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Target positioning of a large inclination angle in aerial images is challenging for camera distortion, which makes it difficult to obtain a positioning model. Oblique images produce a larger positioning error if a traditional positioning algorithm is directly used to locate the target. To address this problem, this study uses a BP neural network to automatically calculate the high-accuracy positioning of the target. The location algorithm not only does not require camera calibration in advance but also eliminates the impact of camera distortion on target positioning. Through positioning experiments on the collected aerial dataset, the results demonstrate that the average positioning error of the target is about 1m, which has a high-precision positioning result and algorithm robustness.

Based on the assumption that the contours of the tested workpiece are all plane curves composed of straight lines and circular arcs, this article first adopts the least square method to establish a mathematical model for segmented fitting, and calculate the workpiece by using Matlab program to obtain the parameter values of the contour line detected in the horizontal state. Furthermore, due to the deviation of the angle and position of the workpiece measurement placement, the difference in the parameter calculation values will be brought about. At this time, the inclination angle during the measurement needs to be calculated first, and a model is established according to the tilt angle to horizontally correct the measurement data, and then fit, compare, and modify according to the corrected data, and finally obtain the parameter values of the contour line.

Soft pneumatic actuators grasping tasks is one of the essential rules in robot manipulation methods. The grasping forces can be adapted to handle delicate and hard objects without leaving any damages on the object surfaces. This paper investigates the influence of the inclination angle of the soft pneumatic actuator (SPA) on its gripping force at its end tip. A range of inclination angles for SPA is analyzed using Finite Element Analysis (FEA) to estimate the gripping force at the end tip regarding SPA inner faces pressure. FEA study is conducted based on Hyperelastic material modeling employing non-linear analysis. Experimental validation is performed for three different air pillow inclined angle of SPAs fabricated by Fused Deposition Modeling (FDM) 3D printing. Experimental and FEA simulated data are compared to each other. Finally, a regression-based mathematical model is developed to obtain a direct correlation between the SPAs gripping force behavior concerning the inclination angle and applied pressure based on FEA data.

This paper proposes a linear time-varying model predictive control (LTV-MPC) steering controller for vehicle trajectory tracking considering the effect of road topography. Accounting for the road inclination angle and bank angle, a full-vehicle dynamic model with load transfer is derived. To evaluate the control performance, the proposed controller is compared with a LTV-MPC controller, which uses a bicycle model without considering the load transfer caused by the road topography. Simulation results show that an improved control performance can be achieved by considering the effect of road topography.

The auxetic honeycomb core exhibits geometric nonlinearity under the in-plane load. As the load increases, the plastic deformation occurs. The elastoplastic model of the auxetic honeycombs with constant wall thickness is introduced based on nonlinear beam theory and elastoplastic theory. The solution algorithm is established. The elastoplastic properties of the auxetic honeycombs with different ratios of the thickness of honeycomb wall to the length of the inclined wall t/l, different ratios of the height of the vertical wall to the length of the inclined wall h/l, and different inclination angle θ are obtained. The results suggest that with the increase of strain, the geometric nonlinearity causes the overall stiffness of honeycombs to increase. Then it decreases gradually due to the plastic deformation.

In this paper, we report acoustofluidic behaviors (including pumping and jetting) along inclined surfaces using aluminum nitride (AlN)/Si Rayleigh surface acoustic waves (SAWs). It has been demonstrated that when the droplet has a small volume (e.g. below $3\ \mu \mathrm{L}$ ), they can be efficiently transported on arbitrary inclined surfaces. The gravity effect plays an important role in uphill climbing of the droplet with the increased inclination angle. At 90° inclination angle, a higher threshold power is needed to pump up the droplet and the pumping velocity also reaches its minimum value. Besides, for smaller size droplet, effects of surface inclination angle on the droplet jetting angles are negligible.

In this paper, the improved nozzle structure, which is a combination of 4 concave runners, 1.5 mm runner depth, 30 ° runner inclination angle and 0.6 mm nozzle aperture, is used to investigate the water mist flow flux distribution under different pressures and the influence of the fire source position offset on the oil pan fire extinguishing effect. The results show that: the mist flux in the mist field gradually decreases from the inside to the outside, and the change of working pressure has a little influence on mist flux, but the working pressure will change the distribution of mist flux. The fire extinguishing effect is still well within the fire source position offset of 25cm, and when the fire source position offset reaches to 50cm and 100 cm, it can control the main flame to a certain range but is unable to effectively extinguish the fire.

In view of the uncertainty influence of spatial structure parameters of suspension system for vehicle dynamic performance, a robust optimization design of suspension system had been performed based on Taguchi method. A vehicle model was built to carry out the simulation analysis. By the simulation data, the key factors for vehicle dynamic performance were gotten and the design variables were chosen. The design variables include 6 spatial structure parameters of suspension system, such as the kingpin length, the upper arm length of suspension system, the pull arm length, etc, and 2 noise factors, the kingpin inclination angle and caster. The optimization objectives included the vehicle vertical acceleration, the wheel side slip and the vehicle roll angle. The optimization results were shown that the variance of optimization objective was decreased and the robustness of vehicle dynamic performance was improved.

One of the MIMO (Multiple-Input Multiple-Output) communication techniques, a method using Orbital Angular Momentum (OAM) has attracted increasing attention. In this paper, we evaluate the performance of OAM-MIMO when the receiving array antenna has some inclination from parallel with the transmitting array antenna.

The article presents a technique for polarization parameters recovery (ellipticity coefficient and the polarization ellipse inclination angle) for vertical remote sensing with a continuous chirp signal. The multifunctional chirp “Inosonde-MS” data were used for testing.

Article shows the influence of antenna height and inclination on the results of radiated emission measurements below 1 GHz

In this paper, based on modern Surface Mount Technology (SMT), a novel silicone rubber elastic button structure with built-in soldering pins for SMT applications is proposed, and the rationality of the proposed button structure is verified by the mechanical simulation. First, the effects of the elastic modulus of the matrix of button, the thickness of elastic oblique wall, the inclination angle of elastic oblique wall, and the stroke of the button on the pressing performance of the silicone rubber elastic button are studied, using an orthogonal experiment to analyze the influence significance of various factors on the tactility value. Second, the Back Propagation Neural Network (BPNN) model is employed for optimizing and selecting the structure parameters of the proposed SMT buttons. The result shows that the thickness of the elastic oblique wall has the most significant influence on the tactility value. Moreover, the BPNN model is useful for optimizing the proposed silicone rubber elastic buttons. Various designs for one tactility value of silicone rubber elastic buttons can be achieved through the application of BPNN model, which is of great significance for optimizing the product design and its process and significantly reducing the production cost.

Due to the inconvenience of the conventional intravenous drip frame, the piggyback intravenous drip frame is developed to ensure better mobility of the patient. However, the current design of the piggyback intravenous drip frame leads to a lack of balance control and increment of blood returning. To this end, this invention applies fuzzy control techniques and an inverted-pendulum system to build up a reliable system, which can facilitate patient mobility and ensure patient safety with compensating the inclination angle of the piggyback intravenous drip frame based on the motion information of the patient. Therefore, the reduction of blood returning and the balance control of the piggyback intravenous drip frame can be achieved.

Given the current ship climbing robot that is easy to magnetize the ship’s outer wall and is heavy in weight, and the problem of the change of the inclined angle of the outer ship wall and the friction state of the wall surface, a negative pressure adsorption ship climbing robot has been developed. First of all, the working requirements and negative pressure adsorption principle of negative pressure adsorption ship climbing robot are analyzed, and the factors affecting the formation of negative pressure are obtained. Then, under the static condition, the mechanic model of the wall climbing robot with negative pressure adsorption is established. The relationship between the critical negative pressure adsorption force, the inclination angle of the hull wall and the friction coefficient between the wall climbing robot and the hull wall is studied. The critical angle of the wall inclination angle is obtained when the critical negative pressure is maximum. The research shows that the critical angle can guide the low power control of robot operation. It’s beneficial for the adaptability of wall climbing robot to the change of wall inclination and wall friction state that the friction coefficient between the robot crawler and the ship wall is more than 0.6. Finally, through the wall adsorption experiment of negative pressure adsorption ship climbing robot, it is proved that the designed negative pressure adsorption ship climbing robot can adsorb and walk normally when the hull wall is in a critical angle. It is adaptable to the different inclination angles of the ship's wall. At the same time, the experiment also shows that the climbing robot can work and walk normally on the wet wall with detergent, and cross the arc of 5mm-barrier.d on the style sheet as illustrated by the portions given in this paper.

The design and construction of an instrumented micro heat pipe for cooling electronic devices used smart technology, natural convection heat transfer have been investigated experimentally and theoretically in an inclined closed conventional and annular sintering micro heat pipe under the variation of operation condition to study the effects of the heat flux, inclination angle, working fluid and pipe shape on the performance of the heat pipe and heat transfer process. By keeping all the parameters constant, except the investigated one, individual effects are examined. Then compare between the novel configurations annular MHP and conventional MHP with these parameters. A theoretical analysis for the same of the experimental conditions were obtained by using Mat Lab programs for governing equations, the result showed an agreement with the present experimental result.

This research is directed at the exploration of the possibility of using the power inherent in water distribution networks as a result of flow gradient to serve as an alternative power supply for Impressed Current Cathodic Protection of pipelines The use of pressure, head and flow that is available in water distribution networks as a result of gravity or pump to drive micro hydroelectric generation equipment is investigated. A practical water distribution network was investigated through a simulation based on EPANET Simulation Software. The results obtained show that, enough power could be generated to power Impressed Current Cathodic Protection in most segments of the network investigated without an appreciable loss of pressure at the most of the nodes. It was also observed that the amount of power available could be varied by changing inclination angle of shunt pipelines that feed micro hydroelectric generators.

In the event of railway overhead catenary pole twist there are several negative results being appeared at a time, such as deterioration of stock power supply quality, drop of unit efficiency and hazard of locomotive collector shoe damage. As for now, mast twist occasion is being detected via visual method only during technical maintenance performance. Design of permanent monitoring of railway overhead catenary poles inclination with instant data acquisition feature was completed by authors of this article. Our approach is founded on application of sensor's set with inclinometers together with developed universal network of data transmission being functioned via unlicensed frequency 868.7 MHz. This manner allows us to fulfill constant vigilance of reinforced concrete masts and steel poles technical conditions plus this option is easy to adapt to light signal inclination angle control performance.

Assistive technologies promote greater independence by enabling people with disabilities to perform tasks that usually would be more difficult to achieve. The Laboratory of Bioengineering and Biomaterials of the Federal Institute of Technology in Sao Paulo is developing new assistive technologies with the purpose of contributing, providing and expanding the functional abilities of the physically disabled promoting social inclusion. The regular wheelchair faces obstacles along its route and restrictions of mobility in environments without accessibility. One of these restrictions is related to reach objects above the wheelchair height. A computational modelling of an automatic wheelchair lift system was developed to design and simulate a wheelchair that allows the user to access objects and interact with other people in the same height. The three-dimensional CAD model was the basis for static and dynamic computational analysis. In order to validate it, a conventional wheelchair was adapted with the implementation of a vertical automatic elevation system in its seat. As results, the design methodology adopted followed by the computational analyses were proved its consistency. A predicted deviation of 5 mm from the center of the seat was measured in the assembled prototype. The control system was also improved by the determination of safety parameters, minimum and maximum height and inclination angle. Comparing the results, it was concluded that the simulations were validated with the prototype measurements. The wheelchair lift system was considered an assistive technology affordable to all social classes.

A coarse-to-fine horizon detection method based on between-class variance is present. Firstly, the original image is resized to a smaller one and plenty of straight lines are selected acoording to two line parameters which are distance to image center and inclination angle in the resized image. A criterion based on the between-class variance is set up for determining the best straight line which is considered as the coarse horizon. Then several horizontal coordinates are selected in the original image equally. The points corresponding to the horizontal coordinates which are the most likely on the real horizon are found nearby the coarse horizon according to the edge information and between-class variance. Finally, RANSAC algorithm is applied to preserve interior points which are really on the horizon and eliminate exterior points which are not, and line parameters of the real horizon can be gained by applying least squares line fitting algorithm for all interior points. The experimental results show that the proposed method can detect out the horizons under various complicated backgrounds effectively and has many advantages such as speedy calculation, strong robustness and high engineering value.

The paper discusses the results of theoretical and experimental investigations of the functioning of two-electrode MEMS capacitors with changing interelectrode gap at non-parallel displacement of the electrodes. The measuring technique and experimental data on changes in the variable capacitor capacitance at non-parallel displacement of electrodes are presented. The experiments were performed both on the specially constructed capacitor model allowing to register the parameters of a mutual displacement of electrodes with changing inclination angle of the electrodes over a wide range, and on the variable micromechanical capacitors fabricated of (100) Si using IC technology.

Conventional quadrotor UAVs have crucial underactuation limitations. This appears in the coupling between the roll angle and the movement in y-direction, and between the pitch angle and the movement in x-direction. The quadrotor capability of hovering with either roll or pitch angle is restricted due to these limitations. In this paper, a novel design modification is proposed in order to increase the quadrotor degrees of freedom. Four additional rotations for the propellers grant overactuated system. It could be used to make either an oriented hovering without any translational movements or make horizontal movement with zero inclination angle, as followed in this work. A PID controller is used for the quadrotor control. Simulation results show the validity of the proposed control scheme.

Explosively Formed Projectiles (EFPs) are used to attack armored vehicles, on the other hands the armored vehicles use Explosive Reactive Armor (ERA) to enhance their protection. Using LS-DYNA software, this paper studies the problem of interaction of EFP with single sandwich ERA. The effect of various ERA configurations like the thickness of metal flyer plates/explosive and the inclination angle of ERA is analyzed against an EFP. The study concludes that the effect of light ERA i.e. with flyers upto 5mm is limited and the residual EFP still has enough energy to penetrate significant thickness of steel target, however when the ERA configuration is changed to heavier steel plates, most of the EFP is consumed during interaction with the ERA and only a small portion reaches the steel target, which does not have sufficient energy to penetrate the target. The simulation results were validated by testing the EFP against ERA.

The evaporative inner cooling technology has a good application prospect in wind power generator. The system for wind power generator has a small inclination angle of 3–5 degrees and the two-phase flow instability has become more obvious. In this paper, the flow distribution characteristics of parallel inclined hollow conductors were studied through experiments and theoretical analysis, according to the design parameters of 2MW evaporative inner cooling wind power generator. Based on the work in this paper, propose a theoretical method to determine the vertical distance between the parallel hollow conductors. This provides a theoretical basis for system design.

Many places in the world are contaminated with Landmines, normally buried under shallow or deep layers of sand and mud, which causes landmine detection and/or removal to be challenging tasks. To design a reliable landmine sensing system some deep analysis and many test cases are required. In this paper, existence of landmine under the ground surface is examined and its inclination angle effect on detection is analyzed applying finite element method and artificial neural networks. Inverse analyses are used to produce ‘forward results’. Applying a contact pressure (lower than the expected landmine activation pressure) on the ground containing a landmine under its surface would produce a pressure distribution that is dependent on the landmine type, depth and inclination. COMSOL Multi-physics is applied to model sandy soil contaminated by two landmines of different types at different depths and surface pressure distribution is obtained applying external pressure load of 1kPa. Three NNs are trained applying the obtained surface pressure distribution data. The first NN is of perceptron type which classifies the introduced objects in sand. The other two NNs are of feed-forward NN type and are developed for estimating depths of two landmines of different types, one for each. The Landmine inclination angles (0°–30°) effect on detection rate is studied. The results are tabulated and justified. The results show that the anti-tank landmine is fully detected, while the anti-personnel landmine is only detected with a rate of 75%. It is also shown that landmine characteristics estimation is reliable when its inclination angle is small.

To improve the mobility of wheeled robots on loose sandy terrain, lugs (i.e., grousers) are attached to the surface of each wheel. Unlike existing studies that focus on the effects of lug shape (e.g. height and width) on lug-soil interaction forces, this study involved experimental and quantitative analyses to investigate the effects of parameters such as inclination angle, sinkage length, and moving direction angle of a lug that is translationally moving on sandy ground. In this study, a single lug is actuated to rotate on a sandy testbed and characteristics of the lug-soil interaction during the rotational motion are quantitatively investigated. Based on the experimental results, the effects of angular speed, lug sinkage length and cumulative deformation of the soil on lug-soil reaction forces are discussed. Conclusions from this study would be useful for understanding the lug-soil interaction mechanism for a lug that is performing arbitrary planar motion on sandy terrain.

The energy produced by the PV panels depends generally on several parameters - local weather data (solar intensity, amount of impurities in the air (Linke Turbidity Factor), temperature, wind speed and etc.), type and orientation of the PV panel.

Wheeled mobile robots working on sandy soil (e.g. planetary surface, desert, etc.) are commonly equipped with lugs (i.e. grousers) on wheels to improve travelling performance. It has been verified that presence of these lugs significantly affects on the traction performance of the locomotion mechanisms on soft terrains. However, the influences of movable lugs on traction performance are unclear, since the motion behavior of the conventional fixed lugs are interfered by wheel's motion. To quantitatively confirm the influences of lug's motion, we measured the soil reaction forces acting on a single actively actuated lug without wheel in various motion scenarios. Based on experimental results, we mathematically established relationships between the lug-soil interaction forces and parameters of lug's motion, such as inclination angle, moving velocity, and sinkage length of the lug.

Lower limb motor function is important for activities of daily living. Since gait movements of elderly subjects differ from those of young people, gait measurement is considered to be effective for evaluating lower limb motor function. In this paper, focusing on foot movements during gait, a method of evaluating 3-dimentional movements of the foot during walking was examined. Gait movements were measured with 3 healthy females using the wireless inertial sensor system developed by our research group. Then, foot inclination angle and vector locus of the foot vector were calculated from angular velocity and acceleration signals by using quaternion-based attitude representation. They were projected onto each plane of the global coordinate system. The results showed similar angle waveforms and locus patterns between subjects. These suggested that the angles and the vector loci would be useful in evaluation of lower limb motor function. Developing quantitative evaluation method and making clear meanings of the angles and the vector loci projected to the planes are necessary.

Lugs (i.e., grousers) are attached on the surface of wheels/tracks of mobile robots to enhance their traveling performance for accessing loose sandy terrains. The goal of this study is to experimentally confirm the effects of velocity, sinkage length, moving direction angle and inclination angle on the tangential force acting on an actively actuated lug. Moreover, based on comparison of the measured and the calculated values by using conventional tangential stress model, we confirmed that the force acting on lug-tip surface is not negligible. Subsequently, the tangential forces were measured with a series lugs with different thickness to show influences of the thickness further.

Helical microswimmers capable of propulsion at low Reynolds numbers have been proposed for many applications. However, closed-loop controlled helical swimmers are still challenging because of the limits of optical tracking, and a lack of control parameters lying on the swimming characteristics of both linear propulsion and steering. Although the linear propulsion characteristics of helical swimmers were extensively studied, the steering characteristics have not yet been clearly shown. Helical microswimmers are efficient in propulsion, whereas their high surface-to-volume ratio limits the steering performances. In this paper, we characterized both the direction and inclination steering using a real-time visual tracking of orientation. The direction steering efficiency could be increased in terms of response time with a higher inclination angle both in floating conditions and on a sticky substrate. We thus developed a 3D steering strategy by combining direction and inclination steering to improve the steering performance. We further expect that the characterization of steering performance can contribute to defining the control parameters for future closed-loop control.

Currently, railways have been an influential transportation system in every country, including Indonesia. This transportation system moves people from one place to another in a large number of passengers. The railways have an advantage of traffic-free and relatively low cost. However, there are many train accidents occurred caused by several reasons. In Indonesia, a critical issue that causes the accidents is the absence of real time monitoring system. The monitoring system relies on radio communication among the operating railways and stations. This paper proposes a real-time railways monitoring system. This monitoring system includes real time data tracking of the current position of a train. The data will be displayed on a web site that can be monitored by train station officials. In addition, the system will notify candidate passengers should their train is approaching or having delays. To reach train station, if someone having difficulties in finding the station, this system has the feature of Augmented Reality (AR) that assists the passengers to find the stations he is about to take on the train. The navigation to search the station uses the current position of the passenger and the longitude and latitude of the station. To improve the accuracy of location decision on AR, we combine GLONASS and GPS that increases the accuracy of location acquiring by 919,8 %. Experiment results show that the AR technology successfully implemented using inclination angle and azimuth.

In this essay, when the oil tank position was not changed or longitudinal inclination angle, we determine the function relationships among oil reserve soil height and deflection parameters, give the tanks of tank capacity charts the calibration value combined with MATLAB software, then draw a compare figure of unchanged position and shifted position, for the case of combined effects of vertical tilt angle and lateral deflection angle, the model of oil volume oil height vertical tilt angle and lateral deflection angle is given out, in MATLAB use the nonlinear least square method to fit the collected data, get the parameter and program to get the integrated results in MAPLE.

A test stand to determine the performance of a dynamic-static rotor separator is described. An experimental study has been conducted of the separator at different air flow rate and rotor rotating speeds with pulverized coal serving as a raw material. Experimental results indicate that either an increase of the rotor rotating speed or a decrease of the air flow rate can increase the fineness of the pulverized coal at the outlet of the separator, whose value of R45 can be as low as 0. As the rotor rotating speed increases, the comprehensive separation efficiency decreases in general, but it fluctuates at high rotational speed. The comprehensive separation efficiency rises as the air flow rate increases. In gas-solid two-phase flow, there is the minimum pressure drop as the rotational speed increases and the pressure drop has an accelerative increase as the air flow rate increases.

An increase in population of elderly people living in isolated environments, leads to the need for an automated monitoring system. Fall is one of the major reasons for death of elderly people. So fall detection is an essential part of an automated indoor monitoring system. Video based automatic fall detection is robust and more reliable than other fall detection methods. Most of the available video based fall detection mechanisms are based on the extraction of motion dynamic features like velocity and intensity gradient of the person in video. These methods are computationally intensive and less accurate. This paper presents an accurate and computationally less intensive approach to detect fall, using only the static features of the person such as aspect ratio and inclination angle. Experimental results show that this method is robust in detecting all kinds of fall.

A simple structure, low cost solar air collector is very suitable for northern China rural house heating in winter. A solar air collector was developed and studied experimentally in winter. The research focused on the inclination angle of the collector influence its efficiency. The experiment result showed that when the inclining angle is 65°, it's efficiency increased 10%, compared with vertical solar air collector. The solar air collector developed has a good temperature distribution, low flow resistance. It is suitable for heating in rural house.

We consider a tracking problem for a car moving at a constant speed on a piecewise-circular road with known radius-of-curvature. Retrospective-cost-based adaptive control is applied under various off-nominal conditions, including unknown bank and inclination angles. A preview estimate of the time-to-departure, based on radius-of-curvature information, is used to define a performance variable.

Improving plant structure is pivotal for increasing the potential yield of crops. The aim of this paper was to evaluate the influence of leaf angle and leaf area index (LAI) on light interception efficiency and capacity of biomass production of rice using 3-D models. A group of virtual plant types of rice, with different combinations of leaf angles, was designed based on the 3-D data of a real rice canopy which was digitized in situ in the field at the filling stage. The results indicated that plant types with excessively steep leaves could lead a significant decrease of photosynthesis at higher solar inclination angle. An optimum LAI corresponding to the peak photosynthetic rate can be found for each of the plant type. To overcome the obstacle of heavy computing in this study, computer cluster and message passing interface were used to provide an efficient and economical way for simulating the 3-D light distribution and photosynthetic rate in rice canopies.

The present investigation deals with the numerical prediction of the overall performance of evacuated-tube solar collectors using computational fluid dynamics. A standard water-in-glass element, with its tank portion, is investigated and various design variations are checked. The results show that the standard evacuated-tube design can be greatly improved if minor changes are implemented. Among those enhancements, a slightly lowered tube-tank junction may results in a non-negligible boost of collector overall performance. Tailoring the length of the collector elements to the location in which the collector is used, i.e. the inclination angle of the collector, may also add a plus to the overall performance. However, this latter improvement may prove not worthy if looked at from a pure economical point of view.

We extend an observer design for estimation of the vehicle sideslip angle on horizontal surfaces to include estimation of the road inclination angle and the road bank angle. The design makes use of a nonlinear road-tire friction model, and the nonlinearity of the road-tire friction forces are taken into account in the theoretical analysis of the design. Using an absolute-stability argument we show that, under a set of technical assumptions, the origin of the observer error dynamics is globally exponentially stable. Taking unknown road-surface conditions into account, we discuss simultaneous estimation of the road bank angle and a road-tire friction parameter, which is complicated by the dependence of the friction-parameter estimation on lateral excitation of the vehicle. To improve performance on low-friction surfaces, we modulate the observer gains based on a set of practical conditions. Using experimental data from a passenger car, we investigate the performance of the approach.

This paper describes the effect of inclined track in an indoor rowing machine on the rowing exercise for paraplegics. The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities through the application of functional electrical stimulation (FES). A model of the machine is developed using the Visual Nastran (Vn4D) software environment. Nine different degrees of inclination are set. Fuzzy logic control is implemented to control the knee and elbow trajectories for each of the inclination angle. The generated level of electrical stimulations for activation of quadriceps and hamstrings muscles are recorded and analysed. The results show that the highest efficiency is achieved at 7° of inclination. In view of good results obtained, it is concluded that different angles of track inclination significantly affect the level of electrical stimulation required to assist paraplegics’ indoor rowing exercise.