Pub Date : 2023-09-05DOI: 10.14311/ap.2023.63.0242
Wahid Luthfi, Surian Pinem
This paper describes the effect of cross-section data generated by several codes on calculated neutronic parameters. The Pressurized Water Reactor Mixed Oxide and Uranium Oxide (PWR MOX/UO2) Core Transient Benchmark case was chosen because it has been used widely to validate neutronic codes. The cross-section data in this study will be generated by SRAC, Serpent, and HELIOS codes. The NODAL3 code will be used to calculate neutronic parameters from each cross-section. The neutronic parameters calculated by NODAL3 are the effective multiplication factor (keff), control rod worth, critical boron concentration, and power distribution under Hot Zero Power (HZP) conditions. The Power-Weighted Error (PWE) and Error-Weighted Error (EWE), as a measure of the relative error in fuel assembly power, are less than 5 %, indicating that the calculation is consistent with DeCART as a reference. The difference in calculated radial power peaking factor for all three cross-sections to reference data reaches 6.284 % (G-3), 8.438 % (G-3), and 10.998 % (C-7), respectively, for SRAC, Serpent, and HELIOS. The axial power distribution calculated by NODAL3 at the top and bottom of the reactor core has a relative error that peaked at 16.60 %, 13.86 %, and 10.20 %, respectively, for cross-sections provided by SRAC, Serpent, and HELIOS. Further improvements are needed for NODAL3 by applying various discontinuity factors to improve its performance.
{"title":"Effect of cross-sections data on calculated static neutronic parameters of PWR MOX/UO2 core transient benchmark case using NODAL3 code","authors":"Wahid Luthfi, Surian Pinem","doi":"10.14311/ap.2023.63.0242","DOIUrl":"https://doi.org/10.14311/ap.2023.63.0242","url":null,"abstract":"This paper describes the effect of cross-section data generated by several codes on calculated neutronic parameters. The Pressurized Water Reactor Mixed Oxide and Uranium Oxide (PWR MOX/UO2) Core Transient Benchmark case was chosen because it has been used widely to validate neutronic codes. The cross-section data in this study will be generated by SRAC, Serpent, and HELIOS codes. The NODAL3 code will be used to calculate neutronic parameters from each cross-section. The neutronic parameters calculated by NODAL3 are the effective multiplication factor (keff), control rod worth, critical boron concentration, and power distribution under Hot Zero Power (HZP) conditions. The Power-Weighted Error (PWE) and Error-Weighted Error (EWE), as a measure of the relative error in fuel assembly power, are less than 5 %, indicating that the calculation is consistent with DeCART as a reference. The difference in calculated radial power peaking factor for all three cross-sections to reference data reaches 6.284 % (G-3), 8.438 % (G-3), and 10.998 % (C-7), respectively, for SRAC, Serpent, and HELIOS. The axial power distribution calculated by NODAL3 at the top and bottom of the reactor core has a relative error that peaked at 16.60 %, 13.86 %, and 10.20 %, respectively, for cross-sections provided by SRAC, Serpent, and HELIOS. Further improvements are needed for NODAL3 by applying various discontinuity factors to improve its performance.","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135362144","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-09-05DOI: 10.14311/ap.2023.63.0250
Noureddine Menasri, Said Zergane, Noureddine Aimeur, Aissa Amour
With the world’s growing demand for energy, renewable energy production has become important in providing alternative sources of energy and in reducing the greenhouse effect. This study investigates the aerodynamics and performance of the WG/EV100 micro–Horizontal Axis Wind Turbine (HAWT) using Computational Fluid Dynamics (CFD). The complexity of VAWT aerodynamics, which is inherently unsteady and three-dimensional, makes high-fidelity flow models extremely demanding in terms of computational cost, limiting the analysis to mainly 2D Computational Fluid-Dynamics (CFD) approaches. This article explains how to perform a full 3D unsteady CFD simulation of HAWT. All main parts of the WG/EV100 HAWT were designed in SOLIDWORKS. Only the blade design was reverse engineered due to the unavailability of the CAD model and the complexity of its geometric characteristics. The impeller blade is scanned using a Coordi-nate Measuring Machine (CMM), and the obtained 3D scan data are exported from the PC-DMIS software to GEOMAGIC design X to obtain a CAD model of the blade.
{"title":"3D CFD model for the analysis of the flow field through a horizontal axis wind turbine (HAWT)","authors":"Noureddine Menasri, Said Zergane, Noureddine Aimeur, Aissa Amour","doi":"10.14311/ap.2023.63.0250","DOIUrl":"https://doi.org/10.14311/ap.2023.63.0250","url":null,"abstract":"With the world’s growing demand for energy, renewable energy production has become important in providing alternative sources of energy and in reducing the greenhouse effect. This study investigates the aerodynamics and performance of the WG/EV100 micro–Horizontal Axis Wind Turbine (HAWT) using Computational Fluid Dynamics (CFD). The complexity of VAWT aerodynamics, which is inherently unsteady and three-dimensional, makes high-fidelity flow models extremely demanding in terms of computational cost, limiting the analysis to mainly 2D Computational Fluid-Dynamics (CFD) approaches. This article explains how to perform a full 3D unsteady CFD simulation of HAWT. All main parts of the WG/EV100 HAWT were designed in SOLIDWORKS. Only the blade design was reverse engineered due to the unavailability of the CAD model and the complexity of its geometric characteristics. The impeller blade is scanned using a Coordi-nate Measuring Machine (CMM), and the obtained 3D scan data are exported from the PC-DMIS software to GEOMAGIC design X to obtain a CAD model of the blade.","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135362141","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-09-05DOI: 10.14311/ap.2023.63.0227
Petr Hála, Filip Šmejkal, Radoslav Sovják
The safety culvert composed of hollow high-performance concrete blocks is designed to reduce the risk of injury in the event of a collision. This work presents a new design with an opening for water flow, tests it, identifies its weaknesses, and discusses possible improvements. The numerical model is constructed, validated by experiment, and used to study the effect of design parameters on the load capacity, compression behaviour, and failure mechanisms. The response varies most markedly with the opening diameter. The failure mode changes from bending failure to concrete crushing as the diameter decreases. The effect is most pronounced for diameters less than 400 mm, where the load capacity increases by 6 kN per millimetre reduction. If a crack develops in the culvert during its service life, the first such crack will form in the top layer of blocks, followed by a crack in the opening. These areas should be monitored more closely during follow-up tests with passing vehicles.
{"title":"Compression behaviour and failure mechanisms of a safety culvert made of hollow high-performance concrete blocks","authors":"Petr Hála, Filip Šmejkal, Radoslav Sovják","doi":"10.14311/ap.2023.63.0227","DOIUrl":"https://doi.org/10.14311/ap.2023.63.0227","url":null,"abstract":"The safety culvert composed of hollow high-performance concrete blocks is designed to reduce the risk of injury in the event of a collision. This work presents a new design with an opening for water flow, tests it, identifies its weaknesses, and discusses possible improvements. The numerical model is constructed, validated by experiment, and used to study the effect of design parameters on the load capacity, compression behaviour, and failure mechanisms. The response varies most markedly with the opening diameter. The failure mode changes from bending failure to concrete crushing as the diameter decreases. The effect is most pronounced for diameters less than 400 mm, where the load capacity increases by 6 kN per millimetre reduction. If a crack develops in the culvert during its service life, the first such crack will form in the top layer of blocks, followed by a crack in the opening. These areas should be monitored more closely during follow-up tests with passing vehicles.","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135362150","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-13DOI: 10.1007/s41050-023-00043-x
O. F. Oladejo, S. F. Olukotun, S. T. Gbenu, L. T. Ogundele, S. O. Inuyomi, M. A. Fakunle
{"title":"Evaluation of Natural Radioactivity and Associated Radiological Risks of Farmland Soil: A Study of a Campus Farmland of Osun State University, Nigeria","authors":"O. F. Oladejo, S. F. Olukotun, S. T. Gbenu, L. T. Ogundele, S. O. Inuyomi, M. A. Fakunle","doi":"10.1007/s41050-023-00043-x","DOIUrl":"https://doi.org/10.1007/s41050-023-00043-x","url":null,"abstract":"","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":"40 1","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77697838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-05DOI: 10.1007/s41050-023-00041-z
J. R. Silva, P. Artaxo, Elinilson Vital
{"title":"Forest Digital Twin: A Digital Transformation Approach for Monitoring Greenhouse Gas Emissions","authors":"J. R. Silva, P. Artaxo, Elinilson Vital","doi":"10.1007/s41050-023-00041-z","DOIUrl":"https://doi.org/10.1007/s41050-023-00041-z","url":null,"abstract":"","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":"10 1","pages":"1-9"},"PeriodicalIF":0.8,"publicationDate":"2023-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90486292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-04DOI: 10.14311/ap.2023.63.0171
M. Chand, Mamoni Paitandi, M. Gupta
This article discusses assessing the instability of a continuous linear homogeneous timeinvariant descriptor system. Some necessary conditions and sufficient conditions are derived to establish the stability of a matrix pair by the fundamentals of qualitative ecological principles. The proposed conditions are derived using only the qualitative (sign) information of the matrix pair elements. Based on these conditions, the instability of a matrix pair can easily be determined, without any magnitude information of the matrix pair elements and without numerical eigenvalues calculations. With the proposed theory, Magnitude Dependent Stable, Magnitude Dependent Unstable, and Qualitative Sign Stable matrix pairs can be distinguished. The consequences of the proposed conditions and some illustrative examples are discussed.
{"title":"Qualitative sign stability of linear time invariant descriptor systems","authors":"M. Chand, Mamoni Paitandi, M. Gupta","doi":"10.14311/ap.2023.63.0171","DOIUrl":"https://doi.org/10.14311/ap.2023.63.0171","url":null,"abstract":"This article discusses assessing the instability of a continuous linear homogeneous timeinvariant descriptor system. Some necessary conditions and sufficient conditions are derived to establish the stability of a matrix pair by the fundamentals of qualitative ecological principles. The proposed conditions are derived using only the qualitative (sign) information of the matrix pair elements. Based on these conditions, the instability of a matrix pair can easily be determined, without any magnitude information of the matrix pair elements and without numerical eigenvalues calculations. With the proposed theory, Magnitude Dependent Stable, Magnitude Dependent Unstable, and Qualitative Sign Stable matrix pairs can be distinguished. The consequences of the proposed conditions and some illustrative examples are discussed.","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44118427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-04DOI: 10.14311/ap.2023.63.0199
J. Litoš, V. Šána, Adam Uhlík, K. Kolář, M. Nguyen
In this paper, information about cementitious composite materials for further 3D processing is discussed and supplemented. Many of the research in this area focuses primarily on cement composites suitable for 3D printing. Nevertheless, 3D printing is not the only robotic processing technique. Another such a technology is modelling with the help of a robotic arm, which can be used to create various elements that fulfil their original but also aesthetic function. The robotic arm creates, using a variety of sculptural or hand tools, a final unique relief of a given element. Three different cement composite mixtures are discussed and their mechanical, physical and thermophysical properties are evaluated. The research aims to investigate and optimise these composites for robotic sculpturingand 3D printing.
{"title":"Mechanical and physical properties of cement mixtures for 3D processing","authors":"J. Litoš, V. Šána, Adam Uhlík, K. Kolář, M. Nguyen","doi":"10.14311/ap.2023.63.0199","DOIUrl":"https://doi.org/10.14311/ap.2023.63.0199","url":null,"abstract":"In this paper, information about cementitious composite materials for further 3D processing is discussed and supplemented. Many of the research in this area focuses primarily on cement composites suitable for 3D printing. Nevertheless, 3D printing is not the only robotic processing technique. Another such a technology is modelling with the help of a robotic arm, which can be used to create various elements that fulfil their original but also aesthetic function. The robotic arm creates, using a variety of sculptural or hand tools, a final unique relief of a given element. Three different cement composite mixtures are discussed and their mechanical, physical and thermophysical properties are evaluated. The research aims to investigate and optimise these composites for robotic sculpturingand 3D printing.","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":"1 1","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41337972","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-04DOI: 10.14311/ap.2023.63.0179
Van-Vuong Dinh, Minh-Chien Trinh, Tien-Dat Bui, M. Duong, Q. Dao
Rehabilitation robots have shown a promise in aiding patient recovery by supporting them in repetitive, systematic training sessions. A critical factor in the success of such training is the patient’s recovery progress, which can guide suitable treatment plans and reduce recovery time. In this study, a neural network-based approach is proposed to estimate the patient’s recovery, which can aid in the development of an assist-as-needed training strategy for the gait training system. Experimental results show that the proposed method can accurately estimate the external torques generated by the patient to determine their recovery. The estimated patient recovery is used for an impedance control of a 2-DOF robotic orthosis powered by pneumatic artificial muscles, which improves the robot joint compliance coefficients and makes the patient more comfortable and confident during rehabilitation exercises.
{"title":"Neural network based patient recovery estimation of a PAM-based rehabilitation robot","authors":"Van-Vuong Dinh, Minh-Chien Trinh, Tien-Dat Bui, M. Duong, Q. Dao","doi":"10.14311/ap.2023.63.0179","DOIUrl":"https://doi.org/10.14311/ap.2023.63.0179","url":null,"abstract":"Rehabilitation robots have shown a promise in aiding patient recovery by supporting them in repetitive, systematic training sessions. A critical factor in the success of such training is the patient’s recovery progress, which can guide suitable treatment plans and reduce recovery time. In this study, a neural network-based approach is proposed to estimate the patient’s recovery, which can aid in the development of an assist-as-needed training strategy for the gait training system. Experimental results show that the proposed method can accurately estimate the external torques generated by the patient to determine their recovery. The estimated patient recovery is used for an impedance control of a 2-DOF robotic orthosis powered by pneumatic artificial muscles, which improves the robot joint compliance coefficients and makes the patient more comfortable and confident during rehabilitation exercises.","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44537869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-04DOI: 10.14311/ap.2023.63.0208
Javad Royaei, K. Sadeghi, Fatemeh Nouban
In this paper, a 28-day compressive strength test has been performed on samples including normal fibre concrete and high-strength concrete. The ultrasonic test (UT) as a non-destructive and compression machine (CM) as a destructive test were applied, and the results were compared. To investigate the effect of temperature, the samples were subjected to 200, 400, 600, 800, 1000, and 1200 degrees Celsius and the exposure time was equal to 30, 45, 60, 90, 120, and 180 minutes. Based on the results, it was observed that the minimum error observed between the UT and CM tests was 2.9 % and the maximum error between the two methods was 10.9 %, which shows the high accuracy of the ultrasonic testing method in determining the specimen’s strength. The average probable error of the method is determined to be around 6.8 %.Based on the results of the average decrease in compressive strength versus the heat exposure time, it is observed that the trend of changes and decrease in resistance over time for both types of tests is almost the same and has a negligible difference. At the end of 180 minutes of exposure, the resistance ratio for the ultrasonic test is 69.8 %, and 71.1 % for the compression machine. Furthermore, according to the average reduction in compressive strength due to heat exposure time, it has been observed that the results of the UT and UM tests have slight numerical differences, however, the trend of changes and reduction in resistance over time for both types of tests is almost the same. Finally, the accuracy of the UT in determining the compressive strength of specimens at high temperatures is fully confirmed.
{"title":"A comparative experimental investigation of high-temperature effect on fibre concrete and high strength concrete using UT and CM methods","authors":"Javad Royaei, K. Sadeghi, Fatemeh Nouban","doi":"10.14311/ap.2023.63.0208","DOIUrl":"https://doi.org/10.14311/ap.2023.63.0208","url":null,"abstract":"In this paper, a 28-day compressive strength test has been performed on samples including normal fibre concrete and high-strength concrete. The ultrasonic test (UT) as a non-destructive and compression machine (CM) as a destructive test were applied, and the results were compared. To investigate the effect of temperature, the samples were subjected to 200, 400, 600, 800, 1000, and 1200 degrees Celsius and the exposure time was equal to 30, 45, 60, 90, 120, and 180 minutes. Based on the results, it was observed that the minimum error observed between the UT and CM tests was 2.9 % and the maximum error between the two methods was 10.9 %, which shows the high accuracy of the ultrasonic testing method in determining the specimen’s strength. The average probable error of the method is determined to be around 6.8 %.Based on the results of the average decrease in compressive strength versus the heat exposure time, it is observed that the trend of changes and decrease in resistance over time for both types of tests is almost the same and has a negligible difference. At the end of 180 minutes of exposure, the resistance ratio for the ultrasonic test is 69.8 %, and 71.1 % for the compression machine. Furthermore, according to the average reduction in compressive strength due to heat exposure time, it has been observed that the results of the UT and UM tests have slight numerical differences, however, the trend of changes and reduction in resistance over time for both types of tests is almost the same. Finally, the accuracy of the UT in determining the compressive strength of specimens at high temperatures is fully confirmed.","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48952076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-04DOI: 10.14311/ap.2023.63.0158
N. A. Al-awad, A. Humaidi, A. Al-Araji
Rehabilitation Exoskeleton is becoming more and more important in physiotherapists’ routine work. To improve the treatment performance, such as reducing the recovery period and/or monitoring and reacting to unpredictable situations, the rehabilitation manipulators need to help the patients in various physical trainings. A special case of the active disturbance rejection control (ADRC) is applied to govern a proper realisation of basic limb rehabilitation trainings. The experimental study is performed on a model of a flexible joint manipulator, whose behaviour resembles a real exoskeleton rehabilitation device (a one-degree-of-freedom, rigid-link, flexible-joint manipulator). The fractional (FADRC) is an unconventional model-independent approach, acknowledged as an effective controller in the existence of total plant uncertainties, and these uncertainties are inclusive of the total disturbances and unknown dynamics of the plant. In this work, three FADRC schemes are used, the first one using a fractional state observer (FSO), or FADRC1, second one using a fractional proportional-derivative controller (FPD), or FADRC2, and the third one a Multi-loop fractional in PD-loop controller and the observer-loop (Feedforward and Feedback), or FADRC3. The simulated Exoskeleton system is subjected to a noise disturbance and the FADRC3 shows the effectiveness to compensate all these effects and satisfies the desired position when compared with FADRC1 and FADRC2. The design and simulation were carried out in MATLAB/Simulink.
{"title":"Fractional multi-loop active disturbance rejection control for a lower knee exoskeleton system","authors":"N. A. Al-awad, A. Humaidi, A. Al-Araji","doi":"10.14311/ap.2023.63.0158","DOIUrl":"https://doi.org/10.14311/ap.2023.63.0158","url":null,"abstract":"Rehabilitation Exoskeleton is becoming more and more important in physiotherapists’ routine work. To improve the treatment performance, such as reducing the recovery period and/or monitoring and reacting to unpredictable situations, the rehabilitation manipulators need to help the patients in various physical trainings. A special case of the active disturbance rejection control (ADRC) is applied to govern a proper realisation of basic limb rehabilitation trainings. The experimental study is performed on a model of a flexible joint manipulator, whose behaviour resembles a real exoskeleton rehabilitation device (a one-degree-of-freedom, rigid-link, flexible-joint manipulator). The fractional (FADRC) is an unconventional model-independent approach, acknowledged as an effective controller in the existence of total plant uncertainties, and these uncertainties are inclusive of the total disturbances and unknown dynamics of the plant. In this work, three FADRC schemes are used, the first one using a fractional state observer (FSO), or FADRC1, second one using a fractional proportional-derivative controller (FPD), or FADRC2, and the third one a Multi-loop fractional in PD-loop controller and the observer-loop (Feedforward and Feedback), or FADRC3. The simulated Exoskeleton system is subjected to a noise disturbance and the FADRC3 shows the effectiveness to compensate all these effects and satisfies the desired position when compared with FADRC1 and FADRC2. The design and simulation were carried out in MATLAB/Simulink.","PeriodicalId":45804,"journal":{"name":"Acta Polytechnica","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47228102","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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