FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can be used to ascertain that the model is capable of achieving the desired goal. The dynamic model builds on the kinematic model and is usually mathematically cumbersome depending on the number of degrees-offreedom. This paper presents a kinematic model applicable for human sit-tostand movement scenario that will be used to obtain the dynamic model the FES induced movement in a later study. The study shows that the 6 DOF conceptualized sit-to-stand movement can be achieved conveniently using 4 DOF. The 4 DOF has an additional joint compared to similar earlier works which makes more it accurate and flexible. It is more accurate in the sense that it accommodates additional joint i.e. the neck joint whose dynamics could be captured. And more flexible in the sense that if future research uncover more contributions by the segments it can be easily incorporated including that of other segments e.g. the trunk, neck and upper limbs.
Ik analysis for the hip simulator using the open sim simulatorEditorIJAERD
The model of the project to create a detailed assembly of muscles spotting the hip joint. Additional muscles
and combinations were added to the baseline lower extremity assemblies currently available in OpenSim. The geometry
of the muscles was adjusted to pair moment arms reported here. The slack moment and the isometric were added to the
arithmetic value of the tanquntial assembly of joints
Additive Manufacturing and Testing of a Prosthetic Foot Ankle Jointijtsrd
Ankle replacement is a fairly new concept and is one of the popular treatments of ankle fractures and arthritis. This project focuses on modelling and 3D Printing of a prosthetic talocrural joint. The standard sizes of tibia which is the larger bone of lower leg and talus being lower part of the ankle joint, are observed and modeled accordingly by using CATIA with standard dimensions. The prototype is made with PLA plastic using an FDM Fused Deposition Modelling 3D printer. The analytical tests carried on ANSYS by applying human weight on the tibial surface and physical tests are conducted on Universal testing machine. The compression force is applied on the prototype and observed till failure. Results obtained are compared for static position of the foot, of both analytical and physical outcomes. Yogesh Avula | Adi Seshan Mula | Vishal Onnala | Kartheek Merugu ""Additive Manufacturing and Testing of a Prosthetic Foot Ankle Joint"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-3 , April 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23216.pdf
Paper URL: https://www.ijtsrd.com/engineering/bio-mechanicaland-biomedical-engineering/23216/additive-manufacturing-and-testing-of-a-prosthetic-foot-ankle-joint/yogesh-avula
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
To Compare the Effect of Muscle Energy Technique and Ultrasound on Jaw Range ...ijtsrd
Introduction Temporomandibular joint is a horse shaped bone that articulates with the temporomandibular bone. When TM joint is not working properly, the condition is known as temporomandibular joint dysfunction joint. The TMJ is positioned Right in front of ear canals. Objective The aim and objective of this study was to compare the effectiveness of Muscle Energy Technique MET and Ultrasound in patient with Temporomandibular Joint Dysfunction. Methods 20 subjects with Temporomandibular Joint Dysfunction were divided conveniently into two groups Group A was receiving Muscle Energy Technique MET and Group B was receiving Ultrasound. The treatment was continued for 5 days and readings were taken 1st and 5th day. Result The study showed non significant improvements in R.O.M following 5 sessions of treatment within both groups. Conclusion Muscle Energy Technique MET and Ultrasound both are effective in Temporomandibular Joint Dysfunction. Dr Jaspinder Kaur | Dr Shilpy Jetly ""To Compare the Effect of Muscle Energy Technique and Ultrasound on Jaw Range of Motion in Subjects with Temporomandibular Joint Dysfunction"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23579.pdf
Paper URL: https://www.ijtsrd.com/other-scientific-research-area/other/23579/to-compare-the-effect-of-muscle-energy-technique-and-ultrasound-on-jaw-range-of-motion-in-subjects-with-temporomandibular-joint-dysfunction/dr-jaspinder-kaur
Ik analysis for the hip simulator using the open sim simulatorEditorIJAERD
The model of the project to create a detailed assembly of muscles spotting the hip joint. Additional muscles
and combinations were added to the baseline lower extremity assemblies currently available in OpenSim. The geometry
of the muscles was adjusted to pair moment arms reported here. The slack moment and the isometric were added to the
arithmetic value of the tanquntial assembly of joints
Additive Manufacturing and Testing of a Prosthetic Foot Ankle Jointijtsrd
Ankle replacement is a fairly new concept and is one of the popular treatments of ankle fractures and arthritis. This project focuses on modelling and 3D Printing of a prosthetic talocrural joint. The standard sizes of tibia which is the larger bone of lower leg and talus being lower part of the ankle joint, are observed and modeled accordingly by using CATIA with standard dimensions. The prototype is made with PLA plastic using an FDM Fused Deposition Modelling 3D printer. The analytical tests carried on ANSYS by applying human weight on the tibial surface and physical tests are conducted on Universal testing machine. The compression force is applied on the prototype and observed till failure. Results obtained are compared for static position of the foot, of both analytical and physical outcomes. Yogesh Avula | Adi Seshan Mula | Vishal Onnala | Kartheek Merugu ""Additive Manufacturing and Testing of a Prosthetic Foot Ankle Joint"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-3 , April 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23216.pdf
Paper URL: https://www.ijtsrd.com/engineering/bio-mechanicaland-biomedical-engineering/23216/additive-manufacturing-and-testing-of-a-prosthetic-foot-ankle-joint/yogesh-avula
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
To Compare the Effect of Muscle Energy Technique and Ultrasound on Jaw Range ...ijtsrd
Introduction Temporomandibular joint is a horse shaped bone that articulates with the temporomandibular bone. When TM joint is not working properly, the condition is known as temporomandibular joint dysfunction joint. The TMJ is positioned Right in front of ear canals. Objective The aim and objective of this study was to compare the effectiveness of Muscle Energy Technique MET and Ultrasound in patient with Temporomandibular Joint Dysfunction. Methods 20 subjects with Temporomandibular Joint Dysfunction were divided conveniently into two groups Group A was receiving Muscle Energy Technique MET and Group B was receiving Ultrasound. The treatment was continued for 5 days and readings were taken 1st and 5th day. Result The study showed non significant improvements in R.O.M following 5 sessions of treatment within both groups. Conclusion Muscle Energy Technique MET and Ultrasound both are effective in Temporomandibular Joint Dysfunction. Dr Jaspinder Kaur | Dr Shilpy Jetly ""To Compare the Effect of Muscle Energy Technique and Ultrasound on Jaw Range of Motion in Subjects with Temporomandibular Joint Dysfunction"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23579.pdf
Paper URL: https://www.ijtsrd.com/other-scientific-research-area/other/23579/to-compare-the-effect-of-muscle-energy-technique-and-ultrasound-on-jaw-range-of-motion-in-subjects-with-temporomandibular-joint-dysfunction/dr-jaspinder-kaur
Dr jehad al sukhun gives modelling of orbital deformationjehadsukhun
The purpose of this study was to develop a three-dimensional finite-element model (FEM) of the human orbit, containing the globe, to predict orbital deformation in subjects following a blunt injury
EMG Investigations Regarding Handle Size, Grip Force and Stroke Rotation In S...Waqas Tariq
The present study investigated the effect of handle size (35mm and 40mm), grip type (loose grip and tight grip) and supine stroke rotation (30 ? , 45 ? and 60 ? ) on electromyography i.e. EMG activity of forearm muscles for a screwing task in an experimental simulation. The eight participants performed the screw driving task for a 2 minutes duration (supination). The EMG activities of forearm muscles were recorded during this task. The muscles selected for EMG recording were FCR, FCU, FDS and ECRB muscles. The results showed that the flexor muscles were more activated than extensor muscles. Among giving conditions, 40mm handle size using loose grip with 60 ? stroke was most comfortable.
Natural Vibration Analysis of Femur Bone Using HyperworksIJERA Editor
The main objective of the femur bone analysis is to know the natural frequencies and identify the fracture location of the bone through simulation based on the HYPERWORKS. The femur bone analysis is subjected to free-free and fixed-fixed boundary conditions. The mode shape shows that the natural frequency of free-free boundary condition varies from 0 Hz to 57 Hz and for fixed-fixed boundary condition 11 Hz to 171 Hz. On the bases of these two boundary conditions mode shape is determined and fracture location can be easily notified.
International Journal of Computational Engineering Research (IJCER) is dedicated to protecting personal information and will make every reasonable effort to handle collected information appropriately. All information collected, as well as related requests, will be handled as carefully and efficiently as possible in accordance with IJCER standards for integrity and objectivity
Control of robot-assisted gait trainer using hybrid proportional integral de...IJECEIAES
An inexpensive exoskeleton of the lower limb was designed and developed in this study. It can be used as a gait trainer for persons with lower limb problems. It plays an essential role in lower limb rehabilitation and aid for patients, and it can help them improve their physical condition. This paper proposes a hybrid controller for regulating the lower limb exoskeleton of a robot-assisted gait trainer that uses a proportional integral and derivative (PID) controller combined with an iterative learning controller (ILC). The direct current motors at the hip and knee joints are controlled by a microcontroller that uses a preset pattern for the trajectories. It can learn how to monitor a trajectory. If the trajectory or load is changed, it will be able to follow the change. The experiment showed that the PID controller had the smallest overshoot, and settling time, and was responsible for system stability. Even if there are occasional interruptions, the tracking performance improves with the ILC.
Simulation of Elbow Movement with MSMS and MATLABijsrd.com
This paper describes Biomechanical model of arm which is totally computational approach for modeling the complex mechanical properties of muscles of Hand. This can be embodied as a simulation model for use with Matlab and Simulink. The model allows the creation of realistic Muscle structure and movement of arm. Here we have considered elbow movement and the muscle which are activated during the elbow movement. Flexion and extension of elbow and associated muscles are studied. This paper also gives relation between force and given stimulation to particular muscle. The model presented here can be employed to design FES controller for subject who suffered from quadriplegia due to spinal cord injury (SCI) or multiple sclerosis (MS)
Dr jehad al sukhun gives modelling of orbital deformationjehadsukhun
The purpose of this study was to develop a three-dimensional finite-element model (FEM) of the human orbit, containing the globe, to predict orbital deformation in subjects following a blunt injury
EMG Investigations Regarding Handle Size, Grip Force and Stroke Rotation In S...Waqas Tariq
The present study investigated the effect of handle size (35mm and 40mm), grip type (loose grip and tight grip) and supine stroke rotation (30 ? , 45 ? and 60 ? ) on electromyography i.e. EMG activity of forearm muscles for a screwing task in an experimental simulation. The eight participants performed the screw driving task for a 2 minutes duration (supination). The EMG activities of forearm muscles were recorded during this task. The muscles selected for EMG recording were FCR, FCU, FDS and ECRB muscles. The results showed that the flexor muscles were more activated than extensor muscles. Among giving conditions, 40mm handle size using loose grip with 60 ? stroke was most comfortable.
Natural Vibration Analysis of Femur Bone Using HyperworksIJERA Editor
The main objective of the femur bone analysis is to know the natural frequencies and identify the fracture location of the bone through simulation based on the HYPERWORKS. The femur bone analysis is subjected to free-free and fixed-fixed boundary conditions. The mode shape shows that the natural frequency of free-free boundary condition varies from 0 Hz to 57 Hz and for fixed-fixed boundary condition 11 Hz to 171 Hz. On the bases of these two boundary conditions mode shape is determined and fracture location can be easily notified.
International Journal of Computational Engineering Research (IJCER) is dedicated to protecting personal information and will make every reasonable effort to handle collected information appropriately. All information collected, as well as related requests, will be handled as carefully and efficiently as possible in accordance with IJCER standards for integrity and objectivity
Control of robot-assisted gait trainer using hybrid proportional integral de...IJECEIAES
An inexpensive exoskeleton of the lower limb was designed and developed in this study. It can be used as a gait trainer for persons with lower limb problems. It plays an essential role in lower limb rehabilitation and aid for patients, and it can help them improve their physical condition. This paper proposes a hybrid controller for regulating the lower limb exoskeleton of a robot-assisted gait trainer that uses a proportional integral and derivative (PID) controller combined with an iterative learning controller (ILC). The direct current motors at the hip and knee joints are controlled by a microcontroller that uses a preset pattern for the trajectories. It can learn how to monitor a trajectory. If the trajectory or load is changed, it will be able to follow the change. The experiment showed that the PID controller had the smallest overshoot, and settling time, and was responsible for system stability. Even if there are occasional interruptions, the tracking performance improves with the ILC.
Simulation of Elbow Movement with MSMS and MATLABijsrd.com
This paper describes Biomechanical model of arm which is totally computational approach for modeling the complex mechanical properties of muscles of Hand. This can be embodied as a simulation model for use with Matlab and Simulink. The model allows the creation of realistic Muscle structure and movement of arm. Here we have considered elbow movement and the muscle which are activated during the elbow movement. Flexion and extension of elbow and associated muscles are studied. This paper also gives relation between force and given stimulation to particular muscle. The model presented here can be employed to design FES controller for subject who suffered from quadriplegia due to spinal cord injury (SCI) or multiple sclerosis (MS)
OPTIMIZATION OF NEURAL NETWORK ARCHITECTURE FOR BIOMECHANIC CLASSIFICATION TA...ijaia
Electromyogram signals (EMGs) contain valuable information that can be used in man-machine interfacing between human users and myoelectric prosthetic devices. However, EMG signals are
complicated and prove difficult to analyze due to physiological noise and other issues. Computational
intelligence and machine learning techniques, such as artificial neural networks (ANNs), serve as powerful
tools for analyzing EMG signals and creating optimal myoelectric control schemes for prostheses. This
research examines the performance of four different neural network architectures (feedforward, recurrent,
counter propagation, and self organizing map) that were tasked with classifying walking speed when given
EMG inputs from 14 different leg muscles. Experiments conducted on the data set suggest that self
organizing map neural networks are capable of classifying walking speed with greater than 99% accuracy.
Active vibration control of smart piezo cantilever beam using pid controllereSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Active vibration control of smart piezo cantilever beam using pid controllereSAT Journals
Abstract In this paper the modelling and Design of a Beam on which two Piezoelectric Ceramic Lead Zirconate Titanate ( PZT) patches are bonded on the top and bottom surface as Sensor/Actuator collocated pair is presented. The work considers the Active Vibration Control (AVC) using Proportional Integral Derivative (PID) Controller. The beam is assumed as Euler-Bernoulli beam. The two PZT patches are also treated as Euler-Bernoulli beam elements. The contribution of mass and stiffness of two PZT patches in the design of entire structure are also considered. The beam is modelled using three Finite Elements. The patches can be bonded near the fixed end, at middle or near the free end of the beam as collocated pair. The design uses first two dominant vibratory modes. The effect of PZT sensor/actuator pair is investigated at different locations of beam in vibration control. It can be concluded from the work that best result is obtained when the PZT patches are bonded near the fixed end. Keywords: Smart Beam, Active Vibration control, Piezoelectric, PID Controller, Finite Element
Two-link lower limb exoskeleton model control enhancement using computed torqueIJECEIAES
Robotic technology has recently been used to help stroke patients with gait and balance rehabilitation. Rehabilitation robots such as gait trainers are designed to assist patients in systematic, repetitive training sessions to speed up their recovery from injuries. Several control algorithms are commonly used on exoskeletons, such as proportional, integral and derivative (PID) as linear control. However, linear control has several disadvantages when applied to the exoskeleton, which has the problem of uncertainties such as load and stiffness variations of the patient’s lower limb. To improve the lower limb exoskeleton for the gait trainer, the computed torque controller (CTC) is introduced as a control approach in this study. When the dynamic properties of the system are only partially known, the computed torque controller is an essential nonlinear controller. A mathematical model forms the foundation of this controller. The suggested control approach’s effectiveness is evaluated using a model or scaled-down variation of the method. The performance of the suggested calculated torque control technique is then evaluated and contrasted with that of the PID controller. Because of this, the PID controller’s steady-state error in the downward direction can reach 5.6%, but the CTC can lower it to 2.125%.
UPPER EXTREMITY ROBOTICS EXOSKELETON: APPLICATION, STRUCTURE AND ACTUATIONijbesjournal
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. This paper reviews the upper extremity exoskeleton with different functions, actuators and degree of freedom (DOF). Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator. In addition, the structure of exoskeleton is separated by its DOF in terms of shoulder, elbow, wrist and hand
UPPER EXTREMITY ROBOTICS EXOSKELETON: APPLICATION, STRUCTURE AND ACTUATIONijbesjournal
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. This paper reviews the upper extremity exoskeleton with different functions, actuators and degree of freedom (DOF). Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator. In addition, the structure of exoskeleton is separated by its DOF in terms of shoulder, elbow, wrist and hand.
Statistical analysis of range of motion and surface electromyography data for...IJECEIAES
This work introduces a statistical analysis of knee range of motion (ROM) and surface electromyography (EMG) data gathered from a knee extension rehabilitation device. Real-time ROM and EMG signals of rehabilitation users are measured using a single angle sensor and a two-channel EMG device (for the vastus lateralis and vastus medialis muscles). These signals are collected by the NI-myRIO embedded device in accordance with the designed rehabilitation program. The main contribution and novelty of this study is that real-time signals are automatically processed and transformed into statistical data for use by users and medical experts. A solution for extracting raw signals is proposed, in which several statistical functions such as range, mean, standard deviation, skewness, percentiles, interquartile range, and total knee holding times above the threshold level, are implemented and applied. The proposed solution is tested using data acquired from healthy people, which includes gender, age, body size, knee side, exercise behavior, and surgical experience. Results indicated that real- time signals and related statistical data on the knee’s performance can be efficiently monitored. With this solution, rehabilitation users can practice and learn about their knee performance, while medical experts can evaluate the data and design the best rehabilitation program for users.
Hybrid neural networks in cyber physical system interface control systemsjournalBEEI
The calculation and results of simulation of the magnetic control system for the spacecraft momentum are presented in the paper. The simulation includes an assessment of the reliability of calculating the Earth's magnetic field parameters, as well as an assessment of the quality of object stabilization by resetting the total momentum with the aid of the system under review. The outcome of a comparative analysis of resource efficiency and energy efficiency are demonstrated in the implementation of the proposed hardware models of controllers on FPGA. The strengths and weaknesses of the programming models are shown. The developed models will allow to be modified and perform more complex operations in the future.
Mechanics of the human hamstring muscles during sprintingFernando Farias
As peak musculotendon
force and strain for BF
LH
, ST, and SM occurred around the same time during terminal swing, it is suggested that this period in the
stride cycle may be when the biarticular hamstrings are at greatest injury risk. On this basis, hamstring injury prevention or rehabilitation
programs should preferentially target strengthening exercises that involve eccentric contractions performed with high loads at longer
musculotendon lengths.
THREE-DIMENSIONAL STUDY FOR THE RELATIVE POSITIONING OF MECHANICAL ELEMENTS I...meijjournal
ABSTRACT
The great evolution of the data-processing tools during the last years allowed for the development of the computer aided design in the field of mechanical structures. Controlling the clearance in joints between parts, is one of the required objectives to provide accurate relative movements and to minimize geometrical errors. For that purpose, a new method of static study allowing for the computation of the equilibrium positions of various elements in spatial mechanisms constituted by parallel joints and subjected to mechanical loadings is proposed. The isostatic study takes into account the presence of the clearance in the mechanism joints. The method is based to the minimization of the potential energy by means of some algorithms of optimization. The results obtained show the effectiveness of the method.
Similar to Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia (20)
Bibliometric analysis highlighting the role of women in addressing climate ch...IJECEIAES
Fossil fuel consumption increased quickly, contributing to climate change
that is evident in unusual flooding and draughts, and global warming. Over
the past ten years, women's involvement in society has grown dramatically,
and they succeeded in playing a noticeable role in reducing climate change.
A bibliometric analysis of data from the last ten years has been carried out to
examine the role of women in addressing the climate change. The analysis's
findings discussed the relevant to the sustainable development goals (SDGs),
particularly SDG 7 and SDG 13. The results considered contributions made
by women in the various sectors while taking geographic dispersion into
account. The bibliometric analysis delves into topics including women's
leadership in environmental groups, their involvement in policymaking, their
contributions to sustainable development projects, and the influence of
gender diversity on attempts to mitigate climate change. This study's results
highlight how women have influenced policies and actions related to climate
change, point out areas of research deficiency and recommendations on how
to increase role of the women in addressing the climate change and
achieving sustainability. To achieve more successful results, this initiative
aims to highlight the significance of gender equality and encourage
inclusivity in climate change decision-making processes.
Voltage and frequency control of microgrid in presence of micro-turbine inter...IJECEIAES
The active and reactive load changes have a significant impact on voltage
and frequency. In this paper, in order to stabilize the microgrid (MG) against
load variations in islanding mode, the active and reactive power of all
distributed generators (DGs), including energy storage (battery), diesel
generator, and micro-turbine, are controlled. The micro-turbine generator is
connected to MG through a three-phase to three-phase matrix converter, and
the droop control method is applied for controlling the voltage and
frequency of MG. In addition, a method is introduced for voltage and
frequency control of micro-turbines in the transition state from gridconnected mode to islanding mode. A novel switching strategy of the matrix
converter is used for converting the high-frequency output voltage of the
micro-turbine to the grid-side frequency of the utility system. Moreover,
using the switching strategy, the low-order harmonics in the output current
and voltage are not produced, and consequently, the size of the output filter
would be reduced. In fact, the suggested control strategy is load-independent
and has no frequency conversion restrictions. The proposed approach for
voltage and frequency regulation demonstrates exceptional performance and
favorable response across various load alteration scenarios. The suggested
strategy is examined in several scenarios in the MG test systems, and the
simulation results are addressed.
Enhancing battery system identification: nonlinear autoregressive modeling fo...IJECEIAES
Precisely characterizing Li-ion batteries is essential for optimizing their
performance, enhancing safety, and prolonging their lifespan across various
applications, such as electric vehicles and renewable energy systems. This
article introduces an innovative nonlinear methodology for system
identification of a Li-ion battery, employing a nonlinear autoregressive with
exogenous inputs (NARX) model. The proposed approach integrates the
benefits of nonlinear modeling with the adaptability of the NARX structure,
facilitating a more comprehensive representation of the intricate
electrochemical processes within the battery. Experimental data collected
from a Li-ion battery operating under diverse scenarios are employed to
validate the effectiveness of the proposed methodology. The identified
NARX model exhibits superior accuracy in predicting the battery's behavior
compared to traditional linear models. This study underscores the
importance of accounting for nonlinearities in battery modeling, providing
insights into the intricate relationships between state-of-charge, voltage, and
current under dynamic conditions.
Smart grid deployment: from a bibliometric analysis to a surveyIJECEIAES
Smart grids are one of the last decades' innovations in electrical energy.
They bring relevant advantages compared to the traditional grid and
significant interest from the research community. Assessing the field's
evolution is essential to propose guidelines for facing new and future smart
grid challenges. In addition, knowing the main technologies involved in the
deployment of smart grids (SGs) is important to highlight possible
shortcomings that can be mitigated by developing new tools. This paper
contributes to the research trends mentioned above by focusing on two
objectives. First, a bibliometric analysis is presented to give an overview of
the current research level about smart grid deployment. Second, a survey of
the main technological approaches used for smart grid implementation and
their contributions are highlighted. To that effect, we searched the Web of
Science (WoS), and the Scopus databases. We obtained 5,663 documents
from WoS and 7,215 from Scopus on smart grid implementation or
deployment. With the extraction limitation in the Scopus database, 5,872 of
the 7,215 documents were extracted using a multi-step process. These two
datasets have been analyzed using a bibliometric tool called bibliometrix.
The main outputs are presented with some recommendations for future
research.
Use of analytical hierarchy process for selecting and prioritizing islanding ...IJECEIAES
One of the problems that are associated to power systems is islanding
condition, which must be rapidly and properly detected to prevent any
negative consequences on the system's protection, stability, and security.
This paper offers a thorough overview of several islanding detection
strategies, which are divided into two categories: classic approaches,
including local and remote approaches, and modern techniques, including
techniques based on signal processing and computational intelligence.
Additionally, each approach is compared and assessed based on several
factors, including implementation costs, non-detected zones, declining
power quality, and response times using the analytical hierarchy process
(AHP). The multi-criteria decision-making analysis shows that the overall
weight of passive methods (24.7%), active methods (7.8%), hybrid methods
(5.6%), remote methods (14.5%), signal processing-based methods (26.6%),
and computational intelligent-based methods (20.8%) based on the
comparison of all criteria together. Thus, it can be seen from the total weight
that hybrid approaches are the least suitable to be chosen, while signal
processing-based methods are the most appropriate islanding detection
method to be selected and implemented in power system with respect to the
aforementioned factors. Using Expert Choice software, the proposed
hierarchy model is studied and examined.
Enhancing of single-stage grid-connected photovoltaic system using fuzzy logi...IJECEIAES
The power generated by photovoltaic (PV) systems is influenced by
environmental factors. This variability hampers the control and utilization of
solar cells' peak output. In this study, a single-stage grid-connected PV
system is designed to enhance power quality. Our approach employs fuzzy
logic in the direct power control (DPC) of a three-phase voltage source
inverter (VSI), enabling seamless integration of the PV connected to the
grid. Additionally, a fuzzy logic-based maximum power point tracking
(MPPT) controller is adopted, which outperforms traditional methods like
incremental conductance (INC) in enhancing solar cell efficiency and
minimizing the response time. Moreover, the inverter's real-time active and
reactive power is directly managed to achieve a unity power factor (UPF).
The system's performance is assessed through MATLAB/Simulink
implementation, showing marked improvement over conventional methods,
particularly in steady-state and varying weather conditions. For solar
irradiances of 500 and 1,000 W/m2
, the results show that the proposed
method reduces the total harmonic distortion (THD) of the injected current
to the grid by approximately 46% and 38% compared to conventional
methods, respectively. Furthermore, we compare the simulation results with
IEEE standards to evaluate the system's grid compatibility.
Enhancing photovoltaic system maximum power point tracking with fuzzy logic-b...IJECEIAES
Photovoltaic systems have emerged as a promising energy resource that
caters to the future needs of society, owing to their renewable, inexhaustible,
and cost-free nature. The power output of these systems relies on solar cell
radiation and temperature. In order to mitigate the dependence on
atmospheric conditions and enhance power tracking, a conventional
approach has been improved by integrating various methods. To optimize
the generation of electricity from solar systems, the maximum power point
tracking (MPPT) technique is employed. To overcome limitations such as
steady-state voltage oscillations and improve transient response, two
traditional MPPT methods, namely fuzzy logic controller (FLC) and perturb
and observe (P&O), have been modified. This research paper aims to
simulate and validate the step size of the proposed modified P&O and FLC
techniques within the MPPT algorithm using MATLAB/Simulink for
efficient power tracking in photovoltaic systems.
Adaptive synchronous sliding control for a robot manipulator based on neural ...IJECEIAES
Robot manipulators have become important equipment in production lines, medical fields, and transportation. Improving the quality of trajectory tracking for
robot hands is always an attractive topic in the research community. This is a
challenging problem because robot manipulators are complex nonlinear systems
and are often subject to fluctuations in loads and external disturbances. This
article proposes an adaptive synchronous sliding control scheme to improve trajectory tracking performance for a robot manipulator. The proposed controller
ensures that the positions of the joints track the desired trajectory, synchronize
the errors, and significantly reduces chattering. First, the synchronous tracking
errors and synchronous sliding surfaces are presented. Second, the synchronous
tracking error dynamics are determined. Third, a robust adaptive control law is
designed,the unknown components of the model are estimated online by the neural network, and the parameters of the switching elements are selected by fuzzy
logic. The built algorithm ensures that the tracking and approximation errors
are ultimately uniformly bounded (UUB). Finally, the effectiveness of the constructed algorithm is demonstrated through simulation and experimental results.
Simulation and experimental results show that the proposed controller is effective with small synchronous tracking errors, and the chattering phenomenon is
significantly reduced.
Remote field-programmable gate array laboratory for signal acquisition and de...IJECEIAES
A remote laboratory utilizing field-programmable gate array (FPGA) technologies enhances students’ learning experience anywhere and anytime in embedded system design. Existing remote laboratories prioritize hardware access and visual feedback for observing board behavior after programming, neglecting comprehensive debugging tools to resolve errors that require internal signal acquisition. This paper proposes a novel remote embeddedsystem design approach targeting FPGA technologies that are fully interactive via a web-based platform. Our solution provides FPGA board access and debugging capabilities beyond the visual feedback provided by existing remote laboratories. We implemented a lab module that allows users to seamlessly incorporate into their FPGA design. The module minimizes hardware resource utilization while enabling the acquisition of a large number of data samples from the signal during the experiments by adaptively compressing the signal prior to data transmission. The results demonstrate an average compression ratio of 2.90 across three benchmark signals, indicating efficient signal acquisition and effective debugging and analysis. This method allows users to acquire more data samples than conventional methods. The proposed lab allows students to remotely test and debug their designs, bridging the gap between theory and practice in embedded system design.
Detecting and resolving feature envy through automated machine learning and m...IJECEIAES
Efficiently identifying and resolving code smells enhances software project quality. This paper presents a novel solution, utilizing automated machine learning (AutoML) techniques, to detect code smells and apply move method refactoring. By evaluating code metrics before and after refactoring, we assessed its impact on coupling, complexity, and cohesion. Key contributions of this research include a unique dataset for code smell classification and the development of models using AutoGluon for optimal performance. Furthermore, the study identifies the top 20 influential features in classifying feature envy, a well-known code smell, stemming from excessive reliance on external classes. We also explored how move method refactoring addresses feature envy, revealing reduced coupling and complexity, and improved cohesion, ultimately enhancing code quality. In summary, this research offers an empirical, data-driven approach, integrating AutoML and move method refactoring to optimize software project quality. Insights gained shed light on the benefits of refactoring on code quality and the significance of specific features in detecting feature envy. Future research can expand to explore additional refactoring techniques and a broader range of code metrics, advancing software engineering practices and standards.
Smart monitoring technique for solar cell systems using internet of things ba...IJECEIAES
Rapidly and remotely monitoring and receiving the solar cell systems status parameters, solar irradiance, temperature, and humidity, are critical issues in enhancement their efficiency. Hence, in the present article an improved smart prototype of internet of things (IoT) technique based on embedded system through NodeMCU ESP8266 (ESP-12E) was carried out experimentally. Three different regions at Egypt; Luxor, Cairo, and El-Beheira cities were chosen to study their solar irradiance profile, temperature, and humidity by the proposed IoT system. The monitoring data of solar irradiance, temperature, and humidity were live visualized directly by Ubidots through hypertext transfer protocol (HTTP) protocol. The measured solar power radiation in Luxor, Cairo, and El-Beheira ranged between 216-1000, 245-958, and 187-692 W/m 2 respectively during the solar day. The accuracy and rapidity of obtaining monitoring results using the proposed IoT system made it a strong candidate for application in monitoring solar cell systems. On the other hand, the obtained solar power radiation results of the three considered regions strongly candidate Luxor and Cairo as suitable places to build up a solar cells system station rather than El-Beheira.
An efficient security framework for intrusion detection and prevention in int...IJECEIAES
Over the past few years, the internet of things (IoT) has advanced to connect billions of smart devices to improve quality of life. However, anomalies or malicious intrusions pose several security loopholes, leading to performance degradation and threat to data security in IoT operations. Thereby, IoT security systems must keep an eye on and restrict unwanted events from occurring in the IoT network. Recently, various technical solutions based on machine learning (ML) models have been derived towards identifying and restricting unwanted events in IoT. However, most ML-based approaches are prone to miss-classification due to inappropriate feature selection. Additionally, most ML approaches applied to intrusion detection and prevention consider supervised learning, which requires a large amount of labeled data to be trained. Consequently, such complex datasets are impossible to source in a large network like IoT. To address this problem, this proposed study introduces an efficient learning mechanism to strengthen the IoT security aspects. The proposed algorithm incorporates supervised and unsupervised approaches to improve the learning models for intrusion detection and mitigation. Compared with the related works, the experimental outcome shows that the model performs well in a benchmark dataset. It accomplishes an improved detection accuracy of approximately 99.21%.
Developing a smart system for infant incubators using the internet of things ...IJECEIAES
This research is developing an incubator system that integrates the internet of things and artificial intelligence to improve care for premature babies. The system workflow starts with sensors that collect data from the incubator. Then, the data is sent in real-time to the internet of things (IoT) broker eclipse mosquito using the message queue telemetry transport (MQTT) protocol version 5.0. After that, the data is stored in a database for analysis using the long short-term memory network (LSTM) method and displayed in a web application using an application programming interface (API) service. Furthermore, the experimental results produce as many as 2,880 rows of data stored in the database. The correlation coefficient between the target attribute and other attributes ranges from 0.23 to 0.48. Next, several experiments were conducted to evaluate the model-predicted value on the test data. The best results are obtained using a two-layer LSTM configuration model, each with 60 neurons and a lookback setting 6. This model produces an R 2 value of 0.934, with a root mean square error (RMSE) value of 0.015 and a mean absolute error (MAE) of 0.008. In addition, the R 2 value was also evaluated for each attribute used as input, with a result of values between 0.590 and 0.845.
A review on internet of things-based stingless bee's honey production with im...IJECEIAES
Honey is produced exclusively by honeybees and stingless bees which both are well adapted to tropical and subtropical regions such as Malaysia. Stingless bees are known for producing small amounts of honey and are known for having a unique flavor profile. Problem identified that many stingless bees collapsed due to weather, temperature and environment. It is critical to understand the relationship between the production of stingless bee honey and environmental conditions to improve honey production. Thus, this paper presents a review on stingless bee's honey production and prediction modeling. About 54 previous research has been analyzed and compared in identifying the research gaps. A framework on modeling the prediction of stingless bee honey is derived. The result presents the comparison and analysis on the internet of things (IoT) monitoring systems, honey production estimation, convolution neural networks (CNNs), and automatic identification methods on bee species. It is identified based on image detection method the top best three efficiency presents CNN is at 98.67%, densely connected convolutional networks with YOLO v3 is 97.7%, and DenseNet201 convolutional networks 99.81%. This study is significant to assist the researcher in developing a model for predicting stingless honey produced by bee's output, which is important for a stable economy and food security.
A trust based secure access control using authentication mechanism for intero...IJECEIAES
The internet of things (IoT) is a revolutionary innovation in many aspects of our society including interactions, financial activity, and global security such as the military and battlefield internet. Due to the limited energy and processing capacity of network devices, security, energy consumption, compatibility, and device heterogeneity are the long-term IoT problems. As a result, energy and security are critical for data transmission across edge and IoT networks. Existing IoT interoperability techniques need more computation time, have unreliable authentication mechanisms that break easily, lose data easily, and have low confidentiality. In this paper, a key agreement protocol-based authentication mechanism for IoT devices is offered as a solution to this issue. This system makes use of information exchange, which must be secured to prevent access by unauthorized users. Using a compact contiki/cooja simulator, the performance and design of the suggested framework are validated. The simulation findings are evaluated based on detection of malicious nodes after 60 minutes of simulation. The suggested trust method, which is based on privacy access control, reduced packet loss ratio to 0.32%, consumed 0.39% power, and had the greatest average residual energy of 0.99 mJoules at 10 nodes.
Fuzzy linear programming with the intuitionistic polygonal fuzzy numbersIJECEIAES
In real world applications, data are subject to ambiguity due to several factors; fuzzy sets and fuzzy numbers propose a great tool to model such ambiguity. In case of hesitation, the complement of a membership value in fuzzy numbers can be different from the non-membership value, in which case we can model using intuitionistic fuzzy numbers as they provide flexibility by defining both a membership and a non-membership functions. In this article, we consider the intuitionistic fuzzy linear programming problem with intuitionistic polygonal fuzzy numbers, which is a generalization of the previous polygonal fuzzy numbers found in the literature. We present a modification of the simplex method that can be used to solve any general intuitionistic fuzzy linear programming problem after approximating the problem by an intuitionistic polygonal fuzzy number with n edges. This method is given in a simple tableau formulation, and then applied on numerical examples for clarity.
The performance of artificial intelligence in prostate magnetic resonance im...IJECEIAES
Prostate cancer is the predominant form of cancer observed in men worldwide. The application of magnetic resonance imaging (MRI) as a guidance tool for conducting biopsies has been established as a reliable and well-established approach in the diagnosis of prostate cancer. The diagnostic performance of MRI-guided prostate cancer diagnosis exhibits significant heterogeneity due to the intricate and multi-step nature of the diagnostic pathway. The development of artificial intelligence (AI) models, specifically through the utilization of machine learning techniques such as deep learning, is assuming an increasingly significant role in the field of radiology. In the realm of prostate MRI, a considerable body of literature has been dedicated to the development of various AI algorithms. These algorithms have been specifically designed for tasks such as prostate segmentation, lesion identification, and classification. The overarching objective of these endeavors is to enhance diagnostic performance and foster greater agreement among different observers within MRI scans for the prostate. This review article aims to provide a concise overview of the application of AI in the field of radiology, with a specific focus on its utilization in prostate MRI.
Seizure stage detection of epileptic seizure using convolutional neural networksIJECEIAES
According to the World Health Organization (WHO), seventy million individuals worldwide suffer from epilepsy, a neurological disorder. While electroencephalography (EEG) is crucial for diagnosing epilepsy and monitoring the brain activity of epilepsy patients, it requires a specialist to examine all EEG recordings to find epileptic behavior. This procedure needs an experienced doctor, and a precise epilepsy diagnosis is crucial for appropriate treatment. To identify epileptic seizures, this study employed a convolutional neural network (CNN) based on raw scalp EEG signals to discriminate between preictal, ictal, postictal, and interictal segments. The possibility of these characteristics is explored by examining how well timedomain signals work in the detection of epileptic signals using intracranial Freiburg Hospital (FH), scalp Children's Hospital Boston-Massachusetts Institute of Technology (CHB-MIT) databases, and Temple University Hospital (TUH) EEG. To test the viability of this approach, two types of experiments were carried out. Firstly, binary class classification (preictal, ictal, postictal each versus interictal) and four-class classification (interictal versus preictal versus ictal versus postictal). The average accuracy for stage detection using CHB-MIT database was 84.4%, while the Freiburg database's time-domain signals had an accuracy of 79.7% and the highest accuracy of 94.02% for classification in the TUH EEG database when comparing interictal stage to preictal stage.
Analysis of driving style using self-organizing maps to analyze driver behaviorIJECEIAES
Modern life is strongly associated with the use of cars, but the increase in acceleration speeds and their maneuverability leads to a dangerous driving style for some drivers. In these conditions, the development of a method that allows you to track the behavior of the driver is relevant. The article provides an overview of existing methods and models for assessing the functioning of motor vehicles and driver behavior. Based on this, a combined algorithm for recognizing driving style is proposed. To do this, a set of input data was formed, including 20 descriptive features: About the environment, the driver's behavior and the characteristics of the functioning of the car, collected using OBD II. The generated data set is sent to the Kohonen network, where clustering is performed according to driving style and degree of danger. Getting the driving characteristics into a particular cluster allows you to switch to the private indicators of an individual driver and considering individual driving characteristics. The application of the method allows you to identify potentially dangerous driving styles that can prevent accidents.
Hyperspectral object classification using hybrid spectral-spatial fusion and ...IJECEIAES
Because of its spectral-spatial and temporal resolution of greater areas, hyperspectral imaging (HSI) has found widespread application in the field of object classification. The HSI is typically used to accurately determine an object's physical characteristics as well as to locate related objects with appropriate spectral fingerprints. As a result, the HSI has been extensively applied to object identification in several fields, including surveillance, agricultural monitoring, environmental research, and precision agriculture. However, because of their enormous size, objects require a lot of time to classify; for this reason, both spectral and spatial feature fusion have been completed. The existing classification strategy leads to increased misclassification, and the feature fusion method is unable to preserve semantic object inherent features; This study addresses the research difficulties by introducing a hybrid spectral-spatial fusion (HSSF) technique to minimize feature size while maintaining object intrinsic qualities; Lastly, a soft-margins kernel is proposed for multi-layer deep support vector machine (MLDSVM) to reduce misclassification. The standard Indian pines dataset is used for the experiment, and the outcome demonstrates that the HSSF-MLDSVM model performs substantially better in terms of accuracy and Kappa coefficient.
Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
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Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
2. IJECE ISSN: 2088-8708
Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia …. (Mohammed Ahmed)
3061
There are works that further confirm the superiority of the closed loop schemes over the open loop
in the case of FES-assisted sit-to-stand [17], [18]. Stability is a very important concern in FES induced
movements perhaps it could be one of the important factor hindering clinical acceptance. According to
scholars the linear control scheme might not provide solution to the system under consideration in this study
(paraplegics i.e. humans with lost neural/movement functions in the lower limbs) due its nonlinear nature
[18], [19]. Linear control methods were applied for control of FES-assisted sit-to-stand movements as
depicted in the works of Dolan et al. [17], Poboronuic [20], Yu et al. [18] , the authors did not indicate
mathematical model used even though for linear control schemes the model has to be linearized if it is not
linear. The intelligent control schemes were also proposed and some of the works in that regards include that
of Davoodi and Andrews [21], [22]. Computer models were used and one of the major shortcomings of the
intelligent approach is lack of mathematical model for stability studies. Hence, stability analysis cannot be
achieved easily [23] even though the methods used to yield good results. Combined linear and nonlinear
methods was proposed by Previdi et al. [24] and nonlinear approaches were presented by Espanjani and
Towhidkah [25], also virtual models were used. The advantage of the nonlinear control scheme is that they
can be used with nonlinear models which are usually closer to real systems. Additionally, the mathematical
models can be used for stability studies.
This study is an initial phase of developing an improved nonlinear model of the FES-assisted sit-to-
stand movements using the principle of robotics. Involving more joints; which improves accuracy and
flexibility, more gray model; combines more experimental and analytical properties and incorporating
finding; which portrays that the upper limbs supports about 10% of the weight. The manuscript was
structured such that the introduction gives an overview on the study. Modelling methodology; briefly explain
the whole concept employed and was followed by short results explanation referred to as „results and
discussion‟. Finally, the conclusion rounds up everything.
2. MODELLING METHODOLOGY
Kinematics basically shows the relationship between the link or segment lengths and joint angles of
the model, and hence, the coordinates and orientation in space [26], [27]. It yields equations that portray
motions of robotic structure without given considerations to the effects of torques and forces, emphases is
given to the geometry.
In the modeling relevant robotics principles were applied. The model proposed was based on the
works of Nuzik et al. [28], Davoodi and Andrews [21], Yu et al. [18], Kamnik et al. [29], Fattah et al. [30],
Tsukahara et al. [31] and Stevermer and Gillette [32]. The sit-to-stand movement was conceptualized as
having three phases; the initial, transitional and the final phases. Figure 1(a) and Figure 1(b) were
illustrations of the first and last phases respectively. The transition phase is in between the two, which are
terminal points in the maneuver. The movement was assume to occur on the sagittal plane, making it a planar
motion.
Figure 1. Conceptualized initial and final sit-to-stand positions
The various segment lengths were obtained as described in the works of Winter, [33] which are
anthropometry based. Paraplegic subject P3 from the works of Ferrarin and Pedotti, [34] was selected for the
study. The segmental lengths are as listed in Table 1.
3. ISSN: 2088-8708
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3062
Table 1. Segment Lengths of the Paraplegic P3 with Height 178 cm, Weight 85 Kg and Age 25 Years
S/No. Segment Length (cm)
1 Shank 50.7
2 Thigh 43.6
3 Trunk 51.3
4 Feet to Support Distance 30.0
5 Support 98.0
6 Lower Arm 25.8
7 Upper Arm 33.5
8 Head and Neck 32.4
In robotics however the manipulators were made up of links and are interconnected by joints
forming the entire structure called the kinematic chain. There are basically three types of joints; revolute,
prismatic and socket joints. Revolute or rotary joint as the name implies usually give rise to rotation between
a pair of links, the prismatic or linear joint is for linear movement between dual adjacent links and the socket
joint has the combine properties of the revolute and prismatic joints [35]. The counting of the joints usually
starts from zero from the base frame and highest number of the joints gives the degree of freedom (DOF) of
the robot for simple planer open loop chain configurations also known as serial configurations. In the case of
closed loop chains or combinations of open and closed loop chains the Gr ̈bbler‟s method can be
applied [35].The body segments in Figure 1(a) and Figure 1(b) were carefully assigned configurations of
links and joint angles as shown in Table 2, which are more appropriate for the next stage of study.
Table 2. Parameters of the Segments
Segment Link Length (cm) Angles ( )
Shank 11 50.7
Thigh 12 43.6
Trunk 13 51.3
Feet to Support Distance 21 30.0
Support 22 98.0
Lower Arm 23 25.8
Upper Arm 24 33.5
Head and Neck 5 32.4
Figure 2 was the proposed model which clearly describe the motion and suitable for the kinematics
analysis. The various segments; shank, thigh, trunk, feet to support distance, support, lower arm upper arm
and head and neck segments were represented as 11, 12, 13, 21, 22, 23, 24 and 5 respectively in the figure.
And the angles , , , , , , , and were Theta 11, Theta 12, Theta 13, Theta 23, Theta 24
respectively. It comprise of a closed chain at the beginning. Hence, the structure forms a closed link at joint 0,
where it connects the first joints via links 1 (branch 1) and 2 (branch 2), and interconnections continue up to
joint 5. Branch 1 is made up of links: 11, 12 and 13, while branch 2 comprises of links: 21, 22, 23 and 24.
Both branches combine at joint 5 and after it was the link 5; the head-neck segment. The suitable joint as the
cut joint for this condition was joint 5. Denavit-Hartenberg (DH) method is applied for the analysis and
Table 3 shows the DH parameters of the proposed sit-to-stand model. The equation constituting the direct
kinematics for the above scenario can be obtained using Equation (1) [27].
Where; ( ) is the overall transformation matrix which gives the kinematics equation, are the
sequential transformation within the closed chain and , are the transformations after the closed loop chain.
The process of computing ( ) is usually achieved in stages: First a suitable joint is selected in the
closed chain region, the homogenous transformations are then determined by applying the DH principle for
each of the frames branches, determine the equality constraints for the frames such that it resulted in lower
number of joint variables and finally the overall transformation is computed by combining that of the closed
loop chain obtained and others (which are multiplied).
( ) (1)
The terms are vector multiplication of certain properties of the DH parameters which are; the
rotation of the link about the z-axis ( ) the extent of which is given by the joint angle ( ),
translation along the z-axis ( ) referred to as the link offset , translation on the x-axis
4. IJECE ISSN: 2088-8708
Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia …. (Mohammed Ahmed)
3063
( ) which corresponds to the link length ( ) and finally the rotation of link about the x-axis
( ) measured as the link twist ( ).
=( ) ( ) ( ) ( ) (2)
In order to make the matrices more compact, sin and cos were represented by s and c respectively.
=
1000
0 iii
iiiiiii
iiiiiii
dcs
sascccs
casscsc
(3)
Figure 2. Joint kinematic convention for the FES assisted sit-to-stand model
Table 3. DH Parameters of the Model
Link
11 a11 0 0
12 a12 0 0
13 a13 0 0
21 a21 0 0 1800
22 a22 0 0 2700
23 a23 0 0
24 a24 0 0
5 a5 0 0 0
Coordinate transformation for branch 1 frames was obtained as shown in (4) and it involves links 11, 12 and
13.
Theta 12
Theta 11
Theta 23
Theta 24
Theta 13
y24
12
13
11
21
22
23
24
5
X0
Y0
x23
y23
x11
x12
x13
x5
x24
y11
y5
y12
y22
x22
y21
x21
y13
5. ISSN: 2088-8708
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1
0
13
qA = 0
11
A 1
2
1
1A 2
3
1
1A =
1000
0100
0
0
321321211321321
321321211321321
111111111111111
111111111111111
sasasass
cacacasc
(4)
1q =
3
2
1
1
1
1
(5)
Coordinate transformation for branch 2 frames was obtained as given by (6) which involve links 21, 22, 23
and 24.
2
0
24
qA = 3
4
2
3
1
21
2
2
2
2
2
2
0
2 AAAA =
1000
0100
0
0
434332343
3433133
22222242222
4222222422422
casaasc
sasaacs
(6)
2q =
4
3
2
2
0
0
270
180
(7)
The constant homogenous transformation for the final link is given by;
31
5A =
1000
0100
0010
001 5a
(8)
In order to satisfy the constraints; that is at the meeting joint (point/joint 5) the coordinates of both branches
at any instant should be same. Therefore, if subtracted for the branches will be zero ( i.e. =0) and this
may reduce the burden of computation or analysis by lowering the number of joint variables, that is no need
to use all joints parameters [27], [36].
1
0
12
0
22
2
0 34
4
qpqpqR = T
000 (9)
The branches without any adjustment satisfied the above constraint, therefore any of the branches can be
used. Therefore, for simplicity as well as relevance, branch 1 was chosen and that makes Equation (10) the
required kinematics equation (model).
qT 0
5
= qA0
13
qA 31
5
=
1000
0100
0
0
321321321211321321
321321321211321321
1115111111111111111
1115111111111111111
sasasasacs
cacacacasc
(10)
0
5P = 0
5T 5
5P
(11)
6. IJECE ISSN: 2088-8708
Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia …. (Mohammed Ahmed)
3065
; gives the coordinates with reference to the zero frame (reference frame), are the coordinates with
reference the fifth frame that is the final frame (end-effector frame) and is given by Equation (10), that is;
the transformation matrix.
In robotics, path describes the motion of a robot geometrically only, hence it remains silent about
the system dynamics. Path simply specifies the locus of points within a specified operational or joint domain.
On the other hand the trajectory is the time domain description of the movement and system dynamics are
also captured when needed such as velocity and acceleration. Therefore, it is a time dependent path. Usually
the trajectory is planned which can be done using algorithms. The algorithms describe the path, also
incorporated are the constraints of both the path as well as that of dynamics. Results of which are the
trajectories in relation to time for positions, velocities and accelerations reached [26], [27].
3. RESULTS AND DISCUSSION
It can be seen from Figure 2 that the complete movement model has 6 DOF which was obtained
using the Gr ̈bbler‟s approach. According to the method number of DOF of any given structure can be
obtained using Equations (12) and (13) [35]. Where: DOF; is the number of degrees of freedom, n; rigid body
number of degrees of freedom, M; the number of links, J; the number of joints, ; the number of contraints
on a given joint k, and ; joint k number of freedom. Applying to Figure 2: n equals 3 (planer mechanism),
M equals 8, J equals 7 and f equals 1 for all the revolute joints except the fixed joint which is 0. Hence, on
substituting in (12) and (13) appropriately, DOF was obtained as 6.
( ) ∑ (12)
(13)
Figure 3. Joint kinematic convention for the approximated FES assisted sit-to-stand model
Therefore the mathematical representation would involve all the eight segments of the structure. Its
transformation would be combination Equations (4), (6) and (8). The robotics principle had aid in reducing it
Theta 12
Theta 11
Theta 13
12
13
11
5
X0
Y0
x11
y11
x5
x13
x12
y5
y13
y12
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to 4 DOF via Equation (9) and led to the mathematical model involving only four segments as illustrated by
Figure 3. The transformation only involves Equations (6) and (8). The number of the DOF can be determined
using the formular as well. Hence, reducing the model complexity.
The paths of the joints associated with the sit to stand movement can be obtained from
Equation (10). Hence, the coordinates of the knee joint, hip joint, neck joint and the head with respect the
reference frame are given by Equations (14), (15), (16) and (17) respectively. And the associated angles
considered were five points from the sit to the stand positions and are as described by Equations (18)-(22).
= (14)
= ; = (15)
= ; = (16)
= ; = (17)
( ) [ ] (18)
= [1050
101.250
97.50
93.750
900
] (19)
= [2780
298.50
3190
339.50
3600
] (20)
= [750
56.250
37.50
18.750
00
] (21)
= [00
00
00
00
00
] (22)
Figure 4. Knee joint locus in the fixed frame during
the movement
Figure 5. Hip joint locus in the fixed frame during
the movement
Figure 4, Figure 5 and Figure 6 show the paths/loci of the knee, hip and neck joints respectively,
with reference to the fixed frame during the sit-to-stand movements from the initial to the final positions.
Figure 7 shows that of the head during the transition, it indicates how the height changes during movement.
All the paths were given with reference to the reference or zero frame. It can be clearly seen that the desired
paths were obtained which means the concept can be continued and the next stage would be determining the
dynamic model. The model can be used for control system design as well as stability analysis.
-14 -12 -10 -8 -6 -4 -2 0 2
48.8
49
49.2
49.4
49.6
49.8
50
50.2
50.4
50.6
50.8
x0
(cm)
y
0
(cm)
0 5 10 15 20 25 30
65
70
75
80
85
90
95
x0
(cm)
y
0
(cm)
8. IJECE ISSN: 2088-8708
Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia …. (Mohammed Ahmed)
3067
Figure 6. Neck joint locus in the fixed frame during
the movement
Figure 7. Head locus in the fixed frame during the
movement
4. CONCLUSION
Kinematic model is the first step towards developing the dynamic model. Besides constituting the
initial building block for the desired dynamic model, the kinematic model also serves to facilitate the study of
various kinematic feasibilities. The dynamic modelling which is usually more tasking can then be developed
and it aids as well in obtaining a configuration with minimal complexity.
The study showed that the 6 DOF closed chain FES aided sit-to-stand maneuver idea could be
implemented conveniently using 4 DOF. Although both branches can be used to achieve the desired
movement goal but branch 2 is easier for analysis. It is because it has its first two links fixed from the
reference, but branch 1 was more relevant because it has the joint to be stimulated which is the basis of the
research. Reason of this assertion was as shown that no additional constrain is needed as depicted after
applying Equation (9) [27], [36] and the loci in Figure 4, Figure 5, Figure 6 and Figure 7 give the intended
paths for the movement. It can be seen that the final points in Figure 6 correspond to the subject height. The 4
DOF has additional single joint compared to earlier works such as that of Fattah et al. [30] and Tsukahara et
al. [31] models which makes it more accurate and flexible; accurate in the sense that it accommodates
addition joint i.e. the neck joint and also more flexible in the sense that if future research uncover more
contributions by the segments it can be easily incorporated most especially that of the truck, neck and upper
limbs.
The work is novel in the sense that it is an improvement over the existing models. And additionally
others are; making it a more gray model (by adding more experimental findings) and adding an outcome
indicating that about 10% of the weight is supported by the upper limbs in paraplegics [37]. It would be
incorporated in the dynamic modelling prior to other studies i. e. controller design and stability analysis.
ACKNOWLEDGEMENTS
“This paper was partly sponsored by the Centre of Graduate Studies UTHM, Office for Research,
Innovation, Commercialization and Consultancy Management, UTHM and ATBU”.
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BIOGRAPHIES OF AUTHORS
Mohammed Ahmed obtained both his Bachelor and Master Degrees in Electrical/Electronics
Engineering at Abubakar Tafawa Balewa University, Bauchi, Nigeria. He is currently pursuing
his PhD.
Dr. Mohammad Saiful Huq received his Doctor of Phylosophy in Control Systems Engineering
at the University of Sheffield, UK. He currently works as a lecturer at Universiti Tun Hussein
Onn Malaysia.
Dr. Babul Salam KSM Kader Ibrahim received: Certificate in Electrical Power Engineering at
Politeknik Port Dickson, Bachelor of Electrical Engineeng at Kolej Universiti Tun Hussein Onn
(Currently Universiti Tun Hussein Onn Malaysia), Master of Engineering (Electrical-
Mechatronic) at Universiti Technology Malaysia and Doctor of Phylosophy in Control Systems
Engineering at the University of Sheffield, UK. He is a lecturer at Universiti Tun Hussein Onn
Malaysia.