A PID control for electric vehicles subject to input armature voltage and angular velocity signal constraints is proposed. A PID controller for a vehicle DC motor with a separately excited field winding considering the field current constant was tuned using controlled invariant set and multiparametric programming concepts to consider the physical motor constraints as angular velocity and input armature voltage. Additionally, the integral of the error, derivative of the error constraints, and λ were considered in the proposed algorithm as tuning parameters to analyze the DC motor dynamic behaviors. The results showed that the proposed algorithm can be used to generate control actions taking into account the armature voltage and angular velocity limits. Also, results demonstrate that a controller subject to constraints can improve the electric vehicle DC motor dynamic; and at the same time it protects the motor from overvoltage.

An integrated electrical and thermal residential renewable energy system consisting of solar thermal collectors, gas boiler, fuel cell combined heat and power, a photovoltaic system with battery, inverter, and thermal storage for a single-family house of Sonnenhaus standard is investigated with a model predictive controller (MPC). The main focus of this article is to define a multi-objective mathematical function, develop a coupled simulation framework for the nonlinear time-varying deterministic discrete-time problem of the energy system using TRNSYS and MATLAB. With the developed methodology, a sensitivity analysis of maximum optimization time, swarm (or population or mesh) size of a typical spring day and a typical summer day assuming a 100% accurate weather and load forecast with three different algorithms: particle swarm optimization (PSO), genetic algorithm (GA) and global pattern search (GPS) are analyzed. Finally, the obtained results are compared with a status quo controller. Results show that the PSO algorithm optimizer performs the best in this MPC for such a complex and time-consuming MPC model in both the spring day and the summer day. The obtained results show that the PSO with swarm size 50 in the selected typical spring day and the PSO with swarm size 40 in the selected summer day reduces the objective function’s fitness value from 413 to −177 within 6 h optimization time and from 1396 to 1090 in 4 h optimization time respectively.

Objective : Motor Imagery (MI)-based Brain-Computer Interfaces (BCIs) have been proposed for the rehabilitation of people with disabilities, being a big challenge their successful application to restore motor functions in individuals with Spinal Cord Injury (SCI). This work proposes an Electroencephalography (EEG) gait imagery-based BCI to promote motor recovery on the Lokomat platform, in order to allow a clinical intervention by acting simultaneously on both central and peripheral nervous mechanisms. Methods: As a novelty, our BCI system accurately discriminates gait imagery tasks during walking and further provides a multi-channel EEG-based Visual Neurofeedback (VNFB) linked to $\mu$ (8-12 Hz) and $\beta$ (15-20 Hz) rhythms around Cz. VNFB is carried out through a cluster analysis strategy-based Euclidean distance, where the weighted mean MI feature vector is used as a reference to teach individuals with SCI to modulate their cortical rhythms. Results : The developed BCI reached an average classification accuracy of 74.4%. In addition, feature analysis demonstrated a reduction in cluster variance after several sessions, whereas metrics associated with self-modulation indicated a greater distance between both classes: passive walking with gait MI and passive walking without MI. Conclusion : The results suggest that intervention with a gait MI-based BCI with VNFB may allow the individuals to appropriately modulate their rhythms of interest around Cz. Significance: This work contributes to the development of advanced systems for gait rehabilitation by integrating Machine Learning and neurofeedback techniques, to restore lower-limb functions of SCI individuals.

The use of inertial measurement units (IMUs) is a low-cost alternative for measuring joint angles. This study aims to present a low-cost open-source measurement system for joint angle estimation. The system is modular and has hardware and software. The hardware was developed using a low-cost IMU and microcontroller. The IMU data analysis software was developed in Python and has three fusion filters: Complementary Filter, Kalman Filter, and Madgwick Filter. Three experiments were performed for the proof of concept of the system. First, we evaluated the knee joint of Lokomat, with a predefined average range of motion (ROM) of 60${}^{\circ }$. In the second, we evaluated our system in a real scenario, evaluating the knee of a healthy adult individual during gait. In the third experiment, we evaluated the software using data from gold standard devices, comparing the results of our software with Ground Truth. In the evaluation of the Lokomat, our system achieved an average ROM of 58.28${}^{\circ }$, and during evaluation in a real scenario it achieved an average ROM of 44.62${}^{\circ }$. In comparing our software with Ground Truth, we achieved a root-mean-square error of 0.04 and a mean average percentage error of 2.95%. These results encourage the use of this system in other scenarios.

The most used approach in the motor rehabilitation of spinal cord injury is functional electrical stimulation. However, current devices do not provide real-time feedback, work in the closed-loop, and became remotely operable. In this scenario, this paper presents the development of an open access 4-channel IoT electrostimulator device with an inertial sensor. The electrostimulator circuit was designed with four modules: Boost Converter, H-bridge, Inertial Measurement Unit, and Processing Module. The firmware was implemented in the processing module to manage the modules to perform closed-loop stimulation (using PID controller). To perform the proof of concept of the device, a closed loop test was performed to control the ankle joint, performing the movements of dorsiflexion, plantar flexion, inversion, and eversion. The designed hardware allowed one to freely change the boost converter voltage and modulate the signal with 200 $\mathsf{\mu }\mathrm{s}$ of pulse duration and 50 Hz of period in a safe and stable way. Furthermore, the controller was able to move the ankle joint in all desired directions following the reference values and respecting the imposed constraints. In general, the developed hardware was able to safely control a closed-loop joint.