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An Ankle-Foot Prosthesis Emulator Capable of Modulating Center of Pressure

An Ankle-Foot Prosthesis Emulator Capable of Modulating Center of Pressure

The authors of this paper developed an ankle-foot prosthesis emulator to restore human feet' balancing and push-off characteristics. The proposed emulator system consists of two torque-controlled forefoot digits and a torque-controlled heel digit which meets all design criteria to modulate the center of pressure and ground reaction force effectively.

Publication on ieeexplore.ieee.org

Published Papers

An Intelligent Controller based Power Grid Interconnected System for Reliable Operation

An Intelligent Controller based Power Grid Interconnected System for Reliable Operation

The main objective of the research presented is to control the unidirectional boost converter (UBC) by implementing an intelligent controller (IC). The IC continuously captures power conversion based on power output data from wind and solar energy. Then, it injects gate pulses into a power electronic switch based on the data value. The overall design and simulations are performed using MATLAB/SIMULINK.

Publication on ieeexplore.ieee.org

Rapid Control Prototyping

Published Papers

Robust and Reliable Wireless Communication between Smart NOx Sensor and the Speedgoat Engine Control Module

Robust and Reliable Wireless Communication between Smart NOx Sensor and the Speedgoat Engine Control Module

The smart NOx sensor case study investigates the possibility of replacing existing wired CAN bus connections between the smart NOx sensor and the Speedgoat rapid control prototyping system and possible future wireless communication with ECU. In addition, criteria like the transmission in industrial environments, packet loss, RSSI, bit error rate, reliability, and security of the wireless solution are analyzed.

Publication on osuva.uwasa.fi

Published Papers

Rapid Control Prototyping

Robust Switching Control Method to Achieve Tokamak-Shaped Plasma

Robust Switching Control Method to Achieve Tokamak-Shaped Plasma

A robust switching control method with state vector matching and a novel approach for the feedback system simulation are presented in this paper. First, the plant model reconstructs plasma equilibria from experimental data and calculates plasma shape changes. Then, the control system is discretized and run on a high-speed computer for experiments on a real-time testbed.

Publication on sciencedirect.com

Published Papers

Rapid Control Prototyping

Robust switching control in the Feedback for Tokamak Plasma Shape

Robust switching control in the Feedback for Tokamak Plasma Shape

A hierarchical robust switching control method with state vector matching is proposed. The plasma shape is controlled via a magnetic field at X-point and poloidal fluxes on the plasma separatrix. Using a combination of advanced reconstruction code with isoflux control leads to high performance.

Publication on sciencedirect.com

Published Papers

Exploration of Real-Time Model Predictive Control in All-Electric Ship Propulsion Systems

Exploration of Real-Time Model Predictive Control in All-Electric Ship Propulsion Systems

Shipboard load fluctuations, such as propulsion-load fluctuations and pulse power loads, can significantly affect power system reliability. This paper explores the implementation and evaluation of a real-time model predictive control-based energy management strategy for load fluctuation mitigation in an all-electric ship. The real-time implementation includes a specially tailored problem formulation, an efficient optimization algorithm, and a multi-core hardware implementation

Publication on sciencedirect.com

Published Papers

Minimum Curvature Trajectory Planning and Control for an Autonomous Race Car

Minimum Curvature Trajectory Planning and Control for an Autonomous Race Car

This paper shows a software stack capable of planning a minimum curvature trajectory for an autonomous race car based on an occupancy grid map. It introduces a controller design that allows following the trajectory at the handling limits. The the quadratic optimization problem is extended  for improved accuracy, the introduction of curvature constraints, and the reduction of linearization errors in corners.

Publication on tandfonline.com

Published Papers

Design and Experimental Characterization of a Hydrostatic Transmission for Upper Limb Exoskeletons

Design and Experimental Characterization of a Hydrostatic Transmission for Upper Limb Exoskeletons

The authors introduce a design of a novel hydrostatic air-liquid torque transmission system for an upper limb exoskeleton. Transmission of fluid on rolling membrane cylinders guarantees leakage-free operation, no backlash, and zero stick friction. By employing a new test bench of the fluid transmission system developed, they conducted experiments to characterize the static and dynamic response for different design parameters.

Publication on ieeexplore.ieee.org

Published Papers

Hands-On in Signal Processing Education at Technische Universität Darmstadt

Hands-On in Signal Processing Education at Technische Universität Darmstadt

This paper shares the experiences gained by conducting hands-on learning in signal processing as part of the engineering program at Technische Universität Darmstadt. It describes the variety of laboratories, projects, lectures, and seminars offered to expose students to state-of-the-art research and advanced equipment.

Publication on ieeexplore.ieee.org

Published Papers

Real-Time Learning of Efficient Lift Generation on a Dynamically Scaled Flapping Wing

Real-Time Learning of Efficient Lift Generation on a Dynamically Scaled Flapping Wing

This work presents a successful application of a policy search algorithm to a real-time robotic learning problem, where the goal is to maximize the efficiency of lift generation on a dynamically scaled flapping robotic wing. Learning is performed for different prescribed stroke amplitudes to find the optimal wing pitching amplitude and the stroke-pitch phase difference that maximize lift generation's power loading (PL), a measure of aerodynamic efficiency.

Publication on ieeexplore.ieee.org

Published Papers

Phase-Exact Adaptive Feedforward Control Modulated Gear Mesh Vibration at 4.7 kHz

Phase-Exact Adaptive Feedforward Control Modulated Gear Mesh Vibration at 4.7 kHz

This paper proposes a setup for active vibration control to suppress transmission of gear mesh vibration to the surrounding structure using piezoelectric inertial mass actuators. The proposed control algorithm uses multiple adaptive feedforward controllers. To achieve the desired sampling frequency in real-time several optimizations are introduced.

Publication on ieeexplore.ieee.org

Published Papers

Experimental Study on a Nonlinear Observer Application for a Flexible Parallel Robot

Experimental Study on a Nonlinear Observer Application for a Flexible Parallel Robot

A flexible robot in lambda configuration has been modeled and built-in hardware. The elastic deformation of the flexible bodies is designed based on the high gain observer method and experimentally tested on the lambda robot to estimate the end-effector positions. It shows high accuracy in real-time even for the highly flexible parallel robot.

Publication on springer.com

Published Papers

Systematic Design of Multivariable Fuel Injection Controllers for Advanced Diesel Combustion

Systematic Design of Multivariable Fuel Injection Controllers for Advanced Diesel Combustion

With multiple fuel injections per combustion cycle, the advanced diesel combustion process depends on all injection pulses in a coupled way. This work describes the cycle-to-cycle fuel injection control problem. A control-oriented model is introduced and locally validated with experimental data. Finally, a systematic design approach is proposed to synthesize a multivariable fuel injection controller.

Publication on ieeexplore.ieee.org

Published Papers

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

Flexible manufacturing environments can adapt to tasks daily or hourly. The classic approach to automation is less suitable here; buying a dedicated robot for each set of tasks is inefficient, and coding each task is very time-consuming. The authors introduce a framework for modular robots that determines their structure and program based on human demonstrations to solve these problems.

Publication on ieeexplore.ieee.org

Published Papers

Validation of a Servo-Hydraulic Model Coupled with a Nonlinear System

Validation of a Servo-Hydraulic Model Coupled with a Nonlinear System

In the study, a controllable canonical physics-based model of a servo-hydraulic actuator coupled with a nonlinear physical system form is validated for position tracking control purposes. This is done by designing and fabricating a nonlinear device to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons.

Publication on sciencedirect.com

Published Papers

Real-Time Loudness Normalization with Combined Cochlear Implant and Hearing Aid Stimulation

Real-Time Loudness Normalization with Combined Cochlear Implant and Hearing Aid Stimulation

This study features an acoustic loudness model running on a Speedgoat real-time system. Researchers tested speech perception and sound localization of bimodal listeners, both in standard loudness growth configuration and modified loudness growth configuration. The subjects have also used linear and compressive hearing aids.  

Publication on ncbi.nlm.nih.gov

Published Papers

An Open Development Platform for Auditory Real-Time Signal Processing

An Open Development Platform for Auditory Real-Time Signal Processing

This paper presents an auditory real-time processing algorithm platform ("Open Development Platform", ODP) that simplifies developing novel real-time algorithms. ODP leverages MATLAB / Simulink and runs on Speedgoat real-time target machines. The authors show how they developed a fully functional hearing aid for research purposes using ODP.

Publication on sciencedirect.com

Published Papers

Visual Motion Tracking and Sensor Fusion for Kite Power Systems

Visual Motion Tracking and Sensor Fusion for Kite Power Systems

Line-based estimation of the kite state, including position and heading, limits the achievable cycle efficiency of such airborne wind energy systems. Experimental results of a visual motion tracking estimation and an inertial sensor fusion on a ground-based kite power system in pumping operation are presented and compared to an existing estimation scheme based on line.

Publication on springer.com

Published Papers

Sound-Quality Evaluation of Adaptive Feedback Cancellation Algorithms

Sound-Quality Evaluation of Adaptive Feedback Cancellation Algorithms

This paper presents a subjective and objective perceptual sound-quality evaluation of different algorithms for adaptive feedback cancellation (AFC) with both speech and music signals. Three different algorithms are compared. The subjective evaluation results are then compared with the results obtained by several objective measurements.

Publication on ieeexplore.ieee.org

Published Papers

Rapid Control Prototyping Tool for the Sirius High-Dynamic DCM Control System

Rapid Control Prototyping Tool for the Sirius High-Dynamic DCM Control System

The monochromator is known to be one of the most critical optical elements of a synchrotron beamline. A Simulink implementation running on a Speedgoat Performance real-time target machine identifies and ensures controlling the dynamic behavior of all subcomponents in the prototype. In addition, this approach enables rapid prototyping by allowing a shared environment for system modeling and testing.

Publication on inspirehep.net

Published Papers

Rapid Control Prototyping

Mechatronic Architecture Development of UX-1

Mechatronic Architecture Development of UX-1

This paper presents a novel design of an underwater robot for exploring abandoned mines. Rapid prototyping of controllers during the development phase of the robot is described, and the mechatronic development of the main controller unit, propulsion system, and ballast is investigated. The robot's mechatronic architecture and the low-level control algorithms demonstrate its potential for performing real-time operations.

Publication on ieeexplore.ieee.org

Published Papers

Rapid Control Prototyping

Real-Time Force Control for a Servo-Hydraulic Actuator Systems

Real-Time Force Control for a Servo-Hydraulic Actuator Systems

Servo-hydraulic actuators have been widely used but existing control algorithms face some issues. This paper introduces a new real-time force control method utilizing the adaptive time series (ATS) compensator and compliance springs. Unlike existing approaches, the proposed force control methods do not require the structural modeling of a test structure, making it easy to be implemented primarily for nonlinear systems.

Publication on wiley.com

Published Papers

Drag Reduction in Turbulent Boundary Layer via Real-Time Control

Drag Reduction in Turbulent Boundary Layer via Real-Time Control

This paper demonstrates an approach to real-time control of large-scale structures. Real-time controls reduce the streamwise turbulence intensity as well as skin-friction drag.

Publication on sciencedirect.com

Published Papers

Rapid Control Prototyping

Control for a Supercapacitor Hybrid Energy Storage System Used in Electric Vehicles

Control for a Supercapacitor Hybrid Energy Storage System Used in Electric Vehicles

This paper proposes the control strategy of a fully active hybrid energy storage system, which uses two bi-directional DC/DC converters to decouple supercapacitors and the battery pack from the DC bus. A Lyapunov-function-based controller regulates DC bus voltage, and a sliding mode controller, controlling the battery and supercapacitor currents, is designed. Their performance is validated by simulation and experimental data. 

Publication on sciencedirect.com

Published Papers

Design and Implementation of Bi-Directional DC-DC Converter for Wind Energy System

Design and Implementation of Bi-Directional DC-DC Converter for Wind Energy System

This paper features designing and implementing a bi-directional DC-DC converter with a Speedgoat controller for wind energy conversion systems. An energy storage device is used to compensate for the fluctuations and to maintain a smooth and continuous power flow in all operating modes to load. The complete system is implemented in MATLAB/SIMULINK and verified with hardware.

Publication on scirp.org

Published Papers

Rapid Control Prototyping

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