Design of Carryable Intravenous Drip Frame with Automatic Balancing Due to the inconvenience of the conventional intravenous drip frame, the piggyback intravenous drip frame is developed to improve the mobility of the patient. However, the current design of the drip frame leads to a lack of balance control and increment of blood returning. To this end, the proposed system aims to solve this problem, and a fuzzy proportionalintegralxe2x80x93derivative control technique is developed to demonstrate the system feasibility. Accordingly, a reliable balanced system can be applied to facilitate patientsxe2x80x99 movements and ensure patient safety with compensating the inclination angle of the drip frame such that the reduction of blood returning and the balance control of the piggyback intravenous drip frame can be achieved.

Stabilization of Inertia Wheel Inverted Pendulum Using FuzzyBased Hybrid Control It is known that the inertia wheel inverted pendulum (IWIP) is a nonlinear underactuated system. Since the unavoidable friction or unclear interference of the IWIP system, designing a controller for the IWIP is a challenging task. In this paper, a fuzzybased hybrid control (FBHC) is proposed to make the IWIP system can be stably balanced around the upright position. The FBHC system is comprised of a feedback linearization controller, a fuzzy logic controller and a speed compensated controller. The feedback linearization controller with a fuzzy logic controller can control the priority parameter at the nonactuated joint; however, it does not ensure the control of the inertia wheel speed. The speed compensated controller is designed to stabilize the speed of the inertia wheel once the body angle is stable. Thus, the IWIP system can be stably balanced around the upright position and the disk speed is gradually reduced. Finally, the experimental results are verified that the proposed FBHC can achieve a good dynamic balance effect for the IWIP system, even when there is an external force to push the IWIP system.