Comprehensive Bond Graph Modeling and Optimal Control of an Anthropomorphic Mechatronic Prosthetic Hand

Saeed, Muhammad; Khaydarov, Sardor; Ashagre, Biniam Legesse; Zafar, Munzir

doi:10.1109/icma.2019.8816325

Cited by 4 publications

(10 citation statements)

References 5 publications

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“…For the stability of a system, entries of the matrix A are analyzed. Since, there are different arithmetic operations (+, * ) involved and the parameters of the system matrix contain round-off values in our case [45] so, rather than taking particular values of the parameters, we took general values and verified the theorems for (stable, unstable, marginally stable) square matrices of dimension 2 and 3. The above theorem provides all possible conditions on the entries of a matrix with dimension 3×3 to be stable.…”

Section: Formal Verification Of the Bond Graphs Propertiesmentioning

confidence: 99%

“…It mainly involves the formalization of the BG models and the formal verification of their various properties using multivariate calculus theories of HOL Light theorem prover [21]. To illustrate the practical effectiveness of our proposed framework, we formally analyze the dynamics of an anthropomorphic mechatronic prosthetic hand [45] based on the formalization of BG. Our proposed framework accepts a BG representation of a system and its corresponding parameters, such as, the values of its different components from a user.…”

Section: Introductionmentioning

confidence: 99%

“…The next step is to use the state-space models of the BG representation to formally analyze various dynamical properties, such as, stability, of the underlying system. For a practical illustration of our proposed formalization, we present a formal stability analysis of an anthropomorphic mechatronic prosthetic hand [45]. Moreover, to facilitate a non-expert HOL user, we encode our formally verified stability theorems in MATLAB to perform stability analysis of an anthropomorphic prosthetic mechatronic hand.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Formalization of Bond Graph using Higher-order-logic Theorem Proving

Ujala¹,

Rashid²,

Hasan³

2021

Preprint

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Bond graph is a unified graphical approach for describing the dynamics of complex engineering and physical systems and is widely adopted in a variety of domains, such as, electrical, mechanical, medical, thermal and fluid mechanics. Traditionally, these dynamics are analyzed using paper-and-pencil proof methods and computer-based techniques. However, both of these techniques suffer from their inherent limitations, such as human-error proneness, approximations of results and enormous computational requirements. Thus, these techniques cannot be trusted for performing the bond graph based dynamical analysis of systems from the safety-critical domains like robotics and medicine. Formal methods, in particular, higher-order-logic theorem proving, can overcome the shortcomings of these traditional methods and provide an accurate analysis of these systems. It has been widely used for analyzing the dynamics of engineering and physical systems. In this paper, we propose to use higher-order-logic theorem proving for performing the bond graph based analysis of the physical systems. In particular, we provide formalization of bond graph, which mainly includes functions that allow conversion of a bond graph to its corresponding mathematical model (state-space model) and the verification of its various properties, such as, stability. To illustrate the practical effectiveness of our proposed approach, we present the formal stability analysis of a prosthetic mechatronic hand using HOL Light theorem prover. Moreover, to help non-experts in HOL, we encode our formally verified stability theorems in MATLAB to perform the stability analysis of an anthropomorphic prosthetic mechatronic hand.

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Section: Formal Verification Of the Bond Graphs Propertiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Formalization of Bond Graph using Higher-order-logic Theorem Proving

Ujala¹,

Rashid²,

Hasan³

2021

Preprint

View full text Add to dashboard Cite

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“…The controllability condition of the pair (A i , B i ) is an adequate condition for the presence of a state feedback gain F i in a way that (A i − B i F i ) be asymptotically stable. F i , the controller matrix, can be calculated by minimizing the quadratic performance index of the LQR controller for Equation (12). Figure 12 demonstrates the block diagram of the closed-loop control system.…”

Section: Implementation Of Kalman Filter Observer and Performance Analysismentioning

confidence: 99%

“…Basically, precise dynamic model of the robotic platform represents the system behavior more accurately, which results in more appropriate and desirable control performance [11]. In addition, while achieving model accuracy for complex systems, the order of the system increases which results in complicated computations [12]. Modeling of complex systems such as exoskeletons through bond graphs requires fewer mathematical computations and is more adjustable and adaptable with respect to classical conventional dynamic modeling approaches.…”

Section: Introductionmentioning

confidence: 99%

Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton

Barjuei

Caldwell

Ortiz

2020

Designs

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This paper presents a versatile approach to the synthesis and design of a bond graph model and a Kalman filter observer for an industrial back-support exoskeleton. Actually, the main purpose of developing a bond graph model is to investigate and understand better the system dynamics. On the other hand, the design of the Kalman observer always should be based on a model providing an adequate description of the system dynamics; however, when back-support exoskeletons are considered, the synthesis of a state observer becomes very challenging, since only nonlinear models may be adopted to reproduce the system dynamic response with adequate accuracy. The dynamic modeling of the exoskeleton robotic platform, used in this work, comprises an electrical brushless DC motor, gearbox transmission, torque sensor and human trunk (biomechanical model). On this basis, a block diagram model of the dynamic system is presented and an experimental test has been carried out for identifying the system parameters accordingly. Both the block diagram and bond graph dynamic models are simulated via MATLAB and 20-sim software (bond graph simulation software) respectively. Furthermore, the possibility of employing the Kalman filter observer together with a suitable linear model is investigated. Subsequently, the performance of the proposed Kalman observer is evaluated in a lifting task scenario with the use of a linear quadratic regulator (LQR) controller with double integral action. Finally, the most important simulation results are presented and discussed.

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A review of the diverse applications of bond graphs in biology and physiology

Akbarpour Ghazani,

Pan,

Tran

et al. 2024

Proc. R. Soc. A.

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Computational biology and physiology is an interdisciplinary endeavour, requiring input from biologists, physiologists, mathematicians, chemists, engineers and clinicians. These systems are composed of complex phenomena across disparate temporal and spatial scales, and a holistic understanding of system behaviour typically requires the application of advanced multi-scale models. While many modelling techniques have been used, the bond graph (BG) is the only approach for modelling physical systems, where ‘causality’ is represented graphically. Additionally, the BG approach with its intrinsic properties allows the modular construction of models and verifying the conservation of mass and energy algorithmically. The BG approach has been widely used in engineering and, more recently, has been increasingly applied to biology and physiological systems. In this review, we briefly introduce the concepts and strengths of BG modelling. Following this, we review the history of BGs in modelling cellular mechanisms, biochemical reactions and musculoskeletal and cardiovascular systems. Then, current developments in BG software are reviewed, and opportunities and perspectives on the future application of BGs are discussed.

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Comprehensive Bond Graph Modeling and Optimal Control of an Anthropomorphic Mechatronic Prosthetic Hand

Cited by 4 publications

References 5 publications

Formalization of Bond Graph using Higher-order-logic Theorem Proving

Formalization of Bond Graph using Higher-order-logic Theorem Proving

Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton

A review of the diverse applications of bond graphs in biology and physiology

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