scholarly journals Mechatronic system for verticalization and aiding the motion of the disabled

2013 ◽  
Vol 61 (2) ◽  
pp. 419-431 ◽  
Author(s):  
D. Jasińska-Choromańska ◽  
K. Szykiedans ◽  
J. Wierciak ◽  
D. Kołodziej ◽  
M. Zaczyk ◽  
...  
Keyword(s):  
Lower Limbs ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Motor Abilities ◽  
High Speeds ◽  
Control Units ◽  
The Disabled ◽  
Human Motor ◽  
Human Muscles ◽  
High Dynamics

Abstract Mechatronics is nowadays a dominating concept in design of various kinds of systems and technical devices. High speeds of data processing by control units of mechatronic systems, as well as high dynamics of their actuators allow the systems to be applied in wider fields. This refers to the medicine as well, especially while making attempts to replace lost human motor abilities by means of robots aiding the man. These devices can be divided into three groups: exoskeletons designed to strengthen the natural force of human muscles, orthotic robots that restore lost or weakened functions of human limbs, and prosthetic robots replacing an amputated limb. The first and the third group are known quite well, whereas the orthotic robots are at an initial phase of their development. The authors have worked on a device for aiding the motion of disabled people suffering from paresis of the lower limbs. The paper presents a concept and a structure of the system that has been created, comparing it with similar devices that have already existed. There are indicated some connections and areas where the subunits merge, as well as the rules of their working with the user.

scholarly journals Aspects of applying theory of human ecology to design safe heat-protective clothing for the disabled people

2020 ◽  
Vol 175 ◽  
pp. 15004
Author(s):  
Liana Babenko ◽  
Mikhail Molev ◽  
Natalia Savelieva ◽  
Konstantin Mikhailov ◽  
Inna Mikhailova
Keyword(s):  
Human Ecology ◽  
Protective Clothing ◽  
System Analysis ◽  
Lower Limbs ◽  
Mathematical Methods ◽  
Motor Abilities ◽  
Human Habitat ◽  
The Disabled ◽  
Spatio Temporal ◽  
Field Formation

The article discusses current theoretical and practical issues of scientific research based on the interaction of environmental and technogenic factors in the development of safe heat-protective clothing models for people with restricted motor abilities. In particular, the main results of studying the interaction of elements and objects belonging to the dynamic system «human – habitat – heat-protective clothes» are presented. The purpose of the work was to justify the choice of structural clothing materials with the help of using obtained analytical information on thermal field formation of under clothing space area. The relevance of the described studies is due to the permanently increased demand for special heat-protective products for the disabled and insufficient knowledge of multi factorial environmental processes in spatio-temporal coordinates. The scientific novelty of the presented work consists in solving the problem based on the analysis of the interaction of human lower limbs and heat protective clothing by means of using the author’s mathematical model. To carry out the research, modern mathematical methods were used, including system analysis, synthesis of alternatives, modeling, generalization and results verification. The obtained materials develop the theory of applied areas of human ecology. The implementation of the above stated recommendations in the practice of heat protective clothing design contributes to a process of people’s socialization with restricted motorabilities.

Some Key Issues in Using Bond Graphs and Genetic Programming for Mechatronic System Design

2001 ◽  
Author(s):  
R. C. Rosenberg ◽  
E. D. Goodman ◽  
Kisung Seo
Keyword(s):  
Genetic Programming ◽  
System Design ◽  
Design Space ◽  
Bond Graph ◽  
Mechatronic System ◽  
Bond Graphs ◽  
Mechatronic Systems ◽  
Energy Behavior ◽  
Key Issues ◽  
Bond Graph Modeling

Abstract Mechatronic system design differs from design of single-domain systems, such as electronic circuits, mechanisms, and fluid power systems, in part because of the need to integrate the several distinct domain characteristics in predicting system behavior. The goal of our work is to develop an automated procedure that can explore mechatronic design space in a topologically open-ended manner, yet still find appropriate configurations efficiently enough to be useful. Our approach combines bond graphs for model representation with genetic programming for generating suitable design candidates as a means of exploring the design space. Bond graphs allow us to capture the common energy behavior underlying the several physical domains of mechatronic systems in a uniform notation. Genetic programming is an effective way to generate design candidates in an open-ended, but statistically structured, manner. Our initial goal is to identify the key issues in merging the bond graph modeling tool with genetic programming for searching. The first design problem we chose is that of finding a model that has a specified set of eigenvalues. The problem can be studied using a restricted set of bond graph elements to represent suitable topologies. We present the initial results of our studies and identify key issues in advancing the approach toward becoming an effective and efficient open-ended design tool for mechatronic systems.

Structured Modeling of Mechatronic Components Using Multiport Templates

2000 ◽  
Author(s):  
Michael K. Hales ◽  
Ronald C. Rosenberg
Keyword(s):  
Mathematical Modeling ◽  
Product Development ◽  
New Product Development ◽  
Lead Time ◽  
New Product ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Engineering Knowledge ◽  
Structured Modeling ◽  
Design Alternatives

Abstract Mathematical modeling of mechatronic systems is increasing in its importance to industry for product development. Mathematical modeling helps companies reduce the lead time for new product development, allows for consideration of more design alternatives, provides a means for capture of engineering knowledge, and facilitates sharing of engineering efforts with suppliers. Structured modeling further assists engineers in meeting these goals by supporting effective, clear communication of model information. This paper describes a modeling environment for mechatronic system design based on structured modeling concepts. Structured modeling is implemented using a multiport template approach. A multiport template allows the engineer to create new user-defined model types, which are in turn used to create computational instances. The focus is on mechatronic component modeling. Illustrations of the method are given.

scholarly journals Ép és mozgásukban korlátozott kajakos sportolók biomechanikai mozgáselemzése és összehasonlító vizsgálata

2019 ◽  
Vol 160 (52) ◽  
pp. 2061-2066
Author(s):  
Bernadett Kertészné Német ◽  
Tamás Terebessy ◽  
Zoltán Bejek
Keyword(s):  
Body Mass ◽  
Mass Range ◽  
Lower Limbs ◽  
Whole Body ◽  
Special Focus ◽  
Upper Limbs ◽  
Height Range ◽  
Flexion Extension ◽  
The Disabled ◽  
Age Range

Abstract: Introduction: During kayaking, the whole body works in a perfect harmony. While the trunk is doing a rotation, flexion-extension helps to the upper limb to create a special cyclic paddle. The purpose of this study was to gain a better understanding of the physical disabled (later disabled) person’s kayaking motions and to probe whether there were any significant differences between disabled and non-disabled kayakers with special focus on the use of footrest. We hypothesised significantly different ranges of motion and muscle activity in lower limbs but no significant differences in those of the upper limbs. Aim: Our goal was to know more about the abled and disbled kayaking and compare the athlete’s kayaking movements. Method: Thirteen (n = 13) elite disabled athletes (age range: 18–40 years, height range: 164–194 cm, body mass range:74–93 kg), eleven (n = 11) elite non-disabled athletes (age range: 18–40 years, height range:172–197 cm, body mass range: 72–96 kg) and nine (n = 9) athletes whose movements were artificially limited to imitate disabled conditions(“imitation disabled” group) (age range: 18–40 years, height range: 172–197 cm, body mass range: 72–96 kg) were measured. Weba sport kayak ergometer, surface electromyography (EMG), and a 3-dimensional Vicon (MX T40) camera system were used to record the data, and a combined Matlab and MS Excel system was used to analyse the results. Results: In line with our basic assumption, range of motion of the upper limbs was not significantly different between disabled athletes and non-disabled athletes (p ≥ 0.05). However, muscle activities were significantly different in the disabled group compared to the non-disabled group (p ≤ 0.05). In the disabled group the knee joint and trunk motions and muscle activities were also significantly different compared to those in the non-disabled group (p ≤ 0.05). The differences in performance force applied to both footrests and force were significant (p ≤ 0.05). Discussion: The assumption that shoulder and elbow ranges of motion were not significantly different in disabled athletes compared to non-disabled athletes was proven. However, muscle activities were significantly different in the disabled group. In the disabled group, knee and trunk motions and muscle activities were also significantly different compared to the non-disabled group. Significant differences were found in performance, force and footrest use. Our results proved our assumption that motions and muscle activities of disabled and non-disabled athletes were significantly different. Orv Hetil. 2019; 160(52): 2061–2066.

Hybrid Analytical Analysis in the Design of Mechatronic Systems

2015 ◽  
Vol 762 ◽  
pp. 243-248 ◽  
Author(s):  
Olimpiu Hancu ◽  
Mihaela Simion ◽  
Ciprian Lăpuşan
Keyword(s):  
Structural Analysis ◽  
Motion Analysis ◽  
Control Strategy ◽  
Mechatronic System ◽  
Hybrid Analysis ◽  
Structural Element ◽  
Mechatronic Systems ◽  
Resources Management ◽  
Optimal Approach ◽  
Multiple Task

Coupling the structural analysis with the motion analysis in one simulation (hybrid analysis) provides an important mechanism which allows an integrated and optimal approach in the design of mechatronic systems. Such a procedure which includes Matlab/Simulink calculus and visualization of main efforts variation in each structural element of a robot during an entire operational task, allowing coupling structural analysis with motion analysis and testing the virtual prototype on multiple task scenarios is detailed in this paper. Also, the utility of this analysis (information) and ways to improving the control strategy for resources management of an intelligent mechatronic system are emphasized.

Function Basis for Mechatronic System Design

2011 ◽  
Vol 284-286 ◽  
pp. 1401-1407
Author(s):  
Yong Xu
Keyword(s):  
Information Processing ◽  
System Design ◽  
Theoretical Basis ◽  
State Transition ◽  
Transformation Function ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Design Models ◽  
Functional Description ◽  
Function Transformation

A new function-oriented theoretical basis for mechatronic system design is presented in the paper, with a technology-independent functional description of such aspects in a mechatronic system as 1) relations and distinctions among purpose function, transformation function and state transition and 2) structure of information processing. All discussions are summarized in a set of principles, which consequently form the basis for devising design models and methods for mechatronic systems.

Virtual Development Environment for Fluid Power Mechatronic Systems

2009 ◽  
Author(s):  
Torsten Verkoyen ◽  
Rene´ von Dombrowski ◽  
Hubertus Murrenhoff
Keyword(s):  
Development Process ◽  
Simulation Models ◽  
Fluid Power ◽  
Hardware In The Loop ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Development Environment ◽  
German State ◽  
Long Time ◽  
Soft And Hardware

In this paper the results of the German state-funded research project “Fluidtronic”, that deals with a virtual development environment for fluid technical mechatronic systems, is presented. Firstly the conventional development process of a fluid technical mechatronic system is introduced. The conventional development process typically takes a long time because design failures are often only identified during the plant commissioning. Secondly the new virtual development environment, which is worked out in the “Fluidtronic” project is presented. It shows how both the system performance can be optimized and also how the commissioning time can be reduced extensively, if the interactions between mechanical, electrical and fluid power parts are tested at an early point of time in the development process. Optimizations in the development process are realized with the help of new and improved simulation models as well as soft- and hardware in the loop simulations.

scholarly journals Comparison of Existing Agile Approaches in the Context of Mechatronic System Development: Potentials and Limits in Implementation

2019 ◽  
Vol 1 (1) ◽  
pp. 2199-2208 ◽  
Author(s):  
Jonas Heimicke ◽  
Manuel Niever ◽  
Valentin Zimmermann ◽  
Monika Klippert ◽  
Florian Marthaler ◽  
...  
Keyword(s):  
Software Development ◽  
Physical Properties ◽  
System Development ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Dynamic Changes ◽  
Physical Systems ◽  
Development Context ◽  
Development Processes ◽  
Relevant Factors

AbstractThe development of mechatronic systems has always been characterized by continuous handling of uncertainties. This challenge, which is associated with dynamic changes in the development context, is increasingly met by companies in the development of physical systems with the implementation of agile approaches in their development processes. However, since established approaches have their origin in software development, they reach various limits in the context of the development of mechatronic systems, e.g. due to the physical properties of the systems. Other features, such as transparent and flexible project management or targeted and early involvement of customers and users in development processes, can also be implemented in mechatronic system development. In order to derive the potentials and limits of existing agile approaches for the context of mechatronic system development, the present paper compares existing approaches with regard to relevant factors from the context of mechatronic system development. The aim is to create a basis for the targeted development, adaptation and use of agile approaches in the field of mechatronic system development.

SDRE-based high performance feedback control for nonlinear mechatronic systems

2019 ◽  
Vol 38 (4) ◽  
pp. 1164-1176
Author(s):  
Slawomir Jan Stepien ◽  
Paulina Superczynska ◽  
Damian Dobrowolski ◽  
Jerzy Dobrowolski
Keyword(s):  
Control Problem ◽  
High Performance ◽  
Computational Effort ◽  
Control Technique ◽  
Feedback Gain ◽  
Nonlinear Feedback ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Content Type ◽  
State Dependent

Purpose The purpose of the paper is to present modeling and control of a nonlinear mechatronic system. To solve the control problem, the modified state-dependent Riccati equation (SDRE) method is applied. The control problem is designed and analyzed using the nonlinear feedback gain strategy for the infinite time horizon problem. Design/methodology/approach As a new contribution, this paper deals with state-dependent parametrization as an effective modeling of the mechatronic system and shows how to modify the classical form of the SDRE method to reduce computational effort during feedback gain computation. The numerical example compares described methods and confirms usefulness of the proposed technique. Findings The proposed control technique can ensure optimal dynamic response, reducing computational effort during control law computation. The effectiveness of the proposed control strategy is verified via numerical simulation. Originality/value The authors introduced an innovative approach to the well-known SDRE control methodology and settled their research in the newest literature coverage for this issue.

Expert Formation of Functional Parameters Composition in Digital Mechatronic Systems

2019 ◽  
Vol 20 (2) ◽  
pp. 97-105
Author(s):  
A. V. Gulay ◽  
V. M. Zaitsev
Keyword(s):  
Empirical Studies ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Internal System ◽  
System Solution ◽  
System Functioning ◽  
Control Procedures ◽  
System States ◽  
Methodological Aspects ◽  
Effective Output

In the process of the mechatronic system functioning respective effective output parameters and parameters of its internal system state are generated. Preliminary selection of composition of the indicated parameters is a rather complicated task due to objective complexity of systems, availability of evident and latent interrelations between parameters. This task is complicated due to the necessity of simultaneous reduction of dimension and variation of control procedures and management in the mechatronic system. Solution of this problem may be attained with the aid of preliminary expert and empirical studies of complex models and mock-up specimens of designed mechatronic systems. In this regard, this work contains presentation of methodological aspects of adequately supported formation of composition of controlled parameters, their tolerance limits and other system features required for intellectual management. Rational sequence is described for performance of focused researches in order to reveal most important effective output parameters and parameters of internal system states. In accordance with the proposed algorithm the initial information and parameter picture of the intelligent mechatronic system is formed, studied and revised, its group expert evaluation and subsequent "thinning-out" of lists of its constituent parameters. A regression model is developed, which determines the form of interrelation between the parameters, as well as of the correlation model, which allows assessment of the volume of statistical interrelation between the system parameters. In the process of model analysis extremely weak dependences are detected between parameters, negative collinearity of factor variables is eliminated.

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