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This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance...
This paper discloses the development of a phase oscillator model for radiotherapy which predicts future position of the lung tumor based on the current and past phase of lung tumor, respiration waveform and heartbeat measurements. We assumed that these phases can be measured at the same time, and tried the prediction of 0.15s ahead of time of the superior-inferior direction of a lung tumor motion...
Piezo-ceramic actuators are widely used in a variety of engineering applications which require high precision positioning. However, it exhibits hysteresis nonlinearity which deteriorates positioning accuracy if no proper compensation has been given. Modeling the dynamics of piezo actuator is a prime choice for hysteresis compensation. This paper proposes the membrane structure genetic algorithm (MSGA)...
The focus of this paper is to develop a control system for wearable motion assist device giving physical support for people who are doing physically demanding tasks. Two key technical issues in developing such a device are how to generate the reference trajectory for the actuator installed to provide appropriate motion support, and how to determine the strength and duration of assist to help complete...
This paper presents a neural network based positioning control system of a piezo-ceramic actuator which exhibits hysteretic behavior. Proposed control system utilizes two neural networks with radial basis function (RBF) as their activation functions: one is used for modeling hysteretic behavior of the actuator and the other is assigned the role of a feedback controller for hysteresis compensation...
The focus of the paper is to develop a simple phenomenological model of McKibben pneumatic actuator which is capable of capturing its inherit nonlinear and varying dynamical characteristics under different load conditions. It will be shown that physical work analysis determines the model structure and phenomenological nonlinear spring term is introduced into the model to capture the response characteristics...
This paper handles development of binaural robotic audition system which is capable of localizing sound source in the horizontal plane and proposes two simple and robust binaural sound localization algorithms using interaural time difference (ITD) as a cue. Presented algorithms for determination of ITD from recorded binaural signal are both based on interaural phase difference (IPD) spectrum which...
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