Study on a Myoelectric Signal Based Accurate and Quick Rollover Recognition in Robotic Orthosis for Cancer Bone Metastasis Patients

制度:新 ; 報告番号:甲3331号 ; 学位の種類:博士(工学) ; 授与年月日:2011/3/15 ; 早大学位記番号:新563

Tuning fractional PID controllers for a Steward platform based on frequency domain and artificial intelligence methods

In this paper, two methods to tune a fractional-order PI (lambda) D (mu) controller for a mechatronic system are presented. The first method is based on a genetic algorithm to obtain the parameter values for the fractionalorder PI (lambda) D (mu) controller by global optimization. The second method used to design the fractional-order PI (lambda) D (mu) controller relies on an auto-tuning approach by meeting some specifications in the frequency domain. The real-time experiments are conducted using a Steward platform which consists of a table tilted by six servo-motors with a ball on the top of the table. The considered system is a 6 degrees of freedom (d.o.f.) motion platform. The feedback on the position of the ball is obtained from images acquired by a visual sensor mounted above the platform. The fractional-order controllers were implemented and the performances of the steward platform are analyzed

個人適応型リハビリテーションに向けた生体粘弾性を考慮した筋緊張緩和の定量化

早大学位記番号:新8145早稲田大

磁性流体を用いたバックドライブ可能な油圧アクチュエータの開発

早大学位記番号:新7478早稲田大