Discussion of a Master's Dissertation
On Thursday, 21/7/2022, the discussion of the master’s dissertation for the graduate student (Mayassa Ali Salman) in (Mechatronics Engineering) was made in the discussion room (Hall No. 9) at the Control and Systems Engineering Department for her research entitled: “Design of Adaptive Control for a Prosthesis Knee” This examination committee consisted of:
1- Asst. Prof. Dr. Alaa Abdulhadi Jabr / Chairman.
2- Asst. Prof. Dr. Hadeel Qassem Wadi / Member.
3- Asst. Prof. Dr. Evan Esho Kurial / Member.
4- Asst. Prof. Dr. Salim Khalifa Kazem / Member and Supervisor.
The movement of people who have had their lower limbs amputated is slower and less stable and requires more metabolic energy than that of people who are physically fit, and they also often have difficulty moving on uneven ground and stairs. In most cases, these problems can be traced back to the use of above-the-knee prosthesis controllers, which enhance mobility and increase the quality of life for the millions of individuals who have lost their lower limbs. This paper focuses on the design and modeling of a dual-degree of freedom system in the knee joint mechanism to control the internal and external rotation of the femoral tibia complex to enable the patient to move and turn in both directions. The non-linear mathematical model of the artificial knee includes kinetic and dynamic models of two degrees of freedom to analyze and design the artificial knee Controllers are designed and simulated with MATLAB to optimize desired joint position specifications while tracking medical pathways for the desired position. The work proposed a bat algorithm to fine tune the design parameters such as improving the dynamic performance of the artificial knee. It was found that the improvement in system responses was achieved using the feedback controller and the adaptive feedback controller. The rate of improvement in the adaptive optimal control as compared to the retrograde optimal control was 11.1% in the thigh and 3.4% in the leg. The discussion was attended by the Assistant Head of the Department for Scientific Affairs and Graduate Studies (Prof. Dr. Mohamed Youssef Hassan) and the Assistant Head of the Administrative Affairs Department (Prof. Dr. Hazem Ibrahim Ali). On this occasion, we congratulate the student (Mayassa Ali Salman) and wish her continued success.