Controls and Control Theory Commons^™

Development Of Low-Cost Triaxial Force Sensor For Measurement Of Human-Exoskeleton Interaction Forces, Hamdan Khan Sarvathullah

All Theses

Contemporary research suggests that shear force is a major contributor to discomfort and pressure injury. However, the variation of shear forces during human-exoskeleton interaction dynamics is a highly unexplored field. The high cost of commercial triaxial force sensors may be a major factor in the notable lack of research in this field. Therefore, in this paper, we present a low-cost, 3D-printed triaxial force sensor designed specifically to measure the triaxial interaction forces between an exoskeleton and its user. The triaxial force sensor uses Carbon-Black/Silicone Rubber (CB/SR) strings to measure shear forces, whereas the normal force is measured with a Force …

Pid Control For Lower Limb Exoskeletons: A Framework Evaluation, Javlonbek Rakhmatillaev, Vytautas Bučinskas

Chemical Technology, Control and Management

This research provides a detailed guideline for implementing and evaluating Proportional Integral Derivative (PID) control frameworks in lower limb rehabilitation exoskeleton robotics. It examines the role of control systems within rehabilitation robotics, outlines the principles of PID control, describes exoskeleton architecture, explores applications of PID control, reviews optimization strategies, presents experimental validations, and considers future developments in the field. The proposed control framework incorporates aspects of mechanical design, actuator and sensor selection, and PID-based control algorithms, thereby promoting safe, accurate, and individualized rehabilitation support. Recommendations and effective guidance for future work are also presented.

Comprehensive Mechatronic Design Methodology For 6-Dof Stationary Lower Limb Rehabilitation Exoskeleton Robot With Safety-Integrated Control Architecture, Javlonbek Rakhmatillaev Mr., Nodirbek Kimsanboyev Mr., Umidjon Takabaev Mr., Zafar Juraev3 Dr.

Chemical Technology, Control and Management

This paper presents the mechatronic design of a proposed six-degree-of-freedom (6-DOF) stationary lower limb rehabilitation exoskeleton (SLLRE) robot, developed through a comprehensive mechatronic design methodology that includes mechanical design, actuator and sensor selection, and the development of a control structure based on a safety-oriented control approach. The proposed 6-DOF SLLRE mechanical design introduces a comprehensive mechanical structure comprising bilateral hip, knee, and ankle joints, degrees of freedom, joint ranges of motion, human parameters for rehabilitation training, as well as the frames and structural elements of the proposed system. Furthermore, the selection of appropriate sensors, actuators, and control architecture for the …

Optimizing Beer Fermentation Through Intelligent Control, Azizbek Nodirbekovich Yusupbekov, Mirjalol Yusupov

Chemical Technology, Control and Management

This paper presents an intelligent control approach for optimizing the beer fermentation process using fuzzy logic and adaptive neuro-fuzzy inference systems. By incorporating multivariable inputs—temperature error and pH deviation—the proposed system effectively handles the nonlinear dynamics and biological variability inherent in fermentation. Simulation results demonstrate improved control accuracy, responsiveness, and robustness compared to conventional methods, making the approach suitable for integration in modern brewery automation systems.

A Smart System For Detecting Anatomic And Histological Symptoms Of Diseased Agricultural Plants, Rustam Baratov, Himola Sunnatillayeva, Alimardon Mamatovich Mustafoqulov

Chemical Technology, Control and Management

This study describes a novel agricultural plant disease detecting smart system, capable of handling measured plant body parameters and images received by high resolution camera at the same time. The proposed plant disease detection method is based on evaluation of the signals received by measured and controlled plant body physical parameters like resistance, temperature and capacitance of the plant stem and image processing. An analogue plant model based on an electrical circuit with distributed parameters was developed. In addition, in the article the block diagram of the smart system for the early detection of plant diseases, the circuit diagram, its …

Advancing Prosthetic Technology: 3d-Printed Robotic Arm With Micro Linear Actuators, Vu Tran, Nathan Reed, Mahdi Yazdanpour

Posters-at-the-Capitol

The increasing demand for affordable and accessible prosthetic solutions has driven innovation in the field of robotics. In this project, we present the design and development of a 3D-printed robotic prosthetic arm aimed at addressing the challenges faced by individuals with upper limb amputations. Our prosthetic arm utilizes five micro linear actuators to achieve precise and naturalistic movement. The design of the prosthetic arm prioritizes affordability and accessibility, with a focus on leveraging 3D printing technology to reduce manufacturing costs and enable customization. The use of micro linear actuators offers advantages in terms of compactness, lightweight construction, and efficient power …

A Method For Ultrasound Servo Tracking For Puncture Needle, Shitong Ye, Bo Yang, Hao Quan, Shan Liu, Minyu Tang, Jiawei Tian

Electrical & Computer Engineering Faculty Publications

Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly, which simulates the whole surgical environment with computer technology, and then visualizes the whole operation link in three dimensions. At present, common image-guided surgical techniques such as computed tomography (CT) and X-ray imaging (X-ray) will cause radiation damage to the human body during the imaging process. To address this, we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe. To address the limitations of Kalman filtering methods based on position and velocity, our method of Kalman filtering uses the position …

Hypoxic Incubator: Improving Robustness/Reliability And Demonstrating Physiological Efficacy, Damon Dennis Tan

Master's Theses

The Microphysiological Systems Laboratory aims to develop colorectal cancer tumor models under a hypoxic environment to assess model response to pharmaceutical compounds in vitro. To perform relevant studies, researchers have attempted to use different hypoxic inducing strategies such as a nitrogen pod and hypoxic incubator to recreate in vivo physiological responses to hypoxia. However, studies would be interrupted due to incubator functionality failure. To ensure successful and physiologically relevant studies, I improved and verified the robustness and reliability of a hypoxic incubator previously designed and manufactured in the lab. Through the testing and iterating design processes, I engineered and implemented …

Controlled Manipulation And Transport By Microswimmers In Stokes Flows, Jake Buzhardt

All Dissertations

Remotely actuated microscale swimming robots have the potential to revolutionize many aspects of biomedicine. However, for the longterm goals of this field of research to be achievable, it is necessary to develop modelling, simulation, and control strategies which effectively and efficiently account for not only the motion of individual swimmers, but also the complex interactions of such swimmers with their environment including other nearby swimmers, boundaries, other cargo and passive particles, and the fluid medium itself. The aim of this thesis is to study these problems in simulation from the perspective of controls and dynamical systems, with a particular focus …

Development Of A Fish Robot Equipped With Novel 3d-Printed Soft Bending Actuators, Steven Steele, Jorge Diaz Rodriguez, Sharun Sripathy, Turaj Ashuri, Saleh Gharaie, Yusun Chang, Amir Ali Amiri Moghadam

Symposium of Student Scholars

This paper reports on design and fabrication of a novel soft fish robot. Application of soft actuators for the fish tail will generates continuum bending motion which resembles the natural motion of the fish. However, most soft actuator mechanisms are complex and have low efficiency. Thus, to address this issue we have developed a 3D printed soft bending actuator which can be actuated with an electromotor. The basic design idea of the soft bending actuator is explained, and iteration of the design showed to create the desired motion for the soft tail. The soft actuator has been successfully integrated with …

Design And Fabrication Of A Force-Displacement Control Mechanism For Bone-Surgical Tool Testing, Kenneth Nwagu

College of Graduate Studies: Theses & Dissertations

This project focuses on the design and fabrication of an experimental setup for orthopedic-tool testing, tailored for a surgical instrumentation company. The multifaceted project encompasses a literature review, conceptual design, prototyping, and rigorous testing, resulting in a versatile control system capable of assessing various orthopedic tools, including bone drills, saws, burrs, and power handpieces.

Orthopedic surgical procedures (which include cutting and/or drilling into bone) often need to be performed on bones for faster recovery. The drilling and cutting process can cause an increase in temperature at the cutting site which can cause bone necrosis. The tools also need to be …

Hypoxic Incubation Chamber, Simone Lisette Helfrich, Makenzie Nicole Jones

Biomedical Engineering: Graduate Reports and Projects

This paper describes the design, manufacturing, and testing of a novel controllable hypoxic incubator with fully functional oxygen gas control and temperature control in a humid environment. On the current market, a majority of the few hypoxic incubators use pre-mixed gas that does not offer precise control over gas concentration. The objective for this project was to create a chamber that allows the user to set the O2 concentration to varying set points of % O2 while maintaining the chamber at a constant body temperature, CO2 level, humidity, and sterility. To start the project, multiple concepts were developed for the …

Hypoxic Incubation Chamber, Simone Lisette Helfrich, Makenzie Nicole Jones

Master's Theses

This paper describes the design, manufacturing, and testing of a novel controllable hypoxic incubator with fully functional oxygen gas control and temperature control in a humid environment. On the current market, a majority of the few hypoxic incubators use pre-mixed gas that does not offer precise control over gas concentration. The objective for this project was to create a chamber that allows the user to set the O2 concentration to varying set points of % O2 while maintaining the chamber at a constant body temperature, CO2 level, humidity, and sterility. To start the project, multiple concepts were developed for the …

Closed-Loop Brain-Computer Interfaces For Memory Restoration Using Deep Brain Stimulation, David Xiaoliang Wang

Electrical Engineering Theses and Dissertations

The past two decades have witnessed the rapid growth of therapeutic brain-computer interfaces (BCI) targeting a diversity of brain dysfunctions. Among many neurosurgical procedures, deep brain stimulation (DBS) with neuromodulation technique has emerged as a fruitful treatment for neurodegenerative disorders such as epilepsy, Parkinson's disease, post-traumatic amnesia, and Alzheimer's disease, as well as neuropsychiatric disorders such as depression, obsessive-compulsive disorder, and schizophrenia. In parallel to the open-loop neuromodulation strategies for neuromotor disorders, recent investigations have demonstrated the superior performance of closed-loop neuromodulation systems for memory-relevant disorders due to the more sophisticated underlying brain circuitry during cognitive processes. Our efforts are …

Manual Material Handling Lift-Assist System For Occupational Exoskeleton, Erik Goes, Daniel Guthrie, Trevor Ward

Honors Capstones

It is no secret that lifting heavy objects is one of the premier causes of workplace injury, and the modern worker needs help to remain healthy. Workers need something they always have with them that makes their work safer as well as easier; our solution is an active lift-assist exoskeleton. The proposed exoskeleton design includes a military backpack exoskeleton frame, on which two actuators pull cables attached to end effectors that the operator will be holding. This system can adjust to conform to a wide variety of operator sizes, without restricting any of their range of motion. This leads to …

Design And Control Of A Peristaltic Pump To Simulate Left Atrial Pressure In A Conductive Silicone Model, Jeremy Collins

Mechanical Engineering Undergraduate Honors Theses

According to the CDC, atrial fibrillation is responsible for more than 454,000 hospitalizations and approximately 158,000 deaths per year. A common treatment for atrial fibrillation is catheter ablation, a process in which a long flexible tube is guided through the femoral artery and to the source of arrhythmia in the heart, where it measures the electrical potential at various locations and converts problematic heart tissue to scar tissue via ablation. This paper details the design and control of a low-cost ($400) peristaltic pump system using repetitive control to replicate blood pressure in the left atrium in a conductive silicone model …

Design Of Control Logic And The Human-Machine Interface For A Demonstration Plant Growth Chamber Implemented On A Programmable Logic Controller, Rachael Koehler

Biological and Agricultural Engineering Undergraduate Honors Theses

This honors thesis covers the planning, development, and implementation of system controls and human-machine interface (HMI) for a demonstration plant growth chamber. The work is a continuation of an ongoing project to be used as an educational and recruiting tool manifesting the skills acquired from the Biological and Agricultural Engineering Department at the University of Arkansas’ College of Engineering. This work includes emergency controls, overall design interface, and controls for both the aeration and lighting subsystems of the growth chamber. Overall design interface controls established included development of two user modes, Administrator and Visitor. The Administrator user will have full …

Analysis Of Information Security Methods In Biosystems And Application Of Intelligent Tools In Information Security Systems, Sherzod Sayfullaev

Chemical Technology, Control and Management

In this paper, the methods of information protection in bio systems are studied. The paper considers the use of intelligent tools in information security systems and the use of adaptive information security systems. Several articles on the field of information protection in bio systems are analyzed. Disadvantages and advantages of neural network technologies in modern information security systems are described. The characteristics of bio systems and the specificity of DNA, the main features of the DNA code that provide information security and functional stability of bio systems data protection structure. Application of intelligent tools to create a comprehensive adaptive protection …

Control And Locomotion Of Inertially And Magnetically Actuated Multi-Scale Robotic Systems, Ehab Al Khatib

Mechanical Engineering Research Theses and Dissertations

In this research, two actuation systems were introduced, inertial and magnetic actuation. In the inertial actuation, the robot used the transfer of momentum to navigate, and this momentum could be generated by spinning masses and wheels. Recent studies in our System Laboratory proved that a wide range of inertially actuated locomotion systems could be generated. This can be achieved by using a family tree approach, starting from a very simple system, and progressively evolving it to more complex ones. The motion diversity of these robots inspired us to extend their locomotion from a macro scale to millimeter and micro scales. …

Stability Analysis Of A More General Class Of Systems With Delay-Dependent Coefficients, Chi Jin, Keqin Gu, Islam Boussaada, Silviu-Iulian Niculescu

SIUE Faculty Research, Scholarship, and Creative Activity

This paper presents a systematic method to analyse the stability of systems with single delay in which the coefficient polynomials of the characteristic equation depend on the delay. Such systems often arise in, for example, life science and engineering systems. A method to analyze such systems was presented by Beretta and Kuang in a 2002 paper, but with some very restrictive assumptions. This work extends their results to the general case with the exception of some degenerate cases. It is found that a much richer behavior is possible when the restrictive assumptions are removed. The interval of interest for the …

Estimation And Prediction Of The Human Gait Dynamics For The Control Of An Ankle-Foot Prosthesis, Guilherme Aramizo Ribeiro

Dissertations, Master's Theses and Master's Reports

With the growing population of amputees, powered prostheses can be a solution to improve the quality of life for many people. Powered ankle-foot prostheses can be made to behave similar to the lost limb via controllers that emulate the mechanical impedance of the human ankle. Therefore, the understanding of human ankle dynamics is of major significance. First, this work reports the modulation of the mechanical impedance via two mechanisms: the co-contraction of the calf muscles and a change of mean ankle torque and angle. Then, the mechanical impedance of the ankle was determined, for the first time, as a multivariable …

Modeling And Simulation Methodologies For Spinal Cord Stimulation., Saliya Kumara Kirigeeganage

Electronic Theses and Dissertations

The use of neural prostheses to improve health of paraplegics has been a prime interest of neuroscientists over the last few decades. Scientists have performed experiments with spinal cord stimulation (SCS) to enable voluntary motor function of paralyzed patients. However, the experimentation on the human spinal cord is not a trivial task. Therefore, modeling and simulation techniques play a significant role in understanding the underlying concepts and mechanics of the spinal cord stimulation. In this work, simulation and modeling techniques related to spinal cord stimulation were investigated. The initial work was intended to visualize the electric field distribution patterns in …

Design Of A Distributed Real-Time E-Health Cyber Ecosystem With Collective Actions: Diagnosis, Dynamic Queueing, And Decision Making, Yanlin Zhou

Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research

In this thesis, we develop a framework for E-health Cyber Ecosystems, and look into different involved actors. The three interested parties in the ecosystem including patients, doctors, and healthcare providers are discussed in 3 different phases. In Phase 1, machine-learning based modeling and simulation analysis is performed to remotely predict a patient's risk level of having heart diseases in real time. In Phase 2, an online dynamic queueing model is devised to pair doctors with patients having high risk levels (diagnosed in Phase 1) to confirm the risk, and provide help. In Phase 3, a decision making paradigm is proposed …

Co-Existence Of Microbial Ecology In A Chemostat Using A Robust Feedback, Hector Puebla, Mariana Rodriguez-Jara, Margarita M. Gonzalez-Brambila, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez, Ennio Piceno-Diaz

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Food Web Control And Synchronization Using A Robust Feedback, Hector Puebla, Mariana Rodriguez-Jara, Cesar S. Lopez-Monsalvo, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Robust Feedback Control Based On Low Order Models With Uncertainty Estimation For A Class Of Biomedical Problems, Hector Puebla, Miguel A. Gutierrez-Limon, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Applying Spiking Neural Network Simulation To Neuromodulatory Autonomous Robot Control, Cameron Muhammad

Phi Kappa Phi Research Symposium (Archived)

In this paper, simulation of the brain based on an artificial spiking neuron model is used to create a self-learning algorithm. The spiking neuron simulation is used to demonstrate a neuromodulation program in which the reward seeking properties of dopamine, the risk-adverse effects of serotonin, and the attention-focusing effects of the cholinergic and noradrenergic systems are applied to a mobile robotic platform as it moves autonomously throughout an environment. External stimuli is recorded by the program as spiking “events” that result in corresponding amounts of dopamine and serotonin influenced spiking patterns. These spiking patterns affect how the robot adapts to …

Neuromodulation Based Control Of Autonomous Robots On A Cloud Computing Platform, Cameron Muhammad

College of Graduate Studies: Theses & Dissertations

In recent years, the advancement of neurobiologically plausible models and computer networking has resulted in new ways of implementing control systems on robotic platforms. The work presents a control approach based on vertebrate neuromodulation and its implementation on autonomous robots in the open-source, open-access environment of robot operating system (ROS). A spiking neural network (SNN) is used to model the neuromodulatory function for generating context based behavioral responses of the robots to sensory input signals. The neural network incorporates three types of neurons- cholinergic and noradrenergic (ACh/NE) neurons for attention focusing and action selection, dopaminergic (DA) neurons for rewards- and …

Heart-Rate Monitoring Control System Using Photoplethysmography (Ppg), Wesley Nguyen, Ryan Horjus

Electrical Engineering

No abstract provided.

Intelligibility Of Electrolarynx Speech Using A Novel Hands-Free Actuator, Brian Madden, Mark Nolan, Ted Burke, James Condron, Eugene Coyle

Conference Papers

During voiced speech, the larynx provides quasi-periodic acoustic excitation of the vocal tract. In most electrolarynxes, mechanical vibrations are produced by a linear electromechanical actuator, the armature of which percusses against a metal or plastic plate at a frequency within the range of glottal excitation. In this paper, the intelligibility of speech produced using a novel hands-free actuator is compared to speech produced using a conventional electrolarynx. Two able-bodied speakers (one male, one female) performed a closed response test containing 28 monosyllabic words, once using a conventional electrolarynx and a second time using the novel design. The resulting audio recordings …