Delay And Uncertainty In Human Balancing Tasks
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Delay and Uncertainty in Human Balancing Tasks
This book demonstrates how delay differential equations (DDEs) can be used to compliment the laboratory investigation of human balancing tasks. This approach is made accessible to non-specialists by comparing mathematical predictions and experimental observations. For example, the observation that a longer pole is easier to balance on a fingertip than a shorter one demonstrates the essential role played by a time delay in the balance control mechanism. Another balancing task considered is postural sway during quiet standing. With the inverted pendulum as the driver and the feedback control depending on state variables or on an internal model, the feedback can be identified by determining a critical pendulum length and/or a critical delay. This approach is used to identify the nature of the feedback for the pole balancing and postural sway examples. Motivated by the question of how the nervous system deals with these feedback control challenges, there is a discussion of ‘’microchaotic’’ fluctuations in balance control and how robust control can be achieved in the face of uncertainties in the estimation of control parameters. The final chapter suggests some topics for future research. Each chapter includes an abstract and a point-by-point summary of the main concepts that have been established. A particularly useful numerical integration method for the DDEs that arise in balance control is semi-discretization. This method is described and a MATLAB template is provided. This book will be a useful source for anyone studying balance in humans, other bipedal organisms and humanoid robots. Much of the material has been used by the authors to teach senior undergraduates in computational neuroscience and students in bio-systems, biomedical, mechanical and neural engineering.
Proceedings of the 5th Symposium on the Dynamics and Control of Single-track Vehicles
Author: Jason K. Moore
language: en
Publisher: TU Delft OPEN Publishing
Release Date: 2024-10-18
The Bicycle and Motorcycle Dynamics (BMD) Conference is held every three years. The first conference was held in Delft, The Netherlands in 2010. The aim of this symposium is to bring together leading scientists and researchers in the field of bicycle and motorcycle dynamics and control, in a broad sense. Topics include but are not limited to: single track vehicles (e.g. bicycles, motorcycles, scooters), narrow track and tilting vehicles, unicycles, dicycles (e.g. Segways and hoverboards), modeling, kinematics and dynamics, control, human control, rider properties, handling qualities, tires, experiments, aerodynamics, simulators, nonholonomic dynamics, robot riders, path following. For an open sharing of information, the meeting is organized to provide as much interaction between participants as possible. The format is informal and fluid, with a single track of presentations and extensive time scheduled for interaction, and the forming and sharing of ideas.
Dynamics of Physiological Control
This book provides an overview of recent mathematical models for dynamics in cellular systems and offers a unique vision of the field by prominent experts. It covers, among others, the regulatory basis of oscillations in biological systems; ergodic and chaotic properties in biological models with the example of maturity distribution of precursors of blood cells; time-delayed feedbacks; mathematical models of cell division and heterogeneous stem cell regeneration; quantitative mathematical modeling of glucose regulation; data-driven models of chemotherapy-induced neutropenia; and effects of irradiation and antioxidants in Alzheimer’s disease. This book is directed towards mathematicians interested in learning about modeling in cellular systems and is accessible also to theoreticians in biology and medicine.