Balance control strategies during perturbed and unperturbed balance in standing and handstand

© 2017 The Authors. Insights into sensorimotor control of balance were examined by the assessment of perturbed and unperturbed balance in standing and handstand postures. During perturbed and unperturbed balance in standing, the most prevalent control strategy was an ankle strategy, which was employed for more than 90% of the time in balance. During perturbed and unperturbed balance in handstand, the most prevalent control strategy was a wrist strategy, which was employed for more than 75% of the time in balance. In both postures, these strategies may be described as a single segment inverted pendulum control strategy, where the multi-segment system is controlled by torque about the most inferior joint with compensatory torques about all superior joints acting in the same direction to maintain a fixed orientation between superior segments. In contrast to previous literature, surprisingly little time was spent in a mixed strategy, representing less than 1% of time in standing balance and approximately 2% of time in handstand balance. Findings indicate that although the central nervous system may employ a number of control strategies during a trial, these strategies are employed individually rather than simultaneously

Spatial and Temporal Considerations in Vehicle Path Tracking With an Emphasis on Spatial Robustness

This dissertation researches the task and path management of an autonomous vehicle with Ackerman-type steering. The task management problem was approached as a path training operation in which a human operator drives the desired path through an environment. A training trajectory is converted into a series of path segments that are driveable by the autonomous vehicle by first fitting a general path to the dataset. Next, transition segments are added to the general path to match the vehicle velocity and steering angle rate limit. The path management problem has been approached by first deriving a kine- matic model of the vehicle. The time domain model is expressed in the frequency domain and then converted into a spatial frequency domain. Next, a stability crite- rion is derived and used in the synthesis of a spatially-robust path controller

Robotic Manipulator Control in the Presence of Uncertainty

openThis research focuses on the problem of manipulator control in the presence of uncertainty and aims to compare different approaches for handling uncertainty while developing robust and adaptive methods that can control the robot without explicit knowledge of uncertainty bounds. Uncertainty is a pervasive challenge in robotics, arising from various sources such as sensor noise, modeling errors, and external disturbances. Effectively addressing uncertainty is crucial for achieving accurate and reliable manipulator control. The research will explore and compare existing methods for uncertainty handling such as robust feedback linearization , sliding mode control and robust adaptive control. These methods provide mechanisms to model and compensate for uncertainty in the control system. Additionally, modified robust and adaptive control methods will be developed that can dynamically adjust control laws based on the observed states, without requiring explicit knowledge of uncertainty bounds. To evaluate the performance of the different approaches, comprehensive experiments will be conducted on a manipulator platform. Various manipulation tasks will be performed under different levels of uncertainty, and the performance of each control approach will be assessed in terms of accuracy, stability, and adaptability. Comparative analysis will be conducted to highlight the strengths and weaknesses of each method and identify the most effective approach for handling uncertainty in manipulator control. The outcomes of this research will contribute to the advancement of manipulator control by providing insights into the effectiveness of different approaches for uncertainty handling. The development of new robust and adaptive control methods will enable manipulators to operate in uncertain environments without requiring explicit knowledge of uncertainty bounds. Ultimately, this research will facilitate the deployment of more reliable and adaptive robotic systems capable of handling uncertainty and improving their performance in various real-world applications.This research focuses on the problem of manipulator control in the presence of uncertainty and aims to compare different approaches for handling uncertainty while developing robust and adaptive methods that can control the robot without explicit knowledge of uncertainty bounds. Uncertainty is a pervasive challenge in robotics, arising from various sources such as sensor noise, modeling errors, and external disturbances. Effectively addressing uncertainty is crucial for achieving accurate and reliable manipulator control. The research will explore and compare existing methods for uncertainty handling such as robust feedback linearization , sliding mode control and robust adaptive control. These methods provide mechanisms to model and compensate for uncertainty in the control system. Additionally, modified robust and adaptive control methods will be developed that can dynamically adjust control laws based on the observed states, without requiring explicit knowledge of uncertainty bounds. To evaluate the performance of the different approaches, comprehensive experiments will be conducted on a manipulator platform. Various manipulation tasks will be performed under different levels of uncertainty, and the performance of each control approach will be assessed in terms of accuracy, stability, and adaptability. Comparative analysis will be conducted to highlight the strengths and weaknesses of each method and identify the most effective approach for handling uncertainty in manipulator control. The outcomes of this research will contribute to the advancement of manipulator control by providing insights into the effectiveness of different approaches for uncertainty handling. The development of new robust and adaptive control methods will enable manipulators to operate in uncertain environments without requiring explicit knowledge of uncertainty bounds. Ultimately, this research will facilitate the deployment of more reliable and adaptive robotic systems capable of handling uncertainty and improving their performance in various real-world applications

Results of an A109 simulation validation and handling qualities study

The results for the validation of a mathematical model of the Agusta A109 helicopter, and subsequent use of the model as the baseline for a handling qualities study of cockpit centerstick requirements, are described. The technical approach included flight test, non-realtime analysis, and realtime piloted simulation. Results of the validation illustrate a time- and frequency-domain approach to the model and simulator issues. The final A109 model correlates well with the actual aircraft with the Stability Augmentation System (SAS) engaged, but is unacceptable without the SAS because of instability and response coupling at low speeds. Results of the centerstick study support the current U.S. Army handling qualities requirements for centerstick characteristics

Aerospace Medicine and Biology: A continuing bibliography with indexes (supplement 133)

This special bibliography lists 276 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System in September 1974

Variable Sweep Transition Flight Experiment (VSTFE): Unified Stability System (USS). Description and Users' Manual

NASA initiated the Variable Sweep Transition Flight Experiment (VSTFE) to establish a boundary layer transition database for laminar flow wing design. For this experiment, full-span upper surface gloves were fitted to a variable sweep F-14 aircraft. The development of an improved laminar boundary layer stability analysis system called the Unified Stability System (USS) is documented and results of its use on the VSTFE flight data are shown. The USS consists of eight computer codes. The theoretical background of the system is described, as is the input, output, and usage hints. The USS is capable of analyzing boundary layer stability over a wide range of disturbance frequencies and orientations, making it possible to use different philosophies in calculating the growth of disturbances on sweptwings