Download or read book Intelligent Controls for a Semi active Hydraulic Prosthetic Knee written by Timothy Allen Wilmot and published by . This book was released on 2011 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: We discuss open loop control development and simulation results for a semi-active above-knee prosthesis. The control signal consists of two hydraulic valve settings. These valves control a rotary actuator that provides torque to the prosthetic knee. We develop open loop control using biogeography-based optimization (BBO), which is a recently developed evolutionary algorithm, and gradient descent. We use gradient descent to show that the control generated by BBO is locally optimal. This research contributes to the field of evolutionary algorithms by demonstrating that BBO is successful at finding optimal solutions to complex, real-world, nonlinear, time varying control problems. The research contributes to the field of prosthetics by showing that it is possible to find effective open loop control signals for a newly proposed semi-active hydraulic knee prosthesis. The control algorithm provides knee angle tracking with an RMS error of 7.9 degrees, and thigh angle tracking with an RMS error of 4.7 degrees. Robustness tests show that the BBO control solution is affected very little by disturbances added during the simulation. However, the open loop control is very sensitive to the initial conditions. So a closed loop control is needed to mitigate the effects of varying initial conditions. We implement a proportional, integral, derivative (PID) controller for the prosthesis and show that it is not a sufficient form of closed loop control. Instead, we implement artificial neural networks (ANNs) as the mechanism for closed loop control. We show that ANNs can greatly improve performance when noise and disturbance cause high tracking errors, thus reducing the risk of stumbles and falls. We also show that ANNs are able to improve average performance by as much as 8% over open loop control. We also discuss embedded system implementation with a microcontroller and associated hardware and software.
Download or read book Design Modeling and Control of an Active Prosthetic Knee written by Roozbeh Borjian and published by . This book was released on 2008 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: The few microcontroller based active/semi-active prosthetic knee joints available commercially are extremely expensive and do not consider the uncertainties of inputs sensory information. Progressing in the controller of the current prosthetic devices and creating artificial lower limbs compatible with different users may lead to more effective and low-cost prostheses. This can affect the life style of lots of amputees specially the land-mine victims in developing war-torn countries who are unable to partake in the advancement of the current intelligent prosthetic knees. The purpose of the proposed Active Prosthetic Knee (APK) design is to investigate a new schema that allows the device to provide the full necessary torque at the knee joint based on echoing the state of the intact leg. This study involves the design features of the mechanical aspects, sensing system, communication, and knowledge-based controller to implement a cost-effective APK. The proposed microcontroller based prosthesis utilizes a ball screw system accompanied by a high-speed brushed servomotor to provide one degree of freedom for the fabricated prototype. Moreover, a modular test-bed is manufactured to mimic the lower limb motion which contributes investigating different controllers for the prototype. Thus, the test bed allows assessing the primary performance of the APK before testing on a human subject.
Download or read book Cascade Control of a Hydraulic Prosthetic Knee written by Xin Hui and published by . This book was released on 2016 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: A leg prosthesis test robot with hydraulic knee actuator is modeled and tested with closed loop control simulation. A cascade control architecture is designed for the system, the outer loop is controlled by a robust passivity-based controller (RPBC) and the inner loop is controlled by an optimization method. The control algorithm provides knee angle tracking with an RMS error of 0.07 degrees. The research contributes to the field of prosthetics by showing that it is possible to find effective closed loop control algorithm for a newly proposed hydraulic knee prosthesis. The simulations demonstrate the efficiency of RPBC's ability to control complex, nonlinear and multivariable system with plant variability and parameter uncertainty. Dynamic equations for the hydraulic knee actuator are derived from bond graph, an optimization method is used to solve the inversion problem. Low-pass filters are implemented to eliminate signal chatter. Necessary modifications of knee actuator parameters are discussed and recommended to achieve better tracking performance.
Download or read book Efficiency and Scalability Methods for Computational Intellect written by Igelnik, Boris and published by IGI Global. This book was released on 2013-04-30 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computational modeling and simulation has developed and expanded into a diverse range of fields such as digital signal processing, image processing, robotics, systems biology, and many more; enhancing the need for a diversifying problem solving applications in this area. Efficiency and Scalability Methods for Computational Intellect presents various theories and methods for approaching the problem of modeling and simulating intellect in order to target computation efficiency and scalability of proposed methods. Researchers, instructors, and graduate students will benefit from this current research and will in turn be able to apply the knowledge in an effective manner to gain an understanding of how to improve this field.
Download or read book Man Machine Environment System Engineering written by Shengzhao Long and published by Springer. This book was released on 2018-09-24 with total page 727 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings showcase the best papers selected from more than 500 submissions, and introduce readers to the hottest research topics and the latest developmental trends in the theory and application of MMESE. The integrated and advanced science research topic Man-Machine-Environment System Engineering (MMESE) was first established in China by Professor Shengzhao Long in 1981, with direct support from one of the greatest modern Chinese scientists, Xuesen Qian. In a letter to Long from October 22nd, 1993, Qian wrote: “You have created a very important modern science and technology in China!” MMESE primarily focuses on the relationship between Man, Machine and Environment, studying the optimum combination of man-machine-environment systems. In this system, “Man” refers to working people as the subject in the workplace (e.g. operators, decision-makers); “Machine” is the general name for any object controlled by Man (including tools, machinery, computers, systems and technologies), and “Environment” describes the specific working conditions under which Man and Machine interact (e.g. temperature, noise, vibration, hazardous gases etc.). The three main goals of optimizing man-machine-environment systems are to ensure safety, efficiency and economy. These proceedings present interdisciplinary studies on essential concepts and methods from physiology, psychology, system engineering, computer science, environmental science, management, education, and other related disciplines. As such, they offer a valuable resource for all researchers and professionals whose work involves interdisciplinary areas touching on MMESE subjects.
Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer Nature. This book was released on 2022-08-03 with total page 813 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volume set LNAI 13455 - 13458 constitutes the proceedings of the 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, which took place in Harbin China, during August 2022. The 284 papers included in these proceedings were carefully reviewed and selected from 442 submissions. They were organized in topical sections as follows: Robotics, Mechatronics, Applications, Robotic Machining, Medical Engineering, Soft and Hybrid Robots, Human-robot Collaboration, Machine Intelligence, and Human Robot Interaction.
Download or read book Recent Advances in Manufacturing Processes and Systems written by Harshit K. Dave and published by Springer Nature. This book was released on 2022-03-03 with total page 1006 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents select proceedings of 2nd International Conference on Recent Advances in Manufacturing (RAM 2021). The book provides insights into the current research trends and development in manufacturing processes. The topics covered include conventional and nonconventional manufacturing processes, micro and nano manufacturing processes, chemical and biochemical manufacturing, additive manufacturing, smart manufacturing, and sustainable and energy-efficient manufacturing. The contributions presented here are intended to stimulate new research directions in the manufacturing domain. This book will be useful for the beginners, researchers and professionals working in the area of industrial and production engineering and allied fields.
Download or read book Systems Engineering in Research and Industrial Practice written by Josip Stjepandić and published by Springer Nature. This book was released on 2019-10-31 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book details the foundations, new developments and methods, applications, and current challenges of systems engineering (SE). It provides key insights into SE as a concept and as an approach based on the holistic view on the entire lifecycle (requirements, design, production, and exploitation) of complex engineering systems, such as spacecraft, aircraft, power plants, and ships. Written by leading international experts, the book describes the achievements of the holistic, transdisciplinary approach of SE as state of the art both in research and practice using case study examples from originating at universities and companies such as Airbus, BAE Systems, BMW, Boeing, and COMAC. The reader obtains a comprehensive insight into the still existing challenges of the concept of SE today and the various forms in which SE is applied in a variety of areas.
Download or read book Disability Rehabilitation Management Through ICT written by M. D. Tiwari and published by CRC Press. This book was released on 2022-09-01 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the fifth publication under the IIIT-A Series on e-Governance. It is a collection of 20 articles based on the presentations made in the Seminars. This book will of interest to all stakeholders in the disability rehabilitation management as the population of people with disabilities in growing.
Download or read book Controllable Electrorheological and Magnetorheological Materials written by Seung-Bok Choi and published by Frontiers Media SA. This book was released on 2019-10-09 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advanced Materials and Engineering Materials written by Sally Gao and published by Trans Tech Publications Ltd. This book was released on 2012-01-24 with total page 1700 pages. Available in PDF, EPUB and Kindle. Book excerpt: This conference provided a platform for the presentation of cutting-edge work in the management of Advanced Materials and Engineering Materials. The 292 papers are grouped into the chapters: 1: Advanced Materials Science, 2: Engineering Research, 3: Materials and Information Technology, 4: Materials Processing Technology, 5: Mechanical and Computer Control, 6: System Analysis and Industrial Engineering, 7: Intelligent Mechatronics and 8: Signal Processing. Volume is indexed by Thomson Reuters CPCI-S (WoS).
Download or read book Active Above Knee Prosthesis written by Zlata Jelacic and published by Academic Press. This book was released on 2020-06-16 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: Active Above-Knee Prosthesis: A Guide to a Smart Prosthetic Leg presents original research and development results, providing a firsthand overview of idea generation and prototype production. The book gives insights into the problem of stair ascent for people with above-knee amputation and offers a solution in the form of a physical prototype of an active above-knee prosthesis with an actuated ankle. The book's authors have developed and tested a physical prototype of an active above-knee prosthesis, giving anyone who is researching and designing prosthetic devices firsthand knowledge on how to build on, and continue with, work that has already been done. Presents state-of-the-art technology in powered prosthetics Helps readers evaluate design options and create new developments Provides guidance on the evolution of advanced prosthetic design
Download or read book Smart Structures and Materials written by and published by . This book was released on 2001 with total page 528 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Human centric Robotics Proceedings Of The 20th International Conference Clawar 2017 written by Manuel F Silva and published by World Scientific. This book was released on 2017-08-23 with total page 715 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of service robotics and associated support technologies around the theme of human-centric robotics. The book contains peer reviewed articles presented at the CLAWAR 2017 conference. The book contains a strong stream of papers on robotic locomotion strategies and wearable robotics for assistance and rehabilitation. There is also a strong collection of papers on non-destructive inspection, underwater and UAV robotics to meet the growing emerging needs in various sectors of the society. Robot designs based on biological inspirations are also strongly featured.
Download or read book CIGOS 2019 Innovation for Sustainable Infrastructure written by Cuong Ha-Minh and published by Springer Nature. This book was released on 2019-10-10 with total page 1264 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents selected articles from the 5th International Conference on Geotechnics, Civil Engineering Works and Structures, held in Ha Noi, focusing on the theme “Innovation for Sustainable Infrastructure”, aiming to not only raise awareness of the vital importance of sustainability in infrastructure development but to also highlight the essential roles of innovation and technology in planning and building sustainable infrastructure. It provides an international platform for researchers, practitioners, policymakers and entrepreneurs to present their recent advances and to exchange knowledge and experience on various topics related to the theme of “Innovation for Sustainable Infrastructure”.
Download or read book Lower limb Prosthetics written by Norman Berger and published by . This book was released on 1997 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications
