scholarly journals Medical Robotic Bed to Prevent Pressure Sores

2021 ◽  
Vol 11 (18) ◽  
pp. 8459
Author(s):  
Minju Seon ◽  
Youngdae Lee ◽  
Chanwoo Moon
Keyword(s):  
Control System ◽  
Direct Current ◽  
Closed Loop ◽  
Fuzzy Controller ◽  
Reference Value ◽  
Body Part ◽  
Force Sensing ◽  
Pressure Sores ◽  
Excessive Pressure ◽  
Reference Body

Patients who stay in bed for long periods are prone to pressure sores. Pressure sores cause multiple complications and prolong hospitalization. To prevent pressure sores, the patient’s lying position must be changed continuously so that excessive pressure on any body part does not last long. In this paper, we propose a novel robotic bed to prevent the formation of pressure sores. This robotic bed is composed of multiple segments that are driven independently by brushless direct current motors and that use body pressure information for feedback control. By controlling the movement of the segments on the top of the bed with a fuzzy controller, the patient’s body pressure is kept below the reference value. Moreover, a belt-type body pressure sensor is developed herein by using force-sensing resistor technology to measure the patient’s body pressure. A bed control system composed of the main controller, a teach pendant, motor controllers, and sensors was implemented. Through real experiments, the validity of the proposed robot bed was verified, and it was confirmed that the fuzzy closed-loop controller followed the reference body pressure commands well.

scholarly journals Evolutionary optimization of interval mathematics-based design of a TSK fuzzy controller for anti-sway crane control

2013 ◽  
Vol 23 (4) ◽  
pp. 749-759 ◽  
Author(s):  
Jarosław Smoczek
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
System Parameter ◽  
Closed Loop ◽  
Fuzzy Controller ◽  
Control Synthesis ◽  
Closed Loop Control ◽  
Crane Control ◽  
Loop Control ◽  
Interval Mathematics

Abstract A hybrid method combining an evolutionary search strategy, interval mathematics and pole assignment-based closed-loop control synthesis is proposed to design a robust TSK fuzzy controller. The design objective is to minimize the number of linear controllers associated with rule conclusions and tune the triangular-shaped membership function parameters of a fuzzy controller to satisfy stability and desired dynamic performances in the presence of system parameter variation. The robust performance objective function is derived based on an interval Diophantine equation. Thus, the objective of a fuzzy logic-based control scheme is to place all the closed-loop control system characteristic polynomial coefficients within desired intervals. The reproduction process in the proposed Evolutionary Algorithm (EA) is based on the arithmetical crossover, uniform and non-uniform mutation along with gene deletion/insertion mutation ensuring a diversity of genomes sizes, as well as a diversity in the parameter space of membership functions. The proposed algorithm was implemented to design a fuzzy logic-based anti-sway crane control system taking into consideration the rope length and the mass of a payload variation. The results of experiments conducted using the EA for different conditions assumed for system parameter intervals and desired closed-loop system performances are compared with results achieved using the iterative procedure which is also described in the paper.

The Simulation Research of High-Speed Motorized Spindle Vector Control System with a Fuzzy Speed Controller

2013 ◽  
Vol 694-697 ◽  
pp. 1864-1868
Author(s):  
Ke Zhang ◽  
Zhi Xue Liu ◽  
Li Xiu Zhang ◽  
He Wang ◽  
Yu Hou Wu
Keyword(s):  
Control System ◽  
Vector Control ◽  
High Speed ◽  
Closed Loop ◽  
Control Method ◽  
Fuzzy Controller ◽  
Motorized Spindle ◽  
Simulation Research ◽  
Short Period ◽  
Vector Control System

The quality of high-speed machining workpiece is determined by drive control performance of motorized spindle. Vector control is one of high-speed motorized spindle control method, but the traditional controller is difficult to effectively overcome parameter disturbances caused by parameter variations from internal and external system. So it is necessary to use intelligent control. In this paper, a model of a speed and flux-closed-loop vector control system with an inner torque-closed loop is established, and a fuzzy controller is used to adjust the speed. MATLAB is used for load simulation of high-speed segment of motorized spindle, and then the simulation results show that high-speed motorized spindle can be increased in to the high-speed segment using a short period of time, and it has strong anti-interference ability and excellent performance at the same time in the control system presented in this paper.

SYNTHESIS AND OPTIMIZATION OF FUZZY CONTROLLER FOR CONTROL SYSTEM OF FLOATING DOCK DRAFT

2016 ◽  
Vol 23 (99) ◽  
pp. 113-120
Author(s):  
Yuri P. Kondratenko ◽  
◽  
Alexey V. Korobko ◽  
Alexey V. Kozlov ◽  
Andrej N Topalov ◽  
...  
Keyword(s):  
Control System ◽  
Fuzzy Controller

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

Closed loop auto control system software for Miniature Neutron Source Reactors (MNSRs)

Kerntechnik ◽  
2009 ◽  
Vol 74 (5-6) ◽  
pp. 280-285
Author(s):  
M. Iqbal ◽  
J. Qadir ◽  
T. K. Bhatti ◽  
Q. Abbas ◽  
S. M. Mirza
Keyword(s):  
Control System ◽  
Neutron Source ◽  
Closed Loop ◽  
System Software

Combined Temperature and Force Control for Robotic Friction Stir Welding

2013 ◽  
Author(s):  
Axel Fehrenbacher ◽  
Christopher B. Smith ◽  
Neil A. Duffie ◽  
Nicola J. Ferrier ◽  
Frank E. Pfefferkorn ◽  
...  
Keyword(s):  
Control System ◽  
Force Control ◽  
Closed Loop ◽  
Interface Temperature ◽  
Closed Loop Control ◽  
Weld Quality ◽  
Loop Control ◽  
Friction Stir ◽  
Tool Position ◽  
Robotic Friction Stir Welding

The objective of this research is to develop a closed-loop control system for robotic friction stir welding (FSW) that simultaneously controls force and temperature in order to maintain weld quality under various process disturbances. FSW is a solid-state joining process enabling welds with excellent metallurgical and mechanical properties, as well as significant energy consumption and cost savings compared to traditional fusion welding processes. During FSW, several process parameter and condition variations (thermal constraints, material properties, geometry, etc.) are present. The FSW process can be sensitive to these variations, which are commonly present in a production environment; hence, there is a significant need to control the process to assure high weld quality. Reliable FSW for a wide range of applications will require closed-loop control of certain process parameters. A linear multi-input-multi-output process model has been developed that captures the dynamic relations between two process inputs (commanded spindle speed and commanded vertical tool position) and two process outputs (interface temperature and axial force). A closed-loop controller was implemented that combines temperature and force control on an industrial robotic FSW system. The performance of the combined control system was demonstrated with successful command tracking and disturbance rejection. Within a certain range, desired axial forces and interface temperatures are achieved by automatically adjusting the spindle speed and the vertical tool position at the same time. The axial force and interface temperature is maintained during both thermal and geometric disturbances and thus weld quality can be maintained for a variety of conditions in which each control strategy applied independently could fail.

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