Les robots humanoïdes sont en passe d'être commercialisés pour le public à grande échelle, mais pour réussir cet objectif il est nécessaire de rendre ces robots fiables, fonctionnels et sécurisés. Ceci implique de nombreuses améliorations par rapport à de l'état de l'art, pour permettre un produit fini. Un des domaines à améliorer est la commande corps-complet des robots humanoïdes. Les objectifs de cette thèse sont de proposer une architecture de commande permettant de générer des mouvements corps-complet bio-inspirés. L'idée principale étant de s'inspirer de la marche humaine afin de reproduire ces mouvements sur un robot humanoïde. La solution de commande proposée utilise le principe de tâches pour quatre objectifs cinématiques: (i) la pose relative des pieds, (ii) la position du CoM, (iii) l'orientation du buste, et (iv) l'évitement des butées articulaires. La stabilité est renforcée en modifiant la position du CoM désirée à l'aide d'un stabilisateur basé sur la régulation non linéaire du ZMP. L'approche résultante est appelée architecture de commande hybride cinématique/dynamique. Cette approche a été validée expérimentalement sur deux prototypes de robots humanoïdes pour différentes tâches telles que le squat et la marche. / Humanoid robots are a rising trend, and are about to be sold to the public on a large scale, but for this to be possible it is necessary to make them reliable, secure and functional. This implies many improvements over the prior state of the art. A domain of improvement is the full-body control of humanoid robots. The objective of this thesis is to propose a control architecture for generating a bio-inspired full-body control. The main idea is to learn from human walking to replicate these movements on a humanoid robot. The proposed control solution uses the principle of kinematics task for four objectives: (i) the relative pose of the feet, (ii) the position of the Centre de masse (CoM), (iii) the orientation of the upper-body, and (iv) the joints' limits avoidance. Stability is enhanced by modifiying the CoM position by using a stabilizer based on nonlinear regulation of the Zero Moment Point (ZMP). The resulting approach is called hybrid kinematic / dynamic control architecture. This approach has been validated experimentally on two prototypes of humanoid robots for tasks such as squat and walking.

The Turkish TSO (TEIAS) has been leading a project that aims the synchronous interconnected operation of the Turkish Power System and the ENTSO-E CESA (former UCTE) System. For this purpose, this study concentrates on the specific problems related to the electromechanical systems of large size hydroelectric power plants regarding low frequency inter area oscillations, which are prone to occur once the interconnected operation is established. The expected frequency of inter area oscillations after interconnected operation is close to 0.15 Hz, which is in the frequency range of the speed governing structures of turbines, as explained in the first two sections of the thesis. In the third section, the nonlinear turbine governor model used throughout the study is explained. In the following part, the governor parameter tuning study with regard to the defined performance objectives is explained. Afterwards, the effect of the retuned governor settings of the sample hydroelectric power plants on a simple multi machine power system is shown. Following that, the system wide effect of removing the sources of negative damping, which are strongly dependent on the governor settings of the major hydroelectric power plants of the Turkish Power System, is shown. In the final part, conclusions are made on the operation of the hydroelectric power plants regarding the frequency stability of the system after synchronous interconnected operation of the Turkish Power System and the ENTSO-E CESA System.

The objective of this thesis is to develop a novel methodology of fractional stochastic dynamics to study stochastic stability of viscoelastic systems under stochastic loadings. Numerous structures in civil engineering are driven by dynamic forces, such as seismic and wind loads, which can be described satisfactorily only by using probabilistic models, such as white noise processes, real noise processes, or bounded noise processes. Viscoelastic materials exhibit time-dependent stress relaxation and creep; it has been shown that fractional calculus provide a unique and powerful mathematical tool to model such a hereditary property. Investigation of stochastic stability of viscoelastic systems with fractional calculus frequently leads to a parametrized family of fractional stochastic differential equations of motion. Parametric excitation may cause parametric resonance or instability, which is more dangerous than ordinary resonance as it is characterized by exponential growth of the response amplitudes even in the presence of damping. The Lyapunov exponents and moment Lyapunov exponents provide not only the information about stability or instability of stochastic systems, but also how rapidly the response grows or diminishes with time. Lyapunov exponents characterizes sample stability or instability. However, this sample stability cannot assure the moment stability. Hence, to obtain a complete picture of the dynamic stability, it is important to study both the top Lyapunov exponent and the moment Lyapunov exponent. Unfortunately, it is very difficult to obtain the accurate values of theses two exponents. One has to resort to numerical and approximate approaches. The main contributions of this thesis are: (1) A new numerical simulation method is proposed to determine moment Lyapunov exponents of fractional stochastic systems, in which three steps are involved: discretization of fractional derivatives, numerical solution of the fractional equation, and an algorithm for calculating Lyapunov exponents from small data sets. (2) Higher-order stochastic averaging method is developed and applied to investigate stochastic stability of fractional viscoelastic single-degree-of-freedom structures under white noise, real noise, or bounded noise excitation. (3) For two-degree-of-freedom coupled non-gyroscopic and gyroscopic viscoelastic systems under random excitation, the Stratonovich equations of motion are set up, and then decoupled into four-dimensional Ito stochastic differential equations, by making use of the method of stochastic averaging for the non-viscoelastic terms and the method of Larionov for viscoelastic terms. An elegant scheme for formulating the eigenvalue problems is presented by using Khasminskii and Wedig’s mathematical transformations from the decoupled Ito equations. Moment Lyapunov exponents are approximately determined by solving the eigenvalue problems through Fourier series expansion. Stability boundaries, critical excitations, and stability index are obtained. The effects of various parameters on the stochastic stability of the system are discussed. Parametric resonances are studied in detail. Approximate analytical results are confirmed by numerical simulations.

nÃo hà / Este trabalho apresenta a aplicaÃÃo do algoritmo de OtimizaÃÃo por Enxame de PartÃculas (PSO â Particle Swarm Optimization) para sintonia Ãtima de controladores associados à regulaÃÃo de tensÃo e ao aumento do amortecimento de geradores sÃncronos utilizados em plantas termelÃtricas de ciclo combinado. Para representaÃÃo matemÃtica do gerador sÃncrono, utiliza-se o modelo linearizado de terceira ordem do sistema mÃquina conectada a uma barra infinita, vÃlido para estudos de estabilidade a pequenos sinais. Os parÃmetros do regulador automÃtico de tensÃo (AVR â Automatic Voltage Regulator) e do estabilizador de sistema de potÃncia (PSS â Power System Stabilizer) sÃo determinados de maneira Ãtima pela ferramenta computacional proposta. Os parÃmetros obtidos para o AVR e PSS sÃo comparados com valores calculados por tÃcnicas de sintonia convencionais, baseadas em aproximaÃÃes das equaÃÃes que descrevem o sistema. Os resultados de simulaÃÃes a variaÃÃes na tensÃo de referÃncia, considerando a anÃlise da resposta temporal do sistema controlado, demonstram que o PSO à uma tÃcnica eficiente na sintonia dos parÃmetros do AVR e PSS, destacando-se sua simplicidade, baixo esforÃo computacional e boa caracterÃsticas de convergÃncia. / This work presents the application of the Particle Swarm Optimization (PSO) algorithm for optimal tuning of controllers associated with voltage regulation and damping enhancement of synchronous generators used in combined cycle power station. For mathematic representation of the synchronous generator, the third order linearized model of a single machine connected to an infinite bus, valid for small signal stability studies, is used. The Automatic Voltage Regulator (AVR) and Power System Stabilizer (PSS) parameters are optimally determined by the proposed computational tool. The parameters obtained for AVR and PSS are compared with values calculated by conventional tuning techniques based on approximations of the equations that describe the system. The simulations results to reference voltage disturbances, considering the time response analysis of the controlled system, show that PSO is an efficient technique in the tuning of AVR and PSS parameters, with emphasis on its simplicity, low computational effort and good convergence characteristics.

The thesis "Judging the influence of constitutional hypermobility on postural stability" focuses on the problem of constitutional hypermobility (CH) and the influence of joint instability on stability mechanisms. The aim of the research was to find out whether there is a difference in stability mechanisms with tested subjects with CH and without it. Furthermore, the research focuses on the influence of mobility techniques on postural stability by the means of chosen tests carried out on Balance Master® System platform. The tested sample includes 14 women aged from 20 to 28, 7 women with constitutional hypermobility and 7 women as a control group. 6 tests were chosen for the measurement on Balance Master® platform. 2 static tests: modified Clinical Test of Sensory Interaction on Balance (mCTSIB), Unilateral Stance (US), and 4 dynamic tests: Limits of Stability (LOS), Rhytmic weight shift (RWS), Step Up Over (SUO) a Forward Lunge (FL). We compared the medians of output values of individual tests. It was assumed that subjects with KH would have significantly worse test results than the control group. Furthermore, it was supposed that the mobilization processes cause stability disturbance on the basis of cancellation of compensational , thus protective block in comparison with KS. Powered by TCPDF (www.tcpdf.org)

This diploma thesis deals with a stability and manoeuvrability of experimental aircraft VUT 001 MARABU. It contains calculation of aerodynamic stability derivations and other data necessary for evaluation of static and dynamic stability. Assessment of convenient autopilot.

Tato práce se zabývá návrhem a realizací palubní elektroniky experimentálního vozidla Car4, dále pak základní programovou výbavou řídicí jednotky a Hardware In the Loop simulačním ověřením funkčnosti řídicí jednotky.

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Low back pain (LBP) remains the most prevalent and costly work-related disability worldwide and is directly associated with "physical" risk factors prevalent in manual material handling (MMH) tasks. Back-support exoskeletons (BSEs) are a promising ergonomic intervention to mitigate LBP risk, by reducing muscular exertion and spine loading. The purpose of this work was to help better understand both the "intended" and "unintended" consequences of BSE use on physical risk factors for LBP, as an essential prerequisite for the safe and effective implementation of this technology in actual workplaces. The first study assessed the effects of using two BSEs on objective and subjective responses during repetitive lifting involving symmetric and asymmetric postures. Wearing both BSEs significantly reduced peak levels of trunk extensor muscle activity and reduced energy expenditure. Such reductions, though, were more pronounced in the symmetric conditions and differed between the two BSEs tested. The second study quantified the assistive torque profiles of two passive BSEs using a computerized dynamometer, with both human subjects and a mannequin. Clear differences in torque magnitudes were evident between the BSEs, though both generated more assistive torques during flexion than extension. The third study estimated the effects of BSE use on lumbosacral compressive and shear forces during repetitive lifting using an optimization-based model. Using both BSEs reduced peak compression and anteroposterior shear forces, but these effects differed between tasks and BSE designs. Reductions in composite measures of trunk muscle activity did not correspond consistently with changes in spine forces when using a BSE. The fourth study quantified the effects of two passive BSEs on trunk stability and movement coordination during repetitive lifting. Some adverse effects on stability were evident for pelvis and thorax movements and coupling of these body segments, suggesting that caution is needed in selecting a BSE for a given MMH task. Overall, we found that the efficacy of BSEs is design- and task-specific. Important safety features of the exoskeletons were also identified, providing insights on their performance boundaries. Overall, the BSEs tested were more effective and safer in tasks closer to the mid-sagittal plane and with moderate degrees of trunk flexion. / Doctor of Philosophy / Low back pain (LBP) remains the most prevalent and costly work-related disability worldwide, and the risk of LBP is related to "physical" risk factors common in manual material handling (MMH) tasks. Back-support exoskeletons (BSEs) are a new ergonomic intervention that may reduce the risk of occupational LBP, by reducing muscular efforts and loads on the spine. For the safe use of BSEs, though, it is critical to better understand both the "intended" and "unintended" consequences of this emerging technology. In this dissertation, such consequences of BSE use were evaluated in the context of repetitive lifting tasks. The first study assessed the efficacy of two BSEs in terms of physical demands during repetitive lifting tasks involving a range of torso bending and twisting. Wearing both BSEs reduced the physical demands on back muscles and decreased energy consumption. Larger reductions, though, were observed in forward bending and such reductions differed between the two BSEs tested. The second study measured the amount of support provided by two BSEs using a new measurement method, which was examined for both human subjects and a mannequin. Clear differences in the BSE support were evident between the BSEs, and both devices generated more support during torso forward bending than returning upright. The third study estimated the effects of BSE use on low back loadings during repetitive lifting using a computational model. Using both BSEs reduced loads on the low back region, though such reductions were task-specific and depended on the BSE design. The fourth study quantified the effects of the BSE use on torso stability and movement patterns during repetitive lifting. Some adverse effects on stability were evident for lower and upper torso, suggesting that caution is needed in selecting a BSE for a given MMH task. Findings from this work show the potential benefits of BSEs for use in MMH tasks, yet such benefits can depend on the BSE design and the MMH task they are used for. Further, BSE use can lead to adverse effects, especially with tasks involving extreme working postures.

Title: Postural stabilization and balance - theoretical background and definitions (literature review) Objectives: The aim of this theses is to investigate the present situation of theoretical background of postural stabilization and balance and find out the differences between both of these phenomenons. The theses should summarize the current literature including the newest studies. Furthermore, it discusses the most used computerized measurements methods for assessing balance and postural control. Methods: The theses has character of literature review. It is divided into several parts. The beginning introduces the theoretical background. The descriptive and analytical chapter discuss the most used computerized measurement methods for assessing balance and postural control. The discussion summarizes the current situation and results of the theses. Results: The total amount of the 104 studies was found, but only 12 of them met the criteria of the theses. Currently the most used methods for assessing balance and postural control are the computerized dynamic posturography and the visual feedback posturography. In the published studies there were found several differences in the methods of posturography. Even, there was revealed ideological diversity in the authors' opinions and disunity in...