Adaptive Oscillator

AOs can be described as a mathematical tool able to synchronize with a rhythmic and periodic signal by continuously estimating its fundamental features (i.e. frequency, amplitude, phase, and offset). For their properties, AOs found applications in gait pattern estimation strategies, where they are used to mimic the dynamics of the neuromechanical oscillators in charge of the rhythmical human locomotion. In addition, as gait periodicity can be captured by sensors recording joint kinematics, their application does not require a complex sensory network.

Install

To install the library run: pip install adaptive-oscillator

Development

0. Install Poetry
1. make init to create the virtual environment and install dependencies
2. make format to format the code and check for errors
3. make test to run the test suite
4. make clean to delete the temporary files and directories
5. poetry publish --build to build and publish to https://pypi.org/project/adaptive-oscillator

Usage

"""Basic usage for the adaptive oscillator."""

def main() -> None:
    """Run a simple demonstration."""
    # Initialize system
    controller = AOController(show_plots=True)

    while True:
        t, x_axis_angle, x_axis_vel = read_from_sensor()
        th = np.deg2rad(x_axis_angle)
        dth = np.deg2rad(x_axis_vel)
        controller.step(t=t, x=th, x_dot=dth)

    controller.plot_results()

if __name__ == "__main__":
    main()

Results

The plot below shows the results being plotted in real time.

Repo Structure

The files and folders below are used for development purposes. This repo tree can be updated with make tree.

├── docs
│   ├── adaptive oscillators.pdf
│   └── results.png
├── src
│   └── adaptive_oscillator
│       ├── log_files
│       │   ├── __init__.py
│       │   ├── main.py
│       │   └── parser.py
│       ├── utils
│       │   ├── __init__.py
│       │   ├── log_utils.py
│       │   ├── plot_utils.py
│       │   └── time_utils.py
│       ├── __init__.py
│       ├── __main__.py
│       ├── base_classes.py
│       ├── controller.py
│       ├── definitions.py
│       └── oscillator.py
├── tests
│   ├── __init__.py
│   ├── adaptive_oscillator_test.py
│   ├── base_classes_test.py
│   ├── conftest.py
│   ├── controller_test.py
│   ├── parser_utils_test.py
│   ├── plot_utils_test.py
│   ├── time_utils_test.py
│   └── utils_for_test.py
├── .gitignore
├── .pre-commit-config.yaml
├── CONTRIBUTING.md
├── LICENSE
├── Makefile
├── README.md
├── poetry.lock
├── pyproject.toml
└── repo_tree.py