scholarly journals Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study

PLoS ONE ◽  
2022 ◽  
Vol 17 (1) ◽  
pp. e0261318
Author(s):  
Nicholas A. Bianco ◽  
Patrick W. Franks ◽  
Jennifer L. Hicks ◽  
Scott L. Delp

Assistive exoskeletons can reduce the metabolic cost of walking, and recent advances in exoskeleton device design and control have resulted in large metabolic savings. Most exoskeleton devices provide assistance at either the ankle or hip. Exoskeletons that assist multiple joints have the potential to provide greater metabolic savings, but can require many actuators and complicated controllers, making it difficult to design effective assistance. Coupled assistance, when two or more joints are assisted using one actuator or control signal, could reduce control dimensionality while retaining metabolic benefits. However, it is unknown which combinations of assisted joints are most promising and if there are negative consequences associated with coupled assistance. Since designing assistance with human experiments is expensive and time-consuming, we used musculoskeletal simulation to evaluate metabolic savings from multi-joint assistance and identify promising joint combinations. We generated 2D muscle-driven simulations of walking while simultaneously optimizing control strategies for simulated lower-limb exoskeleton assistive devices to minimize metabolic cost. Each device provided assistance either at a single joint or at multiple joints using massless, ideal actuators. To assess if control could be simplified for multi-joint exoskeletons, we simulated different control strategies in which the torque provided at each joint was either controlled independently or coupled between joints. We compared the predicted optimal torque profiles and changes in muscle and total metabolic power consumption across the single joint and multi-joint assistance strategies. We found multi-joint devices–whether independent or coupled–provided 50% greater metabolic savings than single joint devices. The coupled multi-joint devices were able to achieve most of the metabolic savings produced by independently-controlled multi-joint devices. Our results indicate that device designers could simplify multi-joint exoskeleton designs by reducing the number of torque control parameters through coupling, while still maintaining large reductions in metabolic cost.

2021 ◽  
Author(s):  
Nicholas August Bianco ◽  
Patrick W. Franks ◽  
Jennifer Lee Hicks ◽  
Scott Lee Delp

Assistive exoskeletons can reduce the metabolic cost of walking, and recent advances in exoskeleton device design and control have resulted in large metabolic savings. Most exoskeleton devices provide assistance at either the ankle or hip. Exoskeletons that assist multiple joints have the potential to provide greater metabolic savings, but can require many actuators and complicated controllers, making it difficult to design effective assistance. Coupled assistance, when two or more joints are assisted using one actuator or control signal, could reduce control dimensionality while retaining metabolic benefits. However, it is unknown which combinations of assisted joints are most promising and if there are negative consequences associated with coupled assistance. Since designing assistance with human experiments is expensive and time-consuming, we used musculoskeletal simulation to evaluate metabolic savings from multi-joint assistance and identify promising joint combinations. We generated 2D muscle-driven simulations of walking while simultaneously optimizing control strategies for simulated lower-limb exoskeleton assistive devices to minimize metabolic cost. Each device provided assistance either at a single joint or at multiple joints using massless, ideal actuators. To assess if control could be simplified for multi-joint exoskeletons, we simulated different control strategies in which the torque provided at each joint was either controlled independently or coupled between joints. We compared the predicted optimal torque profiles and changes in muscle and whole-body metabolic power consumption across the single joint and multi-joint assistance strategies. We found multi-joint devices--whether independent or coupled--provided 50% greater metabolic savings than single joint devices. The coupled multi-joint devices were able to achieve most of the metabolic savings produced by independently-controlled multi-joint devices. Our results indicate that device designers could simplify multi-joint exoskeleton designs by reducing the number of torque control parameters through coupling, while still maintaining large reductions in metabolic cost.


Water ◽  
2019 ◽  
Vol 11 (4) ◽  
pp. 695 ◽  
Author(s):  
Ibrar Ibrar ◽  
Osamah Naji ◽  
Adel Sharif ◽  
Ali Malekizadeh ◽  
Alaa Alhawari ◽  
...  

Forward osmosis has gained tremendous attention in the field of desalination and wastewater treatment. However, membrane fouling is an inevitable issue. Membrane fouling leads to flux decline, can cause operational problems and can result in negative consequences that can damage the membrane. Hereby, we attempt to review the different types of fouling in forward osmosis, cleaning and control strategies for fouling mitigation, and the impact of membrane hydrophilicity, charge and morphology on fouling. The fundamentals of biofouling, organic, colloidal and inorganic fouling are discussed with a focus on recent studies. We also review some of the in-situ real-time online fouling monitoring technologies for real-time fouling monitoring that can be applicable to future research on forward osmosis fouling studies. A brief discussion on critical flux and the coupled effects of fouling and concentration polarization is also provided.


2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Xiaodong Sun ◽  
Long Chen ◽  
Zebin Yang

Bearingless induction motors combining functions of both torque generation and noncontact magnetic suspension together have attracted more and more attention in the past decades due to their definite advantages of compactness, simple structure, less maintenance, no wear particles, high rotational speed, and so forth. This paper overviews the key technologies of the bearingless induction motors, with emphasis on motor topologies, mathematical models, and control strategies. Particularly, in the control issues, the vector control, independent control, direct torque control, nonlinear decoupling control, sensorless control, and so forth are investigated. In addition, several possible development trends of the bearingless induction motors are also discussed.


2018 ◽  
Vol 2 ◽  
pp. 9-16
Author(s):  
A. Al-Ammouri ◽  
◽  
H.A. Al-Ammori ◽  
A.E. Klochan ◽  
A.M. Al-Akhmad ◽  
...  

2020 ◽  
Author(s):  
Daniel Poremski ◽  
Sandra Henrietta Subner ◽  
Grace Lam Fong Kin ◽  
Raveen Dev Ram Dev ◽  
Mok Yee Ming ◽  
...  

The Institute of Mental Health in Singapore continues to attempt to prevent the introduction of COVID-19, despite community transmission. Essential services are maintained and quarantine measures are currently unnecessary. To help similar organizations, strategies are listed along three themes: sustaining essential services, preventing infection, and managing human and consumable resources.


1989 ◽  
Vol 24 (3) ◽  
pp. 463-477
Author(s):  
Stephen G. Nutt

Abstract Based on discussions in workshop sessions, several recurring themes became evident with respect to the optimization and control of petroleum refinery wastewater treatment systems to achieve effective removal of toxic contaminants. It was apparent that statistical process control (SPC) techniques are finding more widespread use and have been found to be effective. However, the implementation of real-time process control strategies in petroleum refinery wastewater treatment systems is in its infancy. Considerable effort will need to be expended to demonstrate the practicality of on-line sensors, and the utility of automated process control in petroleum refinery wastewater treatment systems. This paper provides a summary of the discussions held at the workshop.


Author(s):  
Ivan Herreros

This chapter discusses basic concepts from control theory and machine learning to facilitate a formal understanding of animal learning and motor control. It first distinguishes between feedback and feed-forward control strategies, and later introduces the classification of machine learning applications into supervised, unsupervised, and reinforcement learning problems. Next, it links these concepts with their counterparts in the domain of the psychology of animal learning, highlighting the analogies between supervised learning and classical conditioning, reinforcement learning and operant conditioning, and between unsupervised and perceptual learning. Additionally, it interprets innate and acquired actions from the standpoint of feedback vs anticipatory and adaptive control. Finally, it argues how this framework of translating knowledge between formal and biological disciplines can serve us to not only structure and advance our understanding of brain function but also enrich engineering solutions at the level of robot learning and control with insights coming from biology.


Water Policy ◽  
2014 ◽  
Vol 17 (3) ◽  
pp. 423-440 ◽  
Author(s):  
Lei Wu ◽  
Tong Qi ◽  
Dan Li ◽  
Huijuan Yang ◽  
Guoqing Liu ◽  
...  

The surface water of 10 major river systems across China has been under intermediate pollution with striking eutrophication problems in major lakes (reservoirs). More data from the Ministry of Environmental Protection of China showed that underground water in 57% of monitoring sites across Chinese cities was polluted or extremely polluted. Rural water pollution, the rising number of incidents of industrial pollution, outdated sewerage systems, and the overuse of pesticides and chemical fertilizers also endanger the health of rural inhabitants in China. Nearly 0.2 billion rural residents could not use drinking water in accordance with the national standard, and there were reports of ‘cancer villages' and food-borne diseases (cancer village refers to a village where a certain proportion of its inhabitants suffer from the same kind of cancer or where there is a hike in cancer incidence in that area). This study aims to raise awareness of the prevention and control of water pollution and to propose a set of national research and policy initiatives for the future safety of the water environment in China.


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