Symmetry and limb dominance in able-bodied gait: a review.

Chapter 1. In Search of the Homunculus Chapter 2. The Three Dimensional and Cyclic Nature of Gait Chapter 3. Integration of Anthropometry, Displacements, and Ground Reaction Forces Chapter 4. Muscle Actions Revealed Through Electromyography Chapter 5. Clinical Gait Analysis - A Case Study Appendix A. Dynamic Animation Sequences Appendix B. Detailed Mathematics Used in GAITMATH Appendix C. Commercial Equipment for Gait Analysis.

Dynamics of human gait

https://www1.udel.edu/biology/rosewc/kaap686/reserve/Lu&OConnor_1999.pdf

Bone position estimation from skin marker co-ordinates using global optimisation with joint constraints.

Three-dimensional kinematics of the human knee during walking.

Control of whole body balance in the frontal plane during human walking

A three-dimensional kinematic and dynamic model of the lower limb

As the first part, this paper presents an overview on the existing works on fault detection and diagnosis (FDD) and fault-tolerant control (FTC) for unmanned rotorcraft systems. Considered faults include actuator and sensor faults for single and multi-rotor systems. As the second part, several FDD and FTC techniques developed recently at the Networked Autonomous Vehicles Lab of Concordia University are detailed along with experimental application to a unique and newly developed quadrotor helicopter testbed.

Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed

This paper presents some experimental results on actuator fault-tolerant control (FTC) for a quadrotor Unmanned Aerial Vehicle (UAV) system. The strategy is based on Model Reference Adaptive Control (MRAC) where three di erent MRAC techniques are implemented and compared with a Linear Quadratic Regulator (LQR) baseline controller, namely the MIT rule MRAC, the Conventional MRAC (C-MRAC) and the Modi ed MRAC (MMRAC). The main advantage of the MRAC strategy is that it does not require an explicit information about the fault location and/or amplitude and thus, a fault detection and diagnosis module is not needed to detect, isolate and identify the occurred faults. The performance of this MRAC-based FTC is tested in the presence of three types of actuator faults: loss of e ectiveness in the total thrust, loss of e ectiveness in one of the rotors and partial damage of one propeller.

Model Reference Adaptive Fault Tolerant Control of a Quadrotor UAV

A novel portable laptop control experiment is presented, which does not require the space and expense typically required for undergraduate control laboratories. Interactive experiments are designed to cover all of the topics required for an introductory course in controls, as well as a haptics experiment. It is believe that the system is useful for practicing engineers who wish to update their control knowledge and skills.

A laptop servo for control education

Two reconfigurable control allocation (called also as control reallocation) schemes for Unmanned Aerial Vehicle (UAV) under stuck actuator failures have been proposed in this paper. The two control reallocation algorithms include a cascaded generalized inverse algorithm and a fixed-point algorithm. The performance of the two algorithms has been evaluated with a UAV model known as ALTAV (Almost-Lighter-Than-Air-Vehicle). Different stuck faults on the actuators have been implemented in the ALTAV benchmark and used for evaluating the control reallocation schemes. An effective re-distribution of the control surface deflections with the remaining healthy control actuators is used in order to achieve acceptable performance in the presence of control actuator failures. Comparisons were made among the two algorithms with different commanded inputs. Simulation results show the effectiveness of reconfigurable control allocation algorithms for handling stuck failures in such a UAV with less hardware redundancy.

/pdf/two-reconfigurable-control-allocation-schemes-for-unmanned-1tsugybnyq.pdf

Jacob Apkarian

Papers

A three-dimensional kinematic and dynamic model of the lower limb

Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed

Model Reference Adaptive Fault Tolerant Control of a Quadrotor UAV

A laptop servo for control education

Two Reconfigurable Control Allocation Schemes for Unmanned Aerial Vehicle under Stuck Actuator Failures