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On Data-driven Takagi-Sugeno Modeling of Heterogeneous Systems with Multidimensional Membership Functions

IFAC Proceedings Volumes 2011年第1期44卷 14994-14999页

作者： A. Kroll S. Soldan University of Kassel Faculty of Mechanical Engineering Department of Measurement and Control Mönchebergstraße 7 34125 Kassel Germany

Abstract In case of a structural mismatch between a Takagi-Sugeno model and a nonlinear system that is to be modeled, identification algorithms tend to compensate this by a finer granular partitioning. This is in conflict with the objective of parsimonious models. A novel TS model type with multi-dimensional fuzzy sets and locally adjustable/heterogeneous fuzziness is presented with a method for the adjustment. This new approach enhances the structural flexibility of the model while the number of parameters increases negligibly. Two case studies, including compressor modeling, illustrate the performance of the proposed method.

关键词： system identification nonlinear modeling multidim. membership functions compressor

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A Novel Friction-Identification Method using Sliding-Mode Observer and Its Application to Electro-mechanical Throttles

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IFAC Proceedings Volumes 2011年第1期44卷 4803-4808页

作者： Z. Ren P. Gerland A. Kroll University of Kassel Faculty of Mechanical Engineering Measurement and Control Department Mönchebergstraße 7 D-34125 Kassel Germany Same Department

Abstract Model-based analysis, design and testing methods require precise mathematical process models of high quality. But modelling of systems with friction poses difficult challenges. In this paper, a novel friction-identification method using a sliding-mode observer based friction estimation approach is proposed. This model is used in Hardware-in-the-Loop (HiL) simulation in context of developing motor control functions in automotive applications. A case study illustrates the effectiveness and efficiency of the proposed method.

关键词： friction modelling system identification nonlinear modelling sliding-mode observer electromechanical throttles Hardware-in-the-Loop (HiL) simulation

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Optimal Tracking of a sEMG based Force Model for a Prosthetic Hand

Optimal Tracking of a sEMG based Force Model for a Prostheti...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Chandrasekhar Potluri Madhavi Anugolu YimeskerYihun Alex Jensen Steve Chiu Marco P. Schoen D. Subbaram Naidu Measurement and Control Engineering Research Center (MCERC) College of Engineering Idaho State University MCERC College of Engineering Idaho State University Department of Electrical Engineering and Computer Science MCERC Idaho State University Department of Mechanical Engineering MCERC Idaho State University

ISBN: (纸本)9781424441211

This paper presents a surface electromyographic (sEMG)-based, optimal control strategy for a prosthetic hand. System Identification (SI) is used to obtain the dynamic relation between the sEMG and the corresponding skeletal muscle force. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion-based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system model provides the estimated finger forces to be produced as input to the prosthetic hand. Optimal tracking method has been applied to track the estimated force profile of the Fusion based sEMG-force model. The simulation results show good agreement between reference force profile and the actual force.

关键词： SEMA5B gene Prosthetic hand Skeletal muscle multiple-input single-output Fusion reactions Fusion, biological Gaussian filter

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The effect of competition on heart rate during kart driving: A field study

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BMC Research Notes 2011年第1期4卷 1-5页

作者： Matsumura, Kenta Yamakoshi, Takehiro Yamakoshi, Yasuhiro Rolfe, Peter Department of Adult Mental Health National Institute of Mental Health National Center of Neurology and Psychiatry Tokyo Japan School of Mechanical Engineering College of Science and Engineering Kanazawa University Kanazawa Japan Graduate School of Natural Science and Technology Kanazawa University Kanazawa Japan Graduate School of Science and Technology Chiba University Chiba Japan Oxford BioHorizons Ltd Oxford United Kingdom Department of Automatic Measurement and Control Harbin Institute of Technology Harbin China

Background: Both the act of competing, which can create a kind of mental stress, and participation in motor sports, which induces physical stress from intense g-forces, are known to increase heart rate dramatically. However, little is known about the specific effect of competition on heart rate during motor sports, particularly during four-wheel car driving. The goal of this preliminary study, therefore, was to investigate whether competition increases heart rate under such situations. Findings. The participants drove an entry-level formula kart during two competitive races and during solo driving against the clock while heart rate and g-forces were measured. Analyses showed that heart rate values during the races (168.8 beats/min) were significantly higher than those during solo driving (140.9 beats/min) and rest (75.1 beats/min). Conclusions: The results of this preliminary study indicate that competition heightens heart rate during four-wheel car driving. Kart drivers should be concerned about maintaining good health and developing physical strength. © 2011Matsumura et al;licensee BioMed Central Ltd.

关键词： Heart Rate Increase Heart Rate Blood Lactate Concentration Race Condition Adrenergic Activation

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Spectral analysis of sEMG signals to investigate skeletal muscle fatigue

Spectral analysis of sEMG signals to investigate skeletal mu...

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IEEE Conference on Decision and control

作者： Parmod Kumar Anish Sebastian Chandrasekhar Potluri Yimesker Yihun Madhavi Anugolu Jim Creelman Alex Urfer D. Subbaram Naidu Marco P. Schoen Measurement and Control Engineering Research Center (MCERC) School of Engineering Idaho State University Pocatello ID USA MCERC School of Engineering Idaho State University Pocatello ID USA Department of Physical and Occupational Therapy Idaho State University Pocatello ID USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello ID USA Department of Mechanical Engineering MCERC Idaho State University Pocatello ID USA

ISBN: (纸本)9781612848006;9781612848013

Our recent investigations are focused to develop dynamic models for skeletal muscle force and finger angles for prosthetic hand control using surface electromyographic sEMG as input. Since sEMG is temporal and spatially distributed and is influenced by various factors, muscle fatigue and its related sEMG becomes of importance. This study is an effort to spectrally analyze the sEMG signal during progression of muscle fatigue. The sEMG is captured from the arms of healthy subjects during muscle fatiguing experiments for dynamic and static force levels. Filtered sEMG signal is segmented in five parts with 75% overlap between adjacent segments. The analysis is done using different classical (fast Fourier transform, Welch's averaged modified periodogram), model-based (Yule-Walker, Burg, Covariance and Modified Covariance autoregressive (AR) method), and eigenvector methods (Multiple Signal Classification (MUSIC) and eigenvector spectral estimation method) in frequency domain. Results show that the classical and eigenvector based methods are more sensitive than the model-based methods to fatigue related changes in sEMG signals.

关键词： Muscles Fatigue Force Multiple signal classification Dynamics Estimation Electromyography

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Adaptive control for a five-fingered prosthetic hand with unknown mass and inertia

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WSEAS Transactions on Systems 2011年第5期10卷 148-161页

作者： Chen, Cheng-Hung Naidu, D. Subbaram Schoen, Marco P. Measurement and Control Engineering Research Center School of Engineering Idaho State University 921 S. 8th Avenue Pocatello ID 83209 United States Department of Biological Sciences School of Engineering Idaho State University 921 S. 8th Avenue Pocatello ID 83209 United States Department of Electrical Engineering School of Engineering Idaho State University 921 S. 8th Avenue Pocatello ID 83209 United States Department of Mechanical Engineering School of Engineering Idaho State University 921 S. 8th Avenue Pocatello ID 83209 United States

An adaptive control strategy for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand with unknown mass and inertia of all the fingers is developed in this work. In modeling, the various links used for the five fingers of the prosthetic hand are shown. A cubic polynomial for the trajectory planning is used. In particular, using a desired orientation for three-link fingers, the forward and inverse kinematics of the prosthetic hand system regarding the analytical solutions between the angular positions of joints and the positions and orientations of the end-effectors (fingertips) have been obtained. The simulations of the resulting adaptive controller with five-fingered prosthetic hand show enhanced performance.

关键词： Feedback linearization

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Implementation of sEMG-Based Real-Time Embedded Adaptive Finger Force control for a Prosthetic Hand

Implementation of sEMG-Based Real-Time Embedded Adaptive Fin...

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IEEE Conference on Decision and control

作者： Chandrasekhar Potluri Madhavi Anugolu Yimesker Yihun Parmod Kumar Steve Chiu Marco P. Schoen D. Subbaram Naidu Measurement and Control Engineering Research Center (MCERC) Idaho State University Pocatello Idaho 83201 USA MCERC Idaho State University Pocatello Idaho 83201 USA MCERC College of Engineering Idaho State University Pocatello Idaho 83201 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83209 USA Department of Mechanical and Nuclear Engineering MCERC Idaho State University Pocatello Idaho 83209 USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello Idaho 83201 USA

ISBN: (纸本)9781612848006

This paper presents surface electromyographic (sEMG)-based, real-time Model Reference Adaptive control (MRAC) strategy for a prosthetic hand prototype. The proposed design is capable of decoding the prerecorded sEMG signal as well as the sensory force feedback from the sensors to control the force of the prosthetic hand prototype using a PIC 32MX360F512L microcontroller. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system provides the estimated finger forces to be produced as input to the prosthetic hand prototype. A simple MRAC method along with a two stage embedded design is used for the force control of the prosthetic hand. The sensed force at the fingertip is fed back to the controller for real-time operation. The data is transmitted to the computer through an universal asynchronous receiver/transmitter (UART) interface of the proposed embedded design. Results show good performance in controlling the finger force as well as shortcomings of the mechanical design of the prosthetic hand prototype to be addressed in future.

关键词： Prosthetic hand Force control model reference adaptive control Force force feedback Equipment Design Fingers Hydrologic models Embedded design

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Chlorine gas sensors using hybrid organic semiconductors of PANI/ZnPcCl_(16)

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Journal of Semiconductors 2010年第8期31卷 88-92页

作者：雷廷平施云波吕文龙刘洋陶巍袁鹏亮林立伟孙道恒王立权 College of Physics and Mechanical & Electrical Engineering Xiamen University Mechanical Engineering Center for Post-doctoral Studies Harbin Engineering University Higher Educational Key Laboratory for Measuring & Control Technology and Instrumentations of Heilongjiang Province School of Measurement Control Tech & Communications EngineeringHarbin University of Science and Technology Qingyang Secondary Specialized School of Science and Technology Department of Mechanical Engineering and Berkeley Sensor and Actuator Center University of CaliforniaBerkeleyCalifornia 94720USA

PANI/ZnPcCl_（16）（polyaniline doped with sulfosalicylic acid/hexadecachloro zinc phthalocyanine） powders were vacuum co-deposited onto Si substrates,where Pt interdigitated electrodes were made by *** PANI/ZnPcCl_（16） films were characterized and analyzed by SEM,and the influencing factors on its intrinsic performance were analyzed and sensitivities of the sensors were investigated by exposure to chlorine（Cl_2） *** results showed that powders prepared with a stoichiometric ratio of（ZnPcCl_（16））_（0.6）（PANI）_（0.4） had a preferential sensitivity to Cl_2 gas, superior to those prepared otherwise;the optimal vacuum co-deposition conditions for the films are a substrate temperature of 160℃,an evaporation temperature of 425℃and a film thickness of 75 nm;elevating the operation temperature （above 100℃） or increasing the gas concentration（over 100 ppm） would improve the response characteristics,but there should be upper levels for ***,the gas sensing mechanism of PANI/ZnPcCl_（16） films was also discussed.

关键词： PANI/ZnPcCl_（16） hybrid organic semiconductors chlorine gas sensors vacuum co-deposition

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Observer-based estimation of pressure signals in hydrostatic transmissions

Observer-based estimation of pressure signals in hydrostatic...

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作者： Schulte, Horst Gerland, Patrick Department of Engineering I Electrical Engineering and Automation Wilhelminenhofstr. 75A 12459 Berlin Germany University of Kassel Faculty of Mechanical Engineering Measurement and Control Moenchebergstr. 7 34125 Kassel Germany

ISBN: (纸本)9783902661722

Hydrostatic transmissions, also called hydrostatic gears, have been widely used in mobile working machines and off-road vehicles such as construction and agricultural machines. This kind of transmission offers important advantages like continuously variable transmission with high power density, maximum tractive force at low speeds and reversing without changing gear. The automatic electronic control of hydrostatic transmissions, which depend on a number of measurable values, has become more common in industrial practice. To ensure the reliability and safety at least a two-channel redundant system for the measuring channels is required. In this paper, a general model-based approach using a Takagi-Sugeno (T-S) fuzzy observer for analytical redundancy of the oil pressure measuring process in hydrostatic transmissions is developed. It has been shown by experimental results that this approach can be used to estimate the pressure values under varying load conditions and different driving situations. © 2010 IFAC.

关键词： Off road vehicles

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Modern development of low cost RT industrial process control based on matlab-simulink and PAC

Modern development of low cost RT industrial process control...

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作者： Tutsch, Michal Konarik, Petr Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB - Teclmical University of Ostrava Ostrava Czech Republic Department of Control System and Instrumentation Faculty of Mechanical Engineering VSB - Teclmical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424473359

The paper presents modern advanced development methods of control systems that minimizes the cost of development of applications which are widely applicable in industrial control of whole range of processes. Unlike the classical way of design and testing control algorithms which are based on expensive RT measurement cards or dSpace, this solution is based on industrial controllers WinPLC/WinPAC. This enables so called rapid-prototyping of control algorithms directly from Matlab-Simulink into target platform. It was used muItiplatform control system REX as a bridge between Matlab and the target platform. The paper describes whole design of control algorithms and control schemes, simulation of prepared schemes, uploading control schemes into target platform of WinPLC. Also possibilities of remote data transfer and data storage are mentioned. The real measurement on hydraulic industrial system proved its limits that were also explained in this paper.

关键词： Simulink

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