Max Suell Dutra

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Research to date points to an understanding of human biped locomotion that has been primarily experimental in nature largely due to the complexity of the process. In view of the new, exciting possibilities of programmed electrostimulation of artificial muscles to generate motion (locomotion), a critical study at the theoretical level is greatly warranted.(More)
The objective of the work presented here was the modeling of a bipedal robot using a central pattern generator (CPG) formed by a set of mutually coupled Rayleigh oscillators. We analyzed a 2D model, with the three most important determinants of gait, that performs only motions parallel to the sagittal plane. Using oscillators with integer relation of(More)
—The reproduction of the movements of a ship by automated platforms, without the use of sensors providing exact data related to the numeric variables involved, is a non-trivial matter. The creation of an artificial vision system that can follow the cadence of said ship, in six axes of freedom, is the goal of this research. Considering that a real time(More)
In control systems, the model dynamics of linear systems is the principal and most important phase of a project, but when working with dynamic of non-linear systems obtain the model becomes a very complex task can be used techniques of system identification. This article show the use of one technique for identification and modeling of dynamic linear systems(More)
This article uses the Karhunen-Loève decomposition (KL) technique, also known as proper orthogonal decomposition (POD) or principal component analysis (PCA), to introduce the concept of gait mode, which can be used as a tool to identify gait differences among subjects or groups and to approximate gait curves. The KL is a statistical pattern analysis(More)
In this paper is presented a demonstration of Kohonen's self-organizing maps, also known as SOM. Likewise is prepared a study of the functioning of Kohonen's maps in one and two dimensions and the most important characteristics of this type of network that works in similar way that the human brain. Finally, this paper details the characteristics necessaries(More)
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. Due to the possibility to express specialist knowledge in an algorithmic manner, fuzzy logic has been largely employed in the last decades to both control and identification of uncertain(More)