Fault Detection for Motor Drive Control System of Industrial Robots Using CNN-LSTM-based Observers

The complex working conditions and nonlinear characteristics of the motor drive control system of industrial robots make it difficult to detect faults.In this paper,a deep learning-based observer,which combines the convolutional neural network(CNN)and the long short-term memory network(LSTM),is employed to approximate the nonlinear driving control system.CNN layers are introduced to extract dynamic features of the data,whereas LSTM layers perform time-sequential prediction of the target system.In terms of application,normal samples are fed into the observer to build an offline prediction model for the target system.The trained CNN-LSTM-based observer is then deployed along with the target system to estimate the system outputs.Online fault detection can be realized by analyzing the residuals.Finally,an application of the proposed fault detection method to a brushless DC motor drive system is given to verify the effectiveness of the proposed scheme.Simulation results indicate the impressive fault detection capability of the presented method for driving control systems of industrial robots.

Analyzing the Combination Effects of Repetitive Transcranial Magnetic Stimulation and Motor Control Training on Balance Function and Gait in Patients with Stroke-Induced Hemiplegia

Objective:To analyze the effects of repetitive transcranial magnetic stimulation combined with motor control training on the treatment of stroke-induced hemiplegia,specifically focusing on the impact on patients’balance function and gait.Methods:Fifty-two cases of hemiplegic stroke patients were randomly divided into two groups,26 in the control group and 26 in the observation group,using computer-generated random grouping.All participants underwent conventional treatment and rehabilitation training.In addition to these,the control group received repetitive transcranial magnetic pseudo-stimulation therapy+motor control training,while the observation group received repetitive transcranial magnetic stimulation therapy+motor control training.The balance function and gait parameters of both groups were compared before and after the interventions and assessed the satisfaction of the interventions in both groups.Results:Before the invention,there were no significant differences in balance function scores and each gait parameter between the two groups(P>0.05).However,after the intervention,the observation group showed higher balance function scores compared to the control group(P<0.05).The observation group also exhibited higher step speed and step frequency,longer step length,and a higher overall satisfaction level with the intervention compared to the control group(P<0.05).Conclusion:The combination of repetitive transcranial magnetic stimulation and motor control training in the treatment of stroke-induced hemiplegia has demonstrated positive effects.It not only improves the patient’s balance function and gait but also contributes to overall physical rehabilitation.

An Experimental Study on Microcomputer Control of Pump Controlled Motor Systems

Pump controlled motor electrohydraulic servo systems are much used in circumstances where high power drive is needed. This kind of system has the advantage of energy-saving. But, it also has some defects that have to be improved. Microcomputer control of a pump controlled motor electrohydraulic servo system is studied. A PID controller is first adopted on the closed loop control system, and experimental results are obtained. Then, a model reference adaptive controller is designed and realised on the same system applying a single board microcomputer. Experimental results show that the dynamic properties of the adaptive control system is much better than those of the PID system under different inertia load conditions.

Application of Diagonal Recurrent Neural Network toDC Motor Speed Control Systems

A new kind of dynamic neural network--diagonal recurrent neural network (DRNN) and its learning method and architecture are presented. A direct adaptive control scheme is also developed that is applied to a DC (Direct Current) speed control system with the ability to auto-tune PI (Proportion Integral) parameters based on combining DRNN with PI controller. The simulation results of DRNN show better control performances and potential practical use in comparison with PI controller.

LQ Speed Control of Pump Controlled Motor System

A linear quadric (LQ) optimal speed control algorithm is proposed for the speed control of a pump controlled motor hydraulic system. The control theme consists of optimal state feedback and disturbing compensation based on observation. The optimal state feedback bases on LQ cost function. The disturbing compensation is realized through reconstructing the state of load torque. A series of simulation are performed, and the results show that the control performance is satisfactory and can be maintained under changes of load torque.

Design of Communication and Control System for Motor based on DSP

The article is designed hardware platform of TMS320F2812 primary control chip based on the motor drive controller outputs and input signal, the use of DSP technology, together with the corresponding peripheral driver circuit, a signal processing circuit and other processing module, the design and realize a piece of printed circuit board to achieve the required functionality. Systems software modules is implement hardware configuration and achieve control strategies in the DSP CCS compiler environment and using C and assembly language. Through CAN controller that comes with the DSP programming, achieved its CAN signal transmission and reception.

Anti-Windup Control Strategy of Drive System for Humanoid Robot Arm Joint

To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.

The measurement of proprioceptive accuracy:A systematic literature review

Background:Proprioceptive accuracy refers to the individual’s ability to perceive proprioceptive information,that is,the information referring to the actual state of the locomotor system,which originates from mechanoreceptors located in various parts of the locomotor system and from tactile receptors located in the skin.Proprioceptive accuracy appears to be an important aspect in the evaluation of sensorimotor functioning;however,no widely accepted standard assessment exists.In this systematic review,our goal was to identify and categorize different methods that are used to assess different aspects of proprioceptive accuracy.Methods:A literature search was conducted in 5 different databases(PubMed,SPORTDiscus,PsycINFO,ScienceDirect,and SpringerLink).Results:Overall,1139 scientific papers reporting 1346 methods were included in this review.The methods assess 8 different aspects of proprioception:(a)the perception of joint position,(b)movement and movement extent,(c)trajectory,(d)velocity,and the sense of(e)force,(f)muscle tension,(g)weight,and(h)size.They apply various paradigms of psychophysics(i.e.,the method of adjustment,constant stimuli,and limits).Conclusion:As the outcomes of different tasks with respect to various body parts show no associations(i.e.,proprioceptive accuracy is characterized by site-specificity and method-specificity),the appropriate measurement method for the task needs to be chosen based on theoretical considerations and/or ecological validity.

The Sensitivity Adjustment Technique within the Exoskeleton Control System

An exoskeleton system contains a human operator in the control loop,which imposes restrictions on the applied control algorithms and movement speed.Robotics is the central topic of the latest physical artificial intelligence that links computing,biology,chemistry,material science,and mechanical engineering.This study explores the robotic exoskeleton system that contains a human operator in the control loop,which imposes restrictions on the applied control algorithms and movement speed.At the moment,there are several tasks in research projects toward exoskeleton control algorithms.These tasks include consideration of fatigue of a person arising from the control of the exoskeleton over a long period of time.Operator’s fatigue,as a result of the monotonous operations,leads to the fact that the control efficiency decreases and the positioning error will increase over time.Another task when controlling using human biopotentials is a compensation of the influence of the operator’s tremor on the control signal.In addition,a very important factor is the adaptation of actuators to a change in the transient characteristics of external and internal forces.This paper describes the results of tests of an arm exoskeleton device with DC drive located in the elbow joint and a control algorithm based on an electromyogram of the biceps brachii and triceps brachii of the operator.The structure and features of the experimental stand developed in the Laboratory of Robotics and Mechatronics of IP Mech RAS are shown.The sensitivity adjustment technique within the exoskeleton control system is proposed.

Controller Design for Induction and Brushless Motors Using Matlab with Digital Signal Processor (DSP)

The automation process is a very important pillar for Industry 4.0.One of the first steps is the control of motors to improve production efficiency and generate energy savings.In mass production industries,techniques such as digital signal processing(DSP)systems are implemented to control motors.These systems are efficient but very expensive for certain applications.From this arises the need for a controller capable of handling AC and DC motors that improves efficiency and maintains low energy consumption.This project presents the design of an adaptive control system for brushless AC induction and DC motors,which is functional to any type of plant in the industry.The design was possible by implementing Matlab software and tools such as digital signal processor(DSP)and Simulink.Through an extensive investigation of the state of the art,three models needed to represent the control system have been specified.The first model for the AC motor,the second for the DC motor and the third for the DSP control;this is done in this way so that the probability of failure is lower.Subsequently,these models have been programmed in Simulink,integrating the three main models into one.In this way,the design of a controller for use in AC induction motors,specifically squirrel cage and brushless DC motors,has been achieved.The final model represents a response time of 0.25 seconds,which is optimal for this type of application,where response times of 2e-3 to 3 seconds are expected.

Design and Simulation of Controller for Hyper Velocity Kinetic Energy Missile

The controller design and digital simulation for the hyper velocity kinetic energy missile is investigated. A mathematical model of the trajectory deviation from the line of sight was established, the guidance closed loop was compensated with a phase advance lag corrective network, a selecting algorithm of the attitude control motors used to steer the missile's attitude was presented. In the presence of a wide variety of disturbances the results of digital simulation are satisfactory to circular error probability(CEP) being less than 0 5?m. The steering scheme utilizing attitude control motors as actuators to control the attitude of the missile is feasible.

Actively-controlled Beds for Ambulances

During transportation by ambulance, a patient is exposed to inertial acceleration when an ambulance decelerates or turns a corner. Such acceleration often gives a patient physical stress such as blood pressure variation or body sway, which causes strong pain, feeling of discomfort or sometimes critical damage for seriously injured persons. To reduce this undesirable effect of the acceleration, the authors developed the actively-controlled bed （ACB） which controls the posture of a stretcher in real time to reduce foot-to-head and lateral acceleration acting on a supine person. This paper describes development of the ACB, including control system design and performance evaluation. The control system is designed by Zakian＇s framework, which comprises the principle of matching and the method of inequalities, so that the design specifications on the tracking error and the motor torque are satisfied. From the results of driving experiments and simulation, it is estimated that the ACB can reduce the acceleration acting on a patient by 65% in the foot-to-head direction and by 75% in the lateral direction.

Nonlinear Decoupling Control of the Bearingless Induction Motors Based on the Airgap Motor Flux Orientation

The bearingless induction motor, which combines the inductionmotor and magnetic bearing is a strongly coupled complicatednonlinear system; the decoupling control of the electromag- net toqueand readial levitation force is the base of the stable operation ofthe benaringless motor. In this paper, the air-gap motor fluxoriented vector control is proposed to realize the decoupling controlof this nonlinear system even in the transient case based on thelevitation principle. Simulations show the stable suspension and goodperformance of the proposed algorithm.

Impaired motor control after sport-related concussion could increase risk for musculoskeletal injury:Implications for clinical management and rehabilitation

This review presents a conceptual framework and supporting evidence that links impaired motor control after sport-related concussion(SRC)to increased risk for musculoskeletal injury.Multiple studies have found that athletes who are post-SRC have higher risk for musculoskeletal injury compared to their counterparts.A small body of research suggests that impairments in motor control are associated with musculoskeletal injury risk.Motor control involves the perception and processing of sensory information and subsequent coordination of motor output within the central nervous system to perform a motor task.Motor control is inclusive of motor planning and motor learning.If sensory information is not accurately perceived or there is interference with sensory information processing and cognition,motor function will be altered,and an athlete may become vulnerable to injury during sport participation.Athletes with SRC show neuroanatomic and neurophysiological changes relevant to motor control even after meeting return to sport criteria,including a normal neurological examination,resolution of symptoms,and return to baseline function on traditional concussion testing.In conjunction,altered motor function is demonstrated after SRC in muscle activation and force production,movement patterns,balance/postural stability,and motor task performance,especially performance of a motor task paired with a cognitive task(i.e.,dual-task condition).The clinical implications of this conceptual framework include a need to intentionally address motor control impairments after SRC to mitigate musculoskeletal injury risk and to monitor motor control as the athlete progresses through the return to sport continuum.

Optimal Design of Multi-channel Water Cooled Radiator for Motor Controller of New Energy Vehicle

In order to improve the heat dissipation capability of motor controller for new energy vehicles,the water cooled radiator with multiple channels is optimized in this paper.The heat conduction between the heat source IGBT and the radiator,the convective heat transfer between the radiator and the coolant,the mechanical strength and the manufacturing cost are comprehensively considered during the optimization process.The power loss and thermal resistance of the IGBT unit are calculated at first,and finite element model of the radiator is established.On this basis,multi-physics coupling analysis of the water cooled radiator is carried out.Secondly,the sensitivity analysis is applied to verify the influence of structural parameters on the heat dissipation performance of the radiator system.The influence of coolant inlet velocity v,number of cooling ribs n,height of radiator ribs H on the maximum temperature rise T,the temperature difference ΔT between phase U and W,and the coolant pressure lossΔP are analyzed in depth,and the optimal range of the structural parameters for heat dissipation is obtained.Finally,an experimental platform was set up to verify the performance of the proposed structure of water cooled radiator for motor controller of new energy vehicle.The results show that the heat dissipation capability of the proposed radiator is improved compared with the initial design.

Speed-assigned Position Tracking Control of SRM With Adaptive Backstepping Control

A novel speed-assigned method is applied to the position tracking control of switched reluctance motor(SRM).A speed control freedom can be drawn into the position control through speed assignment. Adaptive backstepping control is used to design the position controller for the SRM. The accuracy of position tracking of the SRM can be enhanced with speed assignment. A disturbance observer is further designed to enhance the estimation accuracy of the unknown load torque. Simulation results certify that the design scheme is right and effective.

Post-operative strabismus control and motor alignment for basic intermittent exotropia

AIM：To assess strabismus control and motor ocular alignment for basic exotropia surgery at 5y follow-up.METHODS：The medical records of 80 consecutive patients aged less than 17 years of age,who underwent surgery for basic exotropia by a single surgeon between years 2000 to 2009 and completed a minimum of 5y follow-up post-operatively were reviewed.Pre- and post-operative characteristics were documented at 1wk,6mo,1,3 and 5y follow-up.Subjects at 5-year follow-up were assigned to the success group if they had a postoperative angle of deviation within 10 prism diopters of exotropia or within 5 prism diopters of esotropia for distance on prism cover test,and had moderate to good strabismus control.The remaining subjects were assigned to the failure group.RESULTS：Post-operative surgical success at one week was 75%,which decreased to 41% at 5y follow-up.The success group was noted to have more patching pre-operatively（P=0.003）.The duration of patching a day（P=0.020） and total duration of patching preoperatively（P=0.030） was higher in the success group.Surgical success at 1y（P=0.004） and 3y（P=0.002） were associated with higher surgical success at 5y follow-up.CONCLUSION：Post-operative motor alignment and strabismus control for basic exotropia surgery at 1y and beyond is associated with higher exotropia surgery success at 5-year follow-up.There is an association between pre-operative patching and 5-year surgical success of basic intermittent exotropia surgery.

Neural control of the soleus H-reflex correlates tothe laterality pattern in limbs

BACKGROUND： Previous studies have demonstrated the relationship of lower limb dominance with left- and right-handedness, supporting findings suggest that there is a role for peripheral factors in the neural control of movement. OBJECTIVE： To investigate the effect of laterality pattern on the neural mechanisms of motor control at the peripheral level. DESIGN, TIME AND SETTING： A controlled observation experiment was performed at the Motor Diagnostics Laboratory of the Academy of Physical Education in Katowice, Poland, in June 2009. PARTICIPANTS： Twenty young male adults aged 21-23 years and presenting two laterality patterns in hand-foot combination （right handed-right footed and left handed-left footed groups） took part in the experiment. All participants were carefully screened to eliminate any neurological or muscle disease or trauma. METHODS： The experiment included a laterality evaluation and the motor evoked potentials of dominant and non-dominant limbs. Measures were done through the use of the Hoffmann-reflex （H-reflex） circuitry. The soleus H-reflex parameters elicited at rest in lower extremities were compared. The soleus H-reflex and the direct motor response were elicited in lower extremities of each participant in the same laboratory session. MAIN OUTCOME MEASURES： Onset latencies and min-max amplitudes of the direct motor response and the H-reflex; the motor and sensory conduction velocities; and symmetry coefficients of response parameters. RESULTS： The analysis of symmetry coefficients of direct and late motor responses confirmed differences between two laterality patterns in amplitude and latency of the H-reflex as well as in a sensory conduction velocity （P 〈 0.05）, but not in direct motor response parameters. The amplitude of the H-reflex and the calculated sensory la afferent conduction velocity in the dominant lower extremity were significantly depressed in the right-sided group in comparison to the left-sided group （P = 0.001）. The right-sided group presented significantly higher motor fiber conduction velocity in the dominant leg than in the non-dominant leg （P = 0.006）, with no similar effect in the left-sided group. CONCLUSION： The neural control of the H-reflex elicited at rest is related to the laterality pattern in hand-foot combination in healthy adults. This result strongly suggests the possible existence of intrinsic control mechanisms of afferent feedback related to functional dominance in human limbs.

Research on Direct Torque Control of Permanent Magnet Synchronous Motor for New Energy Vehicles

This article introduces the control principle,technical status and two commonly used motor control schemes of permanent magnet synchronous motors for new energy vehicles.Direct torque control is selected as the research object,and its advantages and disadvantages with vector control are analyzed.A Simulink simulation model was established according to the control principle.

Integrating biomechanical and motor control principles in elite high jumpers： A transdisciplinary approach to enhancing sport performance

Background： In recent years, there has been a proliferation of technology and sport science utilized within an athlete＇s training, especially at the elite level. However, the sport science is a broad field, encompassing disciplines such as biomechanics, motor control and learning, exercise physiology, sports medicine, sport psychology to name a few. Rarely are these disciplines applied in an integrated manner. The purpose of this study was to document the effectiveness of an integrated biomechanics and motor control protocol for improving athlete＇s performance in the high jump. Methods： Four elite high jumpers performed baseline jumps under no^mal conditions and then jumps using a specific external focus of attention cue designed to improve their running posture. Three-dimensional biomeehanical analysis was used to quantify the upright posture throughout the approach as well as horizontal velocity at plant and vertical velocity at takeoff. Results： The results showed that when using the external focus of attention cue, the jumpers were significantly more upright during the approach, had significantly higher horizontal velocities at plant, and generated significantly greater vertical velocities during the takeoff. Conclusion： The results of this study lay the foundation for future work examining how integrating sport science disciplines can improve performance of elite level athletes.