An Advanced Patient Lift and Transfer Device for the Home

2010 ◽  
Vol 4 (1) ◽  
Author(s):  
Roger Bostelman ◽  
Ji-Chul Ryu ◽  
Tommy Chang ◽  
Joshua Johnson ◽  
Sunil K. Agrawal
Keyword(s):  
Autonomous Navigation ◽  
Feedback Linearization ◽  
Dynamic Feedback ◽  
Safety Standards ◽  
Improved Stability ◽  
Linearization Stability ◽  
Rapid Pace ◽  
Autonomous Mobility ◽  
And Control ◽  
Novel Design

The home lift, position, and rehabilitation (HLPR) chair has a unique design and novel capabilities when compared with conventional powered wheelchairs. In addition to mobility, it provides lift and can transfer patients. Even though medical devices are developing at a rapid pace today, an aspect that is often overlooked in these developments is adherence to “rider safety standards.” The contributions of this paper are threefold: (i) novel design of a lift and transfer system, (ii) experiments and results toward improved stability test designs that include HLPR-type devices to meet rider safety standards, and (iii) autonomous navigation and control based on nonlinear system theory of dynamic feedback linearization. Stability experimental results show promise for multipurpose patient mobility, lift, and transfer devices such as HLPR. A method for autonomous maneuvers was tested in simulation and experiments. We also expect the autonomous or semi-autonomous mobility mode of the vehicle to be useful for riders who have potential neural and cognitive impairments.

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

2008 ◽  
Vol 3 (3) ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal ◽  
Jaume Franch
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Differential Flatness ◽  
Dynamic Feedback ◽  
Basic Approach ◽  
Planning And Control ◽  
Simulation Results ◽  
And Control

This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

2007 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal ◽  
Jaume Franch
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Differential Flatness ◽  
Dynamic Feedback ◽  
Basic Approach ◽  
Planning And Control ◽  
Simulation Results ◽  
And Control

This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.

scholarly journals COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

2021 ◽  
Vol 9 (4) ◽  
pp. 405
Author(s):  
Raphael Zaccone
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Optimal Path ◽  
Open Water ◽  
Optimal Path Planning ◽  
Guidance And Control ◽  
Real Time Applications ◽  
And Control

While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.

scholarly journals Neoteric Fuzzy control stratagem and design of Chopper fed Multilevel Inverter for enhanced Voltage Output involving Plug-In Electric Vehicle (PEV) applications

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1092 ◽  
Author(s):  
Sunddararaj ◽  
Rangarajan ◽  
Gopalan
Keyword(s):  
Electric Vehicle ◽  
New Technologies ◽  
Control Strategies ◽  
Economic Benefits ◽  
Multilevel Inverter ◽  
Control Logic ◽  
Bidirectional Converters ◽  
Hybrid Controller ◽  
And Control ◽  
Novel Design

The utilization of plug-in electric vehicles (PEV) has started to garner more attention worldwide considering the environmental and economic benefits. This has led to the invention of new technologies and motifs associated with batteries, bidirectional converters and inverters for Electric Vehicle applications. In this paper, a novel design and control of chopper circuit is proposed and configured with the series and parallel connection of the power electronic based switches for two-way operation of the converter. The bidirectional action of the proposed converter makes it suitable for plug-in electric vehicle applications as the grid is becoming smarter. The DC–DC converter is further interfaced with the designed multilevel inverter (MLI). The reduced switches associated with the novel design of MLI have overcome the cons associated with the conventional inverters in terms of enhanced performance in the proposed design. Further, novel control strategies have been proposed for the DC–DC converter based on Proportional Integral (PI) and Fuzzy based control logic. For the first time, the performance of the entire system is evaluated based on the comparison of proposed PI, fuzzy, and hybrid controllers. New rules have been formulated for the Fuzzy based controllers that are associated with the Converter design. This has further facilitated the interface of bidirectional DC–DC converter with the proposed MLI for an enhanced output voltage. The results indicate that the proposed hybrid controller provides better performance in terms of voltage gain, ripple, efficiency and overall aspects of power quality that forms the crux for PEV applications. The novelty of the design and control of the overall topology has been manifested based on simulation using MATLAB/SIMULINK.

Ensuring social guarantees and human rights for the implementation of the labour legislation of the Republic of Kazakhstan

2020 ◽  
pp. 315-335
Author(s):  
Anarkhan R. Kuttygalieva ◽  
Yermek A. Buribayev ◽  
Bakhytkali M. Koshpenbetov ◽  
Gakku N. Rakhimova ◽  
Zhanna A. Khamzina ◽  
...  
Keyword(s):  
Human Rights ◽  
Labour Market ◽  
Analytical Method ◽  
Practical Significance ◽  
Safety Standards ◽  
Collective Agreements ◽  
The Republic ◽  
Labour Legislation ◽  
And Control ◽  
Labour Regulation

The relevance of the study is determined by the fact that in order to improve the legislation of the country, it is necessary to study the successful experience of other countries. The purpose of the study is to propose a number of measures that will help improve labour legislation in Kazakhstan. The work uses primarily the analytical method. It is determined by the fact that apart from statutory labour protection rules, some safety standards are contained in collective agreements that speci-fy and sometimes supplement relevant legislative provisions. The paper states the fact that it is necessary to factor in world experience in organizing and operating a system of supervision and control over compliance with labour legislation for the Republic of Kazakhstan. The novelty of the study is that with a study of the legislation on labour regulation in Western countries, the authors identify a number of measures that will be relevant for implementation in the Republic of Kazakhstan. The practical significance of the study is determined by the incompatibility of iso-lation from the outside world, including from the international labour market with objectives of development.

Novel Design Strategies for Perovskite Materials with Improved Stability and Suitable Band Gaps

2021 ◽  
Author(s):  
Bing Zhang ◽  
Xiaogang Wang ◽  
Yang Yang ◽  
Lei Tong ◽  
Bin Hu ◽  
...  
Keyword(s):  
Solar Cell ◽  
Band Gaps ◽  
Current Work ◽  
Design Strategies ◽  
Perovskite Materials ◽  
Improved Stability ◽  
Halide Perovskites ◽  
Novel Design

The instability of organometallic halide perovskites is deemed a key hindrance hampering their commercial utilization in solar cell research. In the current work, we investigate and compare the dynamics properties...

scholarly journals Analysis and Control of Autonomous Mobility-on-Demand Systems

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Gioele Zardini ◽  
Nicolas Lanzetti ◽  
Marco Pavone ◽  
Emilio Frazzoli
Keyword(s):  
Performance Metrics ◽  
Transportation Systems ◽  
Demand Systems ◽  
Annual Review ◽  
Publication Date ◽  
Systematic Analysis ◽  
On Demand ◽  
Trade Offs ◽  
Autonomous Mobility ◽  
And Control

Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and tools to model and solve problems related to autonomous mobility-on-demand systems. Specifically, we first identify problem settings for their analysis and control, from both operational and planning perspectives. We then review modeling aspects, including transportation networks, transportation demand, congestion, operational constraints, and interactions with existing infrastructure. Thereafter, we provide a systematic analysis of existing solution methods and performance metrics, highlighting trends and trade-offs. Finally, we present various directions for further research. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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