The electrical activity of skeletal muscle¡ªthe electromyogram (EMG)¡ªis of value to many different application areas, including ergonomics, clinical biomechanics and prosthesis control. For many applications the EMG is related to muscular tension, joint torque and/or applied forces. In these cases, a goal is for an EMG-torque model to emulate the natural relationship between the central nervous system and peripheral joints and muscles. This thesis mainly describes an experimental study which relates the simultaneous biceps/triceps surface EMG of 12 subjects to elbow torque at seven joint angles (ranging from 45¡ÃƒÂ£to 135¡ÃƒÂ£) during constant-posture, quasi-constant-torque contractions. The contractions ranged between 50% maximum voluntary contractions (MVC) extension and 50% MVC flexion. Advanced EMG amplitude (EMG¦Ãƒâ€™) estimation processors were investigated, and three nonlinear EMG¦Ãƒâ€™-torque models were evaluated. Results show that advanced (i.e., whitened, multiple-channel) EMG¦Ãƒâ€™ processors lead to improved joint torque estimation, compared to unwhitened, single-channel EMG¦Ãƒâ€™ processors. Depending on the joint angle, use of the multiple-channel whitened EMG¦Ãƒâ€™ processor with higher polynomial degrees produced a median error that was 50%-66% that found when using the single-channel, unwhitened EMG¦Ãƒâ€™ processor with a polynomial degree of 1. The best angle-specific model achieved a minimum error of 3.39% MVCF90 (i.e., error referenced to MVC at 90¢X flexion), yet it does not allow interpolation across angles. The best model which parameterizes the angle dependence achieved an error of 3.55% MVCF90. This thesis also summarizes other collaborative research contributions performed as part of this thesis. (1) Decomposition of needle EMG data was performed as part of a study to characterize motor unit behavior in patients with amyotrophic lateral sclerosis (ALS) [with Spaulding Rehabilitation Hospital, Boston, MA]. (2) EMG-force modeling of force produced at the finger tips was studied with the purpose of assessing the ability to determine two or more independent, continuous degrees of freedom of control from the muscles of the forearm [with WPI and Sherbrooke University]. (3) Identification of a nonlinear, dynamic EMG-torque relationship about the elbow was studied [WPI]. (4) Signal whitening preprocessing for improved classification accuracies in myoelectric control of a prosthesis was studied [with WPI and the University of New Brunswick].

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Submitted by Renata Lopes (renatasil82@gmail.com) on 2015-12-16T11:40:36Z No. of bitstreams: 1 thiagoribeirofurtadodemendonca.pdf: 2671419 bytes, checksum: 9751de9437139252fdb339ca32b4f21d (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2015-12-16T11:57:40Z (GMT) No. of bitstreams: 1 thiagoribeirofurtadodemendonca.pdf: 2671419 bytes, checksum: 9751de9437139252fdb339ca32b4f21d (MD5) / Made available in DSpace on 2015-12-16T11:57:41Z (GMT). No. of bitstreams: 1 thiagoribeirofurtadodemendonca.pdf: 2671419 bytes, checksum: 9751de9437139252fdb339ca32b4f21d (MD5) Previous issue date: 2015-07-13 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Em face ao aumento da demanda por energia elétrica e maior confiabilidade em seu fornecimento, diversas metodologias de controle e proteção da rede elétrica estão sendo desenvolvidas. Para isso é de fundamental importância a utilização de técnicas de processamento de sinais que permitam a extração de forma precisa e rápida dos parâmetros da rede elétrica. O advento de novas tecnologias permitiu a modernização dos sistemas de geração, transmissão e distribuição de energia elétrica, melhorando a eficiência energética e confiabilidade. Por outro lado, observou-se a proliferação na indústria de novas cargas, em sua maioria de natureza não linear, responsáveis pela geração de componentes harmônicos e inter-harmônicos que distorcem o sinal do sistema elétrico (tensão e corrente), dificultando a estimação de parâmetros importantes. Com o intuito de continuar provendo energia de forma segura e confiável, alguns pré-requisitos devem ser atendidos, tais como a baixa distorção harmônica, amplitude estável, baixa oscilação da frequência fundamental, entre outros. Hoje em dia, devido ao maior nível de cargas e equipamentos não lineares conectados a rede, rastrear estes parâmetros de qualidade de energia não é uma tarefa fácil. Para isso, novas técnicas de processamento de sinais devem ser combinadas às teorias de sistemas de potência como forma de estimar e acompanhar as mudanças destes parâmetros. Nesse contexto, diversos algoritmos vêm sendo implementados, cada um com suas especificidades e desempenho. O presente trabalho propõe o desenvolvimento de um novo filtro baseado no filtro Hanning, que é capaz de eliminar harmônicos e atenuar inter-harmônicos com maior eficiência além de ser mais estável quando se considera a implementação em ponto fixo. Este filtro foi combinado com um algoritmo capaz de ajustar seus coeficientes de acordo com a estimação da frequência fundamental de forma a garantir amostragem síncrona, ou seja, a frequência de amostragem será sempre múltipla inteira da frequência atual. Dessa forma, a estimação de amplitude e reconstrução de componentes são feitas com maior precisão mesmo quando se considera a natureza variante da frequência fundamental do sinal bem como a maior quantidade de harmônicos e inter-harmônicos presentes, retratando com maior fidelidade o sinal real do sistema de potência. Os resultados mostram-se superiores às técnicas já existentes, considerando sinais com frequências fora da nominal bem como com grande quantidade de componentes harmônicos e inter-harmônicos, atingindo uma melhoria de 74% em relação ao MAF e de quase 90% em relação ao Hanning convencional. / Due to the growing demand for energy provided in a more reliable way, several control, protection and monitoring methodologies are been developed. For this reason it is of great importance the utilization of appropriate signal processing techniques that allow a precise and fast extraction of parameters from the electrical grid. The advent of new technologies has enabled the modernization of the electric energy generation, transmission and distribution systems, improving its efficiency and service reliability. On the other hand, it was noted a widespread in the application of non-linear loads, responsible for generating harmonics and inter-harmonics components that distorts the electrical signal (voltage and current), hindering the estimation process of useful parameters. With the aim to keep providing energy in a safe and reliable way, some prerequisites must be taken into account, such as the low harmonic distortion, stable amplitude, low oscillation of the fundamental frequency among others. Nowadays, due to the widespread use of nonlinear loads and equipment coupled to the grid, tracking these power quality parameters is not an easy task. That is why novel approaches and techniques of signal processing must be combined with knowledge of power systems theory as a form to estimate and keep track of these measurements. Within this context several algorithms are been developed, each one with its specificity and performance. The present work proposes the development of a new filter, based on the Hanning filter, capable of eliminating harmonics and attenuate with more efficiency the inter-harmonic components besides being more stable for fixed point implementation. This filter is combined with an algorithm that enable the adjustment of its coefficients according to the frequency estimation, assuring a synchronous sampling process, that is, the sampling rate will always be an integer multiple of the actual system frequency. In this way, the amplitude estimation and component reconstruction are performed with better accuracy even when considering the time-varying nature of the fundamental frequency of the signal and the high amount of distortion due to harmonics and inter-harmonics, depicting with greater fidelity the true signal of power system. Results have shown better performance than the already known techniques, considering signal with off-nominal frequency as well as high level of harmonic and inter-harmonic distortion, reaching 74% of improvement in relation with MAF and almost 90% in relation of conventional Hanning.

Recently, a lot of research work has been dedicated toward enhancing performance, reliability and integrity of distributed energy resources that are integrated into distribution networks. The problem of islanding detection and islanding prevention (i.e. anti-islanding) has stimulated a lot of research due to its role in severely compromising the safety of working personnel and resulting in equipment damages. Various Islanding Detection Methods (IDMs) have been developed within the last ten years in anticipation of the tremendous increase in the penetration of Distributed Generation (DG) in distribution system. This work proposes new IDMs that rely on transient and distributed behaviors to improve integrity and performance of DGs while maintaining multi-DG islanding detection capability. In this thesis, the following questions have been addressed: How to utilize the transient behavior arising from an islanding condition to improve detectability and robust performance of IDMs in a distributive manner? How to reduce the negative stability impact of the well-known Sandia Frequency Shift (SFS) IDM while maintaining its islanding detection capability? How to incorporate the perturbations provided by each of DGs in such a way that the negative interference of different IDMs is minimized without the need of any type of communication among the different DGs? It is shown that the proposed techniques are local, scalable and robust against different loading conditions and topology changes. Also, the proposed techniques can successfully distinguish an islanding condition from other disturbances that may occur in power system networks. This work improves the efficiency, reliability and safety of integrated DGs, which presents a necessary advance toward making electric power grids a smart grid.

[ES] Esta tesis de doctorado está dedicada al problema de descomposición de señales no estacionarias en componentes modales, entendida como componentes oscilatorias independientes, con amplitud y fase dependientes del tiempo. Para este fin, se propone un enfoque metodológico basado en representaciones en espacio de estados diagonales en bloques. Una contribución teórica primaria de esta tesis consiste en demostrar que la respuesta de un sistema de espacio de estados diagonal en bloques puede ser representada en una forma modal con amplitudes y frecuencias dependientes del tiempo. Subsecuentemente, construyendo sobre este resultado, un marco de trabajo basado en filtros de Kalman se propone para la descomposición modal de señales no estacionarias. Como resultado, una familia de métodos paramétricos para la descomposición modal de señales no estacionarias univariadas y multivariadas basadas en representaciones de espacio de estados diagonales en bloques y filtros de Kalman ha sido postulada. La representación básica está construida en bloques de segundo orden, cada uno de los cuales representa los componentes en fase y en cuadratura de un único componente oscilatorio no estacionario. Así, la respuesta total es construida como la suma ponderada de cada uno de estos modos. La identificación de estos modelos requiere la estimación conjunta de las trayectorias y los parámetros modales dependientes del tiempo, así como los hiperparámetros del modelo, constituidos por la matriz de mezcla de modos, las matrices de covarianza del vector de estados, de parámetros y del ruido de medición, y las condiciones iniciales. Para este propósito, un algoritmo de Expectación-Maximización ha sido adaptado como parte de esta tesis. La metodología obtenida es entonces evaluada en la descomposición y eliminación de ruido de registros electrocardiográficos (ECG), los cuales consisten en componentes no-estacionarias pseudo-periódicas y son susceptibles a diferentes tipos de interferencias. La estructura de estas señales las hace susceptibles a las descomposiciones modales basadas propuestas en esta tesis. A diferencia de otros métodos populares de descomposición de señales, las descomposiciones obtenidas con la metodología propuesta proveen componentes oscilatorios con interpretabilidad física y que proveen resultados consistentes para señales multivariadas, como en el caso de registros de ECG con múltiples derivaciones. Otra estrategia que se desarrolló en este proyecto investigativo lo constituye la aplicación de la transformada delta u operador de Euler al filtro de Kalman, esto condujo a resultados de alta precisión en la extracción de componentes de banda angosta. La metodología propuesta constituye una herramienta confiable para la descomposición modal en línea de señales no estacionarias multicomponentes, con resultados excelentes / [CA] Esta tesi de doctorat està dedicada al problema de descomposició de senyals no-estacionaris en components modals, entesa com a components oscil·latòries independents amb amplitud i fase dependents del temps. Per a este fi, es proposa un enfocament metodològic basat en representacions en espai d'estats diagonals en blocs. Una contribució teòrica primària d'esta tesi consistix a demostrar que la resposta d'un sistema d'espai d'estats diagonal en blocs pot ser representada en una forma modal amb amplituds i freqüències dependents del temps. Subseqüentment, construint sobre este resultat, un marc de treball basat en filtres de Kalman es proposa per a la descomposició modal de senyals no estacionaris. Com a resultat, una família de mètodes paramètrics per a la descomposició modal de senyals no estacionaris univariadas i multivariades basades en representacions d'espai d'estats diagonals en blocs i filtres de Kalman ha sigut postulada. La representació bàsica està construïda en blocs de segon ordre, cadascun dels quals representa els components en fase i en quadratura d'un únic component oscil·latori no estacionari. Així, la resposta total és construïda com la suma ponderada de cadascun d'estos modes. La identificació d'estos models requerix l'estimació conjunta de les trajectòries i els paràmetres modals dependents del temps, així com els hiperparámetros del model, constituïts per la matriu de mescla de modes, les matrius de covariància del vector d'estats, de paràmetres i del soroll de mesurament, i les condicions inicials. Per a este propòsit, un algorisme d'Expectació-Maximització ha sigut adaptat com a part d'esta tesi. La metodologia obtinguda és llavors avaluada en la descomposició i eliminació de soroll de registres electrocardiogràfics (ECG), els quals consistixen en components no-estacionàries pseudo-periòdiques i són susceptibles a diferents tipus d'interferències. L'estructura d'estos senyals les fa susceptibles a les descomposicions modals basades propostes en esta tesi. A diferència d'altres mètodes populars de descomposició de senyals, les descomposicions obtingudes amb la metodologia proposada proveïxen components oscil·latoris amb interpretabilidad física i que proveïxen resultats consistents per a senyals multivariats, com en el cas de registres d'ECG amb múltiples derivacions. Una altra estratègia que es va desenvolupar en este projecte investigativo el constituïx l'aplicació de la transformada delta o operador d'Euler al filtre de Kalman, això va conduir a resultats d'alta precisió en l'extracció de components de banda estreta. La metodologia proposada constituïx una eina de confiança per a la descomposició modal en línia de senyals no estacionaris multicomponents, amb resultats excel·lents. / [EN] This PhD thesis is devoted to the problem of the decomposition of non-stationary signals in modal components, understood as independent oscillatory components with time-dependent amplitude and frequency. To this end, a methodological approach based on diagonal time-dependent state space models is postulated. A primary theoretical contribution of this work is to demonstrate that the response of a system in diagonal time-dependent state space form can be cast in a modal form characterized by time-dependent amplitudes and frequencies. Subsequently, building up on this result, a Kalman filter based framework for non-stationary modal decomposition is proposed. As a result, a family of parametric modal decomposition methods is postulated for univariate and multivariate non-stationary signals based on block-diagonal time-dependent state space representations and Kalman filtering/smoothing. The representation is built upon second order blocks, each representing the in-phase and quadrature components of a single non-stationary oscillatory component. The total response is then constructed as the weighted sum of each of these modes. Accordingly, the model identification involves the joint estimation of the modal trajectories and the time-dependent modal parameters, along with the model hyperparameters, constituted by the mode mixing matrix, the state, parameter and noise covariances, and initial conditions. A tailored Expectation-Maximization algorithm is designed for this purpose as part of this thesis. The obtained methodology is assessed in the decomposition and denoising of electrocardiographic (ECG) signals, which consist of pseudo-periodic non-stationary signals and are susceptible to significant interference. The ECG signal structure makes them amenable to the proposed non-stationary modal decompositions. In contrast to other popular non-stationary signal decomposition methods, the proposed method provides a physically meaningful decomposition of oscillatory components, with consistent results for multivariate signals, such as multi-lead ECG records. Another strategy that was developed in this research project is the application of the delta transform or Euler operator to the Kalman filter, which led to highly precise results in extracting narrowband components. The proposed methodology constitutes a reliable tool for on-line modal decomposition of multi-component non-stationary signals, with results comparable and even better than other state-of-the-art methods. / Avendaño, LE. (2024). Método de descomposición modal no estacionaria basado en representación de espacio de estados con aplicación al análisis de señales ECG [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/211185