Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)最新文献

Robotic Walkers for Children and Youth with Cerebral Palsy: A Review of Past Successes and Ongoing Advancement 脑瘫儿童和青少年的机器人行走器:回顾过去的成功和正在进行的进展

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.128

A. McCormick, H. Alazem, C. Hunt, S. Zaidi, C. Dixon

{"title":"Robotic Walkers for Children and Youth with Cerebral Palsy: A Review of Past Successes and Ongoing Advancement","authors":"A. McCormick, H. Alazem, C. Hunt, S. Zaidi, C. Dixon","doi":"10.11159/CDSR19.128","DOIUrl":"https://doi.org/10.11159/CDSR19.128","url":null,"abstract":"Each child with a disability deserves the support required to achieve their maximum physical potential, optimal participation and an active lifestyle throughout their lifespan. In this paper, we aim to highlight past successes, present work and share a vision for future advancements in robotic gait technologies that enable walking in children and youth with severe physical disabilities. We will summarize work which demonstrates how a robotic walker with a lift and body weight support system has shown great promise in mobilization, exercise and participation in youth and young adults with Cerebral Palsy (CP). This study was conducted in 3 phases; 1) a case study, 2) a pilot study evaluating mobility in a clinical setting, and 3) a study focusing on training and participation in a community setting. Secondly, we will describe the planned assessment of the Trexo Plus, a walker and wearable lower extremity robotic device combination, in younger children with significant physical involvement secondary to CP. This device allows precise repetition of normal gait patterns while controlling range of motion at the hip, knee and ankle. Lastly, we will highlight international innovative robotic work which has produced a novel robotic platform with a partial body weight support system (PBWS), active system for adapting hip height and an exoskeleton with joint motion control. A multimodal human-robot interface (MHRI) accompanies the unique walker system which assesses intent to move, posture and balance and gait patterns. This system has the potential to allow therapists to construct and precisely evaluate unique robot facilitated programming. There is a new generation of robotic devices providing the means for individuals with CP to walk independently. With a look to the future, we endeavour to evaluate and facilitate the development of this robotic technology as it is integrated into clinical care, activity enhancement and community participation.","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129603723","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Interaction Control and Haptic Feedback for a Lower-limb Rehabilitation Robot with Virtual Environments 虚拟环境下下肢康复机器人的交互控制与触觉反馈

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.145

N. Berezny, D. Dowlatshahi, M. Ahmadi

引用次数: 4

A Model-Free Control Algorithm Based On The Sliding Mode Control Method With Applications to Unmanned Aircraft Systems 基于滑模控制方法的无模型控制算法及其在无人机系统中的应用

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.113

Adarsh Sreeraj, D. Kaputa, A. Crassidis

{"title":"A Model-Free Control Algorithm Based On The Sliding Mode Control Method With Applications to Unmanned Aircraft Systems","authors":"Adarsh Sreeraj, D. Kaputa, A. Crassidis","doi":"10.11159/CDSR19.113","DOIUrl":"https://doi.org/10.11159/CDSR19.113","url":null,"abstract":"Control methods require the use of a system model for the design and tuning of the controllers in meeting and/or exceeding the control system performance objectives. However, system models contain errors and uncertainties that also may be complex to develop and to generalize for a large class of systems such as those for unmanned aircraft systems. In particular, the sliding control method is a superior robust nonlinear control approach due to the direct handling of nonlinearities and uncertainties that can be used in tracking problems for unmanned aircraft system. However, the derivation of the sliding mode control law is tedious since a unique and distinct control law needs to be derived for every individual system and cannot be applied to general systems that may encompass all classifications of unmanned aircraft systems. In this paper, a model-free control algorithm based on the sliding mode control method is developed and generalized for all classes of unmanned aircraft systems used in robust tracking control applications. The model-free control algorithm is derived with knowledge of the system’s order, state measurements, and control input gain matrix shape and bounds and is not dependent on a mathematical system model. The derived control law is tested using a high-fidelity simulation of a quadrotortype unmanned aircraft system and the results are compared to a traditional PID controller for tracking performance and power consumption. Realistic type hardware inputs from joysticks and IMUs was simulated for the analysis. Finally, the model-free control algorithm was implemented on a quadrotor-type unmanned aircraft system testbed used in real flight experimental testing. The experimental tracking performance and power consumption was analysed and compared to a traditional PID-type controller.","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131048222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Simulation of Human Balance Impairment on a Biped Robot 双足机器人人体平衡损伤的仿真研究

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.139

Abdalla Zreiba, M. Ahmadi, A. Etemad

引用次数: 0

Distributed cooperative control and estimation with multi-agent robotic systems: stabilization notwithstanding unreliable communications, and optimization in evolving environments 多智能体机器人系统的分布式协同控制与估计:不可靠通信下的稳定，以及在不断变化的环境中的优化

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.2

D. Spinello

引用次数: 0

Multi-Agent Machine Learning for Mobile Robots: A Reinforcement Learning Approach 移动机器人多智能体机器学习:一种强化学习方法

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.3

H. Schwarz

引用次数: 0

Boosting Manufacturing through Virtualization and Intelligence 推动制造业虚拟化、智能化

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.1

K. Erkorkmaz

引用次数: 0

Adaptive Control of Satellite System using Kalman Estimates in the presence of Disturbance 存在干扰时卫星系统的卡尔曼估计自适应控制

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.116

D. Dube, H. Patel

引用次数: 0

Home Automation with Arduino for the Internet of Things (IoT) 基于Arduino的物联网(IoT)家庭自动化

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.140

A. Carranza, D. Moonasar, C. DeCusatis, Harrison Carranza

引用次数: 0

Cooperative Citizen Science for Robot-Mediated Telerehabilitation 机器人介导远程康复的合作公民科学

Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.109

R. Ventura, Shinnosuke Nakayama, P. Raghavan

引用次数: 0