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Aggressive maneuvers for micro unmanned aerial vehicle (MAV) require short settling time for attitude reference tracking and small overshoot for stabilization, which leads to the implementation of composite nonlinear feedback (CNF) control method. In this paper, an MAV platform is customized with all of the sub-systems designed to be small in size factor and simplified with their functionality. A...
Locomotion maneuvers over irregular terrains involve complex forces and movements that make estimation of center of mass(CoM) behavior a challenging task. Nevertheless, understanding CoM dynamics remains pivotal in locomotion planning for both humans and robots. Current methods for CoM position estimation rely heavily on expensive and ungainly tools, for example force plates, that render CoM analysis...
Fuzzy theory was motivated by the need to create human-like solutions that allow representing vagueness and uncertainty that exist in the real-world. These capabilities have been recently further enhanced by deep learning since it allows converting complex relation between data into knowledge. In this paper, we present a novel Deep-Neuro-Fuzzy strategy for unsupervised estimation of the interaction...
For the past decade, researchers have developed rehabilitation robot based-therapy for post-stroke patients which goal is to complement the traditional manual therapy. However, they are still lacking in terms of measuring the human arm's impedance that neurorehabilitation therapist used to estimate before deploying a specific training regime. There are numerous assessment strategies exist to estimate...
This paper proposes a parameter estimator for four-wheel-independently driven electric (4 WID) vehicle with in-wheel motors. The mass and location of payload have great impacts on the stability and maneuverability of lightweight vehicles (LWVs). Fast, effective and real-time parameter estimator can make the existing controller adjust the changed parameter caused by additional payload. The proposed...
This paper addresses the problem of estimating SOC-imbalance between two battery cells connected in series. Particularly, the effectiveness of using force measurements for the SOC-imbalance detection against pack/total voltage measurements is studied. SOC imbalance estimation during charging using pack voltage measurement was previously demonstrated for the LiFePO4/graphite battery chemistry. However,...
Brushless DC drives are widely used in different fields of application because of their high efficiency and power density. Torque ripple can be considered one of the drawbacks of these drives. This paper proposes a method to reduce the torque ripple in BLDC drives. For this reason, the current amplitude is adapted to the rotor position rather than to be kept constant as done in a conventional commutation...
Since the reforming and opening up of China, domestic and foreign scholars have made deep researches on the total factor productivity of China, but the different estimation results led to much controversy. Herein, the new method is used to estimate the two key indexes of capital and labor input in the paper. Based on that, by extended Solow residual value Method to undertake an empirical study on...
Center of Mass(CoM) estimation in rough terrains is hampered by complicated body dynamics yet remains critically important in the study of human and robot motion planning. Current techniques for CoM estimation are encumbered by lengthy calibration periods requiring the use of specialized tools(force plates, motion capture, etc). This paper presents a novel and straightforward geometric method for...
The paper proposes both a behavioral model of the electromagnetic actuator and experimental results. An electromagnetic actuator structure is a system composed from coils and permanent magnets is presented. The electromagnetic actuators are used as: themselves for producing mechanical displacement and/or force generation, driving element for hydraulic distributors and other applications. It is proposed...
The control of the hypersonic glide vehicle (HGV) during reentry is confronted with the unknown dynamical disturbance and parameter uncertainty problem. In this paper, we use the HGV mathematical model with an assumption that the earth is spherical first, and then a new self-organizing functional link network (SOFLN) is presented to approximate the dynamical disturbances/uncertainties. Finally, the...
This paper proposes a new method of muscle force estimation based on the relationship between the muscle space and the task space using a general lower extremity model in the sagittal plane. In addition, we report a verification experiment using several active motion patterns with a training robot for the lower extremities. The results show that the muscle forces estimated by the proposed method exhibit...
In this paper, robust control schemes are presented to achieve sampled-data output feedback tracking, for the cases of unknown and known nonlinear minimum phase second order plant (system) models. For known system model case, system output tracks reference trajectory using Extended Kalman Filter (EKF), Unscented Kalman filter (UKF), and Cubature Kalman Filter (CKF). Whereas, for unknown system model...
This study aims for the realization of a prototype tactile display which can interface with 2D haptic information. For this type of tactile display, multiple actuators with small volume and weight are required with the capability of position and force feedback control. The position and force sensors are usually large in terms of the volume. Thus, in this paper, compact solenoid actuators are used...
The work described in this paper is focused on the reduction of the impact force exerted by the ground on a falling humanoid robot. It proposes the use of variable stiffness to prevent the motors from damaging when falling is inevitable and the only possible strategy is the protection of the robot using its arms. A fuzzy system is used to estimate the low motor stiffness required to reduce the impact...
Accompanying a person is one of the core capacities of a personal mobility vehicle and demands a smooth movement function with collision avoidance. In previous studies on a personal mobility vehicle, a vehicle moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a vehicle should lead its partner. In this case,...
Human friendly robots and devices like exoskeletons, active prostheses etc. are required to be compliant in their actuation system; here the transmissions are deliberately made flexible. This flexibility demands variability in order to improve upon the transmission bandwidth, as well as meeting specific requirements in task execution. Pneumatic Muscle Actuator (PMA) has an inherent ability to vary...
A physical activity estimation scheme is proposed for patients who use a robot for standing assistance. In general, conventional assistive robots do not require patients to use their own physical strength to stand, which leads to decreased strength of the elderly. Therefore, an assistive robot that maximally uses a patient's remaining physical strength is desired. The assistive robots can achieve...
It is very important to carry out a fast estimation method for long data chain due to the online purpose or the requirement of low compute cost. This paper combines the motion characteristics with the Kalman estimate algorithm to achieve this goal. Measurements are determined according the accelerations of the moving objects so that fulfil the estimation by an irregularly sampling concept. Thus the...
Nonintrusive load meters (NILMs) with a heap distinguishing proof capacity have been created in a few foundations and organizations. All heap recognizable proof calculations (LIAs) have a typical trademark: load ID depends on the present waveforms. Framework alignment and tests of meter with burden recognizable proof capacity is displayed in this paper. The framework depended on producing discretionary...
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