Abstract:The Karvonen formula, which is widely used to estimate exercise intensity, contains maximum heart rate, HRmax, as a variable. This study employed pedaling experiments to assess which of the proposed formulas for calculating HRmax was the most suitable for use with the Karvonen formula. First, two kinds of experiments involving an ergometer were performed: an all-in-one-day experiment that tested eight pedaling loads in one day, and a one-load-per-day experiment that tested one load per day for eight days. A comparison of the data on 7 subjects showed that the all-in-one-day type of experiment was better for assessing HRmax formulas, at least for the load levels tested in our experiments. A statistical analysis of the experimental data on 47 subjects showed two of the HRmax formulas to be suitable for use in the Karvonen formula to estimate exercise intensity for males in their 20 s. In addition, the physical characteristics of a person having the greatest impact on exercise intensity were determined.
This paper describes a fuzzy control strategy for the control of an acrobot. The strategy combines model-free and model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. The control law for the torque is derived directly from the energy of the acrobot. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model for balancing, employs the concept of parallel distributed compensation. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities and is found by a convex optimization technique.
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