Motion Control Module Research Articles

Modulation of intrinsic and reflexive contributions to low-back stabilization due to vision, task instruction, and perturbation bandwidth.

The goal of this study is to assess how reflexes and intrinsic properties contribute to low-back stabilization and modulate with conditions. Upper body sway was evoked by anterior-posterior platform translations, while subjects were seated with a restrained pelvis and free upper body. Kinematic analysis of trunk translations and rotations illustrated that a fixed rotation point between the vertebrae L4 and L5 adequately captures lumbar bending up to 5 Hz. To investigate the motor control modulation, the conditions varied in vision (eyes open or closed), task instruction (Balance naturally or Resist perturbations by minimizing low-back motions), and perturbation bandwidth (from 0.2 up to 1, 3 or 10 Hz). Frequency response functions and physiological modeling parameters showed substantial modulation between all conditions. The eyes-open condition led to trunk-in-space behavior with additional long-latency visual feedback and decreased proprioceptive feedback. The task instruction to resist led to trunk-on-pelvis stabilization behavior, which was achieved by higher co-contraction levels and increased reflexive velocity feedback. Perturbations below the low-back natural frequency (~1 Hz) led to trunk-on-pelvis stabilization behavior, mainly attributed to increased intrinsic damping. This indicates that bandwidth effects should not be ignored and that experiments with high-bandwidth perturbations do not fully represent the intrinsic and reflexive behavior during most (low-bandwidth) daily life activities. The neck stabilized the head orientation effectively (head rotation amplitudes 2 % of trunk), but did not effectively stabilize the head in space (global head translations exceeded trunk translations by 20 %). This indicates that low-back motor control is involved in head-in-space stabilization and could explain the low-back motor control modulations due to vision.

2A2-N08 Modular Quadruped Control and Simulation Platform

A low complexity and low cost modular quadruped platform is proposed for simulation, control, and experimentation. The modular design is possible due to the use of digitally configurable smart servomotors. A simulation integrated modular software framework used in conjunction with the hardware platform to provide online and offline control, simulation, and optimization. The framework is split into independent platform control, motor control, communications, and simulation modules that are tightly interconnected despite a high level of abstraction. Data control mechanisms are implemented to maintain time wise synchronization while allowing independent update rates.

Design of the Independent Rescue System Based on the Passive Sound Source Localization and Machine Vision

The purpose of this paper is to design a family or battlefield independent rescue system which is based on passive sound source localization and machine vision, The system consists of five modules: the sound acquisition and processing module based on FPGA, image acquisition and processing module based on TMS320DM6437, video capture and communication control module based on TMS320DM355, motion control module based on MSP430F149, PC server and smart handheld mobile client. It can track target person who need help automatically by recognizing his voice and image, to provide emergency medicines, communication tools, and transmit real-time video information to a server on PC and a mobile client on Andriod platform by wireless network, and be controlled remotely.

Developing an Open Architecture and Intelligent System for Speed and Direction Controlling (PC-SDC) of DC Motors

This paper presents a practical PC-based speed and direction controller (PC-SDC) for controlling DC motors. Developing PC-SDC is dependent on open architecture and intelligence features. Open architecture feature refers to apply the same firmware components of this PC-SDC with different types of DC motors and sensory systems. Intelligence feature is achieved by applying the collect-process-decide-deliver-instructions (CPDDI) model. The suggested CPDDI model is the real software implementation of moment perspective of a new intelligence model called “Accumulative Intelligence”. CPDDI can control DC motor via bi-directional communication channels with two practical in-house designed firmware systems. The first system is μC-based feedback speed monitoring module (FSMM) system which collects speed data (i.e., pulses count) for this DC motor by using a PIC μC-based encoder sensory system. The second system is μC-based motor control module (MCM) to control this DC motor via different intelligent rules. These rules control DC motors according to previous moving state and next required moving state. Real-time feature is investigated via two performance metrics; ART and SMT. Also, the effectiveness of the proposed PC-SDC system is investigated by a comparison between pulses count that is measured practically by FSMM system and real pulses count that is gathered from an oscilloscope.

Ethernet Node Controller for Main Reflector of Radio Telescope

An Ethernet node controller for main reflector of radio astronomical telescope is provided. The controller completes the communication with the main control PC, as well as control and monitoring of actuators through Ethernet and embedded technology. The system is made up of embedded processor and peripheral circuit, Ethernet communication module, power management module, motor control feedback module, data storage and time module, display module, motor control module and interface circuit. The controller uses LPC2368 as the core, DM9161 as the network communication physical layer chip, FM3130 to realize of data storage and real-time clock function. Motor controller can store the control algorithm and control data. And through the Ethernet receive and process control command and control data from the control PC to implement the control of actuators. At the same time, the controller also has regular state detection and alarm function, through the manual control module to achieve positive or reversal control operation of the corresponding channel actuators motor.

Design and experimental study of the control system for precision seed-metering device.

The precision seeding technique has been developed at full speed along with the continuous development of new agricultural technologies, especially those concerning cultivated patterns. The seed-metering device is the key component of a precision seeder. A ground wheel is used to drive the seed-metering device of the conventional direct seeder. However, the wheel bears high resistance and easily slips. Moreover, the adjustment of the precision seeder’s seeding rate is more difficult. In order to solve these problems, a control system which could keep the rotational speed of the seed-metering device consistent with the seeder’s working speed for the precision seed-metering device was designed. The control system includes a Hall sensor, a single chip microcomputer system, a motor control module, a stepper motor and a display. The control system used a Hall sensor to measure the seeder’s working speed and employed a single chip microcomputer system to predict the rotational speed of seed-metering device. It would then determine the relationship between the seeder’s working speed and the rotational speed of the seed metering-device according to the seeder’s working state, distance between seeds and the requirement of sowing rate. The system could effectively reduce the influence of inhomogeneous sowing caused by the ground wheel’s slipping. The system was found to be reliable by the experiment. The seeding control system could also make the speed of the seed-metering device and seeder’s uniform, improving the uniformity of the amount of seeding, and achieving the goal of design. This new design provides a platform to solve problems of the seed-metering device and the seeder. Keywords: agricultural machinery, precision seeder, seed-metering device, sensor, control system, stepper motor DOI: 10.3965/j.ijabe.20140703.002 Citation: Zhai J B, Xia J F, Zhou Y, Zhang S. Design and experimental study of the control system for precision seed-metering device. Int J Agric & Biol Eng, 2014; 7(3): 13－18.

Multi-Step Learning to Search for Dynamic Environment Navigation

While navigation could be done using existing rule-based approaches, it becomes more attractive to use learning from demonstration (LfD) approaches to ease the burden of tedious rule designing and parameter tuning procedures. In our previous work, navigation in simple dynamic environments is achieved using the Learning to Search (LEARCH) algorithm with a proper feature set and the proposed data set refinement procedure. In this paper, the multi-step learning approach with goal-related information is proposed to further capture the successive motion behavior of the user in complex environments. The behaviors of the demonstrator could be matched by the motion control module in which policies of the demonstrator are well captured.

A New Design of Circular Li-Ion Battery Sorting Equipment Based on High-Speed Robot

This paper mainly describes the development work of the Li-Ion battery sorting equipment based on the Delta-S parallel robot to satisfy the manufacturing requirements. The system functional requirements are analyzed to determine the general framework of the equipment. The parallel robot is detailed designed as the core part. The 3-4-5 times polynomial motion law is adopted to optimize the motion of Delta-S parallel robot. Additionally, the control system based on PLC assisted with motion control module is proposed to realize automation production. The experimental results show that this equipment can meet the needs for sorting efficiency of battery industry, and will have a significant effect on the application of original technology of parallel robot.

Parietal network underlying movement control: disturbances during subcortical electrostimulation

Our understanding of brain movement control has changed over the last two decades. Recent findings in the monkey and in humans have led to a parallel and interconnected network. Nevertheless, little is known about these networks. Here, we present two cases of patients with a parietal low-grade glioma. They underwent surgery under local anesthesia with cortical and subcortical mapping. For patient 1, subcortical electrostimulation immediately posterior to thalamocortical fibers induced movement disorders, with an inhibition of leg and arm movements medially and, more laterally, an acceleration of arm movement. For patient 2, electrostimulation of white matter immediately posterior to thalamocortical fibers induced an inhibition of both arm movement. It means that the detected fibers in the parietal lobe may be involved in the motor control modulation. They are distributed veil-like immediately posterior to thalamocortical pathways and could correspond to a fronto-parietal movement control subnetwork. These two cases highlight the major role of the subcortical connectivity in movement regulation, involving parietal lobe, thus the necessity to be identified and preserved during brain surgery.

Two Axes Micromouse PWM Generator Based on FPGA

This document explains and demonstrates how to design two axes micromouse PWM generator based on FPGA, the top module based on FPGA is divided into Motor Control module, address decoder, mux output and bi-directional buffer module. Simulation results of every module illustrate the design can be very good to meet the fast exploration and dashing requirements of micromouse.

Performance Analysis of Generalized Extended State Observer in Tackling Sinusoidal Disturbances

In this paper, performance analysis of generalized extended state observer (ESO) in handling fast-varying sinusoidal disturbances is presented. It is shown that the higher order ESO offers improvement in the tracking of fast-varying sinusoidal disturbances, if the ESO bandwidth is chosen significantly larger than the frequency of the disturbance and ensuring that it is sufficiently smaller than unmodeled high frequency dynamics. The frequency and time-domain analysis results are presented, and the findings are verified through numerical simulations and experimentation on Quanser's motion control module.

LED Chips Locating Algorithm Based on Wavelet Transformation

LED chips position is of crucial significance in chip testing, scribing, die spreading, and die bonding. It’s a great solution to indicate electrical characteristics of chips, examine whether the chip pins are up to the standard, and distinguish LED chip quality. Concerning this, an LED chip positioning method based on wavelet transform is proposed in this paper. Firstly, CCD, light and motion control module are adopted to construct and acquire the visual system of LED chip images. Then the images are processed with lowpass filtering and normalization to obtain Hi-Q chips image, and image features are extracted by further using multi-scale wavelet transform. Lastly, high accuracy positioning of LED chips is achieved by employing high-accuracy point pattern matching algorithm. Experimental results show that the LED chip image positioning error is less than 1μm and the position speed is faster than 5 particles per second, which offer new approaches for high-accuracy chip positioning system of detection machines, sorting machines, die bonders, etc.

Design of Automatic Tracking System Based on FPGA and Binocular Vision

An intelligent system with automatic tracking function based on FPGA and binocular vision was designed. The system can be divided into five parts, and they are the image acquisition and processing module, moving target detection module, motion control module, moving target tracking module, and the depth information computing module. The basic design theory and the structure of each component were analyzed from software and hardware.

Software Design of Smart Car Tracking with Camera

The software design ideas of smart car tracking with camera are described. The following modules are discussed: the main function structure, the initialization of each module, road information collecting module, road information processing module, servo control module and motor control module. The repeated debugging and the real operation of the smart car show that it can accurately collect the road information, control flexibly, run stably, and its velocity reaches 2.2m/s.

Design of Smart Rescue Robot Based on ARM Remote Control

CPU uses STM32F103RBT6 as core human thermal infrared sensors, ultrasonic sensors and temperature sensors as detection systems, motion control module as the power system, real-time monitoring and control system. A wireless data communication system and wireless audio and video transmission system as robot "ears" and "eyes", so that a robot is capable of all-round, three-dimensional "feel" the environment, man-to make accurate judgments and control.

Planeness Measurement of Computer Harddisk Surface Based on Opto-Mechatronics Technology

This paper presents a novel method based on optomechatronics for highly accurately detecting the planeness of computer hard-disk surfaces. This article introduces the detailed design of the system, which includes four modules: the optic-electric detection module, the 2-dimensional mechanic platform, the motion control module and the human-machine interaction module. Results show that the system has merits like non-contact, high accuracy, flexible and reliable control and high efficiency. The system has been applied successfully at a foreign-funded enterprise in Singapore.

15th Annual Meeting of the European Association for Consultation-Liaison Psychiatry and Psychosomatics (EACLPP) & 29th European Conference on Psychosomatic Research (ECPR): “Towards a New Agenda: Cross-disciplinary Approach to Psychosomatic Medicine” A selection of the best abstracts submitted. Aarhus, Denmark, June 27th – June 30th, 2012. www.eaclpp.org

Somatic symptoms such as pain from psychiatric cause may result from abnormalities in information processing mechanisms in the central nervous system. Bilateral stimulation of the brain by using alternating eye movements assists to unlock and reprocess experiences.The aim of this article is the presentation of the eye movement desensitization and reprocessing (EMDR) method in pain treatment.A 23-year-old patient with paraparesis due to traffic accident three years earlier resulting in incomplete transverse spinal cord damage reported severe pain in paralyzed lower limbs from about one year. Thorough physical and imaging examination had ruled out organic causes of the pain and the patient was diagnosed with psychogenic pain. The standard EMDR protocol was used. In order to determine the mental state of the patient, the following tests were applied: (1) beck depression inventory, (2) the pain disability index, (3) subjective units of distress, and (4) validity of cognition. Therapy was completed when the patient declared resolution of leg pain and returned to rehabilitation. Measurements were performed three times: before treatment, immediately after treatment completion and four months after treatment completion.During a six-week EMDR therapy, the patient achieved a significant improvement. The importance of eye movements in planning rehabilitation strategies in other approach, i.e. modulation of motor control, indicates new research directions of the contemporary comprehensive rehabilitation approach. This study is a single case report, and thus further larger scale studies are required.The EMDR method could be helpful in psychogenic pain treatment.

Modulation of motor control in saccadic behaviors by TMS over the posterior parietal cortex

The right posterior parietal cortex (rPPC) has been found to be critical in shaping visual selection and distractor-induced saccade curvature in the context of predictive as well as nonpredictive visual cues by means of transcranial magnetic stimulation (TMS) interference. However, the dynamic details of how distractor-induced saccade curvatures are affected by rPPC TMS have not yet been investigated. This study aimed to elucidate the key dynamic properties that cause saccades to curve away from distractors with different degrees of curvature in various TMS and target predictability conditions. Stochastic optimal feedback control theory was used to model the dynamics of the TMS saccade data. This allowed estimation of torques, which was used to identify the critical dynamic mechanisms producing saccade curvature. The critical mechanisms of distractor-induced saccade curvatures were found to be the motor commands and torques in the transverse direction. When an unpredictable saccade target occurred with rPPC TMS, there was an initial period of greater distractor-induced torque toward the side opposite the distractor in the transverse direction, immediately followed by a relatively long period of recovery torque that brought the deviated trace back toward the target. The results imply that the mechanisms of distractor-induced saccade curvature may be comprised of two mechanisms: the first causing the initial deviation and the second bringing the deviated trace back toward the target. The pattern of the initial torque in the transverse direction revealed the former mechanism. Conversely, the later mechanism could be well explained as a consequence of the control policy in this model. To summarize, rPPC TMS increased the initial torque away from the distractor as well as the recovery torque toward the target.

DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform

This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11). The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform.

Spinal motor control differences between the sexes

Activity-related knee joint dysfunction is more prevalent in females than males. One explanation for the discrepancy is differences in movement patterns between the sexes. However, the underlying mechanisms responsible for these differences remain unidentified. This study tested spinal motor control mechanisms influencing motor neuron pool output and subsequent muscle activation in 17 males and 17 females. The following variables were assessed at the soleus: the gain of the unconditioned H-reflex, gain of both intrinsic pre-synaptic inhibition (IPI) and extrinsic pre-synaptic inhibition (EPI), the level of recurrent inhibition (RI), the level of supraspinal drive determined by the ratio of the Vmax:Mmax (V-wave), electromechanical delay (EMD) and the rate of force development (RFD). The Wilks Lambda multivariate test of overall differences among groups was significant (p = 0.031). Univariate between-subjects tests revealed males had greater RI (p = 0.042). However, the sexes did not differ on any of the other variables tested. In conclusion, the sexes differ on modulation of spinal motor control. Specifically, RI, a post-synaptic regulator of force output, was greater in males.