Controls and Control Theory Commons^™

Safe Haptics-Enabled Patient-Robot Interaction For Robotic And Telerobotic Rehabilitation Of Neuromuscular Disorders: Control Design And Analysis, Seyed Farokh Atashzar

Electronic Thesis and Dissertation Repository

Motivation: Current statistics show that the population of seniors and the incidence rate of age-related neuromuscular disorders are rapidly increasing worldwide. Improving medical care is likely to increase the survival rate but will result in even more patients in need of Assistive, Rehabilitation and Assessment (ARA) services for extended periods which will place a significant burden on the world's healthcare systems. In many cases, the only alternative is limited and often delayed outpatient therapy. The situation will be worse for patients in remote areas. One potential solution is to develop technologies that provide efficient and safe means of in-hospital and …

Investigation Of Model Predictive Control (Mpc) For Steam Generator Level Control In Nuclear Power Plants, Ahmad Taemiriosgouee

Electronic Thesis and Dissertation Repository

The capabilities and potential of Model Predictive Control (MPC) based strategies for steam generator level (SGL) controls in nuclear power plants (NPPs) have been investigated. The performance has been evaluated for all operating conditions that also include start-ups, low power operations and load rejections. These evaluations have been done for MPC controllers based on existing advanced methodologies, as well as for any potential performance improvement that can be achieved by fine tuning some of the parameters (based on the characteristics of the SGL) of the existing MPC approaches.

Two version of MPC have been designed and implemented. The Standard MPC …

Hybrid Magneto-Rheological Actuators For Human Friendly Robotic Manipulators, Masoud Moghani

Electronic Thesis and Dissertation Repository

In recent years, many developments in the field of the physical human robot interaction (pHRI) have been witnessed and significant attentions have been given to the subject of safety within the interactive environments. Ensuring the safety has led to the design of the robots that are physically unable to hurt humans. However, Such systems commonly suffer from the safety-performance trade-off. Magneto-Rheological (MR) fluids are a special class of fluids that exhibit variable yield stress with respect to an applied magnetic field. Devices developed with such fluids are known to provide the prerequisite requirements of intrinsic safe actuation while maintaining the …

Sensorless Rotor Position Estimation For Brushless Dc Motors, Iram G. Raza

Electronic Thesis and Dissertation Repository

Brushless DC motor speed is controlled by synchronizing the stator coil current with rotor position in order to acquire an accurate alignment of stator rotating field with rotor permanent-magnet field for efficient transfer of energy. In order to accomplish this goal, a motor shaft is instantly tracked by using rotating rotor position sensors such as Hall effect sensors, optical encoders or resolvers etc. Adding sensors to detect rotor position affects the overall reliability and mechanical robustness of the system. Therefore, a whole new trend of replacing position sensors with sensorless rotor position estimation techniques have a promising demand.

Among the …