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RISS 인기검색어
- 검색키워드
- 저자 : Auralius Manurung (검색결과 6 건)
- 무료
- 기관 내 무료
- 유료
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On a Proxy-Based Control as Multiple Controllers with Feedback Interconnections
Auralius Manurung,Sigit Santoso,Nur Uddin,Lisa Kristiana 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
A proxy-based control, in its core, is two controllers combined in series. This paper presents the fundamental aspects of such a unique control technique. We first establish the main features of a proxy-based control. These features are mainly related to the stability of a controlled system. Additionally, we propose a simple form of a proxy-based control and implement it into a test device for proof of concept. The simple proxy-based control that we propose in this paper is composed of two constant gains (proportional terms) and one integral term to remove the steady-state error. This integral term must be attached to the controller with the lower impedance. We also explore another feature of a proxy-based control during this hardware implementation: how we use one control gain to perform fine-tuning while using the other control gain to maintain system stability. We demonstrate this by adding an adaptation law also to the controller with the lower impedance. All obtained results align with the presented theory.
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Fuzzy Clustering of Temporal Parameters of Gait during Stance Phase for Walking Speed Estimation
Auralius Manurung,Jungwon Yoon 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this study we describe walking speed estimation method using only temporal parameters of gait. Further, this method can be adopted for automatic speed adaptation during walking on treadmill which is useful for gait rehabilitation process and also for navigation in virtual reality environment. The proposed speed estimation method is based on two temporal parameters during stance phase: time duration from heel contact (HC) to heel off (HO) and from heel contact (HC) to toe off (TO). To estimate walking speed, first, data for previously mentioned gait parameters are taken for several walking speed. After that, fuzzy clustering approach is used to identify how those two gait parameters affect walking speed. By using result from fuzzy clustering, subject’s walking speed at any speed can be estimated by computing its membership. This method is inexpensive and easy to implement since it only uses simple foot switch.
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마누룽 오라리우스(Manurung Auralius),윤정원(JungWon Yoon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.5
In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject’s position is maintained within the track when the subject walks at a variable velocity. The subject’s position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.
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Impedance Control of a Small Treadmill with Sonar Sensors for Automatic Speed Adaptation
윤정원,Auralius Manurung,김갑순 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.6
Automatic speed adaptation in treadmill training plays an important role in gait rehabilitation and virtual reality (VR) environments, where the user can adjust his/her speed for improved motivation and an enhanced sense of reality during walking interactions. To implement automatic speed ad-aptation of a treadmill belt, we have developed a novel impedance control scheme that accommo-dates natural movements without mechanical attachments to the user, and can estimate user-treadmill interactive forces to directly detect user intention, while simultaneously maintaining the user’s position on the treadmill platform. The proposed impedance control is realized via user interaction with a fixed virtual spring–damper component, allowing direct acceleration control of the treadmill belt in proportion to user displacement. The technique was applied to a small commercial treadmill (with a belt length of 1.2 m and a width of 0.5 m), which is easily installed and economical to operate, and is widely used in homes and health centers. Inexpensive sonar sensors with a Kalman filter algorithm were employed to measure user motions. To identify the characteristics of the proposed control scheme, a set of experiments was conducted and preliminary user studies with VR interactions were performed. The results of these experiments indicate that our impedance control scheme can provide a non-intrusive, intuitive method for implementing user-selected speed on a small treadmill. The proposed technique is cost-effective, and could potentially be applied to any type of locomotion interface or gait rehabilitation system, without the use of expensive, sophisticated sensors or special treadmills.
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윤정원(Jungwon Yoon),마누룽 오라리우스(Manurung Auralius),윤정환(Jong-Hwan Yoon) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
This paper presents an intuitive interface scheme for controlling a hydraulic backhoe, which is a piece of excavating equipment consisting of a digging bucket on the end of a two-part articulated arm, and typically mounted and rotated on the back of a tractor or front loader. The passive levers/joysticks for actuator operations of a hydraulic backhoe are replaced into electric joysticks with a robotic controller, which will generate the end-effecter command trajectories of the backhoe through joystick rate control in cylindrical coordinate. The developed backhoe with the hydraulic control system showed the maxim position error of 3 cm with intuitive coordinate operations, which would be helpful for conveniently performing various excavating tasks with natural and effective ways.
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