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Testing of the rehabilitation shoes for gait training

Testing of the rehabilitation shoes for gait training

引用

2nd IASTED International Conference on Assistive Technologies, AT 2012

作者： Simsik, Dusan Galajdova, Alena Department of Automation Control and Human Machine Interactions Mechanical Engineering Faculty Technical University of Kosice Letna 9 Kosice Slovakia

ISBN: (纸本)9780889869097

The paper describes research work on the development and clinical testing of the rehabilitation shoes that use mechatronical units to generate perturbations during walk when users have to react immediately to changes in parameters of shoe inclinations in sagital and frontal planes after each step. Design of the rehabilitation device and rehabilitation procedure were developed in frame of the European ICT oriented research project SMILING-Self Mobility Improvement in the eLderly by counteractING falls No. 215493. Project aimed to develop innovative training programs for elderly people diagnosed as fallers with the objective of improving walking and balance, and to prevent and counteract falling.

关键词： Clinical research

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Gradient method optimization of penicillin production

Gradient method optimization of penicillin production

引用

2012 24th Chinese control and Decision Conference, CCDC 2012

作者： Pčolka, Matej Čelikovský, Sergej Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Institute of Information Theory and Automation Prague Czech Republic

ISBN: (纸本)9781457720727

A fermentation process is generally defined as a biological process containing the growth of the biomass (bacteria, yeasts) resulting from the consumption of essential substrate supplies (source of carbon, nitrogen, oxygen, etc.). The biomass growth is usually followed by the production of various products from which especially the variety of antibiotics makes the fermentation processes attractive for the industrial utilization. However, the complicated dynamics, high level of uncertainty and nonlinearity and difficult online measurement of the process variables come hand in hand with the attractivity and turn the attempts on optimal control of the fermentation process into a very delicate challenge. To tackle it, the theory of the gradient projection method has been partially adapted and fully implemented by the authors of this paper. Numerical experiments show its significantly better performance than for other known methods. Moreover, these experiments reveal an interesting "superprofile" visible for long cultivation times. © 2012 IEEE.

关键词： Gradient methods

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Rat skin wounds tensile strength measurements in the process of healing

Rat skin wounds tensile strength measurements in the process...

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10th IEEE Jubilee International Symposium on Applied Machine Intelligence and Informatics, SAMI 2012

作者： Živčák, J. Hudák, R. Tóth, T. Department of Biomedical Engineering and Measurement Faculty of Mechanical Engineering Technical University of Košice Slovakia Department of Automation Control and Human Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Slovakia

ISBN: (纸本)9781457701979

The goal of our investigation was to evaluate mechanical properties of the skin wounds during the first seven days of primary healing. We realized two parallel symmetrical skin incision (on the left and right side of the spine) in the general anaesthesia. Rats were divided into 7 groups. We measured tensile strength of the wound in 24, 48, 72, 96, 120, 144 and 168 hours after wounding in every group. After each day of measurement we obtained complex of tensile strength diagrams of wound tensile strength-time dependence. We observed the highest absolute strength increase after 24 hours within 5 days after wounding. In the period between 2nd and 5th day of testing we observed stagnation of the strength, labelled as "plató phase". Next significant strength increase was observed only after 6 days, with following increase of the tensile strength of skin wound. © 2012 IEEE.

关键词： Tensile strength

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MATLAB case-based reasoning GUI application for control engineering education

MATLAB case-based reasoning GUI application for control engi...

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2012 International Conference on Information Technology Based Higher Education and Training, ITHET 2012

作者： Yesil, Engin Ozturk, Cihan Cosardemir, Berk Urbas, Leon Istanbul Technical University Faculty of Electrical and Electronics Engineering Control Engineering Department Maslak TR-34469 Istanbul Turkey Department of Distributed Control Systems Engineering Institute of Automation Dresden University of Technology 01062 Dresden Germany

ISBN: (纸本)9781467323345

This paper represents using Case-Based Reasoning (CBR) in order to support undergraduate control engineering students for learning nonlinear systems and control applications. CBR is an experience-based problem solving methodology;thus, it is used for helping control engineering students to design conventional PID controllers for nonlinear systems. For this purpose, GUNT pH neutralization process is used as the experimental setup and a GUI is designed for cased-based reasoning in MATLAB. It is observed that undergraduate students can learn and increase their experience on nonlinear systems using the proposed new CBR-GUI. © 2012 IEEE.

关键词： Nonlinear systems

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An adaptive Neuro-Fuzzy control approach for motion control of a spacecraft maneuver

An adaptive Neuro-Fuzzy control approach for motion control ...

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2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Lakshmi, K.V. Nabi, Mashuq Un Department of Electrical Engineering Indian Institute of Technology New Delhi-110016 India Faculty of Electrical Engineering Control and Automation Indian Institute of Technology New Delhi-110016 India

ISBN: (纸本)9780956715715

This paper proposes an adaptive Neuro-Fuzzy control approach to predict the torque required to control the attitude and rate in a spacecraft maneuver. In the real world environment, the mathematical models of many complex systems are often not accurate, due to the presence of continuous disturbances that effect their dynamic equations, in addition to errors in parameter knowledge. Consequently, methods that rely less on precise mathematical models are often preferred. One such Adaptive Machine Learning Technique is proposed for motion control in spacecraft maneuver. The controller uses an inverse learning Adaptive Neuro-Fuzzy Inference System (ANFIS) model only to train itself from certain desired trajectories and tries to mimic the same in its response. Ideally, these training trajectories are obtained by directly measuring the spacecraft manuever response for various test inputs. Once the system is fully trained, the manuever is tested on a new trajectory with uncertain plant dynamics. However, for algorithm validation, trajectories generated through simulations based on mathematical models assumed to be reasonably accurate, can also be used for the training purpose. This approach is used for design and implementation of an ANFIS controller which is shown to work satisfactorily. Further possible developments of the method are outlined. © 2012 Huazhong Univ of Sci & Tec.

关键词： Trajectories

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Simple control system for power converter connecting electrochemical dual-layer capacitors to DC link

Simple control system for power converter connecting electro...

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Čihak, Tihomir Jakopović, Željko KONČAR - Electrical Engineering Institute Power Electronics and Control Department Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Electric Machines Drives and Automation Zagreb Croatia

ISBN: (纸本)9789532330724

Electrochemical dual layer capacitors, also known by their market names Supercapacitors and Ultracapacitors are perspective technology for many uses, for instance in power saving circuits for electric propulsion systems, short-term energy storage systems, systems for extending battery lifetime and other similar uses. Although they can be used connected directly to a power converter DC link, in most cases they are connected to the DC link through a separate power converter. In use, such an EDLC and power converter assembly, due to EDLC specifics, must reliably operate in numerous operating points, unlike a typical power electronic converter. Such a power converter operation entails many control issues. Some of them are considered in this paper. © 2012 MIPRO.

关键词： Power converters

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Second order sliding mode controller for longitudinal wheel slip control

Second order sliding mode controller for longitudinal wheel ...

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2012 IEEE 8th International Colloquium on Signal Processing and Its Applications, CSPA 2012

作者： Hamzah, Norhazimi Md Sam, Yahaya Selamat, Hazlina Aripin, M. Khairi Ghazali, Rozaimi Faculty of Electrical Engineering Universiti Teknologi MARA Pulau Pinang Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Control Instrumentation and Automation Department Faculty of Electrical Engineering UTeM Melaka Malaysia Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Johor Malaysia

ISBN: (纸本)9781467309615

This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is proposed to manipulate the braking torque to control the wheel slip. The effectiveness of the SOSM is compared to the conventional sliding mode in the simulations of emergency straight line braking in Simulink. With the SOSM, the chattering phenomenon is eliminated, giving a smooth tracking trajectory and lower slip error and control effort. © 2012 IEEE.

关键词： Sliding mode control

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Visibility Enhancement of Single Hazy Images Using Hybrid Dark Channel Prior

Visibility Enhancement of Single Hazy Images Using Hybrid Da...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Yi-Jui Cheng Bo-Hao Chen Shih-Chia Huang Sy-Yen Kuo Andrey Kopylov Oleg Seredin Leonid Mestetskiy Boris Vishnyakov Yury Vizilter Oleg Vygolov Chia-Ruei Lian Chi-Ting Wu Department of Electronic Engineering National Taipei University of Technology Taipei 106 Taiwan Department of Electrical Engineering National Taiwan University Taipei 106 Taiwan Department of Automation and Remote Control Tula State University Tula 300012 Russian Computational Mathematics and Cybernetics Faculty Moscow State University Moscow 119991 Russian State Research Institute of Aviation Systems (GosNIIAS) Moscow 125319 Russian TPV Technology Limited (TPV) New Taipei City 23553 Taiwan

ISBN: (纸本)9781479906505

Outdoor images captured during inclement weather conditions generally exhibit visibility degradation. Localized light sources often result from activation of streetlights and vehicle headlights and are common scenarios in these conditions. The presence of localized light sources in hazy images may cause the generation of oversaturation artifacts when those images are restored by traditional state-of-the-art haze removal techniques. Therefore, we propose a novel haze removal approach based on the proposed hybrid dark channel prior technique in order to remedy the problems associated with localized light sources during image restoration. The overall results show that the proposed haze removal approach can recover haze-free images more effectively than can the other previous state-of-the-art haze removal approach while avoiding over-saturation.

关键词： haze removal dark channel prior localized light

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Evaluations of different Simultaneous Localization and Mapping (SLAM) algorithms

Evaluations of different Simultaneous Localization and Mappi...

引用

38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tuna, Gurkan Gulez, Kayhan Cagri Gungor, V. Veli Mumcu, T. Trakya University Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey

ISBN: (纸本)9781467324212

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features. © 2012 IEEE.

关键词： Extended Kalman filters

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Robust stability analysis of nonlinear switched systems with Filippov solutions

Robust stability analysis of nonlinear switched systems with...

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7th IFAC Symposium on Robust control Design, ROCOND'12

作者： Ahmadi, Mohamadreza Mojallali, Hamed Wisniewski, Rafael Izadi-Zamanabadi, Roozbeh Department of Electrical Engineering Faculty of Engineering University of Guilan Rasht Iran Department of Electronic Systems Automation and Control Aalborg University Fredrik Bajers Vej 7 C 9220 Aalborg East Denmark

ISBN: (纸本)9783902823038

This paper addresses the stability problem of a class of nonlinear switched systems with partitioned state-space and state-dependent switching. In lieu of the Carathéodory solutions, the general Filippov solutions are considered. This encapsulates solutions with infinite switching in finite time. Based on the theory of differential inclusions, a Lyapunov stability theorem is brought forward. These results are also extended to switched systems subject to polytopic uncertainty. Furthermore, the proposed stability theorems are reformulated using the sum of squares decomposition method which provides sufficient means to construct the corresponding Lyapunov functions via available semi-definite programming techniques. © 2012 IFAC.

关键词： Lyapunov functions

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