Page 54 - ASME DSCC 2015 Program

Technical Program

Active Control of MR Wearable Robotic orthosis for Pathological current work is to study the use of a four-bar linkage for generating the
Tremor Suppression natural motion of upper-limb reaching tasks with the intention of using this
Invited session paper. DSCC2015-9874 mechanism for rehabilitation. This natural hand motion is described by a
David Case, Behzad Taheri, Edmond Richer, Southern Methodist straight-line trajectory with a smooth bell-shaped velocity profile, which in
University, Dallas, TX, United States turn is generated by the well-established Minimum Jerk Model (MJM). The
goal is to design passive control elements in a four-bar linkage that
Active Control of MR Wearable Robotic Orthosis for Pathological Tremor
generate the required torque for producing the MJM motion. The passive
Suppression
elements are two linear translational springs that act on the driving link of
Indoor Mapping and localization for a Smart Wheelchair using a straight line generating mechanism. A design optimization is used to
Measurements of Ambient Magnetic fields minimize the difference between the desired and actual input spring
Invited session paper. DSCC2015-9915 torque while remaining within the predefined design space. The final
Anthony T. Trezza, nurali n. Virani, Kelilah Wolkowicz, Jason Z. Moore, arrangement is simulated in a Multibody Dynamics software that applies
Sean n. Brennan, Pennsylvania State University, University Park, PA, United feed-forward dynamics to generate the mechanism’s free response to the
States torque generated by the designed linear springs.
The results of this work suggest that systematic design of a four-bar linkage
Freedom of mobility is a crucial aspect of our daily lives. Consequently,
can lead to simple mechanisms that can replicate the natural motion of
engineering solutions for mobility, including smart wheelchairs, are becom-
reaching tasks. Relatively inexpensive linear springs can be employed in
ing increasingly important for those with disabilities. However, the lack of a
the design of passive-active controlled therapeutic mechanisms. Further
reliable solution for indoor localization has affected the pace of research in
investigation that combines analysis of both active and passive control/
this direction. GPS signals cannot be measured indoors and environment
actuation elements must be performed for finalizing the control design.
modifications for wheelchair localization can be expensive and intrusive.
Simulations and analysis that incorporate various impaired hand responses
This research explores the feasibility of using ambient magnetic fields for
must be also performed in order to finalize the design.
indoor localization by exploiting the spatial non-uniformity due to ferromag-
netic objects in ordinary working environments. A non-parametric density 2-2 auToMoTIVe
estimation technique was developed to build magnetic field maps. This 2-2-2 TM6 Automotive 3: Internal Combustion Engines
approach is compared to an existing regression technique. Three different Emerson Burkhart B 1:30pm–3:30pm
dynamic models for the wheelchair are presented and implemented in a
particle-filtering framework. Finally, the efficacy of these mapping techniques Session Organizer: Hamid-Reza ossareh, Ford Motor Company
and motion models, including and excluding odometry information, are com- Session Organizer: Baitao xiao, Ford Motor Company
pared via tracking experiments conducted with a smart wheelchair. Session Organizer: Mahdi Shahbakhti, Michigan Technological University
Analysis and Passive Control of a four-bar linkage for the Session chair: xuefei chen, Chrysler
Rehabilitation of upper-limb Motion Session Co-Chair: Greg Shaver, Purdue University
Invited session paper. DSCC2015-9916
A Control-oriented Jet Ignition Combustion Model for an SI Engine
evagoras xydas, University of Cyprus, Nicosia, Cyprus, loucas louca, Invited session paper. DSCC2015-9687
University of Cyprus, Strovolos, Cyprus, Andreas Mueller, Johannes Kepler
University, Institute For Robotics, Linz, Austria Ruitao Song, Gerald Gentz, Guoming Zhu, Harold Schock, Michigan State
University, East Lansing, MI, United States, Elisa Toulson, Michigan State
In the last two decades robotic rehabilitation research provided significant University, Brighton, MI, United States
insight regarding the human-robot interaction, helped understand the
A turbulent jet ignition system of a spark ignited (SI) engine consists of
process by which the impaired nervous system is retrained to better
pre-combustion and main-combustion chambers, where the combustion
control movements, and led to the development of a number of
in the main-combustion chamber is initiated by turbulent jets of reacting
mathematical and neurophysiological models that describe both the
products from the pre-combustion chamber. If the gas exchange and com-
human motion and the robot control. The human-machine interaction in
bustion processes are accurately controlled, the highly distributed ignition
this research is typically achieved through robotic devices that are based
will enable very fast combustion and improve combustion stability under
on open kinematic chains. These devices have multiple degrees of
lean operations, which leads to high thermal efficiency, knock limit exten-
freedom (DOF), sophisticated computer control, actuation and sensing.
sion, and near zero NOx emissions. For model-based control, a precise
The flexibility of such approach enables the easy implementation of the
combustion model is a necessity. This paper presents a control-oriented
various models and methods that have to be applied in order to maximize
jet ignition combustion model, which is developed based on simplified fluid
the potential of robotic rehabilitation.
dynamics and thermodynamics, and implemented into a dSPACE based
On the other hand, mechanisms with fewer DOF’s that are based on
real-time hardware-in-the-loop (HIL) simulation environment. The two-zone
closed kinematic chains can generate specific, yet adequate trajectories
combustion model is developed to simulate the combustion process in two
for the purposes of robotic rehabilitation. An example of such mechanisms
combustion chambers. Correspondingly, the gas flowing through the orifices
is four-bar linkages that have only 1-DOF but yet can generate paths with
between two combustion chambers is divided into burned and unburned
complex kinematic characteristics. Design and analysis of four-bar
gases during the combustion process. The pressure traces measured from
linkages is used to achieve a variety of kinematics in terms of trajectory,
a rapid compression machine (RCM), equipped with a jet igniter, are used for
54 velocity and acceleration profiles. The simplicity of these mechanisms is initial model validation. The HIL simulation results show a good agreement
appealing and they can be used in rehabilitation due to their ability to
with the experimental data.
replicate the motion of various human joints and limbs. The focus of the