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Residual muscle contraction and prosthetic socket interface force in a transtibial amputee upon the osteomyoplastic procedure - A preliminary study

Residual muscle contraction and prosthetic socket interface ...

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2012 ISSNIP Biosignals and Biorobotics Conference: Biosignals and robotics for Better and Safer Living, BRC 2012

作者： Mai, Anh Commuri, Sesh Day, Jonathan Dionne, Carol Ertl, William J. J. School of Electrical and Computer Engineering University of Oklahoma Norman OK 73019 United States Intelligent and Robotic Systems United States Department of Orthopaedic Surgery and Rehabilitation Orthotic/Prosthetic Section University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Mechanical Therapy Research Laboratory Department of Rehabilitation Sciences United States College of Allied Health University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Department of Orthopedic Surgery and Rehabilitation United States College of Medicine University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States

ISBN: (纸本)9781467324762

In the Transtibial Osteomyoplastic Amputation (TOA) technique, the fibular end and the tibial end are connected to each other by a bone bridge in order to stabilize the bony anatomy of the residual limb. In addition, during the myoplasty procedure, the ends of the muscles are secured to one another and to the bony foundations to re-establish the length-tension relationship. In contrast to conventional amputation techniques in which the muscles are cut and the length-tension relationship is lost overtime, the TOA procedure is anticipated to allow muscles to actively contract and return blood to the heart more efficiently [1]. In this study, the outcomes of the TOA procedure were investigated by measuring electromyography signals from the tibialis anterior and gastrocnemius muscles on the amputated leg as well as the interface force inside the prosthetic socket at the end-bearing level of a transtibial amputee. The subject had undergone the TOA procedure and the study was conducted while the subject walked on different terrain (level ground with different speeds, stairs, and incline) with two different kinds of prosthetic feet. Preliminary results showed that (1) the residual muscles appeared to be active while walking on various terrain, and (2) the activation level of the residual tibialis anterior muscle was found to be related to the force variation inside the prosthetic socket. © 2012 IEEE.

关键词： Muscle

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COMPLEXITY ANALYSIS OF NETWORK-BASED DYNAMICAL systems

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Journal of systems Science & Complexity 2011年第3期24卷 413-432页

作者： Guofeng ZHANG Long WANG Tongwen CHEN School of Electronic Engineering University of Electronic Science and Technology of China Chengdu 610054 China. Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing 100871 China Department of Electrical and Computer Engineering University of Alberta Edmonton Alberta T6G 2V4 Canada

This paper investigates the nonlinear dynamics of network-based dynamical systems where network communication channels of finite data rates are inserted into the closed loops of the control systems. The authors analyze the bifurcation and chaotic behavior of the non-smooth dynamical systems. The authors first prove that for almost all system parameters there are no periodic orbits. This result distinguishes this type of non-smooth dynamical systems from many others exhibiting border-collision bifurcations. Next, the authors show analytically that the chaotic sets are separated from the region containing the line segment of all fixed points with a finite distance. Finally, the authors employ a simple model to highlight that both the number of clients sharing a common network channel and fluctuations in the available network bandwidth have significant influence on the performance of such dynamical systems.

关键词： Bifurcation feedback network-based dynamical system non-convexity periodicity.

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Adaptive and repetitive controller for robotic manipulators with slowly updating scheme using B-spline shape function

Adaptive and repetitive controller for robotic manipulators ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Rakprayoon, Pannatee Sanposh, Peerayot Chayopitak, Nattapon Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathumthani 12120 Thailand

ISBN: (纸本)9781457721373

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits. © 2011 IEEE.

关键词： Interpolation

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A highly interpretable fuzzy rule base using ordinal structure for obstacle avoidance of mobile robot

A highly interpretable fuzzy rule base using ordinal structu...

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作者： Samsudin, Khairulmizam Ahmad, Faisul Arif Mashohor, Syamsiah Intelligent System and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Computer and Communication Systems Faculty of Engineering Universiti Putra Malaysia 43400 Serdang Selangor Malaysia

Conventional fuzzy logic controller is applicable when there are only two fuzzy inputs with usually one output. Complexity increases when there are more than one inputs and outputs making the system unrealizable. The ordinal structure model of fuzzy reasoning has an advantage of managing high-dimensional problem with multiple input and output variables ensuring the interpretability of the rule set. This is achieved by giving an associated weight to each rule in the defuzzification process. In this work, a methodology to design an ordinal fuzzy logic controller with application for obstacle avoidance of Khepera mobile robot is presented. The implementation will show that ordinal structure fuzzy is easier to design with highly interpretable rules compared to conventional fuzzy controller. In order to achieve high accuracy, a specially tailored Genetic Algorithm (GA) approach for reinforcement learning has been proposed to optimize the ordinal structure fuzzy controller. Simulation results demonstrated improved obstacle avoidance performance in comparison with conventional fuzzy controllers. Comparison of direct and incremental GA for optimization of the controller is also presented. © 2010 Elsevier B.V. All rights reserved.

关键词： Genetic algorithms

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Modeling, Simulation and Control of a Spincopter

Modeling, Simulation and Control of a Spincopter

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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. Orsag S. Bogdan T. Haus M. Bunic A. Krnjak Laboratory for Robotics and Intelligent Control Systems - LARICS Dept. of Control and Computer EngineeringFaculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia

In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.

关键词： Aircraft Mathematical model Engines Propellers Force Atmospheric modeling

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Adaptive critic design based dynamic optimal power flow controller for a smart grid

Adaptive critic design based dynamic optimal power flow cont...

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IEEE Symposium on Computational Intelligence Applications In Smart Grid

作者： Liang, Jiaqi Harley, Ronald G. Venayagamoorthy, Ganesh K. School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA United States Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO 65409 United States

ISBN: (纸本)9781424498949

An adaptive critic design (ACD) based dynamic optimal power flow control (DOPFC) is proposed in this paper as a solution to the smart grid operation in a high short-term uncertainty and variability environment. With the increasing penetration of intermittent renewable generation, power system stability and security need to be ensured dynamically as the system operating condition continuously changes. The proposed DOPFC dynamically tracks the power system optimal operating point by continuously adjusting the steady-state set points from the traditional OPF algorithms. The ACD technique, specifically the dual heuristic dynamic programming (DHP), is used to provide nonlinear optimal control, where the control objective is formulated explicitly to incorporate system operation economy, stability and security considerations. A 12 bus test power system is used to demonstrate the development and effectiveness of the proposed ACD-based DOPFC using recurrent neural networks. © 2011 IEEE.

关键词： Smart power grids

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Temperature-Aided Fingerprinting for localization in wireless local area networks

Temperature-Aided Fingerprinting for localization in wireles...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Kave Aryanpoo Hadi Moradi Robotics and AI Laboratory School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility of correlation between temperature and signal strength is investigated to improve the traditional fingerprinting method by incorporating the temperature into the process. The new approach is called the Temperature-Aided Fingerprinting (TAF) and even with current WLAN-enabled devices, which usually do not have a thermometer, TAF achieves a better performance than the traditional method. At the end, we open up a hypothesis that the observed difference is not caused by the temperature, rather by the crowdedness and the dynamics of the environment. This is left to be investigated in the future.

关键词： Fingerprint recognition Temperature distribution Educational institutions Buildings Temperature sensors Temperature measurement

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Guest Editorial

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intelligent Automation & Soft Computing 2011年第8期17卷 1019-1021页

作者： Lizhong Xu[a] Xiaofang Li[a] & Simon X. Yang[b] [a] Hohai University College of Computer and Information Engineering Nanjing China [b] University of Guelph Advanced Robotics and Intelligent Systems Laboratory School of Engineering Guelph Canada

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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A multiple Lyapunov function approach for robust H∞ observer-based tracking control of uncertain T-S fuzzy systems

A multiple Lyapunov function approach for robust H∞ observe...

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International Conference on Control, Instrumentation, and Automation

作者： M. H. Asemani V. J. Majd S. Mobayen Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran

In this paper, the problem of robust H ∞ fuzzy observer-based tracking control for the uncertain T-S fuzzy systems with external disturbances is addressed. The robust stability synthesis is based on the descriptor redundancy approach. Linear matrix inequalities (LMIs) are proposed for the design of the observer-based controller. Less conservative design conditions are obtained using a multiple Lyapunov function approach. It is assumed that the derivatives of the grades of the fuzzy membership functions exist and have lower bounds. This assumption is not restrictive in many T-S fuzzy models. Unlike the previous design method for robust H ∞ fuzzy observer-based tracking controller which needs four prescribed scalar variables, the proposed method in this paper gives strict linear matrix inequalities. Moreover, in order to cover a more general problem, it is assumed that there exist uncertainties in local system, input and output matrices simultaneously for the uncertain T-S fuzzy system. A numerical example is used to show the effectiveness of the proposed method.

关键词： Argon Lyapunov methods Fuzzy systems Robustness Design methodology Redundancy Uncertainty

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