9 research outputs found
Learning and manipulating human's fingertip bending data for sign language translation using PCA-BMU classifier
Nowadays the classification of fingers movement could be used to classify or
categorize many kinds of human finger motions including the classification of sign
language for verbal communication.Principal Component Analysis (PCA) is one of classical method that capable to be verity the finger motions for various alphabets by reducing the dimensional dataset of finger movements.The objective of this paper is to analyze the human finger motions / movements between thumbs,index and middle fingers while bending the fingers using PCA-BMU based techniques. The used of low cost DataGlove âGloveMAPâ which is based on fingers adapted postural movement (or EigenFingers) of the principal component was applied in order to translate the finger bending to the sign language alphabets. Preliminary experimental results have shown that the âGloveMAPâ DataGlove
capable to measure several human Degree of Freedom (DoF), by âtranslatingâ them into a virtual commands for the interaction in the virtual world
Using kinematic reduction for studying grasping postures. An application to power and precision grasp of cylinders
The kinematic analysis of human grasping is challenging because of the high number of degrees of freedom involved. The use of principal component and factorial analyses is proposed in the present study to reduce the hand kinematics dimensionality in the analysis of posture for ergonomic purposes, allowing for a comprehensive study without losing accuracy while also enabling velocity and acceleration analyses to be performed. A laboratory study was designed to analyse the effect of weight and diameter in the grasping posture for cylinders. This study measured the hand posture from six subjects when transporting cylinders of different weights and diameters with precision and power grasps. The hand posture was measured using a ViconŸ motion-tracking system, and the principal component analysis was applied to reduce the kinematics dimensionality. Different ANOVAs were performed on the reduced kinematic variables to check the effect of weight and diameter of the cylinders, as well as that of the subject. The results show that the original twenty-three degrees of freedom of the hand were reduced to five, which were identified as digit arching, closeness, palmar arching, finger adduction and thumb opposition. Both cylinder diameter and weight significantly affected the precision grasping posture: diameter affects closeness, palmar arching and opposition, while weight affects digit arching, palmar arching and closeness. The power-grasping posture was mainly affected by the cylinder diameter, through digit arching, closeness and opposition. The grasping posture was largely affected by the subject factor and this effect couldn't be attributed only to hand size. In conclusion, this kinematic reduction allowed identifying the effect of the diameter and weight of the cylinders in a comprehensive way, being diameter more important than weight.We are grateful to the Universitat Jaume I for financial support through project P1·1B2013-33, and the Spanish Ministry of Research and Innovation and the EU (FEDER funds) jointly through projects DPI2010-18177 and DPI2014-52095-P
A Review of Resonant Converter Control Techniques and The Performances
paper first discusses each control technique and then gives experimental results and/or performance to highlights their merits. The resonant converter used as a case study is not specified to just single topology instead it used few topologies such as series-parallel resonant converter (SPRC), LCC resonant converter and parallel resonant converter (PRC). On the other hand, the control techniques presented in this paper are self-sustained phase shift modulation (SSPSM) control, self-oscillating power factor
control, magnetic control and the H-â robust control technique
OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL
This paper presents a state space control technique for inverted pendulum system. The system is a common classical control problem that has been widely used to test multiple control algorithms because of its nonlinear and unstable behavior. Full state feedback based on pole placement and optimal control is applied to the inverted pendulum system to achieve desired design specification which are 4 seconds settling time and 5% overshoot. The simulation and optimization of the full state feedback controller based on pole placement and optimal control techniques as well as the performance comparison between these techniques is described comprehensively. The comparison is made to choose the most suitable technique for the system that have the best trade-off between settling time and overshoot. Besides that, the observer design is analyzed to see the effect of pole location and noise present in the system
A Review of Resonant Converter Control Techniques and The Performances
paper first discusses each control technique and then gives experimental results and/or performance to highlights their merits. The resonant converter used as a case study is not specified to just single topology instead it used few topologies such as series-parallel resonant converter (SPRC), LCC resonant converter and parallel resonant converter (PRC). On the other hand, the control techniques presented in this paper are self-sustained phase shift modulation (SSPSM) control, self-oscillating power factor
control, magnetic control and the H-â robust control technique
State-Feedback Controller Based on Pole Placement Technique for Inverted Pendulum System
This paper presents a state space control technique for inverted pendulum system using simulation and real experiment via MATLAB/SIMULINK software. The inverted pendulum is difficult system to control in the field of control engineering. It is also one of the most important classical control system problems because of its nonlinear characteristics and unstable system. It has three main problems that always appear in control application which are nonlinear system, unstable and non-minimumbehavior
phase system. This project will apply state feedback controller based on pole placement technique which is capable in stabilizing the practical based inverted pendulum at vertical position. Desired design specifications which are 4 seconds settling time and 5 % overshoot is needed to apply in full state feedback controller based on pole placement technique. First of all, the mathematical model of an inverted pendulum system is derived to obtain the state space representation of the system. Then, the design phase of the State-Feedback Controller can be conducted after linearization technique is
performed to the nonlinear equation with the aid of mathematical aided software such as Mathcad. After that, the design is simulated using MATLAB/Simulink software. The controller design of the inverted pendulum system is verified using simulation and experiment test. Finally the controller design is compared with PID controller for benchmarking purpose
State-Feedback Controller Based on Pole Placement Technique for Inverted Pendulum System
This paper presents a state space control technique for inverted pendulum system using simulation and real experiment via MATLAB/SIMULINK software. The inverted pendulum is difficult system to control in the field of control engineering. It is also one of the most important classical control system problems because of its nonlinear characteristics and unstable system. It has three main problems that always appear in control application which are nonlinear system, unstable and non-minimumbehavior
phase system. This project will apply state feedback controller based on pole placement technique which is capable in stabilizing the practical based inverted pendulum at vertical position. Desired design specifications which are 4 seconds settling time and 5 % overshoot is needed to apply in full state feedback controller based on pole placement technique. First of all, the mathematical model of an inverted pendulum system is derived to obtain the state space representation of the system. Then, the design phase of the State-Feedback Controller can be conducted after linearization technique is
performed to the nonlinear equation with the aid of mathematical aided software such as Mathcad. After that, the design is simulated using MATLAB/Simulink software. The controller design of the inverted pendulum system is verified using simulation and experiment test. Finally the controller design is compared with PID controller for benchmarking purpose
Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System
This paper presents a real time control technique to stabilize inverted pendulum in the vertical upright
position. Stabilize the inverted pendulum is a classical control problem that could be related to some
problems in industrial applications. Two common problems that always been encountered by inverted
pendulum system is unstable behavior and nonlinear. This lead to numerous studies on the control
algorithm to balance the inverted pendulum system in the vertical upright position. Generally, inverted
pendulum is mounted on DC motor and is equipped with sensor to measure angular displacement.
Inverted pendulum has the same analogy with human that try to balance a broomstick using fingertip.
Balancing the Inverted Pendulum requires a good control system. Therefore an optimal control
technique is proposed to achieve desired design requirement which are less than 5% overshoot and
less than 5 seconds settling time. The controller is optimized to achieve the best performance result.
Finally the performance of the controller is compared with PID controller as a benchmark
A SIMULATION STUDY OF STATE-FEEDBACK CONTROL METHOD FOR ELECTRO HYDRAULIC SERVO MODEL
Electro hydraulic servo system is used by many industries due to its ability to impart large forces.
It also has advantage in term of fast response and robustness. The electro hydraulic system suffered
from errors of the transient response which are steady state error, settling time and the ripples. It
is crucial to design a controller for the system to ensure the reliability of the system. Aiming at the
characteristic of the system, steady state feedback control method is designed to compensate the
error. The analysis of the system is done based on the transient response specifically on the actuator
part. MATLAB Simulink is used as the simulation software to evaluate the force performance of
state feedback controller method. The steady state error, settling time and ripple are observed and
recorded for each controller. Three methods is applied, which are full feedback, state feedback with
feed forward and integral control are compared with proportional, integral and derivatives (PID)
controller. The result of each controller shows the differences performance. Based on the simulation
results, the feedforward technique is found to be the best control technique for the electro hydraulic
servo system due to the requirement performance such as percent overshoot, settling time, rise time
and zero steady state error. This good result will directly benefit industries that use electro hydraulic
system as their actuator for production machines