Online identification and nonlinear control of the electrically stimulated quadriceps muscle

A new approach for estimating nonlinear models of the electrically stimulated quadriceps muscle group under nonisometric conditions is investigated. The model can be used for designing controlled neuro-prostheses. In order to identify the muscle dynamics (stimulation pulsewidth-active knee moment relation) from discrete-time angle measurements only, a hybrid model structure is postulated for the shank-quadriceps dynamics. The model consists of a relatively well known time-invariant passive component and an uncertain time-variant active component. Rigid body dynamics, described by the Equation of Motion (EoM), and passive joint properties form the time-invariant part. The actuator, i.e. the electrically stimulated muscle group, represents the uncertain time-varying section. A recursive algorithm is outlined for identifying online the stimulated quadriceps muscle group. The algorithm requires EoM and passive joint characteristics to be known a priori. The muscle dynamics represent the product of a continuous-time nonlinear activation dynamics and a nonlinear static contraction function described by a Normalised Radial Basis Function (NRBF) network which has knee-joint angle and angular velocity as input arguments. An Extended Kalman Filter (EKF) approach is chosen to estimate muscle dynamics parameters and to obtain full state estimates of the shank-quadriceps dynamics simultaneously. The latter is important for implementing state feedback controllers. A nonlinear state feedback controller using the backstepping method is explicitly designed whereas the model was identified a priori using the developed identification procedure

Controlling cluster synchronization by adapting the topology

We suggest an adaptive control scheme for the control of zero-lag and cluster synchronization in delay-coupled networks. Based on the speed-gradient method, our scheme adapts the topology of a network such that the target state is realized. It is robust towards different initial condition as well as changes in the coupling parameters. The emerging topology is characterized by a delicate interplay of excitatory and inhibitory links leading to the stabilization of the desired cluster state. As a crucial parameter determining this interplay we identify the delay time. Furthermore, we show how to construct networks such that they exhibit not only a given cluster state but also with a given oscillation frequency. We apply our method to coupled Stuart-Landau oscillators, a paradigmatic normal form that naturally arises in an expansion of systems close to a Hopf bifurcation. The successful and robust control of this generic model opens up possible applications in a wide range of systems in physics, chemistry, technology, and life science

UTHM water quality classification based on sub index

River or stream at their source is unpolluted, but as water flow downstream, the river or lake is receiving point and non-point pollutant source. Ammoniacal nitrogen (NH3- N) and suspended solids (SS) strongly influences the dynamics of the dissolved oxygen in the water. Studies on monitoring this parameter were conducted for a river or lake but limited to the small man-made lake. This study is initiate to determine the changes in water quality of UTHM watershed as the water flows from upstream to downstream. The monitoring of NH3-N and TSS were monitored at two sampling schemes, 1) at the two-week interval and, 2) at a daily basis followed by the determination of the water quality sub-index particularly SIAN and SISS. The results showed that the two lakes in UTHM watershed were classified as polluted. In conclusion, the remedial action should be implemented to improve the water quality to meet the requirements at least to meet the recreational purpose

Control design for a pneumatic isolation table including different time delays dependent on control input polarity

ArticleIFAC-PapersOnLine. 50(1): 6029-6034. (2017)journal articl

A mixed-signal integrated circuit for FM-DCSK modulation

This paper presents a mixed-signal application-specific integrated circuit (ASIC) for a frequency-modulated differential chaos shift keying (FM-DCSK) communication system. The chip is conceived to serve as an experimental platform for the evaluation of the FM-DCSK modulation scheme, and includes several programming features toward this goal. The operation of the ASIC is herein illustrated for a data rate of 500 kb/s and a transmission bandwidth in the range of 17 MHz. Using signals acquired from the test platform, bit error rate (BER) estimations of the overall FM-DCSK communication link have been obtained assuming wireless transmission at the 2.4-GHz ISM band. Under all tested propagation conditions, including multipath effects, the system obtains a BER = 10-3 for Eb/No lower than 28 dB.Ministerio de Ciencia y Tecnología TIC2003-0235

Engineering evaluations and studies. Volume 3: Exhibit C

High rate multiplexes asymmetry and jitter, data-dependent amplitude variations, and transition density are discussed