Enhancement of the Availability of Intralogistic Systems by Applying the Smart Drive Concept

2010 ◽  
Author(s):  
Jan Eggert ◽  
Bernd Ku¨nne
Keyword(s):  
Mathematical Model ◽  
Actual System ◽  
System Parameters ◽  
System A ◽  
Screening Experiments ◽  
Maintenance Activities ◽  
The Individual ◽  
Factor Interactions ◽  
Event Based ◽  
Future Work

The determination of the overall condition of an intralogistic system is one of the significant requirements of an effective planning of maintenance activities. Conventional maintenance concepts like time-based or event-based concepts already reach their limitations. By the application of condition-based maintenance concepts the single activities take place when the reserve of abrasion of a component is nearly optimally used. The application of the smart drive concept helps to determine the condition of the system while data of stationary and mobile sensor units are gathered and evaluated. Another aspect helps to delay potential breakdowns by the adaption of certain system parameters depending on the actual system load. In that way the individual load on some components can be reduced which makes it possible to schedule an appropriate maintenance activity before the breakdown occurs. Hence the availability can be enhanced since the probability of breakdowns and unplanned maintenance activities can be reduced. To adapt system parameters based on the actual load of an intralogistic system a mathematical model is needed which describes the system behavior to a certain extent. Based on the method of DoE (Design of Experiments) such a model can be established. In the first place screening designs are necessary to determine significant factors and factor interactions. Subsequently more detailed regression experiments have to be performed to derive the mathematical model. The first step of this process (screening experiments) has been performed and will be discussed at one example in this paper while the second step which will be performed in future work (regression experiments) will be introduced and prepared. It will also be explained how the derived model will be used in a technical context at a roller conveyor as an example of an intralogistic system.

Mathematical Modeling of a DC Motor With Encoder Feedback Using Real Time Simulation

2001 ◽  
Author(s):  
Kourosh Rahnamai ◽  
Brian Yanke
Keyword(s):  
Mathematical Model ◽  
Real Time ◽  
Dc Motor ◽  
Actual System ◽  
Math Model ◽  
Real Time Simulation ◽  
System Parameters ◽  
Time Simulation ◽  
The Mathematical Model ◽  
Permanent Magnet Dc Motor

Abstract Real-time simulation is used to model and perform parameter identification of a dc motor with encoder feedback. Using a fast DSP board, a permanent-magnet dc motor is controlled through a proportional position feedback, while running in parallel a real-time simulation of the mathematical model of the same system. Parameters of the mathematical model are adjusted in real time, such that the error between actual system and math model are minimized. This method allows a fast and efficient method for calculating and verifying math model of a dynamic system.

Bioinspired Jumping Mobility Concepts for Rough Terrain Mobile Robots

2011 ◽  
Author(s):  
Omar Gilani ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mathematical Model ◽  
Energy Storage ◽  
Mobile Robots ◽  
Mechanical Energy ◽  
Rough Terrain ◽  
Terrestrial Locomotion ◽  
System Parameters ◽  
System A ◽  
Storage Structures ◽  
Robotic Applications

Mobile robots face great challenges in terms of mobility when traversing rough terrain, especially obstacle filled environments. Current terrestrial locomotion mechanisms such as wheels, tracks, and legs, face difficulties surmounting obstacles equal to or greater than their own height. This is especially true for smaller robots. In this respect, bioinspired approaches offer some solutions. Some insects in particular tackle rough terrain locomotion by performing high powered jumps. Their morphology has evolved to create specialized energy storage structures, and their hind legs have adapted to provide improved mechanical leverage. This paper investigates jumping as employed by insects and develops principles pertinent for the design of a jumping robotic system. A mathematical model depicting bipedal jumping is presented. The model includes mechanical energy storage elements in the form of springs for the purpose of assessing jumping locomotion for robotic applications. This model will assist in analyzing jumping locomotion and presenting some insights, as well as rough dimensioning of system parameters to achieve desired jumping performance.

Stability Analysis of a Load Sensing Hydraulic Transmission System Modeling and Simulaton Approach

2000 ◽  
Author(s):  
Rana Saha ◽  
Niloy Khutia ◽  
Rathindranath Maiti
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Simulation Model ◽  
Hydraulic System ◽  
System Modeling ◽  
Nonlinear Mathematical Model ◽  
System Parameters ◽  
Load Sensing ◽  
System A ◽  
Simulation Results

Abstract An energy saving hydraulic system, known as load-sensing hydraulic system, to improve the efficiency of transmitting power from the pump to load has been studied in the present work. Due to the addition of the load sensing mechanism stability characteristics deteriorate in this system. A nonlinear mathematical model followed by a simulation model using SIMULINK has been developed to study the effect of system parameters on stability. Simulation results are verified with existing theoretical and experimental results.

A Free Form Robotic Grinding System: A Mathematical Model and an Actual System

2010 ◽  
Author(s):  
Shuihua Wu ◽  
Kazem Kazerounian ◽  
Zhongxue Gan ◽  
Yunquan Sun
Keyword(s):  
Mathematical Model ◽  
Target Tracking ◽  
Material Removal ◽  
Free Form ◽  
Actual System ◽  
System A ◽  
Offline Programming ◽  
Robotic Grinding ◽  
Novel Method ◽  
Grinding System

This paper presents a robotic grinding system for work pieces with free-form geometries. A mathematical model representing the kinematics and dynamics of the system is built in the first part of the paper. Offline programming, calibration and a novel method for robotic error compensation are utilized to accurately generate the robotic grinding path. Models of the robot, the grinder and the grinding process are integrated to obtain the dynamics of the system. In the second part of the paper, an actual system is presented, with experiments done to verify the kinematic accuracy of the system. A controller based on the target tracking theory is designed to extend the system’s capability of material removal control, the effectiveness of which is shown by the simulation results. In the future, the target-tracking control strategy will be integrated with the actual system to develop a robotic grinding system capable of material removal control for free-form work pieces.

Forecast of COVID-19 Trend Following Countrywide Movement Control Order in Malaysia: SEIR Model Approach (Preprint)

2020 ◽  
Author(s):  
Aidalina Mahmud ◽  
Poh Ying Lim ◽  
Hayati Kadir Shahar
Keyword(s):  
Mathematical Model ◽  
Incidence Rate ◽  
Movement Control ◽  
Seir Model ◽  
Infection Incidence ◽  
Contact Rates ◽  
Exposed Population ◽  
Control Order ◽  
Future Work ◽  
Model Approach

BACKGROUND On March 18, 2020, the Malaysian government implemented Movement Control Order (MCO) to limit the contact rates among the population and infected individuals. OBJECTIVE The objective of this study was to forecast the trend of the COVID-19 epidemic in Malaysia in terms of its magnitude and duration. METHODS Data for this analysis was obtained from publicly available databases, from March 17 until March 27, 2020. By applying the Susceptible, Exposed, Infectious and Removed (SEIR) mathematical model and several predetermined assumptions, two analyses were carried out: without and with MCO implementation. RESULTS Without MCO, it is forecasted that it would take 18 days to reach the peak of infection incidence. The incidence rate would plateau at day 80 and end by day 94, with 43% of the exposed population infected. With the implementation of the MCO, it is forecasted that new cases of infection would peak at day 25, plateau at day 90 and end by day 100. At its peak, the infection could affect up to about 40% of the exposed population. CONCLUSIONS It is forecasted that the COVID-19 epidemic in Malaysia will subside soon after the mid-year of 2020. Although the implementation of MCO can flatten the epidemiological curve, it also prolongs the duration of the epidemic. The MCO can result in several unfavorable consequences in economic and psychosocial aspects. A future work of an exit plan for the MCO should also be devised and implemented gradually. The exit plan raises several timely issues of re-infection resurgence after MCO are lifted.

scholarly journals A New Real-Time Pinch Detection Algorithm Based on Model Reference Kalman Prediction and SRMS for Electric Adjustable Desk

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4699
Author(s):  
Minming Gu ◽  
Yajie Wei ◽  
Haipeng Pan ◽  
Yujia Ying
Keyword(s):  
Pulse Width Modulation ◽  
Detection Algorithm ◽  
Prediction Algorithm ◽  
Actual System ◽  
Model Reference ◽  
Threshold Detection ◽  
System A ◽  
Working Principle ◽  
Current Sampling ◽  
Kalman Prediction

This paper presents a new algorithm based on model reference Kalman torque prediction algorithm combined with the sliding root mean square (SRMS). It is necessary to improve the accuracy and reliability of the pinch detection for avoiding collision with the height adjustable desk and accidents on users. Motors need to regulate their position and speed during the operation using different voltage by PWM (Pulse Width Modulation) to meet the requirement of position synchronization. It causes much noise and coupling information in the current sampling signal. Firstly, to analyze the working principle of an electric height adjustable desk control system, a system model is established with consideration of the DC (Direct Current) motor characteristics and the coupling of the system. Secondly, to precisely identify the load situation, a new model reference Kalman perdition method is proposed. The load torque signal is selected as a pinch state variable of the filter by comparing the current signal. Thirdly, to meet the need of the different loads of the electric table, the sliding root means square (SRMS) of the torque is proposed to be the criterion for threshold detection. Finally, to verify the effectiveness of the algorithm, the experiments are carried out in the actual system. Experimental results show that the algorithm proposed in this paper can detect the pinched state accurately under different load conditions.

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

scholarly journals Modeling of Tractor Fuel Consumption

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2300
Author(s):  
Bronisław Andrzej Kolator
Keyword(s):  
Fuel Consumption ◽  
Soil Conditions ◽  
Simulation Studies ◽  
Working Capacity ◽  
Operational Parameters ◽  
System A ◽  
The Individual ◽  
Adjustment System ◽  
Unit Performance ◽  
Efficiency Indicators

In this paper, the energy diagnostic of tractor performance consists in evaluating the energy (fuel consumption per hectare—dm3 ha−1) for a given agricultural operation and in combining it with working capacity, also called productivity (area productivity—ha h−1). One of the methods of solving this problem is the identification of the functioning process of the machine unit. A model of the process of the machine unit performance was developed, considering the operation of the rear linkage system of the implement with the force control adjustment system. In order to analyze the system, a mathematical model of the system function was built: tractor-implement-soil, defining the physical connections and interdependencies between the individual subsystems of the system. Based on this model, a simulation model was developed and implemented in the Matlab/Simulink environment. The Simulink package was used to test the performance of the machine set. The efficiency indicators according to the adopted criteria were calculated in the evaluation block. To evaluate the process, the technical and operational parameters of the tractor, the type and parameters of the tool, and soil properties were taken into account. The results of simulation studies obtained on a validated model are consistent with experimental data from appropriate soil conditions.

Brain angiotensin system: a new promise in the management of epilepsy?

2021 ◽  
Vol 135 (6) ◽  
pp. 725-730
Author(s):  
Alberto Javier Ramos
Keyword(s):  
Therapeutic Potential ◽  
Renin Angiotensin System ◽  
B Cell Lymphoma ◽  
Ang Ii ◽  
Angiotensin System ◽  
Beneficial Effects ◽  
System A ◽  
Pilocarpine Model ◽  
Animal Models Of Epilepsy ◽  
Future Work

Abstract Epilepsy is a highly prevalent neurological disease and anti-epileptic drugs (AED) are almost the unique clinical treatment option. A disbalanced brain renin–angiotensin system (RAS) has been proposed in epilepsy and several reports have shown that angiotensin II (Ang II) receptor-1 (ATR1) activation is pro-inflammatory and pro-epileptogenic. In agreement, ATR1 blockage with the repurposed drug losartan has shown benefits in animal models of epilepsy. Processing of Ang II by ACE2 enzyme renders Ang-(1-7), a metabolite that activates the mitochondrial assembly (Mas) receptor (MasR) pathway. MasR activation presents beneficial effects, facilitating vasodilatation, increasing anti-inflammatory and antioxidative responses. In a recent paper published in Clinical Science, Gomes and colleagues (Clin. Sci. (Lond.) (2020) 134, 2263–2277) performed intracerebroventricular (icv) infusion of Ang-(1-7) in animals subjected to the pilocarpine model of epilepsy, starting after the first spontaneous motor seizure (SMS). They showed that this approach reduced the frequency of SMS, restored animal anxiety, increased exploration, and augmented the hippocampal expression of protective catalase enzyme and antiapoptotic protein B-cell lymphoma 2 (Bcl-2). Interestingly, but surprisingly, Gomes and colleagues showed that MasR expression and mTor activity were reduced in the hippocampus of the epileptic Ang-(1-7) treated animals. These results show that Ang-(1-7) administration could represent a new avenue for developing strategies for the management of epilepsy in clinical settings. However, future work is necessary to evaluate the levels of RAS metabolites and the activity of key enzymes in these experimental interventions to completely understand the therapeutic potential of the brain RAS manipulation in epilepsy.

Flexibility Effects in a Single Link Robotic Manipulator

1993 ◽  
Author(s):  
C. Nataraj
Keyword(s):  
Large Scale ◽  
Robotic Manipulator ◽  
Flexible Beam ◽  
Rotating Speed ◽  
Weighted Residuals ◽  
Individual Interaction ◽  
Single Link ◽  
Rigid Mass ◽  
The Individual ◽  
Future Work

Abstract A single link robotic manipulator is modeled as a rotating flexible beam with a rigid mass at the tip and accurate energy expressions are derived. The resulting partial differential equations are solved using an approximate method of weighted residuals. From the solutions, coupling between axial and flexural deformations and the interactions with rigid body motions are rigorously analyzed. The emphasis in the current paper is not on an exhaustive analysis of existing systems but it is rather intended to compare and highlight the various flexibility effects in a relatively simple system. Hence, a nondimensional parametric analysis is performed to determine the effect of several parameters (including the rotating speed) on the errors and the individual interaction effects are discussed. Comparison with previous work in the field shows important phenomena often ignored or buried in large scale numerical analyses. Future work including application to multi-link robots is outlined.

Sign in / Sign up

Export Citation Format

Share Document