Papers by Umme Kawsar Alam
Frontiers in Robotics and AI, Nov 16, 2023
Modeling multi-contact point physical interaction between the anthropomorphic finger and soft rob... more Modeling multi-contact point physical interaction between the anthropomorphic finger and soft robotic exo-digit for wearable rehabilitation robotics applications.
Automation
This paper presents a quasi-static model-based control algorithm for controlling the motion of a ... more This paper presents a quasi-static model-based control algorithm for controlling the motion of a soft robotic exo-digit with three independent actuation joints physically interacting with the human finger. A quasi-static analytical model of physical interaction between the soft exo-digit and a human finger model was developed. Then, the model was presented as a nonlinear discrete-time multiple-input multiple-output (MIMO) state-space representation for the control system design. Input–output feedback linearization was utilized and a control input was designed to linearize the input–output, where the input is the actuation pressure of an individual soft actuator, and the output is the pose of the human fingertip. The asymptotic stability of the nonlinear discrete-time system for trajectory tracking control is discussed. A soft robotic exoskeleton digit (exo-digit) and a 3D-printed human-finger model integrated with IMU sensors were used for the experimental test setup. An Arduino-bas...
This paper presents a quasi-static model-based control algorithm for controlling the motion
of a ... more This paper presents a quasi-static model-based control algorithm for controlling the motion
of a soft robotic exo-digit with three independent actuation joints physically interacting with the
human finger. A quasi-static analytical model of physical interaction between the soft exo-digit and a
human finger model was developed. Then, the model was presented as a nonlinear discrete-time
multiple-input multiple-output (MIMO) state-space representation for the control system design.
Input–output feedback linearization was utilized and a control input was designed to linearize the
input–output, where the input is the actuation pressure of an individual soft actuator, and the output
is the pose of the human fingertip. The asymptotic stability of the nonlinear discrete-time system for
trajectory tracking control is discussed. A soft robotic exoskeleton digit (exo-digit) and a 3D-printed
human-finger model integrated with IMU sensors were used for the experimental test setup. An
Arduino-based electro-pneumatic control hardware was developed to control the actuation pressure
of the soft exo-digit. The effectiveness of the controller was examined through simulation studies
and experimental testing for following different pose trajectories corresponding to the human finger
pose during the activities of daily living. The model-based controller was able to follow the desired
trajectories with a very low average root-mean-square error of 2.27 mm in the x-direction, 2.75 mm in
the y-direction, and 3.90 degrees in the orientation of the human finger distal link about the z-axis.
Generally, blind people use a traditional cane (known as white cane) for moving from one place to... more Generally, blind people use a traditional cane (known as white cane) for moving from one place to other. Although, white cane is the international symbol of blindness, it could not help them to detect place and to avoid obstacles. In this paper, we represent a model of walking stick for blind people. It consists of GPS module, GPS Antenna, Arduino, IR sensor and buzzer. This stick can detect place and obstacles. Position detection part is done with GPS module and GPS antenna. IR sensor is used for detecting obstacles. Here, the buzzer produces two types of sound. When the blind reaches to his destination, buzzer buzzes continuously. When the blind faces any obstacles, buzzer buzzes discontinuously. By hearing this two types of sound, blind can be confirmed about his destination and also can avoid obstacles in front of him. The whole system is designed to be small, light and is used in conjunction with the white cane so that it could ensure safety of the blind.
Rajshahi University Journal of Science & Engineering, 2015
Generally, blind people use a traditional cane (known as white cane) for moving from one place to... more Generally, blind people use a traditional cane (known as white cane) for moving from one place to another. Although, white cane is the international symbol of blindness, it could not help them to detect place and to avoid obstacles. In this paper, we represent a model of walking stick for blind people. It consists of GPS module, GPS Antenna, Arduino, ultrasonic sensor and buzzer. This stick can detect place and obstacles. Position detection part is done with GPS module and GPS antenna. Ultrasonic sensor is used for detecting obstacles. Here, the buzzer produces two types of sound. When the blind reaches to his destination, buzzer buzzes continuously. When the blind faces any obstacles, buzzer buzzes with interruption. By discovering these two types of sound, blind can be confirmed about his destination and also can avoid obstacles in front of him. The whole system is designed to be small, light and is used in conjunction with the white cane so that it could ensure safety of the blind.
National Conference On Energy Technology and Industrial Automation, 2018
For analysis & optimization purposes, it is necessary to represent an airfoil with fewer
paramete... more For analysis & optimization purposes, it is necessary to represent an airfoil with fewer
parameters. In this paper, the two-dimensional surface of an airfoil has been represented by 5th order
Bézier curve. So, each of the upper and lower surface of the airfoil can be represented by (5+1) = 6 control
points only. For optimization purposes, control points of the cubic B-spline are used for modeling the airfoil
as analyses are done with Qblade. Here, the design space has been defined as the 25% above and 25%
below the y coordinates of the control points. Within this design space, two optimized shapes are obtained
by using Genetic Algorithm (GA) and the Particle Swarm Optimization (PSO) tool of Matlab respectively.
Each shape has a higher coefficient of lift-to-drag ratio (Cl/Cd) than that of the original airfoil for a range
of angle of attack (AoA). So, these two shapes can definitely be used in various aerodynamic applications
like in wind turbine and in aircraft wings to get better lift and reduced amount of drag force.
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Papers by Umme Kawsar Alam
of a soft robotic exo-digit with three independent actuation joints physically interacting with the
human finger. A quasi-static analytical model of physical interaction between the soft exo-digit and a
human finger model was developed. Then, the model was presented as a nonlinear discrete-time
multiple-input multiple-output (MIMO) state-space representation for the control system design.
Input–output feedback linearization was utilized and a control input was designed to linearize the
input–output, where the input is the actuation pressure of an individual soft actuator, and the output
is the pose of the human fingertip. The asymptotic stability of the nonlinear discrete-time system for
trajectory tracking control is discussed. A soft robotic exoskeleton digit (exo-digit) and a 3D-printed
human-finger model integrated with IMU sensors were used for the experimental test setup. An
Arduino-based electro-pneumatic control hardware was developed to control the actuation pressure
of the soft exo-digit. The effectiveness of the controller was examined through simulation studies
and experimental testing for following different pose trajectories corresponding to the human finger
pose during the activities of daily living. The model-based controller was able to follow the desired
trajectories with a very low average root-mean-square error of 2.27 mm in the x-direction, 2.75 mm in
the y-direction, and 3.90 degrees in the orientation of the human finger distal link about the z-axis.
parameters. In this paper, the two-dimensional surface of an airfoil has been represented by 5th order
Bézier curve. So, each of the upper and lower surface of the airfoil can be represented by (5+1) = 6 control
points only. For optimization purposes, control points of the cubic B-spline are used for modeling the airfoil
as analyses are done with Qblade. Here, the design space has been defined as the 25% above and 25%
below the y coordinates of the control points. Within this design space, two optimized shapes are obtained
by using Genetic Algorithm (GA) and the Particle Swarm Optimization (PSO) tool of Matlab respectively.
Each shape has a higher coefficient of lift-to-drag ratio (Cl/Cd) than that of the original airfoil for a range
of angle of attack (AoA). So, these two shapes can definitely be used in various aerodynamic applications
like in wind turbine and in aircraft wings to get better lift and reduced amount of drag force.
of a soft robotic exo-digit with three independent actuation joints physically interacting with the
human finger. A quasi-static analytical model of physical interaction between the soft exo-digit and a
human finger model was developed. Then, the model was presented as a nonlinear discrete-time
multiple-input multiple-output (MIMO) state-space representation for the control system design.
Input–output feedback linearization was utilized and a control input was designed to linearize the
input–output, where the input is the actuation pressure of an individual soft actuator, and the output
is the pose of the human fingertip. The asymptotic stability of the nonlinear discrete-time system for
trajectory tracking control is discussed. A soft robotic exoskeleton digit (exo-digit) and a 3D-printed
human-finger model integrated with IMU sensors were used for the experimental test setup. An
Arduino-based electro-pneumatic control hardware was developed to control the actuation pressure
of the soft exo-digit. The effectiveness of the controller was examined through simulation studies
and experimental testing for following different pose trajectories corresponding to the human finger
pose during the activities of daily living. The model-based controller was able to follow the desired
trajectories with a very low average root-mean-square error of 2.27 mm in the x-direction, 2.75 mm in
the y-direction, and 3.90 degrees in the orientation of the human finger distal link about the z-axis.
parameters. In this paper, the two-dimensional surface of an airfoil has been represented by 5th order
Bézier curve. So, each of the upper and lower surface of the airfoil can be represented by (5+1) = 6 control
points only. For optimization purposes, control points of the cubic B-spline are used for modeling the airfoil
as analyses are done with Qblade. Here, the design space has been defined as the 25% above and 25%
below the y coordinates of the control points. Within this design space, two optimized shapes are obtained
by using Genetic Algorithm (GA) and the Particle Swarm Optimization (PSO) tool of Matlab respectively.
Each shape has a higher coefficient of lift-to-drag ratio (Cl/Cd) than that of the original airfoil for a range
of angle of attack (AoA). So, these two shapes can definitely be used in various aerodynamic applications
like in wind turbine and in aircraft wings to get better lift and reduced amount of drag force.