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Register a new userBalancing Humanoid Model By Using GA- Optimized PID Control Technique
موازنة نموذج جسم الإنسان باستخدام تقنية تحكم معتمد على متحكم PID ضبطت بارامتراته عن طريق الخوارزمية الجينية
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الهدف من هذا العمل هو القيام بعملية نمذجة و محاكاة جسم الإنسان بالشكل الصحيح وفق الأسس و المعايير المستخدمة؛ و ذلك باستخدام برنامج ال ,Visual Nastran (VN) و ذلك بهدف بناء نظام تحكم ثم ربط هذا النموذج مع برنامج الماتلاب لمحاكاة عملية التوازن الدقيق للأطراف السفلية لهذا النموذج خلال عملية الوقوف. تم الوصول إلى توازن دقيق لنموذج جسم الإنسان خلال عملية الوقوف؛ و ذلك باستخدام نظام تحكم يعتمد على متحكمات ال(PID) مع استخدام الخوارزمية الجينية (Genetic Algorithm) لضبط بارامترات المتحكم. و كذلك تم القيام باختبار توازن النموذج خلال عملية الوقوف و ذلك من خلال إضافة مؤثر خارجي(Disturbance) على شكل قوة و تبين أن النموذج متوازن توازناً جيداً.
The goal of this study is to model human body correctly, according to the principles and the standards used to calculate the humanoid parameters. The model is built by using VN software and then it was implemented in Matlab Simulink, in order to build a control system for simulating the humanoid balance during standing. Precise and robust balance was reached by using PID controller with parameters optimized by using genetic algorithm (GA). The control performance was tested by applying external disturbance to the humanoid, the results show that the humanoid can retrieve its balance effectively.
References used
Vosinakis. S, Panayiotpoulos. T, “Design and Implementation of Synthetic Humans for Virtual Environments and Simulation Systems”, Advances in Signal Processing and Computer Technologies, G.Antoniou, N.E. Mastorakis, O. Planfilov (Eds.), Electrical and Computer Engineering Series, WSES Press, pp.315-320, 2001
MA. L, Chablat. D, Bennis. F, Zhang. W, HU. B, Guillaume. F, ” Fatigue evaluation in maintenance and assembly operations by digital human simulation”, Virtual Reality, vol .15(1), PP. 55-68, 2011
Chaffin, Don. B, "Development of computerized human static strength simulation model for job design", Human Factors and Ergonomics in Manufacturing , Vol.7(4),PP.305-322, 1997
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