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Full-Text Articles in Mechanical Engineering
Multi-Muscle Fes Force Control Of The Human Arm For Arbitrary Goals, Eric M. Schearer, Yu-Wei Liao, Eric J. Perreault, Matthew C. Tresch, William D. Memberg, Robert F. Kirsch, Kevin M. Lynch
Multi-Muscle Fes Force Control Of The Human Arm For Arbitrary Goals, Eric M. Schearer, Yu-Wei Liao, Eric J. Perreault, Matthew C. Tresch, William D. Memberg, Robert F. Kirsch, Kevin M. Lynch
Mechanical Engineering Faculty Publications
We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject’s hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint …
Model Identification, Updating, And Validation Of An Active Magnetic Bearing High-Speed Machining Spindle For Precision Machining Operation, Adam C. Wroblewski
Model Identification, Updating, And Validation Of An Active Magnetic Bearing High-Speed Machining Spindle For Precision Machining Operation, Adam C. Wroblewski
ETD Archive
High-Speed Machining (HSM) spindles equipped with Active Magnetic Bearings (AMBs) are envisioned to be capable of autonomous self-identification and performance self-optimization for stable high-speed and high quality machining operation. High-speed machining requires carefully selected parameters for reliable and optimal machining performance. For this reason, the accuracy of the spindle model in terms of physical and dynamic properties is essential to substantiate confidence in its predictive aptitude for subsequent analyses.This dissertation addresses system identification, open-loop model development and updating, and closed-loop model validation. System identification was performed in situ utilizing the existing AMB hardware. A simplified, nominal open-loop rotor model was …
Motion Control Of An Open Container With Slosh Constraints, Kedar B. Karnik
Motion Control Of An Open Container With Slosh Constraints, Kedar B. Karnik
ETD Archive
General motion control of conveyor belts does not present difficulties. When the conveyor belt carries open containers filled with liquid, significant analysis needs to be carried out to design controllers. The objective of this thesis was to design a control system which will allow an open container filled with liquid to be transferred between two stations as fast as possible and without excessive slosh causing the liquid to spill out of the container. This control problem has applications to industrial processing facilities, where open containers are carried by a conveyor belt. The speed at which the open container can be …