A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

International audienc

Sensorless Pedalling Torque Estimation Based on Motor Load Torque Observation for Electrically Assisted Bicycles

The need for reducing the cost of and space in Electrically Assisted Bicycles (EABs) has led the research to the development of solutions able to sense the applied pedalling torque and to provide a suitable electrical assistance avoiding the installation of torque sensors. Among these approaches, this paper proposes a novel method for the estimation of the pedalling torque starting from an estimation of the motor load torque given by a Load Torque Observer (LTO) and evaluating the environmental disturbances that act on the vehicle longitudinal dynamics. Moreover, this work shows the robustness of this approach to rotor position estimation errors introduced when sensorless techniques are used to control the motor. Therefore, this method allows removing also position sensors leading to an additional cost and space reduction. After a mathematical description of the vehicle longitudinal dynamics, this work proposes a state observer capable of estimating the applied pedalling torque. The theory is validated by means of experimental results performed on a bicycle under different conditions and exploiting the Direct Flux Control (DFC) sensorless technique to obtain the rotor position information. Afterwards, the identification of the system parameters together with the tuning of the control system and of the LTO required for the validation of the proposed theory are thoroughly described. Finally, the capabilities of the state observer of estimating an applied pedalling torque and of recognizing the application of external disturbance torques to the motor is verified

Biosignal‐based human–machine interfaces for assistance and rehabilitation : a survey

As a definition, Human–Machine Interface (HMI) enables a person to interact with a device. Starting from elementary equipment, the recent development of novel techniques and unobtrusive devices for biosignals monitoring paved the way for a new class of HMIs, which take such biosignals as inputs to control various applications. The current survey aims to review the large literature of the last two decades regarding biosignal‐based HMIs for assistance and rehabilitation to outline state‐of‐the‐art and identify emerging technologies and potential future research trends. PubMed and other databases were surveyed by using specific keywords. The found studies were further screened in three levels (title, abstract, full‐text), and eventually, 144 journal papers and 37 conference papers were included. Four macrocategories were considered to classify the different biosignals used for HMI control: biopotential, muscle mechanical motion, body motion, and their combinations (hybrid systems). The HMIs were also classified according to their target application by considering six categories: prosthetic control, robotic control, virtual reality control, gesture recognition, communication, and smart environment control. An ever‐growing number of publications has been observed over the last years. Most of the studies (about 67%) pertain to the assistive field, while 20% relate to rehabilitation and 13% to assistance and rehabilitation. A moderate increase can be observed in studies focusing on robotic control, prosthetic control, and gesture recognition in the last decade. In contrast, studies on the other targets experienced only a small increase. Biopotentials are no longer the leading control signals, and the use of muscle mechanical motion signals has experienced a considerable rise, especially in prosthetic control. Hybrid technologies are promising, as they could lead to higher performances. However, they also increase HMIs’ complex-ity, so their usefulness should be carefully evaluated for the specific application

Development and implementation of a B-Spline motion planning framework for autonomous mobile robots

O projeto enquadra-se na área da robótica. A ideia deste projeto é utilizar as propriedades das curvas b-spline para resolver problemas de otimização de motion planning. Esta abordagem permite desviar dos tradicionais motion planning algorithms que são normalmente utilizados. Devido á sua natureza matemática, esta abordagem permite a utilização de teoremas como o Separating Hyperplane Thereoem para realizar o desvio de obstáculos. Um aspecto importante a ter em conta é que este projeto irá ser integrado com os projetos desenvolvidos por outros alunos de modo a participar na competição The Autonomous Ship Challenge, a ser realizada na Noruega.This project fits within the area of robotics. The main idea is to utilize the properties of b-splines curves in order to solve motion planning optimization problems. This approach allows to deviate from the traditional motion planning algorithms, that are usually used. Due to its mathematical nature, this approach allows the use of theorems like the Separating Hyperplane Theorem for the obstacle avoidance problem. An important aspect to notice is that this project will be integrated with the other projects developed by other students in order to participate in "The Autonomous Ship Challenge" competition to be held in Norway

Feature Papers in Eng

This Special Issue is a collection of high-quality reviews and original papers from editorial board members, guest editors, and leading researchers discussing new knowledge or new cutting-edge developments in the field of engineering

Miniaturized Transistors, Volume II

In this book, we aim to address the ever-advancing progress in microelectronic device scaling. Complementary Metal-Oxide-Semiconductor (CMOS) devices continue to endure miniaturization, irrespective of the seeming physical limitations, helped by advancing fabrication techniques. We observe that miniaturization does not always refer to the latest technology node for digital transistors. Rather, by applying novel materials and device geometries, a significant reduction in the size of microelectronic devices for a broad set of applications can be achieved. The achievements made in the scaling of devices for applications beyond digital logic (e.g., high power, optoelectronics, and sensors) are taking the forefront in microelectronic miniaturization. Furthermore, all these achievements are assisted by improvements in the simulation and modeling of the involved materials and device structures. In particular, process and device technology computer-aided design (TCAD) has become indispensable in the design cycle of novel devices and technologies. It is our sincere hope that the results provided in this Special Issue prove useful to scientists and engineers who find themselves at the forefront of this rapidly evolving and broadening field. Now, more than ever, it is essential to look for solutions to find the next disrupting technologies which will allow for transistor miniaturization well beyond silicon’s physical limits and the current state-of-the-art. This requires a broad attack, including studies of novel and innovative designs as well as emerging materials which are becoming more application-specific than ever before