A complementary quantitative feedback theory solution to the 2 × 2 tracking error problem

2020 ◽  
Vol 30 (16) ◽  
pp. 6569-6584
Author(s):  
Arnold Pretorius ◽  
Edward Boje
Keyword(s):  
Tracking Error ◽  
Quantitative Feedback Theory ◽  
Theory Solution

Control System for Suppressing Tracking Error Offset and Multiharmonic Disturbance in High-Speed Optical Disk Systems

2012 ◽  
Vol 132 (3) ◽  
pp. 347-356 ◽  
Author(s):  
Yuta Nabata ◽  
Tatsuya Nakazaki ◽  
Tokoku Ogata ◽  
Kiyoshi Ohishi ◽  
Toshimasa Miyazaki ◽  
...  
Keyword(s):  
Control System ◽  
High Speed ◽  
Tracking Error ◽  
Optical Disk

Tracking Error Compensation of XY Table Ball Screw Driven System Using Cascade Fuzzy P+PI

2016 ◽  
Vol 9 (5) ◽  
pp. 324 ◽  
Author(s):  
Zain Retas ◽  
Lokman Abdullah ◽  
Syed Najib Syed Salim ◽  
Zamberi Jamaludin ◽  
Nur Amira Anang
Keyword(s):  
Error Compensation ◽  
Tracking Error ◽  
Ball Screw ◽  
Driven System

Studying noise immunity of radio information transmission systems with noise-like phase-shift keyed signals and synchronization delay errors

2019 ◽  
pp. 105-113
Author(s):  
G. N. Maltsev ◽  
A. V. Evteev
Keyword(s):  
Phase Shift ◽  
Information Transmission ◽  
Noise Immunity ◽  
Tracking System ◽  
Tracking Error ◽  
Information Symbol ◽  
Transmission Systems ◽  
Synchronization System ◽  
Correlation Receiver ◽  
Selection Of

Introduction: Radio information transmission systems with noise-like phase-shift keyed signals based on pseudo-random sequences have potential noise immunity provided by accurately tracking the delay of the received signal in the correlation receiver. When working with moving objects, the delay of the received signal varies continuously, and the reception quality for noise-like phase-shifted signals highly depends on the synchronization system operation and on the accuracy of estimating the received signal delay by the tracking system. To ensure the required signal reception quality, it is necessary to provide an informed choice of tracking system parameters, taking into account their effects, which are the random and systematic components of the delay tracking error, on the selected noise immunity indicator.Purpose: Analyzing how the errors in tracking the delay of a received phase-shift keyed signal based on a pseudorandom sequence by the synchronization system of a radio information transmission system can affect the probability of erroneous reception of an information symbol.Results: The calculation method was used to obtain families of dependencies of the probability of erroneous reception of an information symbol on the signal-noise ratio (SNR), and the values of the random and systematic components of the delay tracking error which are normalized to the capture band of the correlation receiver. It has been shown that at a fixed SNR, the values of the random and systematic components of the delay tracking error are critical for the erroneous reception probability. In all the cases discussed, all the dependencies are characterized by a slow change of the erroneous reception probability while the synchronization errors within the area of small SNR have fixed values. As the SNR value grows, the erroneous reception probability rapidly drops. To ensure the specified signal reception quality and the reliability of the selection of information symbols and messages in a radio information transmission system with noise-like phase-manipulated signals, its synchronization system requires a joint selection of the tracking system parameters, taking into account the limitations imposed by the operating conditions and technical implementation features.Practical relevance: The obtained results can be used in noise immunity analysis of radio information transmission systems with noise-like phase-shift keyed signals in a wide range of communication conditions, and in providing technical solutions for synchronization systems ensuring the required quality of signal reception.

scholarly journals Autonomous Mobile Robot Navigation in Sparse LiDAR Feature Environments

2021 ◽  
Vol 11 (13) ◽  
pp. 5963
Author(s):  
Phuc Thanh-Thien Nguyen ◽  
Shao-Wei Yan ◽  
Jia-Fu Liao ◽  
Chung-Hsien Kuo
Keyword(s):  
Robot Navigation ◽  
Tracking Error ◽  
Unmanned Vehicles ◽  
Mobile Robot Navigation ◽  
Selection Strategy ◽  
Localization And Mapping ◽  
Pure Pursuit ◽  
Stable Performance ◽  
Large Curve ◽  
Moving Speed

In the industrial environment, Autonomous Guided Vehicles (AGVs) generally run on a planned route. Among trajectory-tracking algorithms for unmanned vehicles, the Pure Pursuit (PP) algorithm is prevalent in many real-world applications because of its simple and easy implementation. However, it is challenging to decelerate the AGV’s moving speed when turning on a large curve path. Moreover, this paper addresses the kidnapped-robot problem occurring in spare LiDAR environments. This paper proposes an improved Pure Pursuit algorithm so that the AGV can predict the trajectory and decelerate for turning, thus increasing the accuracy of the path tracking. To solve the kidnapped-robot problem, we use a learning-based classifier to detect the repetitive pattern scenario (e.g., long corridor) regarding 2D LiDAR features for switching the localization system between Simultaneous Localization And Mapping (SLAM) method and Odometer method. As experimental results in practice, the improved Pure Pursuit algorithm can reduce the tracking error while performing more efficiently. Moreover, the learning-based localization selection strategy helps the robot navigation task achieve stable performance, with 36.25% in completion rate more than only using SLAM. The results demonstrate that the proposed method is feasible and reliable in actual conditions.

scholarly journals SPEAR (Solar Pyrolysis Energy Access Reactor): Theoretical Design and Evaluation of a Small-Scale Low-Cost Pyrolysis Unit for Implementation in Rural Communities

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2189
Author(s):  
Cesare Caputo ◽  
Ondřej Mašek
Keyword(s):  
Waste Management ◽  
Rural Areas ◽  
Net Present Value ◽  
Agricultural Waste ◽  
Tracking Error ◽  
Sub Saharan Africa ◽  
Small Scale ◽  
Energy Access ◽  
Efficient System ◽  
Pyrolysis Unit

Energy access and waste management are two of the most pressing developmental and environmental issues on a global level to help mitigate the accelerating impacts of climate change. They are particularly relevant in Sub–Saharan Africa where electrification rates are significantly below global averages and rural areas are lacking a formal waste management sector. This paper explores the potential of integrating solar energy into a biomass pyrolysis unit as a potentially synergetic solution to both issues. The full design of a slow pyrolysis batch reactor targeted at biochar production, following a strict cost minimization approach, is presented in light of the relevant considerations. SPEAR is powered using a Cassegrain optics parabolic dish system, integrated into the reactor via a manual tracking system and optically optimized with a Monte-Carlo ray tracing methodology. The design approach employed has led to the development an overall cost efficient system, with the potential to achieve optical efficiencies up 72% under a 1.5° tracking error. The outputs of the system are biochar and electricity, to be used for soil amendment and energy access purposes, respectively. There is potential to pyrolyze a number of agricultural waste streams for the region, producing at least 5 kg of biochar per unit per day depending on the feedstock employed. Financial assessment of SPEAR yields a positive Net Present Value (NPV) in nearly all scenarios evaluated and a reasonable competitiveness with small scale solar for electrification objectives. Finally, SPEAR presents important positive social and environmental externalities and should be feasibly implementable in the region in the near term.

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