scholarly journals Nonlinear System Stability and Behavioral Analysis for Effective Implementation of Artificial Lower Limb

Symmetry ◽  
2020 ◽  
Vol 12 (10) ◽  
pp. 1727 ◽  
Author(s):  
Susmita Das ◽  
Dalia Nandi ◽  
Biswarup Neogi ◽  
Biswajit Sarkar
Keyword(s):  
Nonlinear System ◽  
System Design ◽  
Lower Limb ◽  
Hardware Design ◽  
System Stability ◽  
Behavioral Analysis ◽  
Stability Factor ◽  
Artificial System ◽  
Effective Implementation ◽  
The Stability

System performance and efficiency depends on the stability criteria. The lower limb prosthetic model design requires some prerequisites such as hardware design functionality and compatibility of the building block materials. Effective implementation of mathematical model simulation symmetry towards the achievement of hardware design is the focus of the present work. Different postures of lower limb have been considered in this paper to be analyzed for artificial system design of lower limb movement. The generated polynomial equations of the sitting and standing positions of the normal limb are represented with overall system transfer function. The behavioral analysis of the lower limb model shows the nonlinear nature. The Euler-Lagrange method is utilized to describe the nonlinearity in the field of forward dynamics of the artificial system. The stability factor through phase portrait analysis is checked with respect to nonlinear system characteristics of the lower limb. The asymptotic stability has been achieved utilizing the most applicable Lyapunov method for nonlinear systems. The stability checking of the proposed artificial lower extremity is the newer approach needed to take decisions on output implementation in the system design.

scholarly journals A Controller Combining Positive Velocity Feedback with Negative Angle Feedback for a Two-Wheeled Robot

2015 ◽  
Vol 15 (2) ◽  
pp. 159-170 ◽  
Author(s):  
Lingyan Hu ◽  
Henry Leung Ieee ◽  
Shaoping Xu ◽  
Hua Zhang
Keyword(s):  
Nonlinear System ◽  
Negative Feedback ◽  
Tilt Angle ◽  
Positive Feedback ◽  
Pid Controller ◽  
System Stability ◽  
Velocity Control ◽  
Velocity Feedback ◽  
Wheeled Robot ◽  
The Stability

Abstract The two-wheeled robot is a nonlinear system of multi-variables, higherorder and strong coupling. This paper presented a PID Controller with Double Loops (PCDL) to control the tilt angle and velocity of a two-wheeled robot. The angle controller is the regular negative feedback, while the velocity control is the positive feedback. The Double Loops work cooperatively to endow the system with strong anti-interference ability. The stability of the whole system is analyzed and the criterion of the system stability is developed. The simulation and experiments showed that the two-wheeled robot can self-balance and move at an expected velocity and the system has strong anti-interference ability.

Determining the Norton’s Equivalent Model of Distribution System with Distributed Generation (DG) for Stability Analysis

2019 ◽  
Vol 12 (2) ◽  
pp. 190-198
Author(s):  
Sunny Katyara ◽  
Lukasz Staszewski ◽  
Faheem Akhtar Chachar
Keyword(s):  
Distributed Generation ◽  
Normal Condition ◽  
Distribution System ◽  
Distribution Networks ◽  
Equivalent Model ◽  
Stability Factor ◽  
Matlab Simulation ◽  
The Stability ◽  
Stability Issues

Background: Since the distribution networks are passive until Distributed Generation (DG) is not being installed into them, the stability issues occur in the distribution system after the integration of DG. Methods: In order to assure the simplicity during the calculations, many approximations have been proposed for finding the system’s parameters i.e. Voltage, active and reactive powers and load angle, more efficiently and accurately. This research presents an algorithm for finding the Norton’s equivalent model of distribution system with DG, considering from receiving end. Norton’s model of distribution system can be determined either from its complete configuration or through an algorithm using system’s voltage and current profiles. The algorithm involves the determination of derivative of apparent power against the current (dS/dIL) of the system. Results: This work also verifies the accuracy of proposed algorithm according to the relative variations in the phase angle of system’s impedance. This research also considers the varying states of distribution system due to switching in and out of DG and therefore Norton’s model needs to be updated accordingly. Conclusion: The efficacy of the proposed algorithm is verified through MATLAB simulation results under two scenarios, (i) normal condition and (ii) faulty condition. During normal condition, the stability factor near to 1 and change in dS/dIL was near to 0 while during fault condition, the stability factor was higher than 1 and the value of dS/dIL was away from 0.

Stability of Ring-Type MEMS Gyroscopes Subjected to Stochastic Angular Speed Fluctuation

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Samuel F. Asokanthan ◽  
Soroush Arghavan ◽  
Mohamed Bognash
Keyword(s):  
Angular Velocity ◽  
Degrees Of Freedom ◽  
Microelectromechanical Systems ◽  
Damping Ratio ◽  
Operating Conditions ◽  
System Stability ◽  
System Response ◽  
Ring Type ◽  
Mems Gyroscopes ◽  
The Stability

Effect of stochastic fluctuations in angular velocity on the stability of two degrees-of-freedom ring-type microelectromechanical systems (MEMS) gyroscopes is investigated. The governing stochastic differential equations (SDEs) are discretized using the higher-order Milstein scheme in order to numerically predict the system response assuming the fluctuations to be white noise. Simulations via Euler scheme as well as a measure of largest Lyapunov exponents (LLEs) are employed for validation purposes due to lack of similar analytical or experimental data. The response of the gyroscope under different noise fluctuation magnitudes has been computed to ascertain the stability behavior of the system. External noise that affect the gyroscope dynamic behavior typically results from environment factors and the nature of the system operation can be exerted on the system at any frequency range depending on the source. Hence, a parametric study is performed to assess the noise intensity stability threshold for a number of damping ratio values. The stability investigation predicts the form of threshold fluctuation intensity dependence on damping ratio. Under typical gyroscope operating conditions, nominal input angular velocity magnitude and mass mismatch appear to have minimal influence on system stability.

Design of Electrostatic Precipitator Power System Based on Auto Disturbance Rejection Controller

2013 ◽  
Vol 846-847 ◽  
pp. 190-194
Author(s):  
Shu Jun Yin ◽  
Xue Ren Li ◽  
Ji Geng Luo
Keyword(s):  
Power Supply ◽  
Disturbance Rejection ◽  
Power Supply System ◽  
Electrostatic Precipitator ◽  
Supply System ◽  
System Stability ◽  
Engineering Practice ◽  
Single Chip ◽  
High Voltage Power Supply ◽  
The Stability

The paper designs a three-phase high voltage power supply system based on active disturbance rejection controller which make single-chip microcomputer ATmega128 as the main control chip and the system improve the stability and control precision of dust removing power. Engineering practice shows that, the DC power supply system has the advantages of convenient operation, high work efficiency, system stability.

Accuracy contours in (nT, λ) space in electrochemical digital simulations

1991 ◽  
Vol 56 (1) ◽  
pp. 20-41 ◽  
Author(s):  
Dieter Britz ◽  
Merete F. Nielsen
Keyword(s):  
Finite Difference ◽  
Linear Sweep Voltammetry ◽  
Stability Factor ◽  
Dimensionless Time ◽  
Simulation Techniques ◽  
Rational Algorithm ◽  
The Stability ◽  
Transport Problems ◽  
Current Approximation ◽  
Digital Simulations

In finite difference simulations of electrochemical transport problems, it is usually tacitly assumed that λ, the stability factor Dδt/δx2, should be set as high as possible. Here, accuracy contours are shown in (nT, λ) space, where nT is he number of finite difference steps per unit (dimensionless) time. Examples are the Cottrell experiment, simple chronopotentiometry and linear sweep voltammetry (LSV) on a reversible system. The simulation techniques examined include the standard explicit (point- and box-) methods as well as Runge-Kutta, Crank-Nicolson, hopscotch and Saul’yev. For the box method, the two-point current approximation appears to be the most appropriate. A rational algorithm for boundary concentrations with explicit LSV simulations is discussed. In general, the practice of choosing as high a λ value when using the explicit techniques, is confirmed; there are practical limits in all cases.

Yield Design of the Reinforced Embankment

2011 ◽  
Vol 368-373 ◽  
pp. 2804-2807
Author(s):  
Bing Zhang ◽  
Xiao Mou Wang
Keyword(s):  
Upper Bound ◽  
Design Approach ◽  
Stability Factor ◽  
Multiphase Model ◽  
Construction Process ◽  
Backfill Soil ◽  
Geotechnical Structures ◽  
The Stability ◽  
Kinematic Approach

A frequently used technique for improving the performance of geotechnical structures consists in incorporating into the backfill soil, during the construction process, regularly spaced thin reinforcing inclusions, called geotextile, geomembranes or geogrids. The stability of embankment, stabilized by reinforcing membranes, is investigated by means of a multiphase model developed in the framework of the yield design approach. By means of the kinematic approach, leading to upper bound estimates for the stability factor of the structure.

scholarly journals Modelling of the Power Interface of the Digital-Physical Hybrid Simulation System of a VSC-HVDC Based on Virtual Resistance Compensation

Electronics ◽  
2018 ◽  
Vol 7 (11) ◽  
pp. 333
Author(s):  
Jian Le ◽  
Hao Zhang ◽  
Cao Wang ◽  
Xingrui Li ◽  
Jiangfeng Zhu
Keyword(s):  
Current Source ◽  
Hybrid Simulation ◽  
Simulation System ◽  
System Stability ◽  
Interface Model ◽  
Simulation Accuracy ◽  
Hvdc System ◽  
High Voltage Direct Current ◽  
The Stability ◽  
Stability And Accuracy

To enhance the stability and accuracy of the digital-physical hybrid simulation system of a modular multilevel converter-based high voltage direct current (MMC-HVDC) system, this paper presents an improved power interface modeling algorithm based on ideal transformer method (ITM). By analyzing the stability condition of a hybrid simulation system based on the ITM model, the current of a so-called virtual resistance is added to the control signal of the controlled current source in the digital subsystem, and the stability of the hybrid simulation system with the improved power interface model is analyzed. The value of the virtual resistance is optimized by comprehensively considering system stability and simulation precision. A two-terminal bipolar MMC-HVDC simulation system based on the proposed power interface model is established. The comparisons of the simulation results verify that the proposed method can effectively improve the stability of the hybrid simulation system, and at the same time has the advantages of high simulation accuracy and easy implementation.

scholarly journals Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person

2021 ◽  
Vol 8 ◽  
Author(s):  
Vaiyee Huynh ◽  
Guillaume Burger ◽  
Quoc Viet Dang ◽  
Raphaël Pelgé ◽  
Guilhem Boéris ◽  
...  
Keyword(s):  
Assistive Technology ◽  
Lower Limb ◽  
Real Life ◽  
Smartphone Application ◽  
Evolution System ◽  
Motion Generation ◽  
Motion Direction ◽  
Dynamic Motion ◽  
Direct Collocation ◽  
The Stability

Lower-limb exoskeletons are a promising option to increase the mobility of persons with leg impairments in a near future. However, it is still challenging for them to ensure the necessary stability and agility to face obstacles, particularly the variety that makes the urban environment. That is why most of the lower-limb exoskeletons must be used with crutches: the stability and agility features are deferred to the patient. Clinical experience shows that the use of crutches not only leads to shoulder pain and exhaustion, but also fully occupies the hands for daily tasks. In November 2020, Wandercraft presented Atalante Evolution, the first self-stabilized and crutch-less exoskeleton, to the powered exoskeleton race of the Cybathlon 2020 Global Edition. The Cybathlon aims at promoting research and development in the field of powered assistive technology to the public, contrary to the Paralympics where only participants with unpowered assistive technology are allowed. The race is designed to represent the challenges that a person could face every day in their environment: climbing stairs, walking through rough terrain, or descending ramps. Atalante Evolution is a 12 degree-of-freedom exoskeleton capable of moving dynamically with a complete paraplegic person. The challenge of this competition is to generate and execute new dynamic motions in a short time, to achieve different tasks. In this paper, an overview of Atalante Evolution system and of our framework for dynamic trajectory generation based on the direct collocation method will be presented. Next, the flexibility and efficiency of the dynamic motion generation framework are demonstrated by our tools developed for generating the important variety of stable motions required by the competition. A smartphone application has been developed to allow the pilot to choose between different modes and to control the motion direction according to the real situation to reach a destination. The advanced mechatronic design and the active cooperation of the pilot with the device will also be highlighted. As a result, Atalante Evolution allowed the pilot to complete four out of six obstacles, without crutches. Our developments lead to stable dynamic movements of the exoskeleton, hands-free walking, more natural stand-up and turning moves, and consequently a better physical condition of the pilot after the race compared to the challengers. The versatility and good results of these developments give hope that exoskeletons will soon be able to evolve in challenging everyday-life environments, allowing patients to live a normal life in complete autonomy.

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