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Estimation of Passive Stiffness and Viscosity in Paraplegic: A Dynamic Leg Model in Visual Nastran

IFAC Proceedings Volumes 2009年第13期42卷 581-586页

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

Abstract 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： Dynamic modelling Parameters estimation Biomechanics

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The Use of Spring-Orthosis to Enhance Performance of FES-assisted Indoor Rowing Exercise (FAIRE)

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IFAC Proceedings Volumes 2009年第13期42卷 425-430页

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

Abstract 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： Biomechanics Spring orthosis FES Indoor rowing machine Fuzzy logic control

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System interdependence analysis for autonomous mobile robots

System interdependence analysis for autonomous mobile robots

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Florian Rohrmüller Georgios Lidoris Dirk Wollherr Martin Buss Institute of Automatic Control Engineering LSR Faculty of Electrical Engineering Technische Universität München Munchen Germany

Autonomous mobile robots are deployed in a variety of application domains, resulting in scenario specific implementations. However these systems share common components responsible for perception, path planning and task execution. In order to find a formal way to identify the influence of the environmental complexity to the used methods, an approach for quantitative system interdependence analysis is introduced. The coherence between several performance indicators of different system components, as well as the influence of environmental parameters on the system, are learned and quantitatively evaluated. Performance evaluation of an autonomous robot navigating in two different urban environments is conducted and presented results demonstrate the applicability of the proposed approach.

关键词： Mobile robots Navigation Benchmark testing Path planning Robustness Robotics and automation Intelligent robots USA Councils Indoor environments Human robot interaction

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The Autonomous City Explorer (ACE) project — mobile robot navigation in highly populated urban environments

The Autonomous City Explorer (ACE) project — mobile robot n...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Georgios Lidoris Florian Rohrmuller Dirk Wollherr Martin Buss Institute of Automatic Control Engineering (LSR) Faculty of Electrical Engineering Technische Universität München Munchen Germany

One of the greatest challenges nowadays in robotics is the advancement of robots from industrial tools to companions and helpers of humans, operating in natural, populated environments. In this respect, the Autonomous City Explorer (ACE) project aims to combine the research fields of autonomous mobile robot navigation and human robot interaction. A robot has been created that is capable of navigating in an unknown, highly populated, urban environment, based only on information extracted through interaction with passers-by and its local perception capabilities. This paper describes the algorithms and architecture that make up the navigation subsystem of ACE. More specifically, the algorithms used for Simultaneous Localization and Mapping (SLAM), path planning in dynamic environments and behavior selection are presented, as well as the system architecture that integrates them to a complete working system. Results from an extended field experiment, where the robot navigated autonomously through the downtown city area of Munich, are analyzed and show that the robot is capable of long-term, safe navigation in real-world settings.

关键词： Cities and towns Mobile robots Navigation Robot kinematics Service robots Robotics and automation Human robot interaction Data mining Simultaneous localization and mapping Robot vision systems

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Computing the Autopilot control Algorithm Using Predictive Functional control for Unstable Model

Computing the Autopilot Control Algorithm Using Predictive F...

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International Conference of Soft Computing and Pattern Recognition (SOCPAR)

作者： H. A. Kasdirin J. A. Rossiter Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malaysia Department of Automatic Control & Systems Engineering University of Sheffield UK

This paper discusses the computing development of a control algorithm using predictive functional control (PFC) for model-based that having one or more unstable poles. One basic ballistic missile model is used as an unstable model to formulate the control law algorithm using PFC. PFC algorithm development is computationally simple as a controller and it is not very complicated as the function of a missile will explode as it reaches the target. Furthermore, the analysis and issues of the implementation relating linear discrete-time unstable process are also being discussed. Hence, designed PFC algorithm need to find the suitable tuning parameters as its play an important part of the designing the autopilot controller. Thus, the tuning of the desired time constant, ¿ and small coincidence horizon n1 in a single coincidence point shows that the PFC control law is built better in the dynamic pole of the unstable missile mode. As a result, by using a trajectory set-point, some positive results is presented and discussed as the missile follow its reference trajectory via some simulation using MATLAB 7.0.

关键词： Prediction algorithms Predictive models Design optimization Printing Integer linear programming Constraint optimization Testing Containers Pattern recognition Computer applications

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Mathematica parallel computing. Some timing results on a intel nehalem multicore processor

Mathematica parallel computing. Some timing results on a int...

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10th International Symposium of Hungarian Researchers on Computational Intelligence and informatics, CINTI 2009

作者： Paláncz, Béla Kovács, Levente Department of Photogrammetry and Geoinformatics Faculty of Civil Engineering Budapest University of Technology and Economics Muegyetem rkp. 3 1111 Budapest Hungary Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar Tudósok krt. 2 H-1117 Budapest Hungary

1ome frequently employed algorithms in engineering, are parallel by nature (embarrasingly parallel algorithms) and some others can be parallelized via data parallelization. Algorithms like probability analysis, linear homotopy continuation method, Gauss-Jacobi combinatorial technique are belonging to the first group, while others like algorithms for digital image processing as well as reduced Groenber basis application to solving systems of polynomial equations fall into the other category. In this case study we illustrate how Mathematica can manage to evaluate such algorithms parallel on a multicore machine. The analysis of the efficiency of the computation and the net reduction of the execution time are presented by three examples as well as some useful tips are given to avoid pitfalls and utilize the advantages of parallel processing.

关键词： Monte Carlo methods

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A fuzzy qualitative framework for indoor rowing kinematics analysis

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WSEAS Transactions on Signal Processing 2009年第8期5卷 304-313页

作者： Panjkota, Ante Stančić, Ivo Šupuk, Tamara Laboratory for Biomechanics and Automatic Control Systems Faculty of Electrical Engineering Mechanical Engineering and Naval Architecture - FESB University of Split Rudera Boškovića bb Croatia

In this article an outline of a fuzzy qualitative framework for the indoor rowing kinematics analysis have been proposed. Main goal of introducing this fuzzy qualitative framework is to bridge the gap between high level of quantitative details obtained with various present - day sensory or video inputs and symbolic representation used by rowing experts. A Fuzzy qualification process of kinematic parameters is done on the basis of previously collected quantitative data and with possession of prior contextual knowledge for their qualification by rowing experts. Quantitative data acquisition is included indoor rowing kinematics recording by video motion tracking system. Generalizations of the proposed method on kinematics analysis of a common indoor human motion, problems of symbolic representation, as well as guidelines for method improvement are briefly discussed.

关键词： Data acquisition

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Design of fuzzy logic control of permanent magnet DC motor under real constraints and disturbances

Design of fuzzy logic control of permanent magnet DC motor u...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Jasmin Velagic Amar Galijasevic Department of Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Bosnia and Herzegovina Siemens Company Sarajevo Bosnia and Herzegovina

This paper presents a design of the fuzzy logic control for a permanent magnet DC motor. The main objective is to achieve a robust controller under disturbances and unmodeled dynamics acting, such as load torque, dead zone, measurement noise and nonlinearities. The whole system contains the DC motor, driver, tachogenerator, external load and microprocessor based system (dSPACE CLP1004). This system is considered such as black box. The fuzzy controller is designed in simulation mode first. The model of whole system was obtained through identification procedure. Then this fuzzy controller is included into a real physical control structure. control performance of the fuzzy controller in both simulation and experimental modes are compared under mentioned constraints. Also, results obtained by the fuzzy controller are compared with the same obtained by PID controller.

关键词： Fuzzy logic DC motors Fuzzy control Noise robustness Robust control Torque control control nonlinearities Nonlinear dynamical systems Torque measurement Noise measurement

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Computer vision system for human anthropometric parameters estimation

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WSEAS Transactions on Systems 2009年第3期8卷 430-439页

作者： Stancic, Ivo Supuk, Tamara Cecic, Mojmil Laboratory for Biomechanics and Automatic Control Faculty of Electrical Engineering Mechanical Engineering and Naval Architecture University of Split Rudjera Boskovica b.b. 21000 Split Croatia

In this paper we have proposed and evaluated a new method for human anthropometric parameters estimation. Method is planed to be simple and fast, thus suited for examiners with no experience in the anthropometric measurements. An anthropometric data obtained by this method, segments masses and lengths, are primarily used for biomechanics applications, but could be adapted to other fields, as well. Estimates of segment inertial properties are frequently based on data and procedures developed for human cadavers in whom inertial properties have been measured directly, using complicated and time consuming procedures. For that reason, we have designed a measurement system that consists of singe digital camera, PC and requires simple experimental set-up with a few considerations. Proposed method comes with some disadvantages, due to which it could be rather used as an estimation tool than as a highly-precise measurement procedure of anthropometric parameters. Measurement using proposed method is completely contactless with the subject, which result in minimizing examiners physical intervention and considerable reduction of time required for measurements. Therefore, measurement procedure is adopted to be executed on a large number of subjects in short time. An algorithm was developed that creates 3D model of the human body using only data obtained from 2D subject's image, and ellipses as basic building objects. Finally, results of anthropometric body parameters obtained for three subjects were compared with referent anthropometric data and manual measurement.

关键词： Parameter estimation

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Development and testing of a device for human kinematics measurement

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WSEAS Transactions on Systems 2009年第9期8卷 1083-1092页

作者： Stancic, Ivo Borojevic, Daniela Supuk, Tamara Laboratory for Biomechanics and Automatic Control Faculty of Electrical Engineering Mechanical Engineering and Naval Architecture University of Split Rudjera Boskovica b.b. 21000 Split Croatia

This paper presents a simple, inexpensive, and fast procedure for motion kinematics measurement and analysis [1,2]. System developed in our laboratory is based on a high speed industrial camera, active LED markers and a PC for handling cameras video stream and data analysis. Active markers used in this work were assembled using small, lightweight and easily available white LEDs. Smaller LEDs allow larger density of markers to be placed on a subject in motion, tracking position and orientation of all segments relevant for motion kinematic analysis. Computer vision algorithm for marker detection and tracking was developed in-house, followed by an algorithm for computing and analyzing kinematics data of human locomotion [3-5]. Procedures for camera calibration and sub pixel accuracy were also developed and integrated with the system. The accuracy and properties of our system were tested, and results were compared with the existing referent systems presently used in the field. Results of testing marker - camera properties suggest that the system could support work in larger volumes (distances from camera) and almost perpendicular rotations of marker against camera. This property allows building of a 3D kinematics tracking system with two or more cameras placed at different angels against the subject in setup. Proposed system has a few disadvantages;measurements and results that are representative in only one plane and use of battery powered active markers that could disturb subject during normal gait trial. The major advantage of our system is that it offers acceptable accuracy, high speed (up to 320Hz) and easy upgradeability at much lower price when compared with the other commercially available systems [6-8]. Further development of our system will include additional cameras for 3D marker tracking and integration with an inertial sensor for full kinematics and kinetic measurement of human movement.

关键词： Computer vision

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