@inproceedings {905,
	title = {Assessing Control of Fixed-Support Balance Recovery in Wearable Lower-Limb Exoskeletons Using Multibody Dynamic Modelling},
	booktitle = {International Conference on Biomedical Robotics and Biomechatronics (BIOROB)},
	year = {2020},
	abstract = {<p>Despite many lower-limb exoskeletons requiring the use of crutches to maintain upright postures, limited research has assessed control of standing balance recovery in these systems. Using a model-based approach, the current simulation study investigated the performance of impedance controllers designed to assist with standing fixed-support balance recovery. A novel multibody dynamic model of the integrated humanexoskeleton system was designed to move in the sagittal plane. Development of the exoskeleton model (Technaid Exo-H3) was accompanied by parameter identification. The balancing torques produced by the human in the model were derived from offline linear control methods and saturated to approximate the torque-production of a young individual either with or without incomplete spinal cord injury. Without intervention, the injured user was not able to recover upright posture following a forward push of specific magnitude. Thus, three feedback control laws, inspired by robotics research (exoskeletons and humanoids), were implemented in the simulated exoskeleton. Each law assisted with balance recovery via reference tracking within the joint and/or whole-body center of mass space. Following optimization of control parameters, all proposed exoskeleton control laws were successful in assisting the injured user return to an upright posture. Joint space control yielded the best jointlevel reference tracking during recovery, while center of mass control better reduced forward center of mass excursions \&mdash; albeit at the cost of joint-level tracking accuracy.</p>
},
	keywords = {Balance, Biomechanics, Biomechatronics, Control-Oriented Model, Exoskeletons},
	author = {Keaton A. Inkol and John McPhee}
}
@article {844,
	title = {A Control-Oriented Modular One-Dimensional Model for Wall-Flow Diesel Particulate Filters},
	journal = { International Journal of Engine Research},
	volume = {19},
	year = {2018},
	abstract = {<p>A comprehensive modular one-dimensional physics-based mathematical model is developed for non-isothermal compressible flow, pressure drop, and filtration and regeneration processes in wall-flow diesel particulate filters. Employing a modified orthogonal collocation method and symbolic computation in Maple\&trade;, the governing partial differential equations are reduced to a control-oriented model governed by ordinary differential equations which can be solved in real time. Numerical examples are provided to indicate the accuracy and computational efficiency of the developed model and to study the different behaviors of wall-flow diesel particulate filters.</p>
},
	keywords = {Control-Oriented Model, Diesel Particulate Filters, Mathematical Modelling, Symbolic Computation},
	doi = {10.1177/1468087417702018},
	url = {http://journals.sagepub.com/doi/abs/10.1177/1468087417702018},
	author = {Soroosh Hassanpour and John McPhee}
}
