Inverted urothelial papilloma is a rare benign tumour and represents one of the urothelial lesions with inverted morphology. Accurate diagnosis and differentiation from other inverted lesions is important because its proper clinical management and expected clinical outcomes are distinctly different. Here we describe a case of a large inverted urothelial papilloma of the prostatic urethra and a ...

We consider the problem of adapting approximate dynamic programming techniques to the inverted pendulum task. This is a particularly challenging task as we work with a relatively uninformative reinforcement signal and have no a priori information about our system. Success in this task requires an effective solution to the credit assignment problem, incorporation of noisy and biased information ...

This paper examines the passive dynamics of quadrupedal bounding. First, an unexpected difference between local and global behavior of the forward speed versus touchdown angle in the selfstabilized Spring Loaded Inverted Pendulum (SLIP) model is exposed and discussed. Next, the stability properties of a simplified sagittal plane model of our Scout II quadrupedal robot are investigated. Despite ...

In control applications, to apply the results obtained by evolutions and simulations to real systems, it is indispensable for them to have high robustness in computer simulations. The goal of this study is to generate robust control equations for controlling the real system of a rolling inverted pendulum with Genetic Programming. The control equations for this system must swing a pole up from a...

Abstract We consider an experimental system consisting of a pendulum, which is free to rotate 360 degrees, attached to a cart. The cart can move in one dimension. We study the effect of friction on the design and performance of a feedback controller, a linear quadratic regulator, that aim to stabilize the pendulum in the upright position. We show that a controller designed using a simple viscou...

In this study, a real-time control of the cart-pole inverted pendulum system was developed using fuzzy logic controller. Swing-up and stabilization of the inverted pendulum were implemented directly in fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environment was embedded in a dSPACE DS1103 DSP controller board. Swing-up algorithm brings the pendulum near to...

This paper presents the experimental implementation of a gradient-based nonlinear model predictive control (NMPC) algorithm to the swing-up control of a rotary inverted pendulum. The key attribute of the NMPC algorithm used here is that it only seeks to reduce the error at the end of the prediction horizon rather than finding the optimal solution. This reduces the computation load and allows re...

The purpose of this paper is to present the design and program implementation of expansions made to the existing general algorithmic procedure which yields the mathematical model for a classical inverted pendulum system with an arbitrary number of pendulum links. The expansions include the option to define the reference position of the pendulum in a planar coordinate system, to choose the refer...

In this paper a design methodology (“AN INTELLIGENT HYBRID FUZZY PID CONTROLLER”) is used that blends the classical PID and the fuzzy controllers in an intelligent way and thus a new intelligent hybrid controller has been achieved. Basically, in this design methodology, the classical PID and fuzzy controller have been combined by a blending mechanism that depends on a certain function of actuat...

This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “anchored ” in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass trajectories are fit to the SLIP model and an analysis of the fitting error is performed. The fitting results are corroborated by numerical simulations. The “anchoring ” of SLIP dynamics ...