Surgery offers the optimum modality of treatment for inverted papilloma although a considerable range of operative approaches have been described. The results are presented in a cohort of 37 cases treated by both endoscopic and combined endoscopic and external approaches with a recurrence rate of eight and 21 per cent respectively. This series is compared with those in the literature and demons...

In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration...

We investigate the dynamics of an inverted pendulum subjected to Jacobi elliptic forcing both numerically and experimentally. In so doing, we hope to provide a coherent picture on stability of an inverted pendulum subjected to forcing that ranges from harmonic to nonharmonic in nature. We are able to determine the regions of stability of a sinusoidally forced inverted pendulum, with results sim...

 The paper presents a hybrid system controller, incorporating a neural and an LQG controller. The neural controller has been optimized by genetic algorithms directly on the inverted pendulum system. The failure-free optimization process stipulated a relatively small region of the asymptotic stability of the neural controller, which is concentrated around the regulation point. The presented hyb...

This paper summarizes the mechanical and control design concepts of an inverted or unstable pendulum where stabilization is achieved by a moment exchange generated by a controlled symmetric rotation of a rotational inertia attached to the pendulum. The proposed design of the pendulum has a fixed bottom rotation or point of support as opposed to the usual vertically or horizontally moving point ...

The purpose of this paper is to present the design of a complete control strategy for the classical and rotary single inverted pendulum system. The design, which involves swing-up and stabilization of both systems, is based on function blocks and GUI tools from the Inverted Pendula Modeling and Control, a Simulink block library developed by the author of the paper. Keywords—classical single inv...

In general, meta-parameters in a reinforcement learning system, such as a learning rate and a discount rate, are empirically determined and fixed during learning. When an external environment is therefore changed, the sytem cannot adapt itself to the variation. Meanwhile, it is suggested that the biological brain might conduct reinforcement learning and adapt itself to the external environment ...

1 Department of Electronic Engineering, Wufeng Institute of Technology 117, Sec., Chian-Kuo Road, Ming-Hsiung, Chiayi 621, Taiwan 640, R.O.C. 2 Department of Electrical Engineering, National Chiayi University 300, Syuefu Road, Chiayi, Taiwan 60004, R.O.C 3 Department of Materials Science and Engineering, National Chiao-Tung University 1001, Ta Hsueh Road, Hsinchu, Taiwan 300, R.O.C. 4 Departmen...

In this paper a real time control for swing-up stabilization of inverted pendulum is designed using Fuzzy logic. In the model proposed here a single rulebase is used to control both position and angle simultaneously during both swing-up and stabilization. The proposed fuzzy control scheme successfully fulfills the control objectives and also has an excellent stabilizing ability to overcome the ...

This paper includes a review of three physics simulation packages that can be used to provide researchers with a virtual ground for modeling, implementing and simulating complex models, as well as testing their control methods with less cost and time of development. The inverted pendulum model was used as a test bed for comparing ODE, DANCE and Webots, while Linear State Feedback was used to co...