tailieunhanh - Biomimetics - Biologically Inspired Technologies - Yoseph Bar Cohen Episode 2 Part 10

Tham khảo tài liệu 'biomimetics - biologically inspired technologies - yoseph bar cohen episode 2 part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | b -2 1 0 -1 5 10 15 20 25 Time s 15 0 -5 -10 0 30 ----- me mr ----- d dr ----- ke kr ----- de ----- ke 15. 0 5 10 15 20 25 30 Time s Figure Simulation results on the time responses of the robot s force the blue lines tracking a time varying desired force the green lines and the parameter convergences of the feedforward controller. The environmental viscosity is set from 2 to at the time t 250 s in a and t 15 s in b . At the beginning 100 s 250 s to 350 s in a and the beginning 4 s in b the desired forces are set as noises. a Time s 1 I u u LJ zv -fd t - f t . i - 0 5 10 15 20 25 30 35 40 45 50 b Time s 0 Figure Time responses of the force tracking control experiments of a robot interacting with its unknown dynamic environment. The experimental setup is in Figure . Here a is the result when using usual constant feedforward PI feedback control 23 while b is the result of 2 . adaptive control 41 . The feedback control of b is used as same as that in a . a Experimental result using PI control b experimental result of adaptive control. Ciliary body Figure The human eye in cross section with an enlarged section of the retina right . The light sensitive retina covers more than half the back of the eye. Over 100 million photoreceptors convert light into neural signals that are then transmitted to the proximal visual centers by the optic nerve. The optic nerve is composed of 1 million axons from the retinal ganglion cells which are the output cells of the retina. In outer retinal diseases the photoreceptors are degenerated but the inner retina cells remain and can be electrically stimulated. Figure ELAD artificial liver system. Courtesy of Vital Therapies Inc San Diego CA. Figure HeartMate II rotary axial pump device. a b c Figure a Novacor VAD b cross-section of Novacor and c diagrammatic representation of Novacor With permission from WorldHeart Corporation Ottawa Canada.