Mechanical Engineering - Research Publications
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ItemEvaluating Rehabilitation Progress Using Motion Features Identified by Machine Learning(IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2021-04)Evaluating progress throughout a patient's rehabilitation episode is critical for determining the effectiveness of the selected treatments and is an essential ingredient in personalised and evidence-based rehabilitation practice. The evaluation process is complex due to the inherently large human variations in motor recovery and the limitations of commonly used clinical measurement tools. Information recorded during a robot-assisted rehabilitation process can provide an effective means to continuously quantitatively assess movement performance and rehabilitation progress. However, selecting appropriate motion features for rehabilitation evaluation has always been challenging. This paper exploits unsupervised feature learning techniques to reduce the complexity of building the evaluation model of patients' progress. A new feature learning technique is developed to select the most significant features from a large amount of kinematic features measured from robotics, providing clinically useful information to health practitioners with reduction of modeling complexity. A novel indicator that uses monotonicity and trendability is proposed to evaluate kinematic features. The data used to develop the feature selection technique consist of kinematic data from robot-aided rehabilitation for a population of stroke patients. The selected kinematic features allow for human variations across a population of patients as well as over the sequence of rehabilitation sessions. The study is based on data records pertaining to 41 stroke patients using three different robot assisted exercises for upper limb rehabilitation. Consistent with the literature, the results indicate that features based on movement smoothness are the best measures among 17 kinematic features suitable to evaluate rehabilitation progress.
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ItemExtremum Seeking From 1922 To 2010(IEEE, 2010)Extremum seeking is a form of adaptive control where the steady-state input-output characteristic is optimized, without requiring any explicit knowledge about this input-output characteristic other than that it exists and that it has an extremum. Because extremum seeking is model free, it has proven to be both robust and effective in many different application domains. Equally being model free, there are clear limitations to what can be achieved. Perhaps paradoxically, although being model free, extremum seeking is a gradient based optimization technique. Extremum seeking relies on an appropriate exploration of the process to be optimized to provide the user with an approximate gradient, and hence the means to locate an extremum. These observations are elucidated in the paper. Using averaging and time-scale separation ideas more generally, the main behavioral characteristics of the simplest (model free) extremum seeking algorithm are established.
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ItemControlling DC microgrids in communities, buildings and data centers(Institution of Engineering and Technology, 2020-06-01)Microgrid technology is poised to transform the electricity industry. In the context of commercial/domestic buildings and data centers, where most loads are native direct current, DC microgrids are in fact a natural choice. Voltage stability and current/power-sharing between sources within a DC microgrid have been studied extensively in recent years. DC voltage droop control is known to have its drawbacks in that current or power-sharing is relatively poor. To eliminate this drawback, some have proposed to add a communication-based consensus control in addition to the primary voltage droop control loop. The current sharing performance is improved, however, the voltage deviation inherent in droop control requires a further, slower control to achieve voltage quality control. To overcome this complication, and reduction in response time, a low latency communication-based control technique that achieves proportional current sharing without significant voltage deviations is proposed in this work. The stability of the proposed control technique is compared to state-of-the-art using eigenvalue and transient analyses. The negative impact of communication delays on proposed control is discussed in detail.
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ItemEffective Assessments of a Short-Duration Poor Posture on Upper Limb Muscle Fatigue Before Physical Exercise(Frontiers Media, 2020-10-06)A forward head and rounded shoulder posture is a poor posture that is widely seen in everyday life. It is known that sitting in such a poor posture with long hours will bring health issues such as muscle pain. However, it is not known whether sitting in this poor posture for a short period of time will affect human activities. This paper investigates the effects of a short-duration poor posture before some typical physical activities such as push-ups. The experiments are set up as follows. Fourteen male subjects are asked to do push-ups until fatigue with two surface electromyography (sEMG) at the upper limb. Two days later, they are asked to sit in this poor posture for 15 min with eight sEMG sensors located at given back muscles. Then they do the push-ups after the short-duration poor posture. The observations from the median frequency of sEMG signals at the upper limb indicate that the short-duration poor posture does affect the fatigue procedure of push-ups. A significant decreasing trend of the performance of push-ups is obtained after sitting in this poor posture. Such effects indicate that some parts of the back muscles indeed get fatigued with only 15 min sitting in this poor posture. By further investigating the time-frequency components of sEMG of back muscles, it is observed that the low and middle frequencies of sEMG signals from the infraspinatus muscle of the dominant side are demonstrated to be more prone to fatigue with the poor posture. Although this study focuses only on push-ups, similar experiments can be arranged for other physical exercises as well. This study provides new insights into the effect of a short-duration poor posture before physical activities. These insights can be used to guide athletes to pay attention to postures before physical activities to improve performance and reduce the risk of injury.
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ItemPV Controller Modification and its Impact on Assisting PV Penetration(ACM, 2020-06-12)Large-scale penetration of grid-following inverters into the electricity network presents various technical challenges to grid reliability. It is well-known that the ability of a grid to maintain a stable frequency is inhibited by adding traditional grid-tied photovoltaic (PV) generators. In this work, a detailed model of a simplified grid is presented, and it is shown that the proportion of PV generation and instability are positively correlated. The main instability phenomenon is captured by a Hopf Bifurcation in the field dynamics of the synchronous generator. Such a Hopf bifurcation severely constricts the feasible operating domain of the grid and may hinder normal operation. Modifying traditional grid-tied PV controllers and its impact on grid stability is assessed through small-signal, bifurcation and transient numerical analysis. Traditional PV controllers that are modified to virtual synchronous machine (VSM) type controllers show improvement in system damping. Unlike traditional grid-tied inverters, VSM inverters participate in critical modes of the synchronous generator (SG) and augment the operational domain of the SG+VSM system significantly, more importantly, almost eliminating the need for renewable energy curtailment. A case-study approach is used to present some key results on improvements in damping ratio, feasibility domain and transient stability. Finally, a feasibility domain curve is introduced and discussed in an aim to generalize the overall stability of any such system.
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ItemExtremum Seeking Control with Sporadic Packet Transmission for Networked Control Systems(IEEE, 2020-06)Extremum Seeking Control (ESC) is a data-driven optimization technique that can steer a dynamic plant towards an extremum of an unknown but measurable, input to steady-state map. In the context of Networked Control Systems (NCS) a new implementation method for ESC inspired by the well known Luus-Jaakola algorithm is proposed. The main motivation is to minimize the communication burden associated with the search phase of ESC. In the proposed method the controller only requires a notification of a change registered at the sensor, rather than the full information available at the sensor. This event based approach leads to sporadic packet transmission. In addition the proposed method is able to directly account for constraints whilst seeking for the desired extremum. The constraints may be of the inequality or equality type. The algorithm's behavior is illustrated on a networked water pump control system.
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ItemLearning control in robot-assisted rehabilitation of motor skills–a review(Informa UK Limited, 2016-01-02)
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ItemA Comparative Testing Study of Commercial 18650-Format Lithium-Ion Battery Cells(ELECTROCHEMICAL SOC INC, 2015)