FG Regelungssysteme

18 Items

Recent Submissions
Optimal control of timed event graphs with resource sharing and output-reference update

Schafaschek, Germano ; Hardouin, Laurent ; Raisch, Jörg (2020-07-03)

Timed event graphs (TEGs) are a subclass of timed Petri nets that model synchronization and delay phenomena, but not conflict or choice. We consider a scenario where a number of TEGs share one or several resources and are subject to changes in their output-reference signals. Because of resource sharing, the resulting overall discrete event system is not a TEG. We propose a formal method to dete...

Secondary control in inverter-based microgrids

Krishna, Ajay (2020)

Das Konzept von Microgrids könnte entscheidend zur Bewältigung von Herausforderungen durch die zunehmende Integration erneuerbarer Energiequellen in elektrische Energiesysteme beitragen. Die fluktuierende und dezentrale Einspeisung erneuerbarer Energien führt zu vielen anspruchsvollen und neuen Aufgaben für die Regelung von Microgrids. In der vorliegenden Arbeit werden daher einige wichtige Reg...

Overcoming Bandwidth Limitations in Wireless Sensor Networks by Exploitation of Cyclic Signal Patterns: An Event-triggered Learning Approach

Beuchert, Jonas ; Solowjow, Friedrich ; Trimpe, Sebastian ; Seel, Thomas (2020-01-02)

Wireless sensor networks are used in a wide range of applications, many of which require real-time transmission of the measurements. Bandwidth limitations result in limitations on the sampling frequency and number of sensors. This problem can be addressed by reducing the communication load via data compression and event-based communication approaches. The present paper focuses on the class of a...

On the modeling and control of extended timed event graphs in dioids

Trunk, Johannes (2020)

Various kinds of manufacturing systems can be modeled and analyzed by Timed Event Graphs (TEGs). These TEGs are a particular class of timed Discrete Event Systems (DESs), whose dynamic behavior is characterized only by synchronization and saturation phenomena. A major advantage of TEGs over many other timed DES models is that their earliest behavior can be described by linear equations in some ...

Feedback control of arm movements using Neuro-Muscular Electrical Stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation

Klauer, Christian ; Schauer, Thomas ; Reichenfelser, Werner ; Karner, Jakob ; Zwicker, Sven ; Gandolla, Marta ; Ambrosini, Emilia ; Ferrante, Simona ; Hack, Marco ; Jedlitschka, Andreas ; Duschau-Wicke, Alexander ; Gföhler, Margit ; Pedrocchi, Alessandra (2014-09-02)

Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control of the arm and shoulder due to high lev...

Modeling the Static Force of a Festo Pneumatic Muscle Actuator: A New Approach and a Comparison to Existing Models

Martens, Mirco ; Boblan, Ivo (2017-11-02)

In this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs) will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing the new model, it will be validated through a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300, respectively. It will be...

A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface

Martens, Mirco ; Seel, Thomas ; Zawatzki, Johannes ; Boblan, Ivo (2018-11-28)

In this paper, two different torque control approaches for PMA-driven (PMA = Pneumatic muscle actuator) revolute joints are presented and tested. In previous work controllers for PMA-driven robots are typically customized for the use on a specific robotic system. In contrast, the proposed controllers define a general control interface for every robot that is actuated by PMA-driven joints. It wi...

User-centered practicability analysis of two identification strategies in electrode arrays for FES induced hand motion in early stroke rehabilitation

Salchow-Hömmen, Christina ; Jankowski, Natalie ; Valtin, Markus ; Schönijahn, Laura ; Böttcher, Sebastian ; Dähne, Frank ; Schauer, Thomas (2018-12-29)

Background Surface electrode arrays have become popular in the application of functional electrical stimulation (FES) on the forearm. Arrays consist of multiple, small elements, which can be activated separately or in groups, forming virtual electrodes (VEs). As technology progress yields rising numbers of possible elements, an effective search strategy for suitable VEs in electrode arrays is ...

A Tangible Solution for Hand Motion Tracking in Clinical Applications

Salchow-Hömmen, Christina ; Callies, Leonie ; Laidig, Daniel ; Valtin, Markus ; Schauer, Thomas ; Seel, Thomas (2019-01-08)

Objective real-time assessment of hand motion is crucial in many clinical applications including technically-assisted physical rehabilitation of the upper extremity. We propose an inertial-sensor-based hand motion tracking system and a set of dual-quaternion-based methods for estimation of finger segment orientations and fingertip positions. The proposed system addresses the specific requiremen...

Feedback-controlled functional electrical stimulation to restore upper extremity functions

Klauer, Christian (2019)

This thesis considers Neuro-prosthetic systems using Functional Electrical Stimulation (FES) to restore or support motor functions in neurologically impaired patients. An often encountered difficulty is the precise control of limb motion by adjusting the stimulation intensity. The musculoskeletal systems involving muscle mechanics, limb motion dynamics, and muscle recruitment due to FES and pos...

Advanced technology for gait rehabilitation: An overview

Mikolajczyk, Tadeusz ; Ciobanu, Ileana ; Badea, Doina Ioana ; Iliescu, Alina ; Pizzamiglio, Sara ; Schauer, Thomas ; Seel, Thomas ; Seiciu, Petre Lucian ; Turner, Duncan L. ; Berteanu, Mihai (2018)

Most gait training systems are designed for acute and subacute neurological inpatients. Many systems are used for relearning gait movements (nonfunctional training) or gait cycle training (functional gait training). Each system presents its own advantages and disadvantages in terms of functional outcomes. However, training gait cycle movements is not sufficient for the rehabilitation of ambulat...

Enhancing the smoothness of joint motion induced by functional electrical stimulation using co-activation strategies

Ruppel, Mirjana ; Klauer, Christian ; Schauer, Thomas (2017-09-07)

The motor precision of today’s neuroprosthetic devices that use artificial generation of limb motion using Functional Electrical Stimulation (FES) is generally low. We investigate the adoption of natural co-activation strategies as present in antagonistic muscle pairs aiming to improve motor precision produced by FES. In a test in which artificial knee-joint movements were generated, we could i...

Stability, voltage performance and power sharing issues of inverter-based microgrids via LMI optimization

Truong, Duc Trung (2018)

Numerous small distributed energy resources (DERs) form a new generation of power systems - the microgrid. In general, a microgrid stands for a cluster of DERs, which can collectively operate as an individual low-voltage power system during islanded mode. A microgrid can also be operated in connected mode with a large power system. DERs are often interfaced to a microgrid through power electron...

Amplifier design for EMG recording from stimulation electrodes during functional electrical stimulation leg cycling ergometry

Shalaby, Raafat ; Schauer, Thomas ; Liedecke, Wolfgang ; Raisch, Jörg (2011)

Functional electrical stimulation leg cycle ergometry (FESLCE), which is often used as exercise for people with spinal cord injury (SCI), has recently been applied in the motor rehabilitation of stroke patients. Recently completed studies show controversial results, but with a tendency to positive training effects. Current technology is identical to that used in FES-LCE for SCI, whereas the pat...

Control of a mobile rehabilitation robot using exact feedback linearisation

Schauer, Thomas (2013)

This contribution is concerned with the feedback control of a table-placed mobile rehabilitation robot using exact feedback linearisation to precisely track arbitrary position and orientation profiles. An outer control loop exactly linearises and decouples the nonlinear kinematic robot model. This loop also generates reference velocities for the three omnidirectional wheels of the robot that ar...

Continuous wrist blood pressure measurement with ultrasound

Weber, Sarah ; Scharfschwerdt, Peter ; Schauer, Thomas ; Seel, Thomas ; Kertzscher, Ulrich ; Affeld, Klaus (2013)

Blood pressure is an important parameter for the development of cardiovascular disease. By monitoring the blood pressure over 24 hours hypertension can be detected and treatment can be started. A new noninvasive long term blood pressure measurement method measures the blood pressure continuously on the wrist using ultrasound, a small balloon and a controller. The pressure is controlled with a v...

Breathing synchronized electrical stimulation of the abdominal muscles in patients with acute tetraplegia

Schauer, Thomas ; Stephan, R. ; Niedeggen, A. ; Liebscher, T. ; Dorien, J. ; Seidl, R. O. (2012)


Experimental Human-Robot-Interaction: A Handover-Interaction with BROMMI:TAK at a public science event.

Graf, Philipp ; Marquardt, Manuela ; Compagna, Diego (2017-06-16)

We conducted a Human-Robot Interaction (HRI) study during a science event, using a mixed method exper- imental approach with quantitative and qualitative data (adapted version of Godspeed Questionnaire and audio-visual material analysed videographically). The main purpose of the research was to gather insight into the relevance of the so-called “point of interaction” for a successful and user-f...