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Constrained Biogeography-Based Optimization For Invariant Set Computation,, Arpit Shah, Daniel Simon, Hanz Richter
Constrained Biogeography-Based Optimization For Invariant Set Computation,, Arpit Shah, Daniel Simon, Hanz Richter
Hanz Richter
We discuss the application of biogeography-based optimization (BBO) to invariant set approximation. BBO is a recently developed evolutionary algorithm (EA) that is motivated by biogeography, which is the study and science of the geographical migration of biological species. Invariant sets are sets in the state space of a dynamic system such that if the state begins in the set, then it remains in the set for all time. Invariant sets have applications in many constrained control problems, and their computation amounts to a constrained optimization problem. We therefore frame the invariant set computation problem as a constrained optimization problem, and …
Dynamic Modeling, Parameter Estimation And Control Of A Leg Prosthesis Test Robot, Hanz Richter, Daniel Simon, William Smith, Sergey Samorezov
Dynamic Modeling, Parameter Estimation And Control Of A Leg Prosthesis Test Robot, Hanz Richter, Daniel Simon, William Smith, Sergey Samorezov
Hanz Richter
Robotic testing can facilitate the development of new concepts, designs and control systems for prosthetic limbs. Human subject test clearances, safety and the lack of repeatability associated with human trials can be reduced or eliminated with automated testing, and test modalities are possible which are dangerous or inconvenient to attempt with patients. This paper describes the development, modeling, parameter estimation and control of a robot capable of reproducing two degree-of-freedom hip motion in the sagittal plane. Hip vertical displacement and thigh angle motion profiles are applied to a transfemoral prosthesis attached to the robot. A treadmill is used as walking …