scholarly journals A Method for the Autonomous Control of Lower Limb Exoskeletons for Persons With Paraplegia

2012 ◽  
Vol 6 (4) ◽  
Author(s):  
Hugo A. Quintero ◽  
Ryan J. Farris ◽  
Michael Goldfarb
Keyword(s):  
Experimental Data ◽  
User Interface ◽  
Lower Limb ◽  
Control Structure ◽  
Control Method ◽  
Autonomous Control ◽  
Control Architecture ◽  
Powered Exoskeleton ◽  
And Control

This paper describes a control method for a lower limb powered exoskeleton that enables a paraplegic user to perform sitting, standing, and walking movements. The different maneuvers are commanded by the user based on postural information measured by the device. The proposed user interface and control structure was implemented on a powered lower limb orthosis, and the system was tested on a paraplegic subject with a T10 complete injury. Experimental data is presented that indicates the ability of the proposed control architecture to provide appropriate user-initiated control of sitting, standing, and walking. The authors also provide a link to a video that qualitatively demonstrates the user's ability to independently control basic movements via the proposed control method.

Bionic Methods for Quadruped Robot Design and Control

2013 ◽  
Vol 461 ◽  
pp. 869-876
Author(s):  
Run Bin Cai ◽  
Qing Wei ◽  
Hong Xu Ma
Keyword(s):  
Robot Control ◽  
Control Method ◽  
Step Length ◽  
Quadruped Robot ◽  
Control Architecture ◽  
German Shepherd ◽  
Trot Gait ◽  
Nerve System ◽  
And Control ◽  
Support Phase

Bionics has greatly improved the development of quadruped robot, in the paper we propose three bionic methods for the quadruped robot. These methods have been used for control method design, gait design and control architecture design. The quadruped robot control method has been divided into two parts, because the four-legged animals change their trot speed by adjustment of step length in swing phase and maintain their balance in support phase; control architecture is derived from the four-legged animals nerve system; gait of quadruped robot is based on event driven, and its trot gait is the same as German shepherd. Simulations and experiments are performed, which prove bionics design to be realizable for the quadruped robot.

scholarly journals Tactile Scratch Electronic Block System: Expanding Opportunities for Younger Children to Learn Programming

2021 ◽  
Vol 11 (7) ◽  
pp. 319-323
Author(s):  
Yunju Jo ◽  
◽  
Seok-Ju Chun ◽  
Jungwoo Ryoo
Keyword(s):  
User Interface ◽  
Elementary School Students ◽  
Programming Language ◽  
Control Structure ◽  
Second Grade ◽  
School Students ◽  
Block System ◽  
Computer Mouse ◽  
Block Based ◽  
And Control

This paper introduces our work on the development of a novel system for applying MIT’s Scratch to teaching classes of four to eight-years-old students. Scratch is a visual, block-based programming language designed for anybody to create a computer program without the worry of syntax errors by assembling icon-like command blocks. However, four to eight-year-old students have trouble using a computer mouse or keyboard and face difficulties when trying Scratch programming. This research developed a tactile, electronic block system that allows students to manipulate physical objects in a tangible way to conduct their programming tasks. The system consists of a Scratch simulator and physical, electronic blocks embodying the Scratch user interface shapes. We taught programming to the classes of second-grade elementary school students (eight-years-old) using our system. The results are encouraging. Our subjects’ interest in programming improved from 3.23 to 4.0 out of the scale of 5, and fifteen students out of twenty five were able to solve nine questions on sequence, loop, and control structure successfully, which are fundamental concepts of programming.

scholarly journals Hierarchical Coordinated Control Method for Multiload DC Microgrid Units

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Zhigang Zhang ◽  
Jinping Mo
Keyword(s):  
Power Supply ◽  
Control Structure ◽  
Control Method ◽  
Hierarchical Control ◽  
Dc Microgrid ◽  
Large Power ◽  
Electrical Grid ◽  
High Expenditure ◽  
Bidding Mechanism ◽  
And Control

Electricity has become not merely a source of power but also a vital component of our lives in a rapidly changing world. However, according to a World Bank report, 17% of the globe’s population live without power. The key cause for such a huge population not being electrified is the proximity of the central electrical grid system or the high expenditure of installing the grid lines to such remote areas. The notion of a microgrid was first proposed more than a decade ago, but the numerous obstacles it entails have hampered its broad adoption and made it a research focus in recent years. A hierarchical control structure of the microgrid is designed, which is divided into layers according to the control objectives and control time scales of the microgrid, and the hierarchical control structure is realized by using multiagent technology. In the framework of hierarchical control, aiming at the demand of energy coordination and optimization of the microgrid, the operation strategy of the microgrid is proposed in grid-connected and/or off-grid mode. In the grid-connected mode, the large power grid is used for power supply and in the off-grid mode, the load bidding mechanism is introduced to ensure the power supply of important loads. Experiment results reveal the power quality and stability of the system.

Perencanaan Pengendalian Kualitas Produk Pakaian Bayi dengan Metode Six Sigma Pada CV. AGP

JEMAP ◽  
2020 ◽  
Vol 3 (1) ◽  
Author(s):  
Albertus Reynaldo Kurniawan ◽  
Bayu Prestianto
Keyword(s):  
Quality Control ◽  
Continuous Improvement ◽  
Six Sigma ◽  
Screen Printing ◽  
Control Method ◽  
Operational Performance ◽  
Machine Maintenance ◽  
Quality Product ◽  
Break Time ◽  
And Control

Quality control becomes an important key for companies in suppressing the number of defective produced products. Six Sigma is a quality control method that aims to minimize defective products to the lowest point or achieve operational performance with a sigma value of 6 with only yielding 3.4 defective products of 1 million product. Stages of Six Sigma method starts from the DMAIC (Define, Measure, Analyze, Improve and Control) stages that help the company in improving quality and continuous improvement. Based on the results of research on baby clothes products, data in March 2018 the percentage of defective products produced reached 1.4% exceeding 1% tolerance limit, with a Sigma value of 4.14 meaning a possible defect product of 4033.39 opportunities per million products. In the pareto diagram there were 5 types of CTQ (Critical to Quality) such as oblique obras, blobor screen printing, there is a fabric / head cloth code on the final product, hollow fabric / thin fabric fiber, and dirty cloth. The factors caused quality problems such as Manpower, Materials, Environtment, and Machine. Suggestion for consideration of company improvement was continuous improvement on every existing quality problem like in Manpower factor namely improving comprehension, awareness of employees in producing quality product and improve employee's accuracy, Strength Quality Control and give break time. Materials by making the method of cutting the fabric head, the Machine by scheduling machine maintenance and the provision of needle containers at each employees desk sewing and better environtment by installing exhaust fan and renovating the production room.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

2011 ◽  
Vol 11 (1) ◽  
pp. 16 ◽  
Author(s):  
Pisit Sukkarnkha ◽  
Chanin Panjapornpon
Keyword(s):  
Disturbance Rejection ◽  
Control Structure ◽  
Control Method ◽  
Random Noise ◽  
Degree Of Freedom ◽  
Control Technique ◽  
Input Output ◽  
Tracking Controller ◽  
Two Degree Of Freedom ◽  
Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

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