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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.
Artificial intelligence review:
Research summary
تهدف هذه الدراسة إلى نمذجة ومحاكاة توازن جسم الإنسان باستخدام برنامج Visual Nastran وربطه ببرنامج Matlab لتحقيق نظام تحكم يعتمد على متحكم PID، حيث تم ضبط بارامتراته باستخدام الخوارزمية الجينية. تم بناء نموذج ثلاثي الأبعاد لجسم الإنسان ببرنامج Visual Nastran، وتمت محاكاته في بيئة Matlab/Simulink. تم اختبار توازن النموذج بإضافة مؤثر خارجي، وأظهرت النتائج أن النموذج حافظ على توازنه. استخدمت الخوارزمية الجينية لضبط بارامترات المتحكم PID، مما أدى إلى تحسين دقة التوازن. تم اختبار النموذج في ظروف مختلفة، وأظهرت النتائج فعالية النظام في الحفاظ على التوازن. تشير الدراسة إلى إمكانية استخدام هذه التقنية في تطوير أجهزة مساعدة للأشخاص ذوي الإعاقة.
Critical review
تعتبر هذه الدراسة خطوة مهمة في مجال التحكم بنماذج جسم الإنسان، إلا أن هناك بعض النقاط التي يمكن تحسينها. أولاً، لم يتم التطرق بشكل كافٍ إلى تأثير العوامل البيئية المختلفة على توازن النموذج، مثل الرياح أو الأسطح غير المستوية. ثانياً، قد يكون من المفيد توسيع نطاق الدراسة ليشمل نماذج أكثر تعقيداً تتضمن العضلات والمفاصل الأخرى. ثالثاً، الزمن الطويل الذي تتطلبه الخوارزمية الجينية لضبط البارامترات يمكن أن يكون عائقاً في التطبيقات العملية، لذا قد يكون من المفيد استكشاف تقنيات أخرى لضبط البارامترات بشكل أسرع.
Questions related to the research
-
ما الهدف الرئيسي من هذه الدراسة؟
الهدف الرئيسي هو نمذجة ومحاكاة توازن جسم الإنسان باستخدام متحكم PID تم ضبط بارامتراته باستخدام الخوارزمية الجينية.
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ما هي البرامج المستخدمة في هذه الدراسة؟
تم استخدام برنامج Visual Nastran لنمذجة جسم الإنسان وبرنامج Matlab/Simulink لمحاكاة والتحكم بالنموذج.
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كيف تم اختبار توازن النموذج؟
تم اختبار توازن النموذج بإضافة مؤثر خارجي على شكل قوة، وأظهرت النتائج أن النموذج حافظ على توازنه.
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ما هي الفائدة المحتملة من هذه الدراسة؟
يمكن استخدام النتائج في تطوير أجهزة مساعدة للأشخاص ذوي الإعاقة، مثل الهياكل الخارجية وأجهزة إعادة التأهيل.
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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