2015 19th International Conference on System Theory, Control and Computing (ICSTCC)最新文献_第10页

Control of lower limb exoskeleton for elderly assistance on basic mobility tasks 控制下肢外骨骼协助老年人基本行动任务

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-11-09 DOI: 10.1109/ICSTCC.2015.7321333

D. Miranda-Linares, G. Al-Rezage, M. Tokhi

{"title":"Control of lower limb exoskeleton for elderly assistance on basic mobility tasks","authors":"D. Miranda-Linares, G. Al-Rezage, M. Tokhi","doi":"10.1109/ICSTCC.2015.7321333","DOIUrl":"https://doi.org/10.1109/ICSTCC.2015.7321333","url":null,"abstract":"This paper presents the modelling, simulation and control of a lower limbs exoskeleton devices whose aim is to assist elderly people during standing-up and walking tasks. A humanoid and actuated exoskeleton frames were modelled in Solid Works and assembled in Visual Nastran 4D virtual environment. Control of exoskeletons actuators by means of PID and fuzzy controllers, together with a finite state machine, was designed. Simulations of the humanoid wearing an exoskeleton to perform the mentioned tasks, using controllers with set and adaptive orientation references as input, were performed. It is assumed that the humanoid, representing an old person, is only capable to provide 70% of the required torque, therefore the exoskeleton must supply 30% to complete the motions. With the aid of exoskeleton devices, the elderly will be able to perform motions of a physically able people. Optimization of fuzzy controller parameters for walking motion was done using SDA. The exoskeleton succeeded on assisting standing-up and walking motions but research is still needed to improve the performance and adaptability of the system.","PeriodicalId":257135,"journal":{"name":"2015 19th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123665855","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: 12

Invariant sets for discrete time-delay systems: Set factorization and state representation 离散时滞系统的不变量集:集分解与状态表示

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-11-09 DOI: 10.1109/ICSTCC.2015.7321261

M. Laraba, Sorin Olaru, S. Niculescu, G. Bitsoris

{"title":"Invariant sets for discrete time-delay systems: Set factorization and state representation","authors":"M. Laraba, Sorin Olaru, S. Niculescu, G. Bitsoris","doi":"10.1109/ICSTCC.2015.7321261","DOIUrl":"https://doi.org/10.1109/ICSTCC.2015.7321261","url":null,"abstract":"This paper deals with the study of the invariance of polyhedral sets with respect to dynamical systems described by discrete-time delay difference equations (DDE). Set invariance in the original state space, also referred to as D-invariance, leads to conservative definitions due to its delay independent property. This limitation makes the D-invariant sets only applicable to a limited class of systems. Hence an alternative solution based on the set factorization is established in order to obtain more flexible set characterization. With linear algebra manipulations and as a main contribution, it is shown that similarity transformations are a key element in the characterization of low complexity invariant sets. In short, it is shown that we can construct, in a low dimensional state-space, an invariant set for a dynamical system governed by a delay difference equation. The artifact which enables the construction is a simple change of coordinates for the DDE. Interestingly, this D-invariant set will be shown to exist in the new coordinates even if in its original state space it does not fulfill the necessary conditions for the existence of D-invariant sets. This proves the importance of the choice of the state representation.","PeriodicalId":257135,"journal":{"name":"2015 19th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127369482","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

Dynamic modeling of clarifier-thickeners for the control of wastewater treatment plants: a critical analysis 用于污水处理厂控制的澄清-浓缩剂动态建模:关键分析

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-10-14 DOI: 10.1109/ICSTCC.2015.7321354

C. Cadet, Valérie Dos Santos Martins, D. Dochain

引用次数: 7

Parametric and non-parametric methods to enhance prediction performance in the presence of missing data 参数和非参数方法，以提高预测性能的缺失数据的存在

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-10-01 DOI: 10.1109/ICSTCC.2015.7321316

Faraj A. A. Bashir, Hua-Liang Wei

引用次数: 8

Advanced driver assistance system for overtaking maneuver on a highway 先进的高速公路超车辅助系统

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-10-01 DOI: 10.1109/ICSTCC.2015.7321385

Alexandru Daniel Jarnea, R. Dobrescu, D. Popescu, L. Ichim

引用次数: 4

Document clustering based on time series 基于时间序列的文档聚类

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-10-01 DOI: 10.1109/ICSTCC.2015.7321281

L. Matei, Stefan Trausan-Matu

引用次数: 2

Automatic setting of the temperature inside some isolated chambers intended for telecommunications equipment 用于电信设备的某些隔离室内温度的自动设定

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-10-01 DOI: 10.1109/ICSTCC.2015.7321346

Dicu Gheorghe Doru, Dicu Ionut Bogdan

引用次数: 0

Flow and temperature control for an innovative hyperthermic intraperitoneal chemotherapy equipment 一种创新的温热腹腔化疗设备的流量和温度控制

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-10-01 DOI: 10.1109/ICSTCC.2015.7321287

I. Clitan, V. Muresan, M. Abrudean, D. Moga, H. Valean, Corneliu Lungoci, I. Mironiuc

引用次数: 1

Traffic control under scarce resources in wireless networks - a game-based approach 无线网络资源稀缺条件下的流量控制——基于博弈的方法

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-10-01 DOI: 10.1109/ICSTCC.2015.7321309

M. Morawski, P. Ignaciuk

引用次数: 2

Management of a hybrid fuel cell system using a predictive control approach 基于预测控制的混合燃料电池系统管理

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-10-01 DOI: 10.1109/ICSTCC.2015.7321340

C. Cadet, B. Robu

引用次数: 0