Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project

Stationary Cycling Induced by Switched Functional Electrical Stimulation Control

Functional electrical stimulation (FES) is used to activate the dysfunctional lower limb muscles of individuals with neuromuscular disorders to produce cycling as a means of exercise and rehabilitation. However, FES-cycling is still metabolically inefficient and yields low power output at the cycle crank compared to able-bodied cycling. Previous literature suggests that these problems are symptomatic of poor muscle control and non-physiological muscle fiber recruitment. The latter is a known problem with FES in general, and the former motivates investigation of better control methods for FES-cycling.In this paper, a stimulation pattern for quadriceps femoris-only FES-cycling is derived based on the effectiveness of knee joint torque in producing forward pedaling. In addition, a switched sliding-mode controller is designed for the uncertain, nonlinear cycle-rider system with autonomous state-dependent switching. The switched controller yields ultimately bounded tracking of a desired trajectory in the presence of an unknown, time-varying, bounded disturbance, provided a reverse dwell-time condition is satisfied by appropriate choice of the control gains and a sufficient desired cadence. Stability is derived through Lyapunov methods for switched systems, and experimental results demonstrate the performance of the switched control system under typical cycling conditions.Comment: 8 pages, 3 figures, submitted to ACC 201

Global exponential stability for coupled systems of neutral delay differential equations

In this paper, a novel class of neutral delay differential equations (NDDEs) is presented. By using the Razumikhin method and Kirchhoff's matrix tree theorem in graph theory, the global exponential stability for such NDDEs is investigated. By constructing an appropriate Lyapunov function, two different kinds of sufficient criteria which ensure the global exponential stability of NDDEs are derived in the form of Lyapunov functions and coefficients of NDDEs, respectively. A numerical example is provided to demonstrate the effectiveness of the theoretical results

On solving fuzzy delay differential equation using bezier curves

In this article, we plan to use Bezier curves method to solve linear fuzzy delay differential equations. A Bezier curves method is presented and modified to solve fuzzy delay problems taking the advantages of the fuzzy set theory properties. The approximate solution with different degrees is compared to the exact solution to confirm that the linear fuzzy delay differential equations process is accurate and efficient. Numerical example is explained and analyzed involved first order linear fuzzy delay differential equations to demonstrate these proper features of this proposed problem

List of contents

Rev. iberoam. bioecon. cambio clim. Vol.1(1) 2015; 95-114Los cambios medioambientales globales hacen pensar en un aumento futuro de la aridez, por ello es necesario buscar alternativas que permitan un uso más eficiente del agua y reducir su consumo, teniendo en cuenta que es un recurso limitado. En la actualidad, aproximadamente el 59,7% del total de agua planificada para todos los usos en Cuba se utiliza en la agricultura, pero no más del 50% de esa agua se convierte directamente en productos agrícolas. El estudio de las funciones agua-rendimiento y su uso dentro de la planificación del agua para riego es una vía importante para trazar estrategias de manejo que contribuyan al incremento en la producción agrícola. Utilizando los datos de agua aplicada por riego y los rendimientos obtenidos en más de 100 experimentos de campo realizados fundamentalmente en suelo Ferralítico Rojo de la zona sur de La Habana y con ayuda de herramientas de análisis de regresión en este trabajo se estiman las funciones agua aplicada-rendimientos para algunos cultivos agrícolas y se analizan las posibles estrategias de optimización del riego a seguir en función de la disponibilidad de agua. Seleccionar una estrategia de máxima eficiencia del riego puede conducir a reducciones de agua a aplicar entre un 21,6 y 46,8%, incrementos de la productividad del agua entre 17 y 32% y de la relación beneficios/costo estimada de hasta un 3,4%. Lo anterior indica la importancia desde el punto de vista económico que puede llegar a alcanzar el uso de esta estrategia en condiciones de déficit hídrico. El conocimiento de las funciones agua aplicada por riego-rendimiento y el uso de la productividad del agua, resultan parámetros factibles de introducir como indicadores de eficiencia en el planeamiento del uso del agua en la agricultura, con lo cual es posible reducir los volúmenes de agua a aplicar y elevar la relación beneficio-costo actual.Rev. iberoam. bioecon. cambio clim. Vol.1(1) 2015; 95-11