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Natural trajectory based FES-induced swinging motion control

Natural trajectory based FES-induced swinging motion control

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International Conference on mechatronics (ICOM)

作者： B. S. K. K. Ibrahim M. O. Tokhi M. S. Huq S. C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The results show the effectiveness of the approach in controlling FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth.

关键词： Knee Joints Mathematical model Trajectory Genetic algorithms Muscles Optimization

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Fuzzy logic based cycle-to-cycle control of FES-induced swinging motion

Fuzzy logic based cycle-to-cycle control of FES-induced swin...

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International Conference on Electrical, control and Computer engineering (INECCE)

作者： B.S. K. K. Ibrahim M.O. Tokhi M.S. Huq S.C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

FES induced movement control is a significantly challenging area due to complexity and non-linearity of musculo-skeletal system. The goal of this study is to design a cycle-to-cycle control of FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated by controlling the amount of stimulation pulsewidth. This time dependent behaviour is successfully compensated for using a cycle-to cycle fuzzy controller, which computes the amount of knee extension stimulation on the basis of the achieved flexion angle in previous cycles. The capability of fuzzy control in automatic generation of stimulation burst duration is assessed in computer simulations using a musculo-skeletal model. This paper presents the development of a fuzzy logic control scheme based on discrete-time cycle to cycle control strategies without predefined trajectory. The results show the effectiveness of the approach in controlling FES-induced swinging motion.

关键词： Knee Joints Mathematical model Trajectory Computational modeling Muscles Fuzzy logic

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Sliding mode simulation and robustaness controller

Sliding mode simulation and robustaness controller

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International Conference on engineering and Industries (ICEI)

作者： Ali Amer Ahmed R. B Ahmad Saadi A. Alobaidi Abid Yahya L. A. Hassnawi Z. G. Ali Hazim H. Tahir School of Computer and Communication Engineering University Malaysia Perlis Malaysia Head of Computer Techniques Eng. Dept. Dijlah University College Baghdad Iraq Mechatronics Department Control and Mechatronics Research Ministry of Science and Technology Baghdad Iraq

Thailand has exported longan to international market more than four decades, and China is the main international market. After Thailand and China agreed the ASEAN framework under Free Trade Agreement (FTA) since 2003, the average volume and value of longan export per year during 2004-2010, grow up to 200,000 tons and 2,737 million Baht respectively. And the average of growth rate per year of volume and value is 18%, 15%. Therefore, the objectives of the research aim to investigate the supply chain performance, collaborative supply chain of exported longan and impact factors under Thailand-China FTA. The results are based upon empirical studies, a grower and an exporter. The questionnaires developed by Q-sort technique, have been intensively employed in order to collect data. As a significant result; this paper finds exporters have high level out of eight factors, it illustrates that good competence in business for this part of supply chain as well as are well-packed and much stronger than the grower. Nevertheless, the results from regression analysis also confirm the relationship of factors in all four models. From these experimental results, both international business and agriculture business have to be emphasized in order to manage longan export.

关键词： Equations Mathematical model Switches DC motors Trajectory Dynamics

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

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Direct contour error compensation for biaxial contouring control systems based on a global fixed coordinate frame

Direct contour error compensation for biaxial contouring con...

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World Congress on Intelligent control and Automation (WCICA)

作者： Jiangzhao Yang Zexiang Li Hong Wang Yunjiang Lou Zhili Long Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Kowloon Hong Kong China

In the tasks of contour following, two important issues are required to be concerned. They are the real-time contour error estimation and compensation. Recent research shows that the accuracy of real-time contour error estimation can be improved by the approach of circular approximation. However, in such an approach, the estimated contour error is calculated from the artificial moving coordinate frame and has to be transformed back to the fixed coordinate frame for compensation. In this paper, an approach to estimate and compensate the real-time contour error based on the global fixed coordinate frame is proposed. In this method, the real-time contour error can be obtained from the tracking error decomposition to the global fixed coordinate frame via a projection map. Based on this estimation, direct contour error compensation will be performed with respect to the global fixed coordinate frame through modifying the reference position inputs. Experiments show that the estimation accuracy of the direct tracking error decomposition is the same as that of the circular estimation and the tracking performance of the contouring system is evidently improved after the compensation.

关键词： Approximation methods Real time systems Estimation Error analysis Error compensation Accuracy control systems

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Designing a Nonlinear Optimal Anti-Sway controller for Container Crane Systems

Designing a Nonlinear Optimal Anti-Sway Controller for Conta...

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International Conference on Circuits, System and Simulation（ICCSS 2011）

作者： Mahan Mahrueyan Hamid Khaloozadeh MSc student in Mechatronics Engineering K.N.Toosi University of Technology TehranIran PhD Associate professor of Control EngineeringK.N.Toosi University of Technology TehranIran

In this paper, an iterative procedure for solving State-Dependent Riccati Equation (SDRE) is used for anti-sway controlling of a two-dimensional container crane model. The sway is caused by both the movement of the trolley and the load. Furthermore, the controller is used in a sliding platform added to the system. Numerical simulations demonstrate the performance of this version of SDRE controller as an antisway controller in container cranes.

关键词： container crane trolley nonlinear systems state-dependent riccati equation optimal control

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Identification of Hammerstein-Wiener ARMAX Systems Using Extended Kalman Filter

Identification of Hammerstein-Wiener ARMAX Systems Using Ext...

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2011 Chinese control and Decision Conference（CCDC）

作者： M.Mansouri H.Tolouei M.Aliyari Shoorehdeli Intelligent System Laboratory (ISLAB) faculty of Electrical EngineeringControl departmentK.N.Toosi University of Technology Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical EngineeringControl departmentK.N.Toosi University of Technology Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical EngineeringMechatronics departmentK.N.Toosi University of Technology

In this study,Extended Kalman Filter (EKF) algorithm is developed to estimate the parameters of Hammerstein-Wiener (H-W) ARMAX *** basic idea is to estimate the original parameters of the identification model,which are appeared in the form of product terms,***,other algorithms like Extended Forgetting Factor Stochastic Gradient (EFG),Extended Stochastic Gradient (ESG),Forgetting Factor Recursive Least Square (FFRLS) and Kalman Filter (KF),estimate parameters in the product form and they need another algorithms such averaging method (AVE method),singular value decomposition method (SVD method) to separate the ***,the computational complexity of the proposed approach *** show the efficiency of this method the results are compared with EFG and ESG method.

关键词： Hammerstein-Wiener model,Extended Kalman Filter algorithm,Extended Stochastic Gradient algorithm,Extended Forgetting Factor Stochastic Gradient algorithm

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control architecture of material handling vehicles

Control architecture of material handling vehicles

引用

International Conference on Instrumentation control and Automation (ICA)

作者： Augie Widyotriatmo A. K. Pamosoaji G.-Y. Hong Keum-Shik Hong Instrumentation and Control Institut Teknologi Bandung Bandung Indonesia School of Mechanical Engineering Pusan National University Busan South Korea Department of Cogno-Mechatronics Engineering Pusan National University Busan South Korea

This paper presents the architecture of autonomous material handling vehicles. The centralized coordination of multiple vehicles and three-layer architecture (deliberative, sequencing, and reflexive layers) are adopted. The navigation controls, including configuration control, visual servoing, path tracking, and collision avoidance, are developed. The finite state machine (FSM) that supervises the control modules to complete the material handling task is elucidated. The experimental results of a forklift transporting a pallet from an initial to a desired goal configuration are demonstrated.

关键词： Tracking Laser applications Handheld computers Instruments Universal Serial Bus Vehicles

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Periodic disturbance rejection of a PMSM with adaptive control algorithms

Periodic disturbance rejection of a PMSM with adaptive contr...

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IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Permanent magnet synchronous motors (PMSMs) produce a parasitic oscillating torque due to several reasons. This contribution cancels the oscillating torque with adaptive control algorithms. Therefore a mathematical model of the PMSM is necessary. A model with nonlinear dynamics and a Fourier approach for the ripples is used as a mathematical description. Through comparisons between measured data and simulated data it is shown that the model assumptions are valid. The adaptive algorithm is implemented as an add-on controller to the already existing control system which consists of a feedforward part and a basis controller. The challenge is that the closed loop system has a resonant frequency and the algorithm should have the same performance for all frequencies. Experimental results show the performance and convergence of the adaptive algorithm at constant and non constant velocity.

关键词： Torque Mathematical model Transfer functions control systems Feedforward neural networks Equations Adaptation models

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Influence of Contact Types and Uncertainties in the Computation of Independent Contact Regions

Influence of Contact Types and Uncertainties in the Computat...

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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： M(a)ximo A. Roa Ra(u)l Su(a)rez Institute of Robotics and Mechatronics German Aerospace Center (DLR e.V.)WesslingGermany Institute of Industrial and Control Engineering (IOC) Technical University of Catalonia (UPC)Barcel

Independent Contact Regions provide robustness in front of finger positioning errors during an object grasping. However, different sources of uncertainty may be present like, for instance, the friction model used in grasp planning, indetermination of the friction coefficients, and errors in the model of the object that affect the positions of the boundary points as well as the direction normal to the object surface. These sources have not been previously considered in the computation of the Independent Contact Regions. This paper discusses how to take into account these factors when computing the Independent Contact Regions for discretized objects, i.e. objects described with a cloud or a mesh of points. The considerations provided allow a more robust result for application in grasp synthesis and regrasp planning.

关键词： Friction Uncertainty Computational modeling Force Three dimensional displays Planning Grasping

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