Feedback Control System Research Articles

GALADRIEL: A facility for advancing engineering science relevant to rep-rated high energy density physics and inertial fusion energy experiments.

Many current and upcoming laser facilities used to study high-energy-density (HED) physics and inertial fusion energy (IFE) support operating at high rep-rates (HRRs) of ∼0.1-10Hz, yet many diagnostics, target-fielding strategies, and data storage methods cannot support this pace of operation. Therefore, established experimental paradigms must change for the community to progress toward rep-rated operation. To this end, we introduce the General Atomics LAboratory for Developing Rep-rated Instrumentation and Experiments with Lasers, or GALADRIEL, to serve as a test bed for developing and benchmarking the engineering science advancements required for HRR experiments. GALADRIEL was constructed from the ground up around a commercial 1TW (∼25 mJ in ∼25fs at 800nm) laser with diverse experimental applications in mind. Assembly of the basic framework of GALADRIEL concluded with commissioning shots generating ∼1-4MeV electrons via laser-wakefield acceleration (LWFA) using a nitrogen gas jet. Subsequent LWFA experiments operated at 1Hz, utilized instrument feedback for optimization, and stored all data in a custom-built NoSQL database system. From this database called MORIA, or the MOngodb Repository for Information Archiving, data are retrievable via individual files or en masse by query requests defined by the user. GALADRIEL focuses on outstanding questions in engineering science, including targetry, diagnostics, data handling, environmental and materials studies, analysis and machine learning algorithm development, and feedback control systems. GALADRIEL fills a niche presently missing in the US-based user-facility community by providing a flexible experimental platform to address problems in engineering science relevant to rep-rated HED and IFE experiments.

A model-based microfluidic feedback control system for replicating blood pressure and wall shear stress on the inner surface of common carotid artery induced by external counterpulsation

Replicating the hemodynamic signal of endothelial cells (ECs) induced by an external counterpulsation (ECP) using a microfluidic system is crucial for further studying EC mechanobiology associated with ECP theraphy. However, there is currently no suitable method to construct a microfluidic system that can accurately reproduce the hemodynamic signals including blood pressure (BP) and wall shear stress (WSS) on the inner surface of the common carotid artery following ECP intervention. In this study, we propose a model-based approach to build a microfluidic feedback control system (MFCS), which consists of a microfluidic chip and a pump system (PS) to resolve the above issue. An integrated transfer function (TF) model formed by the expression of the input impedance and the proportion integration differentiation (PID) controller is used to design the microfluidic chip and PS. The performance of the proposed MFCS for replicating the hemodynamic signals is evaluated by flow-field analysis, and calcium ion (Ca2+) response experiments are conducted to validate the functionality of the proposed MFCS for investigating mechanobiological mechanisms.

Process time distribution simulation in robotic assembly line balancing

Feedback control systems utilised in car body construction cause process time variance when compensating for external disturbances. By considering these in robotic assembly line balancing, the risk of cycle time violations can be controlled. This requires knowledge of the underlying process time distributions, which are not known in advance. Therefore, a simulation method is proposed to assess the impact of varying process time distributions on the balancing of robotic assembly lines. The initial step involves acquiring the process times of existing production processes. In the subsequent simulation, these are randomly and repeatedly selected as substitutes for the process times in the balancing of a new robotic assembly line. The impact of process time distribution variations on the result is investigated, and a single solution can be selected. The proposed method is evaluated based on the balancing of a robotic assembly line for a body-in-white rear compartment. Results are compared to normally distributed process times, which is a common assumption for modelling uncertain process times. Both approaches are evaluated utilising actual process time distributions. It is demonstrated that the proposed method yields fewer and less severe underestimations of cycle times, thereby reducing the number of uncontrolled violations of cycle times.

Optical fibre positioning and resonant frequency adjustment using intermittent optical feedback for pre-imaging calibration

Resonance operation of an optical fibre cantilever-based endoscopic scanner is crucial for distortion-free reconstructed images. While feedback control systems have been developed to ensure resonance operation, accurately measuring the location of the vibrating fibre cantilever tip remains challenging. Therefore, we proposed a passive aperture reflector as a sensing mechanism, placed in front of the fibre cantilever for intermittent feedback control. Using the characteristic of the pulse signal reflected from the scan extremities, the driving frequency and the position of the fibre cantilever can be adjusted. For frequency adjustment, both non-proportional and proportional control were conducted, and their results were compared. Besides that, the pulse width and their location with respect to the driving signal were utilised for location adjustment. The findings show that the proportional method with a high coefficient of 5.0 achieves fewer iterations to adjust the driving frequency and closely match it with the resonance frequency. Additionally, the presence of a pulse signal at both positive- and negative-going zero-crossings of the driving signal with similar pulse width ensures the cantilever is centred horizontally. Vertical centring can also be achieved by minimizing the pulse width. The simplicity and passive nature of the apertured metal plate mechanism offer advantages in accurately determining frequency and position.

Frontiers in construction 3D printing: self-monitoring, multi-robot, drone-assisted processes

AbstractTo overcome productivity issues and revolutionize the stagnating construction industry, a large amount of research efforts has been devoted to robot-assisted construction technology. The advancements in robotics including mechanical system design, tool design, digital system design, and numerical control systems design enabled engineers to create complex geometries that are infeasible for conventional construction methods. In addition, innovative robotic systems that utilize mobile platforms, multiple robots, and unmanned aerial vehicles have demonstrated significant promise in fully automating the construction process. This work will provide a perspective on the state-of-the-art applications of robotics in the revolution of construction, where a comprehensive review of the current development of the relevant software and hardware, 3D concrete printing (3DCP), robot-assisted assembly of discrete prefabricated blocks, real-time quality monitoring and feedback control systems, and typical innovative robot-assisted structural designs are conducted. Finally, the limitations of existing robot-assisted construction technology are identified, which leads to several recommendations for future research toward fully automatic construction.

7644 Novel Candidate Genes for SRY-Negative 46,XX Differences of Sex Development with Testicular Differentiation

Abstract Disclosure: M.M. Ferrari: None. M.Y. Nishi: None. A.A. Jorge: None. A.F. Benedetti,: None. R.L. Batista: None. E.S. Silva: None. A. Martinez: None. V. Mericq: None. F.M. Carvalho: None. B.B. Mendonca: None. S. Domenice: None. Introduction: Gonadal development in mammals is a dynamic and complex process, which requires the interaction of multiple factors in a meticulous feedback control and self-regulation system. Defects in genes involved in this process may cause differences of sex development (DSD). In rare cases, the gonads of 46,XX individuals differentiate completely into testes (46,XX testicular DSD, 46,XX TDSD), or with the coexistence of testicular and ovarian tissues in the same individual (46,XX ovotesticular DSD, 46,XX OTDSD). Strategies of large-scale parallel sequencing have enabled the simultaneous analysis of known genes, as well as the identification of novel candidate genes contributing to molecular diagnosis of these conditions. Objective: To establish the molecular diagnosis of a cohort of SRY-negative 46,XX T/OTDSD patients using the whole exome sequencing (WES) technique. Patients and Methods: Twenty-three families (24 patients) were evaluated, 22 patients with sporadic disease, and one family with two affected siblings. Histological diagnosis of OTDSD was confirmed in all patients, except in two with the presumptive (non-histological) diagnosis of TDSD. WES was performed using the Illumina platform. The variants were classified according to ACMG criteria. Results: Six different candidate genes associated with the 46,XX DSD phenotype were identified in the 23 families (26%) studied; all in patients with OTDSD diagnosis. Two variants were classified as likely pathogenic in FLNB and SOX10 genes, and four as VUS in IMMP2L, SOX8, PRKACG, and CLASP1 genes. The unavailability of analysis of case-parent trio samples hampered the classification of some of the novel candidate allelic variants. All these candidate genes were selected as potential causes of OTDSD, based on evidence of direct or indirect interactions of these proteins with SOX9. In the two siblings with 46,XX OTDSD, the allelic variant c.397delT (p.Ser133Leufs*7) in IMMP2L was identified in a heterozygous state and was absent in the unaffected family members (mother and third XY sibling). A potential role of Immp2l had been previously associated with the etiology of XX female-to-male sex reversal in sheep lineage. Conclusion: Although establishing the genetic etiology of gonadal development abnormalities in individuals with 46,XX TDSD/OTDSD remains a challenge, the results of this study generated new information and perspectives on the mechanisms involved in gonadal development. Presentation: 6/3/2024

Self-Adaptive Intelligent Metasurface Cloak System with Integrated Sensing Units.

Metasurfaces, which are ultrathin planar metamaterials arranged in certain global sequences, interact uniquely with the surrounding light field and exhibit unusual effects of light modulation. Many interesting applications have been discovered based on metasurfaces, particularly in invisibility cloaks. However, most invisibility cloaks are limited to working in specific directions. Achieving effectiveness in multiple directions requires the metasurface to be designed with both perception and modulation capabilities. Current multi-directional metasurface cloak systems are implemented with discrete components rather than an integrated sensing component. Here, we propose an intelligent metasurface cloak system that integrates sensing units, resulting in the cloaking effect with the help of a real-time direction sensor and an adaptive feedback control system. A reconfigurable reflective meta-atom based on phase modulation is presented. Sensing units replace parts of the meta-atoms in the designed tunable metasurface, integrating with an FPGA responsible for measuring the direction and frequency of the incident wave, constituting a closed-loop system together with the feedback parts. Experimental results demonstrate that the metasurface cloak system can recognize the different directions of the incoming wave, and can adaptively manipulate the reflected phase of EM waves to conceal objects without any human participation.

A Novel Parallel Control Method for Optimal Consensus of Nonlinear Multiagent Systems.

This work concentrates on the initial introduction of parallel control to investigate an optimal consensus control strategy for continuous-time nonlinear multiagent systems (MASs) via adaptive dynamic programming (ADP). First, the control input is integrated into the feedback system for parallel control, facilitating an augmented system's optimal consensus control with an appropriate augmented performance index function to be established, which is identical to the original system's suboptimal control with a conventional performance index. Second, the feasibility of the proposed control scheme is evaluated based on the policy iteration algorithm, and the convergence of the algorithm is demonstrated. Then, an online learning algorithm becomes available to implement the ADP-based optimal parallel consensus control protocol without prior knowledge of the system. The Lyapunov approach is employed to indicate that the signals are convergent. Ultimately, the experimental data support the theoretical results.

Quantum Fluctuation Theorem for Arbitrary Measurement and Feedback Schemes.

Fluctuation theorems and the second law of thermodynamics are powerful relations constraining the behavior of out-of-equilibrium systems. While there exist generalizations of these relations to feedback controlled quantum systems, their applicability is limited, in particular when considering strong and continuous measurements. In this Letter, we overcome this shortcoming by deriving a novel fluctuation theorem, and the associated second law of information thermodynamics, which remain applicable in arbitrary feedback control scenarios. In our second law, the entropy production is bounded by the coarse-grained entropy production that is inferrable from the measurement outcomes, an experimentally accessible quantity that does not diverge even under strong continuous measurements. We illustrate our results by a qubit undergoing discrete and continuous measurement, where our approach provides a useful bound on the entropy production for all measurement strengths.

Design and fabrication of micro carbon dioxide sensor based on TiO2 thin film

Abstract A micro-electro-mechanical systems (MEMS)-based micro carbon dioxide sensor is fabricated using conventional photolithography, electron beam evaporation, and radio frequency sputtering techniques. The sensor consists of a titanium dioxide sensing layer, interdigital electrodes (IDEs), a platinum resistance temperature detector (RTD), and an aluminium oxide substrate. Given a working temperature greater than 300°C, the resistance of the titanium dioxide sensing layer increases linearly with an increasing carbon dioxide concentration. Fluctuations in the working temperature are detected by the RTD and compensated using a proportional-integral-derivative (PID) feedback control system implemented in LabVIEW. The temperature detection results reveal that the RTD has a sensitivity of 1.3 mV/°C. The sensor is calibrated using a standard carbon dioxide detector and is used to perform carbon dioxide sensing at working temperatures of 300°C, 350°C, and 400°C, respectively. It is shown that the highest sensitivity of (0.179 MΩ/ppm) and fastest response time (15 seconds) are attained at a working temperature of 350°C.

Comparative Analysis of Two Robust Strategies for an Angular Velocity Control System

In this paper, a novel flow control strategy which is the inlet throttled pump was used to design an angular velocity control system for rotary actuator. Inlet throttled systems have good performance in addition to their high efficiency compared to traditional valve controlled systems. The flow in the proposed system is adjusted by a valve that is positioned at the pump inlet with the purpose of reducing the energy loses across the valve. This regulated flow is used then to control the actuator angular velocity. The system was modeled and the open loop stability and performance were studied. In order to improve the system performance, Robust-Proportional-Integral-Derivative (RPID) and structured singular value (Mu) controllers have been designed. The multiplicative uncertainty was analyzed to assess the robustness of the feedback control system where six parameters were considered uncertain within a range of +10%. The robust stability and performance requirements of the closed-loop angular velocity control system were assessed in the frequency domain. The time response of the system showed that the system is stable with both (RPID) and (Mu) controllers. The Mu controller can handle parametric uncertainty without requiring pure integral term which is a significant advantage over the (RPID) controller. On the other hand, the (RPID) controller could achieve robust performance, making it much suitable for systems that require high levels of performance and robustness. In summary, the the (RPID) and Mu controller is a more comprehensive solution for ensuring the best performance of a system. The results for each (RPID) and Mu-controllers showed no oscillations, zero percent overshoot. Each of the (RPID) and Mu-controllers meets the robustness needs. Index Terms— Pump, valve, inlet throttling valve, angular velocity control, robust control, Mu synthesis, D-K iteration, RPID controller .

Percolation-Induced PT Symmetry Breaking.

We propose a new avenue in which percolation, which has been much associated with critical phase transitions, can also dictate the asymptotic dynamics of non-Hermitian systems by breaking PT symmetry. Central to it is our newly designed mechanism of topologically guided gain, where chiral edge wave packets in a topological system experience non-Hermitian gain or loss based on how they are topologically steered. For sufficiently wide topological islands, this leads to irreversible growth due to positive feedback from interlayer tunneling. As such, a percolation transition that merges small topological islands into larger ones also drives the edge spectrum across a real to complex transition. Our discovery showcases intriguing dynamical consequences from the triple interplay of chiral topology, directed gain, and interlayer tunneling, and suggests new routes for the topology to be harnessed in the control of feedback systems.

Enhanced Multi-UAV Formation Control and Obstacle Avoidance Using IAAPF-SMC

In response to safety concerns pertaining to multi-UAV formation flights, a novel obstacle avoidance method based on an Improved Adaptive Artificial Potential field (IAAPF) is presented. This approach enhances UAV obstacle avoidance capabilities by utilizing segmented attraction potential fields refined with adaptive factors and augmented with virtual forces for inter-UAV collision avoidance. To further enhance the control and stability of multi-UAV formations, a Sliding Mode Control (SMC) method is integrated into the IAAPF-based obstacle avoidance framework. Renowned for its robustness and ability to handle system uncertainties and disturbances, the SMC method is combined with a feedback control system that utilizes inner and outer loops. The outer loop generates the desired path based on the leader’s state and control commands, while the inner loop tracks these trajectories and adjusts the follower UAVs’ motions. This design ensures that obstacle feedback is accounted for before the desired state information is received, enabling effective obstacle avoidance while maintaining formation integrity. Integrating leader-follower formation control techniques with SMC-based multi-UAV obstacle avoidance strategies ensures the effective convergence of the formation velocity and spacing to predetermined values, meeting the cooperative obstacle avoidance requirements of multi-UAV formations. Simulation results validate the efficacy of the proposed method in reaching otherwise unreachable destinations within obstacle-rich environments, while ensuring robust collision avoidance among UAVs.

Study on penetration depth in laser welding: A process information database-based control strategy and OCT measuring verification

Penetration depth acts as a crucial indicator reflecting laser welding quality, thus the control of its stability and the perception of its fluctuation state are increasingly garnering attention. This paper proposes a process information database-based control strategy for penetration depth, and the control validity is verified through penetration depth detection utilizing optical coherence tomography (OCT). The process information database stores diverse expected penetration depth knowledge formed by a substantial quantity of varying welding speeds with fixed other process parameters under undisturbed welding conditions. In the database, the stable average values inside the standard penetration depth information and the corresponding heat input (HI) values are connected and mapped via an artificial neural network (ANN). In response to abnormal variations in the penetration depth curve caused by interferences during welding, according to the HI gap predicted by the trained ANN from the penetration depth gap arising from the curve deviation, the control unit can calculate the new welding speed required to feed the penetration depth curve back to within the steady fluctuation range. Based on OCT, the keyhole depth signal is acquired, and a deep belief network is built to predict the penetration depth curve via the correlation between the reconstructed keyhole depth obtained by ensemble empirical mode decomposition and the penetration depth. This detection method demonstrates that the penetration depth curve can be controlled accurately. Finally, a closed-loop real-time feedback control system for penetration depth is established.

Dynamic uncertainty propagation analysis framework for nonlinear control problem based on manifold learning and optimal polynomial method and its application on active suspension system

A novel uncertainty propagation method based on manifold learning and optimal polynomial model is proposed to quantify and analyze the dynamic uncertainties of the nonlinear feedback control system. To deal with the multiple objectives and constraints of the nonlinear control problem, a barrier Lyapunov-function-based nonlinear filtered backstepping controller is developed and applied to active suspension system to obtain superior ride comfort performance under limited structural constraints. Considering the errors in the production, manufacturing, and assembly, the probability density function is employed to quantify the structural parameter uncertainties in the nonlinear control system. Moreover, to reveal the dynamic propagation mechanism of uncertainties in the system with nonlinearity, the manifold learning method is proposed to reduce the dimensionality of the dynamic system to avoid the complexity of uncertainty propagation. Simultaneously, data-driven optimal polynomial model is utilized to accurately approximate the internal mechanism of nonlinear filtered backstepping control system. Based on that, the response uncertainties of the nonlinear control system are accurately and quickly quantified through dynamic moment information and uncertain fluctuation space. Finally, an active suspension system with nonlinearities and uncertainties is developed to verify the effectiveness of the controller with improved ride comfort and better handling safety and the superiority of the framework in terms of efficiency and accuracy of the dynamic uncertainty propagation analysis for nonlinear control problem.

[formula omitted]OWCh: Optimally Windowed Chirp rheometry using combined motor transducer/single head rheometers

Recent advances in rheometry exploiting frequency-modulated (chirp) waveforms have dramatically reduced the time required to perform linear viscoelastic characterisation of complex materials. However, the technique was optimised for ‘separate motor transducer’ instruments, in which the drive motor imposing the strain deformation is decoupled from the torque transducer. Whilst the use of optimised windowed chirps (OWCh) using other rheometers has been recently reported in the literature, no systematic study concerning the use of ‘combined motor transducer’ instruments (in which the motor and transducer subsystems are integrated into a single ‘head’) has been undertaken. In the present study, we demonstrate the use of OWCh rheometry using combined motor transducer/single-head rheometers using a stress-controlled operating principle, thus avoiding the reliance on complicated and instrument-specific feedback control systems that would be required to perform strain-controlled experiments. The use of stress-controlled chirps requires a modification to the established OWCh analysis protocol such that the complex viscosity η∗(ω) is used as an intermediate proxy function for ultimately computing the complex modulus G∗(ω). This approach negates the effect of the strain offset that is inherent to stress-controlled oscillatory rheometry. Secondly, a correction algorithm and operational criteria for identifying inertial artefacts is established before we consider the impact of chirp digitisation on data acquisition. The use of stress-controlled OWCh rheometry (which we term Stress-OWCh, i.e. σOWCh) is demonstrated for a diverse range of material classes including, Newtonian calibration fluids (silicone oil), polymer solutions (polyethylene oxide in water), an entangled polymer melt (polydimethylsiloxane), worm-like micellar systems (cetylpyridinium chloride/sodium salicylate), time-evolving critical gels (gelatin) and aging elastoviscoplastic materials (Laponite®). This novel implementation of chirp waveforms using a single-head rheometer will facilitate the wider adoption of OWCh rheometry and allow the benefits of frequency-modulation techniques to be exploited where separate motor transducer instruments are unavailable/unsuitable.

CyberUnits Bricks: An Implementation Study of a Class Library for Simulating Nonlinear Biological Feedback Loops

Feedback loops and other types of information processing structures play a pivotal role in maintaining the internal milieu of living organisms. Although methods of biomedical cybernetics and systems biology help to translate between the structure and function of processing structures, computer simulations are necessary for studying nonlinear systems and the full range of dynamic responses of feedback control systems. Currently, available approaches for modelling and simulation comprise basically domain-specific environments, toolkits for computer algebra systems and custom software written in universal programming languages for a specific purpose, respectively. All of these approaches are faced with certain weaknesses. We therefore developed a cross-platform class library that provides versatile building bricks for writing computer simulations in a universal programming language (CyberUnits Bricks). It supports the definition of models, the simulative analysis of linear and nonlinear systems in the time and frequency domain and the plotting of block diagrams. We compared several programming languages that are commonly used in biomedical research (S in the R implementation and Python) or that are optimized for speed (Swift, C++ and Object Pascal). In benchmarking experiments with two prototypical feedback loops, we found the implementations in Object Pascal to deliver the fastest results. CyberUnits Bricks is available as open-source software that has been optimised for Embarcadero Delphi and the Lazarus IDE for Free Pascal.

A semi-active adaptive pneumatic vibration isolator based on frequency response analysis and nonlinear control

In this work, an adaptive nonlinear error feedback controller based on fuzzy state observer is proposed to a novel rubber pneumatic vibration isolator (PVI) system. First, a novel rubber PVI system is designed and developed. Harmonic balance method is applied to establish the dynamic model of the PVI system, so as to analyze the frequency response characteristics of the system. Second, to improve the PVI performance in low-frequency vibration, a nonlinear state error feedback control system based on fuzzy state observer is designed for the active PVI system. Furthermore, the experiment system is established. Finally, through the experimental comparison under 5 Hz, 7 Hz, 20 Hz, and 40 Hz, an adaptive PVI strategy is proposed. The experimental results demonstrate that the adaptive PVI shows better performance in vibration isolation.

Virtual feedback control of interior road noise based on headrest loudspeakers

This paper analyzes the factors that affect the noise reduction performance of feedback control based on remote microphone technique (RMT) and how these factors can be exploited to improve the control performance. First, simulations were conducted to compare the noise reduction performance of employing feedback control directly at the virtual microphone (located at the ear position) and on the physical microphone (located on the headrest), as well as the RMT-based feedback control system. Then the impact of the delay of the virtual secondary path and the coherence between physical and virtual signals on the noise reduction performance of the RMT-based feedback control system was analyzed. It is found that the noise reduction performance can be improved by reducing the delay of the virtual secondary path or increasing the number of physical microphones. Finally, experiments of a dual-channel control system conducted inside an electric car cabin demonstrate that the feedback control strategy based on RMT achieves a binaural noise reduction of 3.4 dBA when employing 4 physical microphones to estimate sound pressure at the ear positions. This approach achieves similar performance but is more cost-effective than a feedforward system using multiple reference sensors.

Feedback control of heart rate during robotics-assisted tilt table exercise in patients after stroke: a clinical feasibility study

BackgroundPatients with neurological disorders including stroke use rehabilitation to improve cognitive abilities, to regain motor function and to reduce the risk of further complications. Robotics-assisted tilt table technology has been developed to provide early mobilisation and to automate therapy involving the lower limbs. The aim of this study was to evaluate the feasibility of employing a feedback control system for heart rate (HR) during robotics-assisted tilt table exercise in patients after a stroke.MethodsThis feasibility study was designed as a case series with 12 patients (n=12\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$n = 12$$\\end{document}) with no restriction on the time post-stroke or on the degree of post-stroke impairment severity. A robotics-assisted tilt table was augmented with force sensors, a work rate estimation algorithm, and a biofeedback screen that facilitated volitional control of a target work rate. Dynamic models of HR response to changes in target work rate were estimated in system identification tests; nominal models were used to calculate the parameters of feedback controllers designed to give a specified closed-loop bandwidth; and the accuracy of HR control was assessed quantitatively in feedback control tests.ResultsFeedback control tests were successfully conducted in all 12 patients. Dynamic models of heart rate response to imposed work rate were estimated with a mean root-mean-square (RMS) model error of 2.16 beats per minute (bpm), while highly accurate feedback control of heart rate was achieved with a mean RMS tracking error (RMSE) of 2.00 bpm. Control accuracy, i.e. RMSE, was found to be strongly correlated with the magnitude of heart rate variability (HRV): patients with a low magnitude of HRV had low RMSE, i.e. more accurate HR control performance, and vice versa.ConclusionsFeedback control of heart rate during robotics-assisted tilt table exercise was found to be feasible. Future work should investigate robustness aspects of the feedback control system. Modifications to the exercise modality, or alternative modalities, should be explored that allow higher levels of work rate and heart rate intensity to be achieved.