Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Jameson Y. S. Lee ◽  
Kam K. Leang ◽  
Woosoon Yim
Keyword(s):  
Special Class ◽  
Control Strategies ◽  
Optimal Solution ◽  
Control Algorithms ◽  
Modular Control ◽  
Orientation Model ◽  
Aerial Manipulator ◽  
Analytical Development ◽  
And Control ◽  
Am Applications

This paper addresses the issue of controller complexity for multirotor aerial manipulator (AM) implementation by utilizing a special class of fully actuated hexrotor within the framework of a firmware, which allows standard multirotor actuation modes. Using this platform, manipulator and vehicle dynamics are decoupled, making the airframe inherently more robust than standard multirotor for trajectory tracking in AM applications. Furthermore, its unique design allows for the implementation of modular control strategies. The proposed rotor orientation model makes it possible to decouple the dynamics, allowing full analytical development of the optimal solution. A methodology for analysis, control allocation, and design of this special class of hexrotor is presented, and the implementation of a custom flight stack is demonstrated using a hexrotor prototype in closed-loop flight testing. The flight stack developed is compliant with the open-source ArduPilot Mega (APM) firmware, allowing it to take advantage of all generic multirotor control algorithms. Experimental results are presented to demonstrate feasibility of the system.

scholarly journals Position control for hybrid infinite-continuous hyper-redundant robot

2021 ◽  
Vol 343 ◽  
pp. 08009
Author(s):  
Cristina Pană ◽  
Cristian Vladu ◽  
Daniela Pătraşcu-Pană ◽  
Florina Besnea (Petcu) ◽  
Çtefan Cismaru ◽  
...  
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Hybrid Structure ◽  
Control Algorithms ◽  
Robot Design ◽  
Hydraulic Control ◽  
Lightweight Construction ◽  
Redundant Robot ◽  
Redundant Robots ◽  
And Control

This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.

A Review of Static Synchronous Compensators (STATCOM)

2012 ◽  
Vol 268-270 ◽  
pp. 1389-1392 ◽  
Author(s):  
You Jie Ma ◽  
Yi Li ◽  
Xue Song Zhou
Keyword(s):  
Intelligent Control ◽  
Distribution System ◽  
Reactive Power ◽  
Control Strategies ◽  
Control Algorithms ◽  
Static Synchronous Compensator ◽  
Converter Topologies ◽  
And Control ◽  
Transmission And Distribution ◽  
Fast Acting

This paper reviews the development of static synchronous compensator (STATCOM), and analylizes the structure of its main circuit, its working principles and control strategies. At last, this paper comes to a conclusion of technical characteristics of STATCOM and outlook of its development trends. Fast acting STATCOM, a representative of FACTS family, is a promising technology which is extensively used as state-of-the-art dynamic shunt compensator for reactive power control in transmission and distribution system. STATCOM controller employs various solid-state converter topologies, magnetics configurations, control algorithms, and switching techniques and so on. The development of STATCOM controller has been well reported in literature with its versatile application in power system. Thus deep investigation of STATCOM from the perspective of its intelligent control and the configuration of STATCOM’s main circuit is valuable.

scholarly journals The Development of Mapping, Covering and Control Strategies for a Vacuum Cleaner Robot 

2020 ◽  
Vol 31 (1) ◽  
pp. 59-68
Keyword(s):  
Operating System ◽  
Real World ◽  
Control Strategies ◽  
New Technology ◽  
Control Algorithms ◽  
Infrared Sensor ◽  
Vacuum Cleaner ◽  
Robot Operating System ◽  
Single Pass ◽  
And Control

Modern households are becoming more and more convenient and intelligent by applying new technology to reduce the time spent on house chores. In this study, the authors proposed the mapping, covering strategies, and control algorithms for vacuum cleaner robot. The robot will automatically implement the cleaning task in a single pass. The sensor system includes infrared sensor, 9 Dof MPU 9250, Delta Lidar 2A, ultrasonic sensor to help robots navigate, build maps and detect obstacles. ROS system (Robot Operating System) is used to control and simulate vacuuming operation in real-world environments. The experiments are conducted in order to illustrate the superiority of the proposed approach.

scholarly journals Automated modelling of building energy systems with mode-based control algorithms in Modelica

2021 ◽  
Vol 2042 (1) ◽  
pp. 012067
Author(s):  
Xiaoye Cai ◽  
Junyi Xue ◽  
Alexander Kümpel ◽  
Dirk Müller
Keyword(s):  
Planning Process ◽  
Control Strategies ◽  
Energy Systems ◽  
Building Energy ◽  
Control Algorithms ◽  
Operating Modes ◽  
Building Energy Systems ◽  
Core Elements ◽  
And Control ◽  
Future Work

Abstract The increasing use of renewable energy in building energy systems has brought considerable challenges for the traditional planning process to develop appropriate control strategies. In previous work, we have introduced the MODI method to support the structured development of mode-based control algorithms, in which operating modes are core elements. However, modeling of energy systems and control algorithms for control tests is time-consuming and error-prone. Identification of permissible operating modes is also unfeasible. The paper introduces a methodology to identify permissible operating modes and model energy systems with mode-based control algorithms in the modeling language Modelica automatically. In the case study, we apply the methodology for an energy supply network and verify the functionality of the methodology. In future work, automated optimization of control algorithms will be integrated into the methodology.

Effective infection prevention and control strategies in a large accredited psychiatric facility in Singapore

2020 ◽  
Author(s):  
Daniel Poremski ◽  
Sandra Henrietta Subner ◽  
Grace Lam Fong Kin ◽  
Raveen Dev Ram Dev ◽  
Mok Yee Ming ◽  
...  
Keyword(s):  
Mental Health ◽  
Prevention And Control ◽  
Infection Prevention ◽  
Control Strategies ◽  
Infection Prevention And Control ◽  
Psychiatric Facility ◽  
Essential Services ◽  
Community Transmission ◽  
And Control

The Institute of Mental Health in Singapore continues to attempt to prevent the introduction of COVID-19, despite community transmission. Essential services are maintained and quarantine measures are currently unnecessary. To help similar organizations, strategies are listed along three themes: sustaining essential services, preventing infection, and managing human and consumable resources.

Optimization and Control Petroleum Refinery Wastewater Treatment Systems — Status, Trends and Needs

1989 ◽  
Vol 24 (3) ◽  
pp. 463-477
Author(s):  
Stephen G. Nutt
Keyword(s):  
Wastewater Treatment ◽  
Process Control ◽  
Petroleum Refinery ◽  
Control Strategies ◽  
Refinery Wastewater ◽  
Statistical Process ◽  
Petroleum Refinery Wastewater ◽  
Optimization And Control ◽  
And Control ◽  
Wastewater Treatment Systems

Abstract Based on discussions in workshop sessions, several recurring themes became evident with respect to the optimization and control of petroleum refinery wastewater treatment systems to achieve effective removal of toxic contaminants. It was apparent that statistical process control (SPC) techniques are finding more widespread use and have been found to be effective. However, the implementation of real-time process control strategies in petroleum refinery wastewater treatment systems is in its infancy. Considerable effort will need to be expended to demonstrate the practicality of on-line sensors, and the utility of automated process control in petroleum refinery wastewater treatment systems. This paper provides a summary of the discussions held at the workshop.

A Review of Classical and Modern Control Techniques Utilized in Modern Microgrids

2021 ◽  
Vol 14 ◽  
Author(s):  
Muhammad Hamza Shahbaz ◽  
Arslan Ahmed Amin
Keyword(s):  
Control Strategies ◽  
Optimal Solution ◽  
Energy Resources ◽  
Control Methods ◽  
Research Gaps ◽  
Control Techniques ◽  
Micro Grid ◽  
Exciting Development ◽  
Micro Grids ◽  
Modern Control

: Because of the consistently expanding energy request, the introduction of a decentralized micro-grid based on energy resources will soon be the most exciting development in the power system. Micro-grids, which are mainly based on inverters, are becoming more popular as they can handle different forms of renewable energy effectively. However, one of the most challenging areas of research is their control. In the last few years, many control strategies have been developed. In this review, different control methods have been discussed that apply to the micro-grid system. Furthermore, the comparative analysis of classical and modern control strategies is also considered. This survey guides the new researchers about all available control strategies and room for improvement towards the optimal solution of the micro-grid control techniques. It also identifies several research gaps and future trends therein as well as provides a solution to manage problems in MGs. The strategies are then compared based on their applicability to different control requirements.

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