scholarly journals Evaluation of Motor Primitive-Based Adaptive Control for Lower Limb Exoskeletons

2020 ◽  
Vol 7 ◽  
Author(s):  
Polyana F. Nunes ◽  
Icaro Ostan ◽  
Adriano A. G. Siqueira
Keyword(s):  
Knee Joint ◽  
Control Strategies ◽  
Lower Limbs ◽  
Motor Primitives ◽  
Motor Primitive ◽  
Gait Characteristics ◽  
Limited Effectiveness ◽  
Generalized Momentum ◽  
The Subject ◽  
And Control

In order to assist after-stroke individuals to rehabilitate their movements, research centers have developed lower limbs exoskeletons and control strategies for them. Robot-assisted therapy can help not only by providing support, accuracy, and precision while performing exercises, but also by being able to adapt to different patient needs, according to their impairments. As a consequence, different control strategies have been employed and evaluated, although with limited effectiveness. This work presents a bio-inspired controller, based on the concept of motor primitives. The proposed approach was evaluated on a lower limbs exoskeleton, in which the knee joint was driven by a series elastic actuator. First, to extract the motor primitives, the user torques were estimated by means of a generalized momentum-based disturbance observer combined with an extended Kalman filter. These data were provided to the control algorithm, which, at every swing phase, assisted the subject to perform the desired movement, based on the analysis of his previous step. Tests are performed in order to evaluate the controller performance for a subject walking actively, passively, and at a combination of these two conditions. Results suggest that the robot assistance is capable of compensating the motor primitive weight deficiency when the subject exerts less torque than expected. Furthermore, though only the knee joint was actuated, the motor primitive weights with respect to the hip joint were influenced by the robot torque applied at the knee. The robot also generated torque to compensate for eventual asynchronous movements of the subject, and adapted to a change in the gait characteristics within three to four steps.

Empowering lower limbs exoskeletons: state-of-the-art

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1743-1756
Author(s):  
Slavka Viteckova ◽  
Patrik Kutilek ◽  
Gérard de Boisboissel ◽  
Radim Krupicka ◽  
Alena Galajdova ◽  
...  
Keyword(s):  
Human Body ◽  
State Of The Art ◽  
Control Strategies ◽  
Lower Limbs ◽  
Single System ◽  
Fire Fighters ◽  
Design Concepts ◽  
Current State ◽  
And Control ◽  
Lower Exoskeleton

SUMMARYGiven the advanced breakthroughs in the field of supportive robotic technologies, interest in the integration of the human body and a robot into a single system has rapidly increased. The aim of this work is to provide an overview of empowering lower limbs exoskeletons. Along with lower exoskeleton limbs, their unique design concepts, operator–exoskeleton interactions and control strategies are described. Although many problems have been solved in recent development, many challenges remain. Especially in the context of infantry soldiers, fire fighters and rescuers, the challenges of empowering exoskeletons are discussed, and improvements are outlined and described. This study is not only a summary of the current state, but also points to weaknesses of empowering lower limbs exoskeletons and outlines possible improvements.

scholarly journals Investigation of Microgrid Hierarchical Control and Structure

2020 ◽  
Vol 75 (1-4) ◽  
pp. 1-8
Author(s):  
Tayebeh Faghihi ◽  
Shahab Sabzi
Keyword(s):  
Literature Review ◽  
Hierarchical Structure ◽  
Control Strategies ◽  
Hierarchical Control ◽  
Electric Utility ◽  
Control Methods ◽  
The Hierarchical Structure ◽  
The Subject ◽  
Microgrid Control ◽  
And Control

This paper offers a literature review on different structures and control strategies of the microgrid. The implementation of a microgrid system provides significant advantages for both electric utility and end-users. Microgrid control is one of the most sophisticated parts of such implementations that must be taken into account before moving to the next steps. The different control objectives and structures of the main grid and microgrid lead to various control methods proposed for microgrids. The hierarchical structure is the most accepted method for microgrid control that has three levels including primary, secondary, and tertiary. The focus of this study will be on the main modes of typical microgrids, types of microgrid and how to control them. The investigation of this paper will give an overview to the readers, and in our next paper, we will focus more deeply on the subject, with a specific concentration on the concept of secondary control and corresponding trending methods.

THE EFFECT OF APPLYING DEMONSTRATION METHOD ON STUDENTS’ ACHIEVEMENT IN SPEAKING SKILL AT THE THIRD GRADE OF SMK PAB 3 MEDAN ESTATE

2015 ◽  
Vol 4 (2) ◽  
Author(s):  
Meryanti Napitupulu And Anni Holila Pulungan
Keyword(s):  
High School ◽  
Control Group ◽  
Vocational High School ◽  
Control Groups ◽  
Speaking Test ◽  
The Third ◽  
Speaking Skill ◽  
The Subject ◽  
And Control ◽  
Experimental Group

This study was conducted as an attempt to discover the effect of applying Demonstration Method on students’ achievement in speaking skill. It was an experimental research. The subject was students of Grade XII, Vocational High School (Sekolah Menengah Kejuruan: SMK), which consisted of 79 students. The research was divided into two groups: experimental and control groups. The instrument used to collect the data was speaking test. To obtain the reliability of the test, the writer applied Kuder Richardson 21 formula. The result of the reliability was 0.7, and it was found that the test was reliable. The data were analyzed by using t-test formula. The analysis showed that the scores of the students in the experimental group were significantly higher than the scores of the students in the control group at the level of significant m = 0.05 with the degree of freedom (df) 77, t-observed value 8.9 > t-table value 1.99. The findings indicate that using Demonstration Method significantly affected the students’ achievement in speaking skill. So, English teachers are suggested to use Demonstration Method in order to improve students’ achievement in speaking skill.

Effective infection prevention and control strategies in a large accredited psychiatric facility in Singapore

2020 ◽  
Author(s):  
Daniel Poremski ◽  
Sandra Henrietta Subner ◽  
Grace Lam Fong Kin ◽  
Raveen Dev Ram Dev ◽  
Mok Yee Ming ◽  
...  
Keyword(s):  
Mental Health ◽  
Prevention And Control ◽  
Infection Prevention ◽  
Control Strategies ◽  
Infection Prevention And Control ◽  
Psychiatric Facility ◽  
Essential Services ◽  
Community Transmission ◽  
And Control

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.

The Implementation of Learning Materials Based on Local Wisdom of Agricultural in Binjai to Improve the Students Problem Solving Abilities

2019 ◽  
Author(s):  
Nur Tsalits Fahman Mughni
Keyword(s):  
Problem Solving ◽  
Control Group ◽  
School Grade ◽  
Teaching Materials ◽  
Quasi Experimental ◽  
Equivalent Control ◽  
The Subject ◽  
And Control ◽  
Experimental Group

Teaching materials by integrating local culture makes easier for students to understand the subject matter in the learning process. The aims of the study is to measure the effectiveness of teaching materials based on local wisdom of agriculture in Binjai in improving the students problem solving abilities. The research method was a quasi experimental which use non equivalent control group in the pretest posttest design. The sample of study were students of Senior High School grade X in Binjai that consisted of experiment group which used teaching materials based on local wisdom of agriculture in Binjai and control group that used student handbooks. Teaching materials are tested by material experts and technology experts to ensure the quality of teaching materials. Data collection was conducted through test. The results showed that the teaching materials based on local wisdom of agriculture in Binjai effective in improving students problem solving abilities in the experimental group students based on the results of N gain value was 0.67 which has medium criteria. It means teaching materials based on agricultural local wisdom of agriculture in Binjai can be used as one of the teaching materials in learning activities.

Optimization and Control Petroleum Refinery Wastewater Treatment Systems — Status, Trends and Needs

1989 ◽  
Vol 24 (3) ◽  
pp. 463-477
Author(s):  
Stephen G. Nutt
Keyword(s):  
Wastewater Treatment ◽  
Process Control ◽  
Petroleum Refinery ◽  
Control Strategies ◽  
Refinery Wastewater ◽  
Statistical Process ◽  
Petroleum Refinery Wastewater ◽  
Optimization And Control ◽  
And Control ◽  
Wastewater Treatment Systems

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.

Learning and control

2018 ◽  
Author(s):  
Ivan Herreros
Keyword(s):  
Machine Learning ◽  
Reinforcement Learning ◽  
Brain Function ◽  
Control Strategies ◽  
Learning Problems ◽  
Animal Learning ◽  
Feed Forward Control ◽  
Machine Learning Applications ◽  
And Control

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.

Current status, problems and control strategies of water resources pollution in China

Water Policy ◽  
2014 ◽  
Vol 17 (3) ◽  
pp. 423-440 ◽  
Author(s):  
Lei Wu ◽  
Tong Qi ◽  
Dan Li ◽  
Huijuan Yang ◽  
Guoqing Liu ◽  
...  
Keyword(s):  
Water Pollution ◽  
Control Strategies ◽  
Water Environment ◽  
Underground Water ◽  
National Standard ◽  
Current Status ◽  
Food Borne ◽  
Major River ◽  
And Control ◽  
Research And Policy

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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