Analysis and Control of an In-Pipe Wheeled Robot With Spiral Moving Capability

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
T.-J. Yeh ◽  
Tzu-Hsiang Weng
Keyword(s):  
Steering Wheel ◽  
Algebraic Operation ◽  
Successful Operation ◽  
Steering Angle ◽  
Differential Drive ◽  
Lead Angle ◽  
Wheeled Robot ◽  
Inclination Angles ◽  
State Force ◽  
And Control

Abstract This article presents analysis and control of a wheeled robot that can move spirally inside the pipeline. The wheeled robot considered is composed of two mechanical bodies, a pair of differential-drive wheels, a lifting motor, and a steering wheel. The mechatronic design allows the robot to easily press against the inner wall and spiral along pipelines of arbitrary inclination angles. Kinematic analysis shows how the lead angle of the differential-drive wheels and the steering angle should be coordinated so as to achieve stable spiraling. The steady-state force analysis further gives an analytic expression for the threshold torque needed for supporting the robot at different inclination angles. To ensure successful operation of the robot, four control systems that respectively regulate the spiraling speed, the lifting torque, the steering angle, and the lead angle are devised. Particularly for the lead angle control, it is theoretically proved that the feedback measurement can be obtained by performing algebraic operation on signals from a multi-axis gyro. A prototype robot is constructed and is controlled based on the analysis results. Experiments are conducted to verify the robot’s performance on moving spirally in pipelines of different inclination angles.

Modeling and path-tracking control of a mobile wheeled robot with a differential drive

Robotica ◽  
1995 ◽  
Vol 13 (4) ◽  
pp. 401-410 ◽  
Author(s):  
R. M. DeSantis
Keyword(s):  
Tracking Control ◽  
Linear Time ◽  
Path Tracking ◽  
Modeling And Control ◽  
Differential Drive ◽  
Linear Time Invariant ◽  
Wheeled Robot ◽  
And Control ◽  
Time Invariant ◽  
Kinematic Properties

SummaryTopics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.

ROS Based, Simulation and Control of a Wheeled Robot using Gamer’s Steering Wheel

2018 ◽  
Author(s):  
Rajesh Kannan Megalingam ◽  
Deepak Nagalla ◽  
Ravi Kiran Pasumarthi ◽  
Vamsi Gontu ◽  
Phanindra Kumar Allada
Keyword(s):  
Steering Wheel ◽  
Wheeled Robot ◽  
Simulation And Control ◽  
And Control

scholarly journals V-REP-based navigation of automated wheeled robot between obstacles using PSO-tuned feedforward neural network

2020 ◽  
Vol 7 (4) ◽  
pp. 427-434 ◽  
Author(s):  
Anish Pandey ◽  
Vikas Singh Panwar ◽  
Md Ehtesham Hasan ◽  
Dayal R Parhi
Keyword(s):  
Neural Network ◽  
Real Time ◽  
Fuzzy Logic Controller ◽  
Pso Algorithm ◽  
Feedforward Neural Network ◽  
Ultrasonic Sensors ◽  
Steering Angle ◽  
Differential Drive ◽  
Wheeled Robot ◽  
Predicted Values

Abstract This paper describes the navigation of an automated Pioneer P3-DX wheeled robot between obstacles using particle swarm optimization (PSO) algorithm tuned feedforward neural network (FNN). This PSO algorithm minimizes the mean square error between the actual and predicted values of the FNN. In this work, 2 separate DC motors and 16 ultrasonic sensors have been used for making differential drive steering angle and for collecting the distance from obstacles, respectively. The proposed without tuned FNN and PSO-tuned FNN receives obstacle's distance as inputs form ultrasonic sensors and control the steering angle of a differential drive of automated Pioneer P3-DX wheeled robot as output. We have compared the results between without tuned FNN and PSO-tuned FNN, and it has been found that PSO-tuned FNN gives a better trajectory and takes less distance to reach the target. Virtual Robot Experimentation Platform software has been used to design the real-time simulation results. A comparative study between without tuned FNN and PSO-tuned FNN verifies the effectiveness of PSO-tuned FNN for automated Pioneer P3-DX wheeled robot navigation. Also, we have compared this winner PSO-tuned FNN to the previously developed PSO-optimized Fuzzy Logic Controller navigational technique to show the authenticity and real-time implementation of PSO-tuned FNN.

A New Steering-by-Wire System Driving by Electric Wheels

2015 ◽  
Vol 729 ◽  
pp. 175-180
Author(s):  
Ping Xia Zhang ◽  
Li Gao ◽  
Yong Qiang Zhu
Keyword(s):  
Steering System ◽  
Steering Wheel ◽  
Steering Angle ◽  
Step Input ◽  
Labview Software ◽  
Power Steering ◽  
Wheel Turning ◽  
And Control ◽  
Wire System ◽  
Input Test

For electric power steering is weak and can not be used in heavy vehicles. In order to solve this problem, according to the characteristic that the driving torque of left and right steering wheel can be independently controlled in electric wheel driving vehicle, a new non-trapezium-steering system has been proposed based on electric wheel driving and powering in this paper. This system makes use of the steering torque around the kingpin from electric wheel driving, and is controlled by steering constraint mechanism. Steering system force analysis was conducted to analyze the feasibility of the system in theory. On this basis, a small prototype vehicle was designed. With the use of Bluetooth wireless serial chip and STC12c5a60s2 microcontrollers, the steering-by-wire system lower computer was developed. With the LabView software, the upper computer system was developed in notebook computer. With these two systems, the steering system can conduct data acquisition and control. To verify the performance of the system, the steering angle step input test while vehicle is stationary, the steering angle step input test at low running speed were carried out respectively on the prototype vehicle. Results of steering wheel turning angle and wheel rotation rate show that non-trapezium steering-by-wire electric wheel driving power system can complete steering operation in a variety of conditions, and after removing steering trapezium, each wheel can be separately controlled for steering, and easy to implement multi-mode steering.

Integration of controllable scientific equipment into the Russian Segment of the International Space Station

2020 ◽  
pp. 66-75
Author(s):  
Diana M. AYUKAEVA ◽  
Fedor A. VORONIN ◽  
Mikhail A. POLUARSHINOV ◽  
Mikhail A. KHARCHIKOV
Keyword(s):  
Control System ◽  
International Space Station ◽  
Electromagnetic Compatibility ◽  
Space Station ◽  
Space Experiment ◽  
Successful Operation ◽  
International Space ◽  
Scientific Equipment ◽  
Cargo Transportation ◽  
And Control

The paper discusses the process of integrating scientific equipment into the Russian Segment of the International Space Station (ISS RS) to conduct space experiment using the ISS IS information and control system. The paper addresses the stages in ground processing of scientific equipment that are critical for its successful operation after delivery to the ISS RS: tests on the hardware (vibration and hydraulic tests, electromagnetic compatibility tests, incoming inspection), development of the software for the equipment using ground debugging facility and conducting integrated tests in the checkout facility. It points out the need to update the existing stages of ground preparations for experiments to reduce the hardware ground processing time. Taking as examples the space experiment Terminator and experiments conducted using cargo transportation spacecraft Progress, the paper resents results obtained through the use of the described approach. Key words: information and control system, scientific equipment, space experiment, International Space Station, logistics spacecraft Progress, microgravity.

Study on Driver and Vehicle System With Lane-Tracking Control System Using Steering Torque Input

2001 ◽  
Author(s):  
Masao Nagai ◽  
Hidehisa Yoshida ◽  
Kiyotaka Shitamitsu ◽  
Hiroshi Mouri
Keyword(s):  
Tracking Control ◽  
High Speed ◽  
Driving Simulator ◽  
Tracking System ◽  
Torque Control ◽  
Steering Wheel ◽  
Control Input ◽  
Steering Angle ◽  
Lane Tracking ◽  
Steering Torque

Abstract Although the vast majority of lane-tracking control methods rely on the steering wheel angle as the control input, a few studies have treated methods using the steering torque as the input. When operating vehicles especially at high speed, drivers typically do not grip the steering wheel tightly to prevent the angle of the steering wheel from veering off course. This study proposes a new steering assist system for a driver not with the steering angle but the steering torque as the input and clarifies the characteristics and relative advantages of the two approaches. Then using a newly developed driving simulator, characteristics of human drivers and the lane-tracking system based on the steering torque control are investigated.

scholarly journals Research and development of Q-Baller -- a spherical wheeled robot

2017 ◽  
Author(s):  
◽  
Jiamin Wang
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Circuit Board ◽  
Embedded Control ◽  
Wheeled Robot ◽  
Dynamics And Control ◽  
Continuous Gain Scheduling ◽  
Machine Interface ◽  
And Control ◽  
And Robotics

The Spherical Wheeled Robot (Ball-Bot) is a family of robots that can maintain balance standing on a ball and use it as its wheel to move around. In recent years, there have been several successful Ball-Bot designs. We attempt to develop a new spherical wheeled robot product named "Q-Baller" to study its dynamics and control system. The Q-Baller has been designed to ahieve the economic and effective prototyping. A detailed dynamic model of the mechatronic system has been established and analyzed. Control studies have been conducted based on the dynamic models, and new control methods has been proposed to realize continuous gain scheduling. Exclusive simulations have been performed to test the performance of the controllers and reference planning. The Q-Baller hardware has been prototyped and functional. Robotic circuit board, human machine interface and embedded control system have also been developed to make up the full robotic system. The Q-Baller prototype will be tested after the system is fully adjusted, and further researches in control and robotics will be conducted in the future.

scholarly journals ECONOMIC SECURITY MANAGEMENT SYSTEM OF BAKERY INDUSTRIES

2021 ◽  
pp. 85-97
Author(s):  
Olena POLOVA ◽  
Valeriya BONDARENKO-BEREHOVYCH
Keyword(s):  
Management System ◽  
Strategic Behavior ◽  
Security Management ◽  
Economic Security ◽  
Highly Qualified ◽  
Successful Operation ◽  
Qualified Personnel ◽  
Innovative Potential ◽  
Organization Of Production ◽  
And Control

The article explores the concept of economic security management strategy as a general, detailed plan of activities for the medium and long term, which should be based on the basic principles, tasks of the economic security management system of enterprises and be a way to achieve the main goal. The main purpose of this strategy is presented. Undetermined dynamics of the main indicators of the bakery enterprises in Ukraine in 2014-2019. The scheme of types of strategic behavior of the enterprises of bakery branch is considered and constructed. It is determined that the development and implementation of a new range and modern management techniques using the latest technological, information and management processes are key factors in increasing production by improving the organization of production and increasing its efficiency, expanding jobs with highly qualified personnel, high wages, attracting investment in innovation, improving product quality, rational use of available and potential resources, and, most importantly, all this ensures the appropriate level of overall economic security of the bakery industry. The main stages of managing the innovative potential of bakery enterprises in the context of strengthening their economic security are highlighted. It is outlined that the level of innovative safety of bakery enterprises is assessed by the stages of managing the innovative potential of enterprises: problem statement, management, analytical and control stages. As a result, the study concluded that the successful operation and development of the enterprise depends on an effective management system of economic security, which is based on the strategic behavior of the enterprise, which allows to develop scenarios for optimizing economic security.

Monitoring of Human Driver Behavior by Vehicle Trajectory Reconstruction for Transportation Safety Management

2013 ◽  
Vol 300-301 ◽  
pp. 589-596 ◽  
Author(s):  
Geun Sub Heo ◽  
Sang Ryong Lee ◽  
Cheol Woo Park ◽  
Moon Kyu Kwak ◽  
Choon Young Lee
Keyword(s):  
Safety Management ◽  
Lateral Acceleration ◽  
Transportation Safety ◽  
Steering Wheel ◽  
Steering Angle ◽  
Safety Control ◽  
Acceleration Signal ◽  
Human Driver ◽  
Transportation Vehicle ◽  
Reckless Driving

In this paper, we proposed a method of monitoring human driver by reconstructing trajectories which transportation vehicle followed. For safety and management of logistic transportation, it is important to monitor the states of driving behavior through the whole course of path. Since many accidents occur due to the reckless driving of the driver every year, continuous monitoring of the status of commercial vehicles is needed for safety through the entire path from start point to the destination. To monitor the reckless driving, we tried to monitor the trajectory of the vehicle by using vehicle's lateral acceleration signal. Using the correlation between steering angle and lateral acceleration, we could find the relationship between steering angle and acceleration, and finally it is possible to estimate the global direction of vehicle maneuvering. We conducted experiments to find the history of vehicle position on the curved road using Kalman Filter, and classified steering wheel condition (over-steering, and under-steering). The method is applied to central safety management system for safety control of vehicles transporting toxic gases.

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