO). The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion and more-natural like trajectory produced by the flexion reflex for gait in spinal cord injured subjects. The study is carried out with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. Stimulated muscle model of quadriceps is developed for knee extension. Proportional integral derivative (PID) control is developed in Matlab/Simulink to regulate the muscle stimulation pulse-width required to drive FES-assisted walking gait and the computed motion is visualised in graphic animation from Vn4D. The results show that SBO can reduce torque and stimulation pulses required for FES-assisted paraplegic walking with wheel walker and PID control is found to be appropriate controller for the leg extension.

关键词： Three-term control Knee Legged locomotion Springs Muscles Motion control Mathematical model Wheels Torque control Neuromuscular stimulation

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Fuzzy logic control of knee extension for FES-assisted walking with spring brake orthosis

Fuzzy logic control of knee extension for FES-assisted walki...

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IEEE International Conference on systems, Man and Cybernetics

作者： R. Jailani M.O. Tokhi S.C. Gharooni Department of Automatic Control and system Engineering University of Sheffield UK Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam MALAYSIA

This paper presents a simulation of bipedal locomotion to control the stimulation pulses of functional electrical stimulation (FES) for activating muscles for paraplegic walking with spring brake orthosis (SBO). The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion and more-natural like trajectory produced by the flexion reflex for gait in spinal cord injured subjects. The study is carried out with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. Stimulated muscle model of quadriceps is developed for knee extension. Fuzzy logic control (FLC) is developed in Matlab/Simulink to regulate the muscle stimulation pulse-width required to drive FES-assisted walking gait and the computed motion is visualised in graphic animation from Vn4D. The results show that SBO can reduce torque and stimulation pulses required for FES-assisted paraplegic walking with wheel walker and FLC is found to be appropriate controller for the leg extension.

关键词： Niobium Variable speed drives Muscles

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Robust Sliding Mode control for a Wind Turbine system

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IFAC Proceedings Volumes 2010年第1期43卷 7-12页

作者： Oscar Barambones Dept. of Automatic Control and System Engineering. University of the Basque Country. University College of Engineering of Vitoria. Nieves cano 12. Vitoria. Spain

The actual wind turbines are provided with adjustable speed generators, like the double feed induction generator, that are capable to work in variable speed operations. One of the main advantage of adjustable speed generators is that they improve the system efficiency compared to fixed speed generators because turbine speed is adjusted as a function of wind speed to maximize output power. However this systems requires a suitable speed controller in order to track the optimal wind turbine speed reference. In this work, it is proposed a sliding mode control for variable speed wind turbines. The robustness analysis of the proposed controller under disturbances and parameter uncertainties is provided using the Lyapunov stability theory and simulated results show that the proposed controller provides a good performance.

关键词： Variable Structure control Wind Turbine Double Feed Induction Generator Robust control.

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