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An Assist Level Adjustment Method of an Active Shoulder Orthosis
Kazuo Kiguchi,Kiyotaka Izumi,Keigo Watanabe,Toshio Fukuda 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.2
The shoulder motion is an extremely important part of the self-hand motion. Concentrating on this fact, we have developed an exoskeleton type active shoulder orthotic system for the rehabilitation and motion assist activities for the physically handicapped people. The proposed active orthosis is supposed to be directly attached to a patient and automatically assist the shoulder flexion-extension and abduction-adduction motions of the patient in rehabilitation and daily activities. In the proposed active orthotic system, electromyogram (EMG) signals of the shoulder muscles are monitored and used to control the motion of the orthosis. Fuzzy-neuro control method has been applied for the control of the proposed active orthotic system so that the physical and physiological condition of individual patients can be taken into consideration. In this paper, an effective assist level (the support level) adjustment method for the active shoulder orthosis is proposed. In the controller adaptation process, the assist level can be adjusted until the amount of patient"s EMG signals of the shoulder muscles reaches the desired level. The desired EMG levels of the shoulder muscles are decided for each patient based on his/her physical and physiological condition. Consequently, the desired amount of power assist can be delivered for the patient to perform the shoulder flexion-extension and abduction-adduction motions in rehabilitation and daily activities.
Masatoshi Ogawa,Hiroshi Endo,Hiroyuki Fukuda,Hiroyoshi Kodama,Toshio Sugimoto,Takeshi Horie,Tsugito Maruyama,Masao Kondo 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
A cooling control method based on a model predictive control (MPC) for a modular datacenter utilizing the fresh-air is proposed. The proposed method reduces the total energy consumption of information technology (IT) equipment and cooling facilities in the data center, while considering a relationship between energy-savings and the temperature information of IT equipment. This method based on MPC controls the central processing unit (CPU) temperature in servers by facility fans for cooling. To design the proposed method, it is developed a prediction model that represents the CPU temperature by the revolution speed of facility fans, the fresh-air temperature, utilization of servers, and other factors. Furthermore, the proposed control method is applied to the actual modular data center. The energy consumption of the proposed method is compared with that of a traditional method, which has controlled the temperature difference between the inlet and outlet of the server racks based on proportional integral (PI) control. Actual comparison experiments with traditional method are provided to validate effectiveness of the proposed method. The results show that the proposed method realizes energy-savings of more than 20% compared to the traditional control method in the actual modular datacenter.