In this study, a nonlinear predictive control method is developed for the active steering control of a sport utility vehicle. The method is tested on a nonlinear mathematical model of an ...11-degree-of-freedom vehicle. The system performance is evaluated by considering that the control law must keep the actual yaw rate close to the desired yaw rate and minimizing the vertical load changes at each wheel. The latter is proposed for this work. The vertical load changes play an important role in the dynamics and the stability of the system. The effectiveness of the control method is demonstrated through numerical simulation by using a vehicle model that includes three case studies: rapid lane change at low and high velocities and the fishhook manoeuvre. The results show that the stability of the vehicle is maintained and its rollover propensity is decreased. In addition, the proposed controller is compared with a well-known linear model predictive controller.
The design and control of a cable-driven rehabilitation robot, which can be configured easily for exercising different articulations such as elbows, shoulders, hips, knees and ankles without ...requiring any orthosis, are introduced. The passive, active-assisted and active-resisted exercises were designed and implemented using impedance control. The controller could switch between exercises according to the force feedback. The effectiveness of the proposed controller was demonstrated by experimental studies. The robot was tested first with a dummy extremity and then with a healthy subject mimicking various types of patients during the tests. Experimental results showed that satisfactory closed-loop performances were achieved.
A mathematical model of steering feel based on a hysteresis model is proposed for Steer-by-Wire systems. The normalized Bouc-Wen hysteresis model is used to describe the steering wheel torque ...feedback to the driver. By modifying the mathematical model of the hysteresis model for a steering system and adding custom parameters, the availability of adjusting the shape of steering feel model for various physical and dynamic conditions increases. Addition of a term about the tire dynamics to the steering feel model renders the steering wheel torque feedback more informative about the tire road interaction. Some simulation results are presented to establish the feasibility of the proposed model. The results of hardware-in-the-loop simulations show that the model provides a realistic and informative steering feel.
Therapeutic exercises play an important role in the physical therapy and the rehabilitation. The exercises that can be assisted by a physiotherapist are increasingly being performed by the ...rehabilitation robots partially or fully due to their various merits. This study aims to develop a complete rehabilitation system, which consists of a rehabilitation robot, an HMI and a hybrid impedance controller that can model all the therapeutic exercises for an upper limb rehabilitation. The 3-DOF upper limb rehabilitation robot is able to perform the movements of flexion–extension and ulnar–radial deviation for the wrist, and the movement of pronation–supination for the forearm. The experimental studies were conducted with healthy subjects and patients. First, the experiments were done with the healthy subjects to prove the control performance of the robotic system. The results showed that the hybrid impedance controlled robot can perform the therapeutic exercises very successfully. Then, the experimental studies were carried out with the real patients in a clinical environment. At the end of the treatment process, remarkable improvements were observed in terms of the limb force in all of the patients.
Electric vehicles are becoming increasingly popular as a sustainable alternative to traditional combustion engine vehicles. However, to fully realize the potential of EVs in reducing environmental ...impact and energy consumption, efficient control strategies are essential. This study explores the application of green wave control using model predictive control for electric vehicles, coupled with energy consumption modeling using neural networks. The strategy consists of three components: a fuel consumption model, a powertrain model, and an optimization algorithm. These components work together to generate an optimal vehicle control plan that minimizes energy usage while maintaining desired performance levels. The green wave control strategy utilizes anticipated roadway information to vary the vehicle's speed within a preset speed window, ensuring an energy-saving operation. The results show that the green wave control strategy can lead to significant fuel savings, making electric vehicles even more sustainable and cost-effective.
Thrombolytic therapy (100 mg/1.5 hours in tissue plasminogen activator (tPA) was given intravenously to the patient who had permenant chest pain and ST-segment elevation on surface ECG despite ...intravenous (IV) morphine and IV nitroglycerin. Together with the failure of bone marrow megakaryocytes to produce thrombocytes, shortening of the thrombocytes' lifespan in circulation results in a decrease in the total number of thrombocytes as the disease progresses.
Polypharmacy in the elderly: a multicenter study Gokce Kutsal, Yesim; Barak, Anil; Atalay, Ayce ...
Journal of the American Medical Directors Association,
09/2009, Letnik:
10, Številka:
7
Journal Article
Recenzirano
The aim of this study was to evaluate the polypharmacy issue and its correlations with socioeconomic variables in Turkish elderly patients.
Cross-sectional
Outpatient clinics of the medical schools, ...departments of physical medicine and rehabilitation from 12 provinces.
A total of 1430 elderly in different geographical regions of Turkey during January 2007 to January 2008 were included.
Patients were interviewed using a questionnaire that included demographic characteristics, current medical diagnosis, and pharmaceuticals that are used by elderly. Demographical parameters were gender, age, marital status, number of children, level of education, province, and status of retirement.
The mean number of drugs was found to be higher in the females. There was a significant difference among age groups, marital status groups, and the number of children categories. The distribution of the number of drugs among education levels did not differ significantly, whereas the distribution of the number of drugs between the status of retirement and presence of chronic disease differed significantly.
Polypharmacy is correlated with various factors including age, sex, marital status, number of children, status of retirement, and presence of chronic medical conditions but not educational status in our study group.
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