scholarly journals On Laterally Perturbed Human Stance: Experiment, Model, and Control

2018 ◽  
Vol 2018 ◽  
pp. 1-20
Author(s):  
Dan Suissa ◽  
Michael Günther ◽  
Amir Shapiro ◽  
Itshak Melzer ◽  
Syn Schmitt
Keyword(s):  
Torque Control ◽  
Least Square ◽  
Analytical Models ◽  
Human Reaction ◽  
Research Areas ◽  
Inverted Pendulum Model ◽  
Human Balance ◽  
The Stability ◽  
Nonlinear Unconstrained Optimization ◽  
And Control

Understanding human balance is a key issue in many research areas. One goal is to suggest analytical models for the human balance. Specifically, we are interested in the stability of a subject when a lateral perturbation is being applied. Therefore, we conducted an experiment, laterally perturbing five subjects on a mobile platform. We observed that the recorded motion is divided into two parts. The legs act together as a first, the head-arms-trunk segment as a second rigid body with pelvis, and the ankle as hinge joints. Hence, we suggest using a planar double-inverted pendulum model for the analysis. We try to reproduce the human reaction utilizing torque control, applied at the ankle and pelvis. The fitting was realized by least square and nonlinear unconstrained optimization on training sets. Our model is not only able to fit to the human reaction, but also to predict it on test sets. We were able to extract and review key features of balance, like torque coupling and delays as outcomes of the aforementioned optimization process. Furthermore, the delays are well within the ranges typically for such compensatory motions, composed of reflex and higher level motor control.

scholarly journals Turning Gait Planning Method for Humanoid Robots

2018 ◽  
Vol 8 (8) ◽  
pp. 1257 ◽  
Author(s):  
Tianqi Yang ◽  
Weimin Zhang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Libo Meng ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Translational Motion ◽  
Humanoid Robots ◽  
Inverted Pendulum Model ◽  
Straight Line ◽  
Pendulum Model ◽  
The Stability ◽  
And Control ◽  
Present Simulation

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

On the Stability and Control of the Bicycle

2008 ◽  
Vol 61 (6) ◽  
Author(s):  
Robin S. Sharp
Keyword(s):  
Control Theory ◽  
Equations Of Motion ◽  
Gain Control ◽  
High Gain ◽  
Torque Control ◽  
Complex Case ◽  
Steering Control ◽  
Stability And Control ◽  
The Stability ◽  
And Control

After some brief history, a mathematical model of a bicycle that has become a benchmark is described. The symbolic equations of motion of the bicycle are given in two forms and the equations are interpreted, with special reference to stability. The mechanics of autostabilization are discussed in detail. The relationship between design and behavior is shown to be heavily speed-dependent and complex. Using optimal linear preview control theory, rider control of the bicycle is studied. It is shown that steering control by an optimal rider, especially at low speeds, is powerful in comparison with a bicycle’s self-steering. This observation leads to the expectation that riders will be insensitive to variations in design, as has been observed in practice. Optimal preview speed control is also demonstrated. Extensions to the basic treatment of bicycle dynamics in the benchmark case are considered so that the modeling includes more realistic representations of tires, frames, and riders. The implications for stability predictions are discussed and it is shown that the moderate-speed behavior is altered little by the elaborations. Rider control theory is applied to the most realistic of the models considered and the results indicate a strong similarity between the benchmark case and the complex one, where they are directly comparable. In the complex case, steering control by rider-lean-torque is feasible and the results indicate that, when this is combined with steer-torque control, it is completely secondary. When only rider-lean-torque control is possible, extended preview is necessary, high-gain control is required, and the controls are relatively complex. Much that is known about the stability and control of bicycles is collected and explained, together with new material relating to modeling accuracy, bicycle design, and rider control.

On the stability and control of unicycles

2010 ◽  
Vol 466 (2118) ◽  
pp. 1849-1869 ◽  
Author(s):  
Robin S. Sharp
Keyword(s):  
Linear Model ◽  
Dynamic Equilibrium ◽  
Linear Equations ◽  
Torque Control ◽  
Upper Body ◽  
Optimal Controls ◽  
Nonlinear Simulation ◽  
Small Perturbations ◽  
The Stability ◽  
And Control

A mathematical model of a unicycle and rider, with a uniquely realistic tyre force and moment representation, is set up with the aid of multibody modelling software. The rider’s upper body is joined to the lower body through a spherical joint, so that wheel, yaw, pitch and roll torques are available for control. The rider’s bandwidth is restricted by low-pass filters. The linear equations describing small perturbations from a straight-running state are shown, which equations derive from a parallel derivation yielding the same eigenvalues as obtained from the first method. A nonlinear simulation model and the linear model for small perturbations from a general trim (or dynamic equilibrium) state are constructed. The linear model is used to reveal the stability properties for the uncontrolled machine and rider near to straight running, and for the derivation of optimal controls. These controls minimize a cost function made up of tracking errors and control efforts. Optimal controls for near-straight-running conditions, with left/right symmetry, and more complex ones for cornering trims are included. Frequency responses of some closed-loop systems, from the former class, demonstrate excellent path-tracking qualities within bandwidth and amplitude limits. Controls are installed for path-following trials. Lane-change and clothoid manoeuvres are simulated, demonstrating good-quality tracking of longitudinal and lateral demands. Pitch torque control is little used by the rider, while yaw and roll torques are complementary, with the former being more useful in transients, while the latter has value also in steady states. Wheel torque is influential on lateral control in turning. Adaptive control by gain switching is used to enable clothoid tracking up to lateral accelerations greater than 1 m s −2 . General control of the motions of a virtual or robotic unicycle will be possible through the addition of more comprehensive adaptation to the control scheme described.

scholarly journals Data-Driven Stability Assessment of Multilayer Long Short-Term Memory Networks

2021 ◽  
Vol 11 (4) ◽  
pp. 1829
Author(s):  
Davide Grande ◽  
Catherine A. Harris ◽  
Giles Thomas ◽  
Enrico Anderlini
Keyword(s):  
Neural Network ◽  
Network Architecture ◽  
Short Term Memory ◽  
Moving Average ◽  
Machine Learning Algorithms ◽  
Physical Models ◽  
Data Driven ◽  
The Stability ◽  
And Control ◽  
Nonlinear Autoregressive

Recurrent Neural Networks (RNNs) are increasingly being used for model identification, forecasting and control. When identifying physical models with unknown mathematical knowledge of the system, Nonlinear AutoRegressive models with eXogenous inputs (NARX) or Nonlinear AutoRegressive Moving-Average models with eXogenous inputs (NARMAX) methods are typically used. In the context of data-driven control, machine learning algorithms are proven to have comparable performances to advanced control techniques, but lack the properties of the traditional stability theory. This paper illustrates a method to prove a posteriori the stability of a generic neural network, showing its application to the state-of-the-art RNN architecture. The presented method relies on identifying the poles associated with the network designed starting from the input/output data. Providing a framework to guarantee the stability of any neural network architecture combined with the generalisability properties and applicability to different fields can significantly broaden their use in dynamic systems modelling and control.

scholarly journals Reliability Estimation of Reinforced Slopes to Prioritize Maintenance Actions

2021 ◽  
Vol 18 (2) ◽  
pp. 373
Author(s):  
Farshad BahooToroody ◽  
Saeed Khalaj ◽  
Leonardo Leoni ◽  
Filippo De Carlo ◽  
Gianpaolo Di Bona ◽  
...  
Keyword(s):  
Urban Areas ◽  
Evaluation Method ◽  
Likelihood Function ◽  
Reliability Estimation ◽  
Analytical Models ◽  
Geotechnical Structures ◽  
Reinforced Slopes ◽  
The Stability ◽  
Methods Analytical ◽  
Asset Managers

Geosynthetics are extensively utilized to improve the stability of geotechnical structures and slopes in urban areas. Among all existing geosynthetics, geotextiles are widely used to reinforce unstable slopes due to their capabilities in facilitating reinforcement and drainage. To reduce settlement and increase the bearing capacity and slope stability, the classical use of geotextiles in embankments has been suggested. However, several catastrophic events have been reported, including failures in slopes in the absence of geotextiles. Many researchers have studied the stability of geotextile-reinforced slopes (GRSs) by employing different methods (analytical models, numerical simulation, etc.). The presence of source-to-source uncertainty in the gathered data increases the complexity of evaluating the failure risk in GRSs since the uncertainty varies among them. Consequently, developing a sound methodology is necessary to alleviate the risk complexity. Our study sought to develop an advanced risk-based maintenance (RBM) methodology for prioritizing maintenance operations by addressing fluctuations that accompany event data. For this purpose, a hierarchical Bayesian approach (HBA) was applied to estimate the failure probabilities of GRSs. Using Markov chain Monte Carlo simulations of likelihood function and prior distribution, the HBA can incorporate the aforementioned uncertainties. The proposed method can be exploited by urban designers, asset managers, and policymakers to predict the mean time to failures, thus directly avoiding unnecessary maintenance and safety consequences. To demonstrate the application of the proposed methodology, the performance of nine reinforced slopes was considered. The results indicate that the average failure probability of the system in an hour is 2.8×10−5 during its lifespan, which shows that the proposed evaluation method is more realistic than the traditional methods.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

scholarly journals Administration of GnRH at Onset of Estrus, Determined by Automatic Activity Monitoring, to Improve Dairy Cow Fertility during the Summer and Autumn

Animals ◽  
2021 ◽  
Vol 11 (8) ◽  
pp. 2194
Author(s):  
Zvi Roth ◽  
Yaron Z. Kressel ◽  
Yaniv Lavon ◽  
Dorit Kalo ◽  
David Wolfenson
Keyword(s):  
Metabolic Diseases ◽  
Experimental Period ◽  
Visual Observation ◽  
Activity Monitoring ◽  
Least Square ◽  
Gnrh Analogue ◽  
Automatic Activity ◽  
Effect Of Treatment ◽  
Uterine Diseases ◽  
And Control

We examined gonadotropin-releasing hormone (GnRH) administration at onset of estrus (OE), determined by automatic activity monitoring (AAM), to improve fertility of dairy cows during the summer and autumn. The study was performed on two dairy farms in Israel. The OE was determined by AAM recorded every 2 h, and a single im dose of GnRH analogue was administered shortly after OE. Pregnancy was determined by transrectal palpation, 40 to 45 d after artificial insemination (AI). Conception risk was analyzed by the GLIMMIX procedure of SAS. Brief visual observation of behavioral estrus indicated that about three-quarters of the events (n = 40) of visually detected OE occurred within 6 h of AAM-detected OE. Accordingly, the GnRH analogue was administered within 5 h of AAM-detected OE, to overlap with the expected endogenous preovulatory LH surge. Overall, pregnancy per AI (P/AI) was monitored over the entire experimental period (summer and autumn) in 233 first, second or third AI (116 and 117 AI for treated and control groups, respectively). Least square means of P/AI for treated (45.8%) and control (39.4%) groups did not differ, but group-by-season interaction tended to differ (p = 0.07), indicating no effect of treatment in the summer and a marked effect of GnRH treatment (n = 58 AI) compared to controls (n = 59 AI) on P/AI in the autumn (56.6% vs. 28.5%, p < 0.03). During the autumn, GnRH-treated mature cows (second or more lactations), and postpartum cows exhibiting metabolic and uterine diseases, tended to have much larger P/AI than their control counterparts (p = 0.07–0.08). No effect of treatment was recorded in the autumn in first parity cows or in uninfected, healthy cows. In conclusion, administration of GnRH within 5 h of AAM-determined OE improved conception risk in cows during the autumn, particularly in those exhibiting uterine or metabolic diseases postpartum and in mature cows. Incorporation of the proposed GnRH treatment shortly after AAM-detected OE into a synchronization program is suggested, to improve fertility of positively responding subpopulations of cows.

Sensorless Grey Prediction Fuzzy Direct Torque Control for High-Speed Permanent Magnet Synchronous Motor

2012 ◽  
Vol 220-223 ◽  
pp. 1040-1043
Author(s):  
Hong Cui ◽  
You Qing Gao
Keyword(s):  
Permanent Magnet ◽  
High Speed ◽  
High Performance ◽  
Permanent Magnet Synchronous Motor ◽  
Direct Torque Control ◽  
Synchronous Motor ◽  
Torque Control ◽  
Adjustment Process ◽  
Grey Prediction ◽  
The Stability

High-speed permanent magnet synchronous motor (PMSM) is more and more widely applied in high precision processing and high-performance machines. It is very important to research practical control strategy for the stability operation of the high-speed PMSM. The strategy of sensorless grey prediction fuzzy direct torque control (DTC) is proposed which is suitable for high-speed PMSM control system. The method of prediction fuzzy control based on DTC is used to gain the flux, torque and flux oriented angle through the prediction model of the motor parameters. The best control scheme is gained by fuzzy reasoning to overcome the lag on the system making the adjustment process stable and realizing accurate predictive control. Thereby, the dynamic response of the system, anti-disturbance capability and control accuracy can be improved.

The Application of the Amorphous Metal Transformers in Heavy Oil Electric Heating System

2014 ◽  
Vol 532 ◽  
pp. 191-195 ◽  
Author(s):  
Bao Jiang Sun ◽  
Lei Su ◽  
Chao Zhang
Keyword(s):  
Electric Heating ◽  
Heating System ◽  
Intermediate Frequency ◽  
Amorphous Metal ◽  
Technical Performance ◽  
Alloy Material ◽  
Working Principle ◽  
The Stability ◽  
And Control ◽  
Fast Rise

In order to solve the problem that the big loss of no-load and the fast rise of temperature when employ the conventional silicon steel metal transformer (SSMT) in the electric heating system, we choose the amorphous metal transformer (AMMT). In this paper, firstly, we give a brief introduction of the amorphous alloy material properties and compare the no-load characteristic of the AMMT with the SSMT. Secondly, the structure of intermediate frequency heating system working principle and control strategy are introduced. Finally, extensive experiments were conducted to validate the ideas. The experiments show that the AMMT not only improve the efficiency of transformer, solve the heating problem of transformer, but also improve the stability, security and other technical performance of the system, so it is worth recommending and promoting.

scholarly journals Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot

2011 ◽  
Vol 2-3 ◽  
pp. 302-307 ◽  
Author(s):  
Tao Yu ◽  
Qing Kai Han
Keyword(s):  
Static Analysis ◽  
Parallel Robot ◽  
Analytical Models ◽  
Kinematics Analysis ◽  
Mechanism Model ◽  
Good Movement ◽  
Dynamics And Control ◽  
Movement Stability ◽  
Simulation Results ◽  
And Control

In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed. With its mechanism model, three typical kinematics analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. In static analysis, the change of tensions in the wires is calculated based on previous kinematics analysis. The simulation results show the robot has good movement stability. The paper can provide useful materials to study of dynamics and control on wire-driven robot.

Sign in / Sign up

Export Citation Format

Share Document