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IEEE Symposium on Industrial Electronics & Applications (ISIEA)

作者： Salmiah Ahmad M. O. Tokhi N. H. Siddique Department of Mechatronics International Islamic University Malaysia Kuala Lumpur Malaysia Automatic Control & Systems Engineering University of Sheffield Sheffield UK School of Computing & Intelligent System University of Ulster UK

This paper presents a mechanism for wheelchair transformation from two-wheeled upright position to four-wheeled position using a modular fuzzy logic control (MFC) approach. A wheelchair model that can be operated in four-wheeled and two-wheeled modes has been developed within the Visual Nastran environment and integrated with Simulink for control purposes. A multi-input multi-output modular fuzzy logic control configuration is designed and implemented on the wheelchair model. To improve the system performance, an input shaping technique is augmented inside the feedback loop. It is shown that the shaped signals have improved the system performance with promising results.

关键词： Wheelchairs Niobium Wheels Mathematical model Torque Fuzzy control Conferences

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New features of Easy Java Simulations for 3D Modeling

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IFAC Proceedings Volumes 2010年第24期42卷 250-255页

作者： Carlos A. Jara Francisco Esquembre Francisco A. Candelas Fernando Torres Sebastián Dormido Department of Physics System Engineering and Signal Theory University of Alicante Alicante Spain (e-mail:{carlos.jara francisco.candelas fernando.torres}@ua.es) Department of Mathematics University of Murcia Murcia Spain (e-mail: fem@um.es) Department of Computer Science and Automatic Control UNED University Madrid Spain (e-mail: sdormido@dia.uned.es)

This paper presents a new interface framework which has been added to Easy Java Simualtions' environment in order to improve its graphical features for 3D modeling. These new 3D capabilities provide users a set of new view elements which can be used to develop models with a high degree of reality. In this way, Easy Java Simulations becomes a powerful tool to easily and quickly create 3D realistic simulations.

关键词： computer simulation modeling programming environment software tool virtual reality

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Active vibration control of a flexible plate using recursive least square with directional forgetting factor

Active vibration control of a flexible plate using recursive...

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16th International Congress on Sound and Vibration 2009, ICSV 2009

作者： Salleh, S.M. Tokhi, M.O. Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781615677368

Unwanted vibration affects light weight flexible structures leading to problems such as fatigue, instability and performance reduction. Structural vibration further leads to noise nuisance problems when coupled with acoustic fields. Thus, controlling vibration is of practical importance so as to reduce its influence on the environment. In this paper, a flexible plate structure is utilised as a platform to assess the performance of an active vibration control (AVC) mechanism developed in this work based on a recursive least squares (RLS) algorithm with directional forgetting factor (DFF). The system employs a single input and single output (SISO) control configuration, and this is realised within the Matlab/Simulink environment. A model-based control design approach, incorporating identification of the system model based on DFF-RLS algorithm is carried out. Three different excitation signals, namely finite duration step, random and pseudo random binary signal (PRBS), are used as test signals. The investigations concentrate on the first five resonance modes of the structure, and assess the ability of the developed controllers in attenuating the deflection of the plate structure. The performance of the AVC system is presented in both time and frequency domains. Simulation results reveal that the RLS algorithm with directional forgetting factor can achieve better results in controlling the vibration in flexible plate structures in comparison to RLS with constant forgetting factor.

关键词： Flexible structures

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Pid control with genetic tuning of a single-link flexible manipulator

Pid control with genetic tuning of a single-link flexible ma...

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16th International Congress on Sound and Vibration 2009, ICSV 2009

作者： Md Zain, B.A. Tokhi, M.O. Md Salleh, S. Department of Automatic Control and System Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781615677368

This paper presents the development of PID-based control schemes with genetic tuning for a single-link flexible manipulator. A PID controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate non-collocated PID control with acceleration feedback for control of vibration (flexible motion) of the system. Moreover, an iterative learning control scheme is realised with PID control for the system. The control schemes thus developed are tested within a flexible manipulator system, and the system performance with the controllers is presented and analyzed in the time and frequency domains.

关键词： Three term control systems

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Redundant dynamic modelling of the 3RRR parallel robot for control error reduction 10

Redundant dynamic modelling of the 3RRR parallel robot for c...

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2009 10th European control Conference, ECC 2009

作者： Zubizarreta, Asier Cabanes, Itziar Marcos, Marga Pinto, Charles Portillo, Eva Automatic Control and System Engineering Department University of the Basque Country Spain Mechanical Engineering Department University of the Basque Country Spain

ISBN: (纸本)9783952417393

The current trend in robotics is to achieve robust, high-speed and precise robots that fulfill the industry's requirements. Parallel robots are proposed as the best solution for some of these tasks due to the advantages offered by their parallel kinematic structure. However, in order to take the most of these advantages, advanced model-based control approaches are needed. In this paper, the dynamic model of the 3RRR is obtained in order to consider passive joint sensor data. The dynamic model developed is defined in a compact and structured form and is used to implement a novel redundant Computed Torque control Scheme. Experimental data show that this approach increases the trajectory tracking and positioning accuracy of the 3RRR planar parallel robot. © 2009 EUCA.

关键词： Dynamic models

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The use of spring-orthosis to enhance performance of FES-assisted indoor rowing exercise (FAIRE)

The use of spring-orthosis to enhance performance of FES-ass...

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作者： Hussain, Z. Tokhi, M.O. Jailani, R. Department of Automatic Control and System Engineering University of Sheffield United Kingdom Faculty of Electrical Engineering University Teknologi MARA 40450 Shah Alam Selangor Malaysia

ISBN: (纸本)9783902661555

This paper describes a new technique in assisting indoor rowing exercise for paraplegics. It combines functional electrical stimulation with an energy storage element. A spring is introduced as an energy storage element that stores energy during the driving phase and transfers energy during recovery phase of rowing stroke. The technique is implemented with a dynamic simulation model. Fuzzy logic control is used to control the knee and elbow trajectories for smooth rowing manoeuvre. The generated level of electrical stimulation for activation of quadriceps and hamstrings muscles are recorded and analysed. In view of good results obtained, it is concluded that the new technique of rowing exercise for paraplegics using spring orthosis with proper rowing manoeuvre significantly contributes to assisting paraplegic indoor rowing exercise.

关键词： Energy storage

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Estimation of passive stiffness and viscosity in paraplegic: A dynamic leg model in Visual Nastran

Estimation of passive stiffness and viscosity in paraplegic:...

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作者： Jailani, R. Tokhi, M.O. Gharooni, S. Hussain, Z. Joghtaei, M. Ksm Kader Ibrahim, B.S. Department of Automatic Control and System Engineering University of Sheffield United Kingdom Faculty of Electrical Engineering University Teknologi MARA 40450 Shah Alam Selangor Malaysia

ISBN: (纸本)9783902661555

This paper presents investigations into pendulum test to measure passive knee motion from a paraplegic subject. The test is used to evaluate changes in the knee angular displacement, passive stiffness and viscosity. Then, genetic algorithm (GA) parameter optimization is used with Visual Nastran (Vn4D) to find passive stiffness and viscosity values for modelling the paraplegic leg. The best performance of the Vn4D leg model is achieved with the optimum values of the viscosity and the stiffness equal to 0.0031055 Nms/deg and 0.024244 Nm/deg respectively. The model was found to be the best Vn4D model with actual subject's leg properties to represent paraplegic leg model.

关键词： Parameter estimation

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Effect of Inclined Rowing Machine on FES-Assisted Indoor Rowing Exercise Performance

Effect of Inclined Rowing Machine on FES-Assisted Indoor Row...

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Asia International Conference on Modeling & Simulation

作者： Z. Hussain M.O. Tokhi R. Jailani S. Ahmad B.S KSM Kader Ibrahim Department of Automatic Control and System Engineering University of Sheffield UK

ISBN: (纸本)9781424441549

This paper describes the effect of inclined track in an indoor rowing machine on the rowing exercise for paraplegics. 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). A model of the machine is developed using the Visual Nastran (Vn4D) software environment. Nine different degrees of inclination are set. Fuzzy logic control is implemented to control the knee and elbow trajectories for each of the inclination angle. The generated level of electrical stimulations for activation of quadriceps and hamstrings muscles are recorded and analysed. The results show that the highest efficiency is achieved at 7deg of inclination. In view of good results obtained, it is concluded that different angles of track inclination significantly affect the level of electrical stimulation required to assist paraplegicspsila indoor rowing exercise.

关键词： Electrical stimulation Biological system modeling Mathematical model Muscles Fuzzy logic Knee Rails Neuromuscular stimulation Hip automatic control

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New features of Easy Java simulations for 3D modeling

New features of Easy Java simulations for 3D modeling

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作者： Jara, Carlos A. Esquembre, Francisco Candelas, Francisco A. Torres, Fernando Dormido, Sebastián Department of Physics System Engineering and Signal Theory University of Alicante Alicante Spain Department of Mathematics University of Murcia Murcia Spain Department of Computer Science and Automatic Control UNED University Madrid Spain

ISBN: (纸本)9783902661562

关键词： Virtual reality

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Analysis of IEC 61131-3 Compliance through PLCope XML interface

Analysis of IEC 61131-3 Compliance through PLCope XML interf...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： E. Esteez M. Marcos E. Irisarri Automatic Control and Systems Engineering Department Universty of the Basque Country Bilbao Spain Automatic Control and System Engineering Department University of Basque Country (UPV-EHU) Bilbao Spain Automatic Control and Systems Engineering Department University of the Basque Country Bilbao Spain

Industrial process measurement and control systems are used in most of the industrial sectors to achieve production improvement, process optimization and time and cost reduction. Integration, reuse, flexibility and optimization are demanded to adapt to a rapidly changing and competitive market. In fact, standardization is a key goal to achieve these goals. The international standardization efforts have lead to the definition to the IEC 61131 standard. Part 3 of this standard defines a software model for defining automation projects as well as 5 programming languages. Nowadays most of the programmable logic controllers vendors follow this standard at different levels, although each programming tool adds vendor specific particularities. In order to achieve tool interoperability and thus, reusability of code, the international organization PLCopen has defined an open XML interface. This paper presents an approach that analyzes at what extent an automation project developed within a programming environment and exported using the PLCopen XML interface, is IEC 61131-3 compliant. The conformity analysis is performed at different levels: data types, programming languages and software architecture, and different grades of compliance are defined for each conformity level.

关键词： IEC standards XML Electrical equipment industry Industrial control Standardization Automation Computer languages Time measurement Process control control systems

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