Fuzzy Control of Vertical Jumping With a Planar Biped

Author(s):  
Matthew Hester ◽  
Patrick M. Wensing ◽  
James P. Schmiedeler ◽  
David E. Orin

This paper develops a control strategy to produce vertical jumps in a planar biped robot as a preliminary investigation into dynamic maneuvers. The control strategy was broken into two functional levels to separately solve the problems of coordination and execution of the jump maneuver. A high-level fuzzy controller addresses the complexities that arise from the system’s hybrid nonlinear dynamics and series-elastic actuators embedded in the articulated legs. A novel fuzzy training scheme is used because the system is too complex for traditional training methods. A low-level controller is based on a state machine that sequences the legs through the phases of a jump. The modular nature of the control strategy allows quick adaptation to other dynamic maneuvers. Validity is demonstrated through dynamic simulation and testing with the experimental biped KURMET which result in stable successive jumps over a range of heights.

2002 ◽  
Vol 127 (1) ◽  
pp. 79-83 ◽  
Author(s):  
Gregory J. Wiet ◽  
Don Stredney ◽  
Dennis Sessanna ◽  
Jason A. Bryan ◽  
D. Bradley Welling ◽  
...  

OBJECTIVE: Our goal was to integrate current and emerging technology in virtual systems to provide a temporal bone dissection simulator that allows the user interactivity and realism similar to the cadaver laboratory. STUDY DESIGN: Iterative design and validation of a virtual environment for simulating temporal bone dissection. SETTING: University otolaryngology training program with interdisciplinary interaction in a high-performance computer facility. RESULTS: The system provides visual, force feedback (haptic), and aural interfaces. Unlike previous “fly through” virtual systems, this environment provides a richer emulation of surgical experience. CONCLUSION: The system provides a high level of functional utility and, through initial evaluations, demonstrates promise in adding to traditional training methods. SIGNIFICANCE: The system provides an environment to learn temporal bone surgery in a way similar to the experience with cadaver material where the subject is able to interact with the data without constraints (nondeterministic). Eventually, it may provide the “front end” to a large repository of various temporal bone pathologies that can be accessed through the Internet.


2020 ◽  
Vol 29 (4) ◽  
pp. 738-761
Author(s):  
Tess K. Koerner ◽  
Melissa A. Papesh ◽  
Frederick J. Gallun

Purpose A questionnaire survey was conducted to collect information from clinical audiologists about rehabilitation options for adult patients who report significant auditory difficulties despite having normal or near-normal hearing sensitivity. This work aimed to provide more information about what audiologists are currently doing in the clinic to manage auditory difficulties in this patient population and their views on the efficacy of recommended rehabilitation methods. Method A questionnaire survey containing multiple-choice and open-ended questions was developed and disseminated online. Invitations to participate were delivered via e-mail listservs and through business cards provided at annual audiology conferences. All responses were anonymous at the time of data collection. Results Responses were collected from 209 participants. The majority of participants reported seeing at least one normal-hearing patient per month who reported significant communication difficulties. However, few respondents indicated that their location had specific protocols for the treatment of these patients. Counseling was reported as the most frequent rehabilitation method, but results revealed that audiologists across various work settings are also successfully starting to fit patients with mild-gain hearing aids. Responses indicated that patient compliance with computer-based auditory training methods was regarded as low, with patients generally preferring device-based rehabilitation options. Conclusions Results from this questionnaire survey strongly suggest that audiologists frequently see normal-hearing patients who report auditory difficulties, but that few clinicians are equipped with established protocols for diagnosis and management. While many feel that mild-gain hearing aids provide considerable benefit for these patients, very little research has been conducted to date to support the use of hearing aids or other rehabilitation options for this unique patient population. This study reveals the critical need for additional research to establish evidence-based practice guidelines that will empower clinicians to provide a high level of clinical care and effective rehabilitation strategies to these patients.


Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2617
Author(s):  
Catalin Dumitrescu ◽  
Petrica Ciotirnae ◽  
Constantin Vizitiu

When considering the concept of distributed intelligent control, three types of components can be defined: (i) fuzzy sensors which provide a representation of measurements as fuzzy subsets, (ii) fuzzy actuators which can operate in the real world based on the fuzzy subsets they receive, and, (iii) the fuzzy components of the inference. As a result, these elements generate new fuzzy subsets from the fuzzy elements that were previously used. The purpose of this article is to define the elements of an interoperable technology Fuzzy Applied Cell Control-soft computing language for the development of fuzzy components with distributed intelligence implemented on the DSP target. The cells in the network are configured using the operations of symbolic fusion, symbolic inference and fuzzy–real symbolic transformation, which are based on the concepts of fuzzy meaning and fuzzy description. The two applications presented in the article, Agent-based modeling and fuzzy logic for simulating pedestrian crowds in panic decision-making situations and Fuzzy controller for mobile robot, are both timely. The increasing occurrence of panic moments during mass events prompted the investigation of the impact of panic on crowd dynamics and the simulation of pedestrian flows in panic situations. Based on the research presented in the article, we propose a Fuzzy controller-based system for determining pedestrian flows and calculating the shortest evacuation distance in panic situations. Fuzzy logic, one of the representation techniques in artificial intelligence, is a well-known method in soft computing that allows the treatment of strong constraints caused by the inaccuracy of the data obtained from the robot’s sensors. Based on this motivation, the second application proposed in the article creates an intelligent control technique based on Fuzzy Logic Control (FLC), a feature of intelligent control systems that can be used as an alternative to traditional control techniques for mobile robots. This method allows you to simulate the experience of a human expert. The benefits of using a network of fuzzy components are not limited to those provided distributed systems. Fuzzy cells are simple to configure while also providing high-level functions such as mergers and decision-making processes.


2013 ◽  
Vol 427-429 ◽  
pp. 488-491
Author(s):  
Chuan Jin ◽  
Xiao Mei Wang ◽  
Ke Liu Yang

At present, basketball training needs more scientific training methods and techniques. In order to obtain these training methods, it needs to acquisition training information in the process of basketball training. Therefore, in view of basketball training to establish information control system, research on basketball players training characteristics and the law of motion in the process of basketball training, using control theory method to carry out information processing and analysis, and then the use of scoring methods carry out the authority score evaluation on basketball trainings influencing factors, according to the weight values, these are obtained on the basis of the score, then to carry out add sum, finally to obtain the evaluation scores of basketball training information control system. And then according to the weight value, to undertake an analysis of the basketball training control process, the basketball training information control method is put forward. The analysis results show that information control system is mainly manifested in the basketball training information collection and transmission, training scheme decision of coaches decision system as well as the feedback of decision information, which will complete the whole system construction of basketball training information control.


2014 ◽  
Vol 663 ◽  
pp. 532-538
Author(s):  
Nor Aziah Mohd Azubir ◽  
Mohd. Khair Hassan ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan

There are many types of Electric Vehicle (EV) applied in automotive industry. It can be hybridization or electrification vehicle. Battery Electric Vehicle (BEV) also called as fully electric vehicle using batteries as the only source and an electric motor as a traction motor to move the vehicle. In a world view of BEV, it is still has circumstances that would strand the BEV to have huge commercialization due to range anxiety. This paper is discussing about an electrification vehicle power and energy management (PEM) strategy. PEM strategy has two layer control strategies that consist of low level component control and high level supervisory control. Management and control strategy in BEV is carefully designed due to heavy loads consumption from Propulsion Electrical Load (PEL) and Non Propulsion Electrical Loads (NoPEL) with a single energy source. This is to ensure that power and energy is managed at optimum level that will give some extension of wider kilometer of the vehicle. The BEV performance is typically controlled by high level supervisory control algorithm using event-based condition using state machine deterministic rule-based method. More than one drive mode to be determined in this paper as part of control strategy to get an optimal PEM performance.


Author(s):  
A. V. Cherepanov ◽  
G. A. Rekhtina

The problem fields of research in the framework of the topic are the lack of classification of training methods in intra-organization training, the insufficient quality of the use of tools in the practice of intra-organization training, as well as the use of tools for evaluating and analyzing training activities. The highlighted aspects allowed us to determine the relevant vectors of the research: the competence of the coach, the systematization of training methods and techniques, the features of the use of the tools, the methodology of the tools for evaluation of training sessions. The most important characteristic of the competence of a corporate coach is the possession of the training technology tools at a high level. The article stands out the main competences of a corporate coach, such as focus on results, effective communication, effective self-presentation, persuasion and influence, confidence and stress resistance, creating a motivating educational environment. The authors pay particular attention to the phenomenon of pedagogical artistry, internal and external conditions of its development. The article introduces the basic training techniques (informational, stimulation, exercises for practical performance of work, group-dynamic exercises) and related training methods into the system. The authors consider the criteria and limitations that a trainer should to take into account when choosing training technology tools. The article introduces distinctions of tools when considering their arsenal (planning tools; direct implementation of the process; control (monitoring), evaluation and analysis of the results; post-training support). The authors indicate the following features of the use of training technology tools in intra-organization training: the formation of target guidelines for each stage of training implementation; determining tasks and the algorithm for training implementation; drawing up a training program; chronological planning of training units; planning of the necessary methodical support of training units; compliance with the principle of training planning based on an iterative model with one or more contours; the use of business and simulation games, exercises and tasks; using multiple studies scenarios for conducting classes; presenting information depending on the features of its perception; taking into account the target audience; taking into account the age characteristics of the audience, etc.


Author(s):  
Ian Levstein ◽  
Lenora Jean Justice

This chapter describes the development of a game-based markerless augmented reality smartphone application (CSI4FS®) that complements traditional crime scene investigation training. The intent is to make a strong case for the use of augmented reality in a forensic science training environment. It includes a brief outline of the issue followed by a history of augmented reality in education and training, simulation use in high-risk professions generally and in education specifically, and augmented reality use in crime scene investigation. Both marker-based and markerless technologies are discussed, followed by a description of the augmented reality application and some of the challenges involved in the creation of that application. Overall, the purpose of this chapter is to introduce a potential solution that will help college students learn crime scene investigation techniques more effectively than with the more traditional training methods.


Author(s):  
Norlinda Binti Mohd Rozar ◽  
Abdullah Bin Ibrahim ◽  
Muhammad Ashlyzan Bin Razik

In response to the demanding change in work environments, most companies not only depend on traditional training, but also on e-learning and emphasizing it in safety and health. The benefits and cost effectiveness of the benefits of e-learning training are trusted. Nevertheless, accidents still happen at the workplace. This has become an issue to be studied, especially on the effectiveness of e-learning training in comparison to traditional training. In this study, a framework to measure comparative effectiveness between these two learning environments was developed based on Kirkpatrick’s four-level evaluation model and a case study was applied to test all the levels of the framework. These four levels include participant reaction, learning, achievements, behavior of employees, and results. The interview results indicated that there is no difference in the rating of the effectiveness of the two training methods based on Kirkpatrick’s model.


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