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Journal articles on the topic 'Motor Redundancy'

Author: Grafiati

Published: 6 September 2023

Last updated: 22 June 2025

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Wang, Ke, Baojun Qu, and Mingwang Gao. "Redundancy Control Strategy for a Dual-Redundancy Steer-by-Wire System." Actuators 13, no. 9 (2024): 378. http://dx.doi.org/10.3390/act13090378.

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Currently, key factors hindering application of steer-by-wire systems are their inadequate safety and reliability, which are significant criteria for evaluating automotive active safety. Based on the steer-by-wire platform, a dual-redundant steering motor control system is proposed, featuring dual three-phase permanent magnet synchronous motors as execution motors, achieving redundancy from hardware. A torque vector-space-decoupling control method is introduced for these motors to ensure balanced and stable torque output. Upon a fault, fault-tolerant measures are taken by disconnecting power supply to the affected motor, which, despite reducing system functionality, allows for normal steering control. This research starts with modeling the dual three-phase motors to construct a simulation model. It then proceeds with hardware-in-the-loop testing integrated with the dual-redundancy steer-by-wire control system, conducting tests under dual-lane-change trajectory conditions. Finally, a steering system fault is simulated to assess fault handling and functional degradation. These experiments confirmed that the proposed method enabled balanced torque output from the dual three-phase motors in the redundant steering control and facilitated fault-tolerant processing post fault, ensuring the vehicle’s steering functions were maintained.

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Singh, Puneet, Sumitash Jana, Ashitava Ghosal, and Aditya Murthy. "Exploration of joint redundancy but not task space variability facilitates supervised motor learning." Proceedings of the National Academy of Sciences 113, no. 50 (2016): 14414–19. http://dx.doi.org/10.1073/pnas.1613383113.

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The number of joints and muscles in a human arm is more than what is required for reaching to a desired point in 3D space. Although previous studies have emphasized how such redundancy and the associated flexibility may play an important role in path planning, control of noise, and optimization of motion, whether and how redundancy might promote motor learning has not been investigated. In this work, we quantify redundancy space and investigate its significance and effect on motor learning. We propose that a larger redundancy space leads to faster learning across subjects. We observed this pattern in subjects learning novel kinematics (visuomotor adaptation) and dynamics (force-field adaptation). Interestingly, we also observed differences in the redundancy space between the dominant hand and nondominant hand that explained differences in the learning of dynamics. Taken together, these results provide support for the hypothesis that redundancy aids in motor learning and that the redundant component of motor variability is not noise.

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Fu, Zhaoyang, Zheng Liu, and Xingbang Liu. "A Dual-Redundancy Two-Phase Hybrid Stepping Motor for Satellite Antenna Drive System." Energies 15, no. 5 (2022): 1612. http://dx.doi.org/10.3390/en15051612.

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Stepping motors are highly preferred in spacecraft applications because of their simple structure, convenient control and lack of accumulated error. In satellite antenna drive systems, reliability and fault tolerance have been paid more and more attention. Accordingly, to enhance the reliability of the electrical system in the field of aerospace, the redundancy technology, which can effectively improve the system reliability while reducing the requirements of components, was applied in the design of hybrid stepping motors (HSM), a dual-redundancy two-phase HSM which has two sets of stator windings was designed in this paper. The mathematical model of stepping motor and the specific structure parameters of the motor are given. The torque-frequency characteristic was regarded as the key to measure the performance of the motor proposed in this paper. The results of 3-D finite element modeling are presented. The corresponding performance experiment on the designed motor was carried out and both the simulation results and the experimental results verified the validity and superiority of the dual redundancy HSM.

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Guigon, Emmanuel, Pierre Baraduc, and Michel Desmurget. "Computational Motor Control: Redundancy and Invariance." Journal of Neurophysiology 97, no. 1 (2007): 331–47. http://dx.doi.org/10.1152/jn.00290.2006.

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The nervous system controls the behavior of complex kinematically redundant biomechanical systems. How it computes appropriate commands to generate movements is unknown. Here we propose a model based on the assumption that the nervous system: 1) processes static (e.g., gravitational) and dynamic (e.g., inertial) forces separately; 2) calculates appropriate dynamic controls to master the dynamic forces and progress toward the goal according to principles of optimal feedback control; 3) uses the size of the dynamic commands (effort) as an optimality criterion; and 4) can specify movement duration from a given level of effort. The model was used to control kinematic chains with 2, 4, and 7 degrees of freedom [planar shoulder/elbow, three-dimensional (3D) shoulder/elbow, 3D shoulder/elbow/wrist] actuated by pairs of antagonist muscles. The muscles were modeled as second-order nonlinear filters and received the dynamics commands as inputs. Simulations showed that the model can quantitatively reproduce characteristic features of pointing and grasping movements in 3D space, i.e., trajectory, velocity profile, and final posture. Furthermore, it accounted for amplitude/duration scaling and kinematic invariance for distance and load. These results suggest that motor control could be explained in terms of a limited set of computational principles.

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Martin, V., J. P. Scholz, and G. Schöner. "Redundancy, Self-Motion, and Motor Control." Neural Computation 21, no. 5 (2009): 1371–414. http://dx.doi.org/10.1162/neco.2008.01-08-698.

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Outside the laboratory, human movement typically involves redundant effector systems. How the nervous system selects among the task-equivalent solutions may provide insights into how movement is controlled. We propose a process model of movement generation that accounts for the kinematics of goal-directed pointing movements performed with a redundant arm. The key element is a neuronal dynamics that generates a virtual joint trajectory. This dynamics receives input from a neuronal timer that paces end-effector motion along its path. Within this dynamics, virtual joint velocity vectors that move the end effector are dynamically decoupled from velocity vectors that do not. Moreover, the sensed real joint configuration is coupled back into this neuronal dynamics, updating the virtual trajectory so that it yields to task-equivalent deviations from the dynamic movement plan. Experimental data from participants who perform in the same task setting as the model are compared in detail to the model predictions. We discover that joint velocities contain a substantial amount of self-motion that does not move the end effector. This is caused by the low impedance of muscle joint systems and by coupling among muscle joint systems due to multiarticulatory muscles. Back-coupling amplifies the induced control errors. We establish a link between the amount of self-motion and how curved the end-effector path is. We show that models in which an inverse dynamics cancels interaction torques predict too little self-motion and too straight end-effector paths.

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Kumar, Swagat, Premkumar P., Ashish Dutta, and Laxmidhar Behera. "Visual motor control of a 7DOF redundant manipulator using redundancy preserving learning network." Robotica 28, no. 6 (2009): 795–810. http://dx.doi.org/10.1017/s026357470999049x.

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SUMMARYThis paper deals with the design and implementation of a visual kinematic control scheme for a redundant manipulator. The inverse kinematic map for a redundant manipulator is a one-to-many relation problem; i.e. for each Cartesian position, multiple joint angle vectors are associated. When this inverse kinematic relation is learnt using existing learning schemes, a single inverse kinematic solution is achieved, although the manipulator is redundant. Thus a new redundancy preserving network based on the self-organizing map (SOM) has been proposed to learn the one-to-many relation using sub-clustering in joint angle space. The SOM network resolves redundancy using three criteria, namely lazy arm movement, minimum angle norm and minimum condition number of image Jacobian matrix. The proposed scheme is able to guide the manipulator end-effector towards the desired target within 1-mm positioning accuracy without exceeding physical joint angle limits. A new concept of neighbourhood has been introduced to enable the manipulator to follow any continuous trajectory. The proposed scheme has been implemented on a seven-degree-of-freedom (7DOF) PowerCube robot manipulator successfully with visual position feedback only. The positioning accuracy of the redundant manipulator using the proposed scheme outperforms existing SOM-based algorithms.

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Johar, Harminder Singh, Abhijit Bhattacharya, and S. Srinivasa Rao. "Fault Tolerant Brushless DC Motor Drive for Aerospace Applications." Defence Science Journal 73, no. 06 (2023): 749–56. http://dx.doi.org/10.14429/dsj.73.18898.

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This article brings out a Fault-tolerant BLDC motor drive for aerospace applications using the redundancy concept. In a way, it brings out a fault-tolerant strategy that can be used to continue the regular operation of a BLDC motor drive even after the occurrence of faults. As BLDC motors are used in critical and dangerous control areas like military services and space vehicles, a fault-tolerant drive is essential to maintain drive operation and provide desirable output. This article compares fault simulation results in the software model of a BLDC motor drive to those of fault simulation results in hardware for three main types of faults. Fault simulation is carried out for three types of faults, viz. inverter device open circuit fault, motor winding open circuit fault, and rotor position sensor (hall sensor) open-circuited fault. Fault tolerance is ensured by introducing a redundant drive (drive-2), which operates the complete drive at the advent of any of the faults mentioned above in the main (healthy) drive-1. A fault-tolerant (redundant) hardware comprising dual stator BLDC motor and redundant controllers is realized and operationalized. Fault simulation is carried out in this hardware, and these results are validated with the results of fault simulation in the MATLAB SIMULINK model. Software and hardware results are comparable and form a basis for developing fault-tolerant electro-mechanical actuation systems for high-reliability, high-cost applications, mainly aerospace.

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Yang, Yi, Wei Wang, Daisuke Iwakura, Akio Namiki, and Kenzo Nonami. "Sliding Mode Control for Hexacopter Stabilization with Motor Failure." Journal of Robotics and Mechatronics 28, no. 6 (2016): 936–48. http://dx.doi.org/10.20965/jrm.2016.p0936.

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[abstFig src='/00280006/18.jpg' width='300' text='Hovering with 5 rotors' ] This study presents a fault-tolerance approach for hexacopters with failed propulsion systems (i.e., motors and propellers) using sliding mode control theory. In this study, we use an explicit control allocation method with linear constraints for allocating the control input to redundancy actuators, as well as a new sliding model controller designed to stabilize the attitude and maintain the basic flight performance of a vehicle with a single failed motor during an outdoor autonomous flight mission. An asymmetrical motor rotation arrangement is applied in order to ensure controllability for all degrees of freedom. We verify the developed system on a real hexacopter suffering propulsion-system failure. Finally, the comparative results between the linear-quadratic-integral controller and model reference sliding mode controller are presented to evaluate the robustness of each controller against the failure of redundancy actuators.

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Liu, Xiaolin, and Jinkai Li. "Research on Control Method of Dual-Motor Load Simulator." World Electric Vehicle Journal 14, no. 2 (2023): 28. http://dx.doi.org/10.3390/wevj14020028.

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Aiming at the output torque error of a steering gear electric load simulator caused by excess torque and backlash interference, an electric load simulator based on double-motor loading is designed. The double-motor loading mode is adopted in the structure, the mathematical model is established, and the sources of excess torque and backlash interference are analyzed. In the control strategy, firstly, a torque controller is designed as a feedback controller based on the improved error symbol robust integral control method, and then a backlash interference compensator is designed as a feedforward controller based on the drive redundancy strategy. Finally, a dual motor speed synchronization controller is designed based on the improved cross coupling control method to ensure the stable operation of the torque controller and backlash compensator in the dual-motor system. The simulation results show that the compound control method can reduce the tracking error to 1.13%, 4.44% less than the PID control method. The tracking error is only 1.54% in the case of redundant torque, backlash, and different parameters of dual motors. The method proposed in this paper can still output loading torque with high accuracy.

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Watson, J. Morrissa, and Edwin E. Wagner. "Redundancy in Perceptual-Motor Testing: Confirmation and Generalization." Perceptual and Motor Skills 72, no. 2 (1991): 585–86. http://dx.doi.org/10.2466/pms.1991.72.2.585.

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Ranganathan, Rajiv, and Karl M. Newell. "Influence of motor learning on utilizing path redundancy." Neuroscience Letters 469, no. 3 (2010): 416–20. http://dx.doi.org/10.1016/j.neulet.2009.12.041.

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Fu, Zhaoyang, Jinglin Liu, and Zhifei Xing. "Performance analysis of dual-redundancy brushless DC motor." Energy Reports 6 (December 2020): 829–33. http://dx.doi.org/10.1016/j.egyr.2020.11.125.

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Berret, Bastien, Enrico Chiovetto, Francesco Nori, and Thierry Pozzo. "Manifold reaching paradigm: how do we handle target redundancy?" Journal of Neurophysiology 106, no. 4 (2011): 2086–102. http://dx.doi.org/10.1152/jn.01063.2010.

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How the central nervous system coordinates the many intrinsic degrees of freedom of the musculoskeletal system is a recurrent question in motor control. Numerous studies addressed it by considering redundant reaching tasks such as point-to-point arm movements, for which many joint trajectories and muscle activations are usually compatible with a single goal. There exists, however, a different, extrinsic kind of redundancy that is target redundancy. Many times, indeed, the final point to reach is neither specified nor unique. In this study, we aim to understand how the central nervous system tackles such an extrinsic redundancy by considering a reaching-to-a-manifold paradigm, more specifically an arm pointing to a long vertical bar. In this case, the endpoint is not defined a priori and, therefore, subjects are free to choose any point on the bar to successfully achieve the task. We investigated the strategies used by subjects to handle this presented choice. Our results indicate both intersubject and intertrial consistency with respect to the freedom provided by the task. However, the subjects' behavior is found to be more variable than during classical point-to-point reaches. Interestingly, the average arm trajectories to the bar and the structure of intertrial endpoint variations could be explained via stochastic optimal control with an energy/smoothness expected cost and signal-dependent motor noise. We conclude that target redundancy is first overcome during movement planning and then exploited during movement execution, in agreement with stochastic optimal feedback control principles, which illustrates how the complementary problems of goal and movement selection may be resolved at once.

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Prilutsky, Boris, David Ashley, Leslie VanHiel, Linda Harley, Jason Tidwell, and Deborah Backus. "Motor Control and Motor Redundancy in the Upper Extremity: Implications for Neurorehabilitation." Topics in Spinal Cord Injury Rehabilitation 17, no. 1 (2011): 7–15. http://dx.doi.org/10.1310/sci1701-07.

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Wu, Wei. "Research on High-Quality Dual-Redundancy Aircraft Rudder Servo System Simulation." Applied Mechanics and Materials 519-520 (February 2014): 1347–52. http://dx.doi.org/10.4028/www.scientific.net/amm.519-520.1347.

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In order to improve the reliability of aircraft, a high quality dual-redundancy rudder servo system is designed. Dual-redundancy BLDCM and redundancy strategy are applied. A dual-redundancy BLDCM mathematical model is established. Using matlab/simulink, the simulation of motor is given. The control strategy based on position loop, velocity loop and current balance loop is designed. The simulation of dual-redundancy rudder servo system shows that the system has a good dynamic response and high steady-state accuracy. The performance of the servo system is excellent.

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Ye, Hong Bing, and Xin Chen. "Research of Redundancy Management on Dual-Redundancy Brushless Direct Current Electric Rudder Loop." Advanced Materials Research 383-390 (November 2011): 1965–70. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.1965.

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Redundancy technique is an effective method to improve the ability of mission reliability, safety reliability and fault tolerant. With redundancy technique, it will increase additional system software and hardware resources, such as fault monitor module and channel switch module etc. In allusion to sensor fault, serial fault, controller fault and motor fault, this paper designs and researches the strategy of fault logic, fault management and fault reconstruction, appropriately distributes the system resources, thus effectively processes fault monitoring and isolating, and sufficiently improves mission reliability, safety reliability and fault tolerant ability of the dual-redundancy brushless direct current electric rudder loop.

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He, Feng, Junnian Wang, Wenxin Yu, and Guangan Zhong. "Fault Diagnosis of the Three-phase Asynchronous Motor Bond Graph Model Based on Bond Graph and Temporal Causal Graph." Journal of Physics: Conference Series 2428, no. 1 (2023): 012017. http://dx.doi.org/10.1088/1742-6596/2428/1/012017.

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Abstract The bond graph and temporal causal graph (TCG) are proposed to diagnose the fault of three-phase asynchronous motors. The bond graph model of the three-phase asynchronous motor is constructed using the general equations in the three-phase coordinate system. The analytical redundancy relationships (ARRs) and fault signature matrix (FSM) of the three-phase asynchronous motor are derived systematically by introducing TCG to improve the system fault isolability. Simulation experiments are conducted for the rotor-turn short-circuit fault and the rotor-break bar fault of the three-phase asynchronous motor. The experimental results show that introducing TCG for fault diagnosis in this model is feasible.

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Rosenbaum, David A. "Computational motor planning and the theory of event coding." Behavioral and Brain Sciences 24, no. 5 (2001): 902–3. http://dx.doi.org/10.1017/s0140525x01450102.

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Recent computational models of motor planning have relied heavily on anticipating the consequences of motor acts. Such anticipation is vital for dealing with the redundancy problem of motor control (i.e., the problem of selecting a particular motor solution when more than one is possible to achieve a goal). Computational approaches to motor planning support the Theory of Event Coding (TEC).

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Li, Wending, and Guanglin Shi. "Novel dual-redundancy electro-hydrostatic actuator research and controller design." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 16 (2019): 5874–86. http://dx.doi.org/10.1177/0954406219855093.

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The paper proposes a novel dual-redundancy motor pump for the electro-hydrostatic actuator. Rather than the traditional single motor pump electro-hydrostatic actuator system, the system proposed in this paper can operate in three working modes and automatically adjust its operating condition in accordance with task requirements. The novel dual-redundancy electro-hydrostatic actuator system prototype was developed, and a high-performance control method was proposed and applied to the system, combining proportional–integral–derivative and sliding mode control to study the control strategy and implementation method of double closed loop. In addition, a physical model simulation was conducted on the basis of Amesim for this electro-hydrostatic actuator under several working conditions. Results showed that the dual-redundancy electro-hydrostatic actuator can decrease power loss and demonstrate excellent performance and reliability.

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Saunders, W. S., D. Koshland, D. Eshel, I. R. Gibbons, and M. A. Hoyt. "Saccharomyces cerevisiae kinesin- and dynein-related proteins required for anaphase chromosome segregation." Journal of Cell Biology 128, no. 4 (1995): 617–24. http://dx.doi.org/10.1083/jcb.128.4.617.

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The Saccharomyces cerevisiae kinesin-related gene products Cin8p and Kip1p function to assemble the bipolar mitotic spindle. The cytoplasmic dynein heavy chain homologue Dyn1p (also known as Dhc1p) participates in proper cellular positioning of the spindle. In this study, the roles of these motor proteins in anaphase chromosome segregation were examined. While no single motor was essential, loss of function of all three completely halted anaphase chromatin separation. As combined motor activity was diminished by mutation, both the velocity and extent of chromatin movement were reduced, suggesting a direct role for all three motors in generating a chromosome-separating force. Redundancy for function between different types of microtubule-based motor proteins was also indicated by the observation that cin8 dyn1 double-deletion mutants are inviable. Our findings indicate that the bulk of anaphase chromosome segregation in S. cerevisiae is accomplished by the combined actions of these three motors.

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Cardis, Marco, Maura Casadio, and Rajiv Ranganathan. "High variability impairs motor learning regardless of whether it affects task performance." Journal of Neurophysiology 119, no. 1 (2018): 39–48. http://dx.doi.org/10.1152/jn.00158.2017.

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Motor variability plays an important role in motor learning, although the exact mechanisms of how variability affects learning are not well understood. Recent evidence suggests that motor variability may have different effects on learning in redundant tasks, depending on whether it is present in the task space (where it affects task performance) or in the null space (where it has no effect on task performance). We examined the effect of directly introducing null and task space variability using a manipulandum during the learning of a motor task. Participants learned a bimanual shuffleboard task for 2 days, where their goal was to slide a virtual puck as close as possible toward a target. Critically, the distance traveled by the puck was determined by the sum of the left- and right-hand velocities, which meant that there was redundancy in the task. Participants were divided into five groups, based on both the dimension in which the variability was introduced and the amount of variability that was introduced during training. Results showed that although all groups were able to reduce error with practice, learning was affected more by the amount of variability introduced rather than the dimension in which variability was introduced. Specifically, groups with higher movement variability during practice showed larger errors at the end of practice compared with groups that had low variability during learning. These results suggest that although introducing variability can increase exploration of new solutions, this may adversely affect the ability to retain the learned solution.NEW & NOTEWORTHY We examined the role of introducing variability during motor learning in a redundant task. The presence of redundancy allows variability to be introduced in different dimensions: the task space (where it affects task performance) or the null space (where it does not affect task performance). We found that introducing variability affected learning adversely, but the amount of variability was more critical than the dimension in which variability was introduced.

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Iftikhar, Muhammad H., Byung-Gun Park, and Ji-Won Kim. "Design and Analysis of a Five-Phase Permanent-Magnet Synchronous Motor for Fault-Tolerant Drive." Energies 14, no. 2 (2021): 514. http://dx.doi.org/10.3390/en14020514.

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Reliability is a fundamental requirement in electric propulsion systems, involving a particular approach in studies on system failure probabilities. An intrinsic improvement to the propulsion system involves introducing robust architectures such as fault-tolerant motor drives to these systems. Considering the potential for hardware failures, a fault-tolerant design approach will achieve reliability objectives without recourse to optimized redundancy or over-sizing the system. Provisions for planned degraded modes of operation are designed to operate the motor in fault-tolerant mode, which makes them different from the pure design redundancy approach. This article presents how a five-phase permanent-magnet synchronous motor operates under one- or two-phase faults, and how the system reconfigures post-fault motor currents to meet the torque and speed requirement of reliable operation that meets the requirements of an electric propulsion system.

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Wang, Xiaohong, Yidi He, and Lizhi Wang. "Study on Mutual Information and Fractal Dimension-Based Unsupervised Feature Parameters Selection: Application in UAVs." Entropy 20, no. 9 (2018): 674. http://dx.doi.org/10.3390/e20090674.

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In this study, due to the redundant and irrelevant features contained in the multi-dimensional feature parameter set, the information fusion performance of the subspace learning algorithm was reduced. To solve the above problem, a mutual information (MI) and fractal dimension-based unsupervised feature parameters selection method was proposed. The key to this method was the importance ordering algorithm based on the comprehensive consideration of the relevance and redundancy of features, and then the method of fractal dimension-based feature parameter subset evaluation criterion was adopted to obtain the optimal feature parameter subset. To verify the validity of the proposed method, a brushless direct current (DC) motor performance degradation test was designed. Vibrational sample data during motor performance degradation was used as the data source, and motor health-fault diagnosis capacity and motor state prediction effect ware evaluation indexes to compare the information fusion performance of the subspace learning algorithm before and after the use of the proposed method. According to the comparison result, the proposed method is able to eliminate highly-redundant parameters that are less correlated to feature parameters, thereby enhancing the information fusion performance of the subspace learning algorithm.

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Narayanan, N. S. "Redundancy and Synergy of Neuronal Ensembles in Motor Cortex." Journal of Neuroscience 25, no. 17 (2005): 4207–16. http://dx.doi.org/10.1523/jneurosci.4697-04.2005.

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Hagio, Shota, and Motoki Kouzaki. "Modularity speeds up motor learning by overcoming mechanical bias in musculoskeletal geometry." Journal of The Royal Society Interface 15, no. 147 (2018): 20180249. http://dx.doi.org/10.1098/rsif.2018.0249.

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We can easily learn and perform a variety of movements that fundamentally require complex neuromuscular control. Many empirical findings have demonstrated that a wide range of complex muscle activation patterns could be well captured by the combination of a few functional modules, the so-called muscle synergies. Modularity represented by muscle synergies would simplify the control of a redundant neuromuscular system. However, how the reduction of neuromuscular redundancy through a modular controller contributes to sensorimotor learning remains unclear. To clarify such roles, we constructed a simple neural network model of the motor control system that included three intermediate layers representing neurons in the primary motor cortex, spinal interneurons organized into modules and motoneurons controlling upper-arm muscles. After a model learning period to generate the desired shoulder and/or elbow joint torques, we compared the adaptation to a novel rotational perturbation between modular and non-modular models. A series of simulations demonstrated that the modules reduced the effect of the bias in the distribution of muscle pulling directions, as well as in the distribution of torques associated with individual cortical neurons, which led to a more rapid adaptation to multi-directional force generation. These results suggest that modularity is crucial not only for reducing musculoskeletal redundancy but also for overcoming mechanical bias due to the musculoskeletal geometry allowing for faster adaptation to certain external environments.

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Yu, Anbo, Chenyu Wang, Xiaoqiang Guo, Zheng Li, Chunjiang Zhang, and Josep M. Guerrero. "New Rotor Position Redundancy Decoding Method Based on Resolver Decoder." Micromachines 13, no. 6 (2022): 903. http://dx.doi.org/10.3390/mi13060903.

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In view of the frequent safety problems of electric vehicles, the research on accurately obtaining the rotor position of the motor through the resolver is an important means to improve the functional safety of the system. The commonly used resolver decoding method involves the resolver decoding chip method and software decoding method, but few studies integrate the two decoding methods. A single method of motor rotor position acquisition cannot meet the requirements of system functional safety. To fill this gap, this paper proposes a method to simultaneously integrate hardware decoding and software decoding in the motor control system. The decoding chip and software decoding obtain the angle data at the same time, and they provide redundancy to improve the functional safety of the electronic control system. Finally, the effectiveness of the proposed simultaneous operation of hardware decoding and software decoding is verified by experiments.

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Zhiguo Pan and R. A. Bkayrat. "Modular Motor/Converter System Topology With Redundancy for High-Speed, High-Power Motor Applications." IEEE Transactions on Power Electronics 25, no. 2 (2010): 408–16. http://dx.doi.org/10.1109/tpel.2009.2025948.

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Rohde, Marieke, Kenichi Narioka, Jochen J. Steil, Lina K. Klein, and Marc O. Ernst. "Goal-related feedback guides motor exploration and redundancy resolution in human motor skill acquisition." PLOS Computational Biology 15, no. 3 (2019): e1006676. http://dx.doi.org/10.1371/journal.pcbi.1006676.

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Diatlov, N. S., D. N. Glazkin, K. V. Anufreichik, et al. "Redundant BLDC motors control system for scientific uncrewed space missions." Spacecrafts & Technologies 7, no. 1 (2022): 6–16. http://dx.doi.org/10.26732/j.st.2023.1.01.

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Brushless DC (BLDC) motors are widely used in payloads of scientific space missions. To work with this type of motor it’s required to develop a complex control system considering basic technical requirements as well as the demands to reliability linked with the space application of the system. The basic technical requirements and the demands for the reliability of the system were formulated in the article. The block commutation algorithm was selected for the system since it’s simple and it doesn’t require using a high-performance processor and precision rotor position sensors. Based on the selected algorithm and the requirements structural scheme of the control system with redundancy features was designed. Further, schematics for output stages of the system were considered. They allowed connecting one set of motors and Hall sensors to both the main and the redundant control system. To test the structural and schematic solutions a prototype board was developed. The prototype was successfully tested and the solutions were verified.

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Shereen A. El-aal, Rabie A. Ramadan, and Neveen I. Ghali. "Classification of EEG Signals for Motor Imagery based on Mutual Information and Adaptive Neuro Fuzzy Inference System." International Journal of System Dynamics Applications 5, no. 4 (2016): 64–82. http://dx.doi.org/10.4018/ijsda.2016100104.

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Electroencephalogram (EEG) signals based Brain Computer Interface (BCI) is employed to help disabled people to interact better with the environment. EEG signals are recorded through BCI system to translate it to control commands. There are a large body of literature targeting EEG feature extraction and classification for Motor Imagery tasks. Motor imagery task have several features can be extracted to use in classification. However, using more features consume running time and using irrelevant and redundant features affect the performance of the used classifier. This paper is dedicated to extracting the best feature vector for motor imagery task. This work suggests two feature selection methods based on Mutual Information (MI) including Minimum Redundancy Maximal Relevance (MRMR) and maximal Relevance (MaxRel). Adaptive Neuro Fuzzy Inference System (ANFIS) classifier with Subtractive clustering method is utilized for EEG signals classifications. The suggested methods are applied to BCI Competition III dataset IVa and IVb and BCI Competition II dataset III.

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Jia, Lin, Junming Zhang, Changfan Zhang, and Jing He. "Tracking Control Method of Multi Motor Actuator Saturation Based on Total Amount Consistency." Journal of Advanced Computational Intelligence and Intelligent Informatics 27, no. 3 (2023): 501–10. http://dx.doi.org/10.20965/jaciii.2023.p0501.

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In collaborative control of multi motors for heavy-duty locomotives, the output value of the motor frequently exceeds its maximum allowable value during power redistribution. This results in a saturated motor owing to the power redundancy of each wheel set of the train. In this study, an algorithm for the tracking control of a consistent total amount of the extended observer through anti-saturation is proposed. First, mathematical models of multi-motor traction systems are developed. The system includes uncertain parameter perturbations and external perturbations. Second, a new type of extended sliding mode observer (ESMO) is designed to reduce the influence of the tracking effect on the input saturation of the system. Subsequently, for collaborative control of multi motors in heavy-duty locomotives, a new scheme for dynamic and auxiliary anti-saturation compensation (anti-windup) is established. The perturbation observation results and the systems’ auxiliary status are respectively input into the sliding mode controller (SMC). A traction total-amount coordinated tracking control (TACTC) of multi motors is achieved to ensure consistency of the system’s total output torque and the given traction characteristic curve. Finally, simulations and tests are performed on the motor actuators to demonstrate a good control effect.

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Fu, Zhaoyang, Xingbang Liu, and Jinglin Liu. "Research on the fault diagnosis of dual-redundancy BLDC motor." Energy Reports 7 (April 2021): 17–22. http://dx.doi.org/10.1016/j.egyr.2021.02.032.

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Song, Hyungeun. "Are We Solving the Redundancy of Human Motor Control Properly?" American Journal of Biomedical Science & Research 8, no. 3 (2020): 177–79. http://dx.doi.org/10.34297/ajbsr.2020.08.001264.

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KAWAKAMI, Kiyomoto, Hidetoshi TANABE, Takahisa KAMIKURA, Kentaro NAGAHIRO, Hiroshi SHIMIZU, and Hiroichi YOSHIDA. "Redundancy Technology Involving Motor Malfunction in All Wheel Drive Vehicle." Transactions of the Japan Society of Mechanical Engineers Series C 72, no. 719 (2006): 2123–29. http://dx.doi.org/10.1299/kikaic.72.2123.

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Takeda, T., K. Shinkoda, Y. Ogata, et al. "Influences of aging on utilization of motor redundancy during gait." Physiotherapy 101 (May 2015): e1480. http://dx.doi.org/10.1016/j.physio.2015.03.1452.

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Li, Zong-Ming, Mark L. Latash, Karl M. Newell, and Vladimir M. Zatsiorsky. "Motor redundancy during maximal voluntary contraction in four-finger tasks." Experimental Brain Research 122, no. 1 (1998): 71–78. http://dx.doi.org/10.1007/s002210050492.

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Latash, Mark L. "The bliss (not the problem) of motor abundance (not redundancy)." Experimental Brain Research 217, no. 1 (2012): 1–5. http://dx.doi.org/10.1007/s00221-012-3000-4.

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Brumm, Henrik, and Peter J. B. Slater. "Ambient noise, motor fatigue, and serial redundancy in chaffinch song." Behavioral Ecology and Sociobiology 60, no. 4 (2006): 475–81. http://dx.doi.org/10.1007/s00265-006-0188-y.

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OKADOME, TAKESHI. "A FORMAL THEORY OF EARLY COGNITION DEVELOPMENT." Advances in Complex Systems 08, no. 02n03 (2005): 229–60. http://dx.doi.org/10.1142/s0219525905000488.

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The formal theory of the development of early perception and motor control presented here deals with cognitive development as a mapping from a finite set of given experiences to a set of perceptual and motor-control functions. The theory involves seven constraints that uniquely define the mapping. The compatibility with observational phenomena and sufficiency of these constraints shows the validity of the theory. The principle underlying these constraints is a coding by the most efficient representation of information. The efficiency of representation is evaluated by the coding redundancy of given experiences defined as the number of real numbers that characterize experiences plus the size of the minimum continuous decoding function. The coding redundancy of experiences by the most efficient representation corresponds to the Kolmogorov complexity of the experiences. The mapping accounts for the dependence on neonatal experience of the development of perceptual and motor-control functions. This theory of development can also be seen as a metatheory of cognition that presents us a unified view of the diversity of perceptual and motor-control modules.

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Takentura, Kenjiro, and Takashi Maeno. "Method for Controlling Multi-DOF Ultrasonic Motor Using Neural Network." Journal of Robotics and Mechatronics 15, no. 2 (2003): 114–20. http://dx.doi.org/10.20965/jrm.2003.p0114.

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A multi-DOF ultrasonic motor developed by the authors can generate multi-DOF rotation of a spherical rotor using three orthogonal natural vibrations of a bar-shaped stator. The ultrasonic motor is suitable for making small, lightweight and simple multi-DOF motion unit. In the present paper, a control methodology for the multi-DOF ultrasonic motor is proposed and a motion control test using the method is conducted. First, we develop an inverse model of the multi-DOF ultrasonic motor using our prior knowledge of ultrasonic motors and neural network technique in order to deal with the redundancy and non-linearity of the driving characteristics. Second, we propose a novel control method using the inverse model. Then, numerical simulation and motion control test are conducted to confirm the ability of the proposed control method. The results confirm that the rotor can be rotated around arbitrary rotational axis using the inverse model, and that the proposed control method does work successfully.

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Bizzi, Emilio, and Robert Ajemian. "From motor planning to execution: a sensorimotor loop perspective." Journal of Neurophysiology 124, no. 6 (2020): 1815–23. http://dx.doi.org/10.1152/jn.00715.2019.

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How is an evanescent wish to move translated into a concrete action? This simple question and puzzling miracle remains a focal point of motor systems neuroscience. Where does the difficulty lie? A great deal has been known about biomechanics for quite some time. More recently, there have been significant advances in our understanding of how the spinal system is organized into modules corresponding to spinal synergies, which are fixed patterns of multimuscle recruitment. But much less is known about how the supraspinal system recruits these synergies in the correct spatiotemporal pattern to effectively control movement. We argue that what makes the problem of supraspinal control so difficult is that it emerges as a result of multiple convergent and redundant sensorimotor loops. Because these loops are convergent, multiple modes of information are mixed before being sent to the spinal system; because they are redundant, information is overlapping such that a mechanism must exist to eliminate the redundancy before the signal is sent to the spinal system. Given these complex interactions, simple correlation analyses between movement variables and neural activity are likely to render a confusing and inconsistent picture. Here, we suggest that the perspective of sensorimotor loops might help in achieving a better systems-level understanding. Furthermore, state-of-the-art techniques in neurotechnology, such as optogenetics, appear to be well suited for investigating the problem of motor control at the level of loops.

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Ahmed, Soban, Arslan Ahmed Amin, Zaeema Wajid, and Faizan Ahmad. "Reliable speed control of a permanent magnet DC motor using fault-tolerant H-bridge." Advances in Mechanical Engineering 12, no. 10 (2020): 168781402097031. http://dx.doi.org/10.1177/1687814020970311.

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Reliable, smooth, and fault free speed control of a Permanent Magnet (PM) DC motor using an H-bridge is an important need for many industrial applications such as robotics, automotive, and process industry to improve the overall efficiency and productivity. The reliability of H-bridge depends on the semiconductor switches used. The faults in these components can lead to a complete failure of the system. This paper presents a dual redundancy-based fault-tolerant system with a Fault Detection and Isolation (FDI) unit that can detect, isolate, and replace the faulty switch with the standby to prevent the unwanted shut down of the system and support the process continuity thereby increasing reliability. MATLAB/Simulink environment was used for simulation experiments and the results demonstrate the stable operation of the motor in the events of faults while maintaining its speed. The presented work establishes that the dual redundancy-based fault-tolerant H-bridge with the FDI unit is a highly reliable solution for the speed control of a DC motor.

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Bhatnagar, Aishwarya, Vaibhavi Shanbhag, and Navaneeth N. "Integrating functional safety in motor drives with redundancy and diagnostic coverage." EAI Endorsed Transactions on Cloud Systems 5, no. 16 (2019): 162593. http://dx.doi.org/10.4108/eai.5-11-2019.162593.

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Takiyama, Ken, and Masato Okada. "Maximization of learning speed in motor cortex due to neuron redundancy." Neuroscience Research 71 (September 2011): e79. http://dx.doi.org/10.1016/j.neures.2011.07.336.

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An, Jae Sam, Nesimi Ertugrul, and Wen L. Soong. "Sensorless position estimation in a fault tolerant motor drive with redundancy." Australian Journal of Electrical and Electronics Engineering 3, no. 2 (2007): 157–65. http://dx.doi.org/10.1080/1448837x.2007.11464156.

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Hong, Guo, Wang Wei, Xing Wei, and Li Yanming. "Design of Electrical/Mechanical Hybrid 4-Redundancy Brushless DC Torque Motor." Chinese Journal of Aeronautics 23, no. 2 (2010): 211–15. http://dx.doi.org/10.1016/s1000-9361(09)60207-7.

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TURNER, H. A., and J. BESCOBY. "STRIKES, REDUNDANCY AND THE DEMAND CYCLE IN THE MOTOR CAR INDUSTRY." Bulletin of the Oxford University Institute of Economics & Statistics 23, no. 2 (2009): 179–85. http://dx.doi.org/10.1111/j.1468-0084.1961.mp23002004.x.

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Venkata Ramana, D., and S. Baskar. "Incipient Fault Detection of the Inverter Fed Induction Motor Drive." International Journal of Power Electronics and Drive Systems (IJPEDS) 8, no. 2 (2017): 722. http://dx.doi.org/10.11591/ijpeds.v8.i2.pp722-729.

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Inverter fed Induction motor drives are deployed across a variety of industrial and commercial applications. Although the drives in the question are well known for their reliable operation in any type of environment, it becomes an important daunting critical task to have them in continuous operation as per the applications’ requirement. Identifying the faulty behavior of power electronic circuits which could lead to catastrophic failures is an attractive proposition. The cost associated with building systems devoted for monitoring and diagnosis is high, however such cost could be justified for the safety-critical systems. Commonly practiced methods for improving the reliability of the power electronic systems are: designing the power circuit conservatively or having parallel redundant operation of components or circuits and clearly these two methods are expensive. An alternative to redundancy is fault tolerant control, which involves drive control algorithm, that in the event of fault occurrence, allows the drive to run in a degraded mode. Such algorithms involve on-line processing of the signals and this requires Digital Signal Processing of the signals. This paper presents the FFT and Wavelet transform techniques for on-line monitoring and analyzing the signals such as stator currents.

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Chen, Yiguang, Yukai Yang, and Yonghuan Shen. "Influence of Small Teeth on Vibration for Dual-Redundancy Permanent Magnet Synchronous Motor." Energies 11, no. 9 (2018): 2462. http://dx.doi.org/10.3390/en11092462.

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The dual-redundancy permanent magnet synchronous motor (DRPMSM) has high reliability in its applications. Compared with the traditional permanent magnet synchronous motor (PMSM), small teeth were added to the stator in DRPMSM and its vibration has new characteristics. This paper derived the analytic expression of the radial electromagnetic force for PMSM in the air gap based on the Maxwell stress equation and summarized its sources. The simplified stator teeth model of the traditional PMSM and DRPMSM were established in 12-slot/10-pole (12s10p), and the analytical expression and Fourier expansion of radial electromagnetic force on the teeth were given. The electromagnetic and structural finite element models of the motor were established, and analyses of modal and harmonic response were carried out. The simulation results show that the stator vibration amplitude of DRPMSM is smaller than that of traditional PMSM at no-load and is also bigger under rated load. Furthermore, in order to guarantee the low amplitude of stator vibration under rated load for DRPMSM, the width of the small teeth should be smaller.

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Kambara, Hiroyuki, Duk Shin, and Yasuharu Koike. "A computational model for optimal muscle activity considering muscle viscoelasticity in wrist movements." Journal of Neurophysiology 109, no. 8 (2013): 2145–60. http://dx.doi.org/10.1152/jn.00542.2011.

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To understand the mechanism of neural motor control, it is important to clarify how the central nervous system organizes the coordination of redundant muscles. Previous studies suggested that muscle activity for step-tracking wrist movements are optimized so as to reduce total effort or end-point variance under neural noise. However, since the muscle dynamics were assumed as a simple linear system, some characteristic patterns of experimental EMG were not seen in the simulated muscle activity of the previous studies. The biological muscle is known to have dynamic properties in which its elasticity and viscosity depend on activation level. The motor control system is supposed to consider the viscoelasticity of the muscles when generating motor command signals. In this study, we present a computational motor control model that can control a musculoskeletal system with nonlinear dynamics. We applied the model to step-tracking wrist movements actuated by five muscles with dynamic viscoelastic properties. To solve the motor redundancy, we designed the control model to generate motor commands that maximize end-point accuracy under signal-dependent noise, while minimizing the squared sum of them. Here, we demonstrate that the muscle activity simulated by our model exhibits spatiotemporal features of experimentally observed muscle activity of human and nonhuman primates. In addition, we show that the movement trajectories resulting from the simulated muscle activity resemble experimentally observed trajectories. These results suggest that, by utilizing inherent viscoelastic properties of the muscles, the neural system may optimize muscle activity to improve motor performance.

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