ROZSZERZONY FILTR KALMANA JAKO ESTYMATOR STANU W UKŁADZIE WAHADŁA ODWRÓCONEGO Z NAPĘDEM INERCYJNYM

This paper presents derivation of the full state observer for an inverted, inertia wheel pendulum (IWP). This is a non-linear, underactuated mechanical system and therefore it has more degrees of freedom than control variables. In order to control this mechanical system properly, knowledge of all state variables is needed. In this paper, authors presented IWP’s model, which was later written in matrix form. Finally, based on the model, full state observer was derived. In the end its results were shown.W pracy przedstawione jest wyprowadzenie pełnego obserwatora wektora stanu dla wahadła odwróconego z napędem inercyjny. Wahadło odwrócone z napędem inercyjnym stanowi mechanizm nieliniowy który posiada więcej stopni swobody niż wymuszeń. W celu poprawnego sterownia postuluje się o znajomość wszystkich zmiennych stanu. W pracy przedstawiony został model wahadła. Następnie autorzy dokonali dyskretyzacji modelu oraz zapisu modelu do postaci macierzowej, ostatecznie przedstawiony został obserwator bazujący na wyprowadzonym modelu oraz wyniki jego działania

Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller

In this paper the synthesis of a rotational speed closed-loop control system based on a fractional-order proportional-integral (FOPI) controller is presented. In particular, it is proposed the use of the SCoMR-FOPI procedure as the controller tuning method for an unmanned aerial vehicle’s propulsion unit. In this framework, both the Hermite-Biehler and Pontryagin theorems are used to predefine a stability region for the controller. Several simulations were conducted in order to try to answer the questions – is the FOPI controller good enough to be an alternative to more complex FOPID controllers? In what circumstances can it be advantageous over the ubiquitous PID? How robust this fractional-order controller is regarding the parametric uncertainty of considered propulsion unit model?info:eu-repo/semantics/publishedVersio

Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control

In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the UAV in the three-dimensional space. It takes into consideration the gyroscopic effect, influence of the Coriolis force, viscous friction and a several drag-like effects (blade flapping, rotor drag, translational drag and profile drag). In contrast to multirotor models available in the literature, this one is characterized by complementarity in relation to the available control techniques. Depending on selection of these techniques, the model can be narrowed (simplified) to meet the needs without the loss of behaviour adequacy to a real UAV

Mobile Applications in Evaluations of Knee Joint Kinematics: A Pilot Study

Because medical professionals lack the means to monitor exercises performed by patients in their home environment directly, there is a strong case for introducing technological solutions into this domain. They include methods that use wireless inertial sensors, which emit signals recorded and processed by special applications that work with mobile devices. This paper’s aim is (a) to evaluate whether such sensors are suitable for qualitative and quantitative motion analysis, and (b) to determine the repeatability of results over a few recordings. Knee joint activity was analysed using a system of inertial sensors connected through a Wi-Fi network to mobile devices. The tested individuals did eight different activities, all of which engaged the knee joint. Each excercise was repeated three times. Study results did not reveal any statistically significant differences between the three measurements for most of the studied parameters. Furthermore, in almost every case, there were no statistically significant differences between the results of the right and left lower limb (p > 0.05). This study shows that easy use and repeatability of results combined with the feature of quantitative and qualitative analysis make the examined method useful for functional evaluations of the knee joint

Metabolic syndrome is associated with similar long-term prognosis in non-obese and obese patients. An analysis of 45 615 patients from the nationwide LIPIDOGRAM 2004-2015 cohort studies

Aims We aimed to evaluate the association between metabolic syndrome (MetS) and long-term all-cause mortality. Methods The LIPIDOGRAM studies were carried out in the primary care in Poland in 2004, 2006 and 2015. MetS was diagnosed based on the National Cholesterol Education Program, Adult Treatment Panel III (NCEP/ATP III) and Joint Interim Statement (JIS) criteria. The cohort was divided into four groups: non-obese patients without MetS, obese patients without MetS, non-obese patients with MetS and obese patients with MetS. Differences in all-cause mortality was analyzed using Kaplan-Meier and Cox regression analyses. Results 45,615 participants were enrolled (mean age 56.3, standard deviation: 11.8 years; 61.7% female). MetS was diagnosed in 14,202 (31%) by NCEP/ATP III criteria, and 17,216 (37.7%) by JIS criteria. Follow-up was available for 44,620 (97.8%, median duration 15.3 years) patients. MetS was associated with increased mortality risk among the obese (hazard ratio, HR: 1.88 [95% CI, 1.79-1.99] and HR: 1.93 [95% CI 1.82-2.04], according to NCEP/ATP III and JIS criteria, respectively) and non-obese individuals (HR: 2.11 [95% CI 1.85-2.40] and 1.7 [95% CI, 1.56-1.85] according to NCEP/ATP III and JIS criteria respectively). Obese patients without MetS had a higher mortality risk than non-obese patients without MetS (HR: 1.16 [95% CI 1.10-1.23] and HR: 1.22 [95%CI 1.15-1.30], respectively in subgroups with NCEP/ATP III and JIS criteria applied). Conclusions MetS is associated with increased all-cause mortality risk in non-obese and obese patients. In patients without MetS obesity remains significantly associated with mortality. The concept of metabolically healthy obesity should be revised