Published in Physica Scripta
Human-redundant robot contact interaction control based on joint current is conducted. This is a sensorless control method. The key issues involved are dynamic parameters identification and interaction control strategy of robot. Firstly, kinematics model and linear dynamic model of robot are established and dynamic parameter matrix to be identified...
For a class of systems for which identifiability is difficult to be proved in the original set of coordinates, we show that when there exists a change of variables which decouples some variables i.e., whose dynamics is independent of the parameters, identifiability can then be assessed without having to compute derivatives. Moreover, we show that t...
We analyze the identifiability and observability of the well-known SIR epidemic model with an additional compartment Q of the sub-population of infected individuals that are placed in quarantine (SIQR model), considering that the flow of individuals placed in quarantine and the size of the quarantine population are known at any time. Then, we focus...
For a class of systems for which identifiability is difficult to be proved in the original set of coordinates, we show that when there exists a change of variables which decouples some variables i.e., whose dynamics is independent of the parameters, identifiability can then be assessed without having to compute derivatives. Moreover, we show that t...
Published in Measurement Science and Technology
At present, pipeline inspection gauge (PIG) is the main means to ensure the reliability of oil and gas transportation pipelines. Due to the unstable friction between the PIG and the pipeline, the failure and blockage of the PIG often occurs. In this paper, the theoretical modeling and experimental measurement of fluctuating friction on PIG are stud...
Multi-three-phase motor drives are experiencing a significant development among the multiphase solutions since they are configured as multiple three-phase units operating in parallel. Although the literature reports several torque controllers able to deal with multi-three-phase motors, most of them obtain high performance of torque regulation as lo...
Multi-three-phase motor drives are experiencing increasing industrial development as these multiphase motors can be configured as multiple three-phase units operating in parallel. In this scenario, the literature reports several torque controllers for multi-three-phase motors to guarantee high performance in torque regulation accuracy and efficienc...
In this article we study the efficacy of vaccination in epidemiological reconstructions of COVID-19 epidemics from reported cases data. Given an epidemiological model, we developed in previous studies a method that allowed the computation of an instantaneous transmission rate that produced an exact fit of reported cases data of the COVID-19 outbrea...
Published in Frontiers in Bioengineering and Biotechnology
Active exoskeletons are promising devices for improving rehabilitation procedures in patients and preventing musculoskeletal disorders in workers. In particular, exoskeletons implementing human limb’s weight support are interesting to restore some mobility in patients with muscle weakness and help in occupational load carrying tasks. The present st...
For a class of systems for which identifiability is difficult to be proved in the original set of coordinates, we show that when there exists a change of variables which decouples some variables i.e., whose dynamics is independent of the parameters, identifiability can then be assessed without having to compute derivatives. Moreover, we show that t...
