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SREDA, 22.februar 2012. u 18 sati:
Lecture No 1179
Prof. dr Dejan B. Popovic , Professor of Biomedical Engineering, University of Belgrade, Faculty of Electrical Engineering Corresponding member of the Serbian Academy of Sciences and Arts, Department for biomedical science, State University of Novi Pazar, Novi Pazar, Serbia
Control of Walking in Humans with Disability
Summary: Exoskeletons are mechanical systems composed of rigid bodies that are interfacing human body with the intention to control posture and movement. The operation of two parallel systems that are not identical is very complex. In parallel, it is possible to externally activate muscles and provide control of posture and movement. The only method to analyze the behavior of these systems is to generate a simplified model in a manner that allows parameters identification. We present the simplified model of the leg with the muscles as the actuators, as well as the considerations for the control of an exoskeleton of the hip, knee and ankle joints. We present a method for optimal control based on the minimization of the tracking error with the penalty function based on over all power requirements. The optimal control was simulated within the MatLab. The implementation of this model based control is not possible, but the results of simulation can be used for the synthesis of rule based control.
SREDA, 29. februar 2012. u 18 sati:
Lecture No 1180
Prof. dr Dragomir N. Zekovic, University of Belgrade, Faculty of Mechanical Engineering, Kraljice Marije 16, 11120 Beograd, Serbia (Project OI174001)
Dynamics of mechanical systems with nonlinear nonholonomic constraints II The history of solving the problem of a material realization of a nonlinear nonholonomic constraint
Abstract. That is why are presented the models of the NNC which possess a clear physical sense, on the basis of which certain statements on the method of variation and the reaction of the NNC can be given. With regard to the clear physical sense and the nature of the models cited, the NNC that come out of them are used quite normally in the analysis of motion of such a system. The cited models, together with standard models oh nonholonomic Mechanics (sphere, disk, blade) make a group of basic nonholonomic constraints which can be classified, according to the three criteria, into certain types. Finally, it is shown that the cited model can be used for the construction of nonholonomic chains, both open and closed ones.
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Predavanja ce se odrzavati sredom sa pocetkom u 18.00 casova, u sali 301 F na trecem spratu zgrade Matematickog instituta SANU, Knez Mihailova 36/III, (zgrada preko puta glavne zgrade SANU).
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