Sharif Digital Repository

In this paper, a fast and practical method is proposed for open-circuit (OC) fault diagnosis (FD) in a three-phase quasi-Z-source inverter (q-ZSI). Compared to the existing fast OC FD techniques in three-phase voltage-source inverters (VSIs), this method is more cost-effective since no ultra-fast processor or high-speed measurement is required. Additionally, the method is independent of the load condition. The proposed method is only applicable to Z-source family inverters and is based on observing the effect of shoot-through (SH) intervals on the system variables during switching periods. The proposed algorithm includes two consecutive stages: OC detection and fault location identification.... 

Animal walking is one of the most robust and adaptive locomotion mechanisms in the nature, involves sophisticated interactions between neural and biomechanical levels. It has been suggested that the coordination of this process is done in a hierarchy of levels. The lower layer contains autonomous interactions between muscles and spinal cord and the higher layer (e.g. the brain cortex) interferes when needed. Inspiringly, in this study we present a hierarchical control architecture with a state of the art intrinsic online learning mechanism for a dynamically walking 5-link biped robot with compliant knee joints. As the biological counterpart, the system is controlled by independent control... 

Ground reaction force (GRF) characteristics of amputee walking are important for the analysis of clinical gait data, and also to update model reference adaptive impedance (MRAI) controllers. GRF estimation is a better alternative than direct GRF measurement because of the disadvantages of load cells, such as high cost, integration difficulties due to weight and physical dimensions, the possibility of overload, and measurement noise. This paper presents four robust MRAI observer/controller combinations for GRF estimation-based control of a prosthesis and a legged robot model in the presence of parametric uncertainties and unmodeled dynamics, in which the robot model is employed to mimic... 

Individuals with spinal cord injury (SCI) at lower thoracic levels might walk independently with the aid of mechanical orthoses and walker by using their unimpaired trunk and upper extremity muscles (TUEM). The required motor skills and the associated subtasks of the paraplegic locomotion, however, have not been well understood yet. The purpose of this study was to investigate the coordination of the TUEM activities throughout the paraplegic gait cycle using synergy analysis. For eight paraplegic individuals (30.6 ± 11.6 years; SCI level: T12), the kinematics data and the surface electromyography (EMG) signals of TUEM were recorded during 15 gait cycles. Non-negative matrix factorization... 

In this paper, a fast and practical method is proposed for open-circuit (OC) fault diagnosis (FD) in a three-phase quasi-Z-source inverter (q-ZSI). Compared with the existing fast OC FD techniques in three-phase voltage source inverters, this method is more cost-effective since no ultrafast processor or high-speed measurement is required. Additionally, the method is independent of the load condition. The proposed method is only applicable to Z-source family inverters and is based on observing the effect of shoot-through intervals on the system variables during switching periods. The proposed algorithm includes two consecutive stages: OC detection and fault location identification. When both... 

The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional-integral-derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of...