Identification of Hydrodynamic Coefficients of a Robotic Fish Using Improved Extended Kalman Filter

2017 ◽  
Author(s):  
Fengying Dang ◽  
Feitian Zhang
Keyword(s):  
Kalman Filter ◽  
Rapid Development ◽  
High Energy ◽  
Robotic Fish ◽  
Pressure Measurements ◽  
Hydrodynamic Coefficients ◽  
Simulation Based ◽  
Novel Method ◽  
Coefficients Identification ◽  
And Control

Bio-inspired robotic fish have received an increasingly rapid development in recent years due to their advanced performances, such as high energy efficiency and high maneuverability. An accurate dynamic model is essential to the design and control of such robots. Hydrodynamic co-efficients play an important role in modeling the robot, which are usually obtained from theoretical calculation or water tunnel experiments. This paper proposes a novel method for hydrodynamic coefficients identification using an improved Kalman filter with angular velocity and distributed pressure measurements, which are typically available from the robot’s on-board sensors. Simulation based on a Joukowski airfoil shaped robotic fish demonstrates the proposed method.

Modeling and Control of Passive Dynamic Walking Robot with Humanoid Gait

2013 ◽  
Vol 461 ◽  
pp. 903-907
Author(s):  
Zhen Chao Zhu ◽  
Zhen Sui ◽  
Yan Tao Tian ◽  
Hong Jiang
Keyword(s):  
Control Strategy ◽  
Finite State Machine ◽  
High Energy ◽  
Upper Body ◽  
Walking Robot ◽  
Bipedal Robot ◽  
Modeling And Control ◽  
Simulation Based ◽  
Finite State ◽  
And Control

Considering the sagittal movement and the lateral swing in the humanoid practical walking, a new humanoid passive dynamic bipedal robot with the lateral movable upper body is proposed in this paper. The finite state machine (FSM) theory is adopted to control the robot, which changes agilely the control strategy according to the practical states of the humanoid gait. In the method, the torque compensation adaptive excitation control strategy is used for sagittal control and PID is applied to the upper body for the robots lateral stability. It is verified by the co-simulation based on ADAMS and MATLAB that the bipedal robot can reach the stable humanoid gait with the high energy efficiency.

Novel Method for the Modeling and Control Investigation of Efficient Swimming for Robotic Fish

2012 ◽  
Vol 59 (8) ◽  
pp. 3176-3188 ◽  
Author(s):  
Li Wen ◽  
Tianmiao Wang ◽  
Guanhao Wu ◽  
Jianhong Liang ◽  
Chaolei Wang
Keyword(s):  
Robotic Fish ◽  
Modeling And Control ◽  
Novel Method ◽  
And Control

scholarly journals Fault Parameter Estimation Using Adaptive Fuzzy Fading Kalman Filter

2019 ◽  
Vol 9 (16) ◽  
pp. 3329 ◽  
Author(s):  
Donggil Kim ◽  
Dongik Lee
Keyword(s):  
Kalman Filter ◽  
Wind Turbine ◽  
Linear Models ◽  
Adaptive Fuzzy ◽  
Fault Parameter ◽  
Fault Parameters ◽  
Novel Method ◽  
Detection And Diagnosis ◽  
And Control ◽  
Early Detection And Diagnosis

Early detection and diagnosis of wind turbine faults is critical for applying a possible maintenance and control strategy to avoid catastrophic incidents. This paper presents a novel method to estimate the parameter of faults in a wind turbine. In this work, the estimation of fault parameters is reformulated as the state estimation problem by augmenting the parameters as an additional state. The novelty of the proposed method lies in the use of an adaptive fuzzy fading algorithm for the adaptive Kalman filter so that the convergence property during the estimation of fault parameter can be improved. The performance of the proposed method is evaluated through a set of numerical simulations with both linear and non-linear models.

A Strong Tracking Cubature Kalman Filter for Nonlinear Estimation

2013 ◽  
Vol 313-314 ◽  
pp. 1115-1119
Author(s):  
Yong Qi Wang ◽  
Feng Yang ◽  
Yan Liang ◽  
Quan Pan
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Scaling Factor ◽  
Estimation Accuracy ◽  
Nonlinear State Estimation ◽  
Cubature Kalman Filter ◽  
Novel Method ◽  
Simulation Results ◽  
Tracking Filter ◽  
Nonlinear State

In this paper, a novel method based on cubature Kalman filter (CKF) and strong tracking filter (STF) has been proposed for nonlinear state estimation problem. The proposed method is named as strong tracking cubature Kalman filter (STCKF). In the STCKF, a scaling factor derived from STF is added and it can be tuned online to adjust the filtering gain accordingly. Simulation results indicate STCKF outperforms over EKF and CKF in state estimation accuracy.

scholarly journals Current Knowledge and Future Directions for Improving Subsoiling Quality and Reducing Energy Consumption in Conservation Fields

Agriculture ◽  
2021 ◽  
Vol 11 (7) ◽  
pp. 575
Author(s):  
Shangyi Lou ◽  
Jin He ◽  
Hongwen Li ◽  
Qingjie Wang ◽  
Caiyun Lu ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Cover Crops ◽  
Current Knowledge ◽  
High Energy ◽  
Field Application ◽  
Research Progress ◽  
Monitoring And Control ◽  
Future Directions ◽  
Tillage Depth ◽  
And Control

Subsoiling has been acknowledged worldwide to break compacted hardpan, improve soil permeability and water storage capacity, and promote topsoil deepening and root growth. However, there exist certain factors which limit the wide in-field application of subsoiling machines. Of these factors, the main two are poor subsoiling quality and high energy consumption, especially the undesired tillage depth obtained in the field with cover crops. Based on the analysis of global adoption and benefits of subsoiling technology, and application status of subsoiling machines, this article reviewed the research methods, technical characteristics, and developing trends in five key aspects, including subsoiling shovel design, anti-drag technologies, technologies of tillage depth detection and control, and research on soil mechanical interaction. Combined with the research progress and application requirements of subsoiling machines across the globe, current problems and technical difficulties were analyzed and summarized. Aiming to solve these problems, improve subsoiling quality, and reduce energy consumption, this article proposed future directions for the development of subsoiling machines, including optimizing the soil model in computer simulation, strengthening research on the subsoiling mechanism and comprehensive effect, developing new tillage depth monitoring and control systems, and improving wear-resisting properties of subsoiling shovels.

scholarly journals Overfeeding Extends the Period of Annual Cyclicity but Increases the Risk of Early Embryonic Death in Shetland Pony Mares

Animals ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 361
Author(s):  
Nicky M. M. D’Fonseca ◽  
Charlotte M. E. Gibson ◽  
Iris Hummel ◽  
David A. van Doorn ◽  
Ellen Roelfsema ◽  
...  
Keyword(s):  
Embryo Transfer ◽  
Reproductive Activity ◽  
High Energy ◽  
Morphometric Parameters ◽  
Net Energy ◽  
Conceptus Development ◽  
And Control ◽  
Annual Duration ◽  
Embryonic Death

Obesity has been associated with altered reproductive activity in mares, and may negatively affect fertility. To examine the influence of long-term high-energy (HE) feeding on fertility, Shetland pony mares were fed a diet containing 200% of net energy (NE) requirements during a three-year study. The incidence of hemorrhagic anovulatory follicles (HAF) and annual duration of cyclicity were compared to those in control mares receiving a maintenance diet. Day-7 embryos were flushed and transferred between donor and recipient mares from both groups; the resulting conceptuses were collected 21 days after transfer to assess conceptus development. HE mares became obese, and embryos recovered from HE mares were more likely to succumb to early embryonic death. The period of annual cyclicity was extended in HE compared to control mares in all years. The incidence of HAFs did not consistently differ between HE and control mares. No differences in embryo morphometric parameters were apparent. In conclusion, consuming a HE diet extended the duration of cyclicity, and appeared to increase the likelihood of embryos undergoing early embryonic death following embryo transfer.

Reduced substrate oxidation in postischemic myocardium: 13C and 31P NMR analyses

1990 ◽  
Vol 258 (5) ◽  
pp. H1357-H1365 ◽  
Author(s):  
E. D. Lewandowski ◽  
D. L. Johnston
Keyword(s):  
Steady State ◽  
31P Nmr ◽  
Tca Cycle ◽  
High Energy ◽  
Substrate Oxidation ◽  
High Energy Phosphates ◽  
Atp Content ◽  
And Control ◽  
13C And 31P Nmr ◽  
Postischemic Myocardium

13C and 31P nuclear magnetic resonance (NMR) spectra were used to assess substrate oxidation and high-energy phosphates in postischemic (PI) isolated rabbit hearts. Phosphocreatine (PCr) increased in nonischemic controls on switching from glucose perfusion to either 2.5 mM [3-13C]pyruvate (120%, n = 7) or [2-13C]acetate (114%, n = 8, P less than 0.05). ATP content, oxygen consumption (MVO2), and hemodynamics (dP/dt) were not affected by substrate availability in control or PI hearts. dP/dt was 40-60% lower in PI hearts during reperfusion after 10 min ischemia. Hearts reperfused with either pyruvate (n = 11) or acetate (n = 8) regained preischemic PCr levels within 45 s. Steady-state ATP levels were 55-70% of preischemia with pyruvate and 52-60% with acetate. Percent maximum [4-13C]glutamate signal showed reduced conversion of pyruvate to glutamate via the tricarboxylic acid (TCA) cycle at 4-min reperfusion (PI = 24 +/- 4%, means +/- SE; Control = 48 +/- 4%). The increase in 13C signal from the C-4 position of glutamate was similar to control hearts within 10.5 min. The increase in [4-13C]glutamate signal from acetate was not different between PI and control hearts. The ratio of [2-13C]Glu:[4-13C]Glu, reflecting TCA cycle activity, was reduced in PI hearts with acetate for at least 10 min (Control = 0.76 +/- 0.03; PI = 0.51 +/- 0.09) until steady state was reached. Despite rapid recovery of oxidative phosphorylation, contractility remained impaired and substrate oxidation was significantly slowed in postischemic hearts.

Remote Wireless Network Monitoring Application System

2012 ◽  
Vol 433-440 ◽  
pp. 7024-7028
Author(s):  
Hui Fu ◽  
Bin Jin ◽  
Lin Han ◽  
Zuo Tang Tao
Keyword(s):  
Wireless Network ◽  
Remote Monitoring ◽  
Rapid Development ◽  
Self Monitoring ◽  
Information Display ◽  
Remote Monitoring System ◽  
Encrypt Data ◽  
And Control ◽  
Embedded Applications ◽  
Monitoring Application

With computer technology, communication technology and the rapid development of electronic technology, remote monitoring technology will be more widely used for data transmission requirements and more stringent. GPRS-based remote monitoring system, which is based in communications equipment, through the server to PC, as the remote control platform, embedded applications, network programming and other technology, the remote information display and control. Throughout the system, users can allow each terminal in the case of permission to accept the data on the changes and settings. Wireless network communication is important that the network transmission of data security and consistency, to solve this problem this thesis, performance of network communications software technology to achieve self-monitoring and self-recovery, while use of end to end encryption to encrypt data on the transmission , which can guarantee data reliability, completeness, real time and security.

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