scholarly journals A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Xin Gao ◽  
Yifan Wang ◽  
Hanxu Sun ◽  
Qingxuan Jia ◽  
Gang Chen ◽  
...  
Keyword(s):  
Control Method ◽  
Control Level ◽  
Control Variable ◽  
Control Process ◽  
Operational Reliability ◽  
System Control ◽  
Related Factors ◽  
Space Manipulator ◽  
Factors Affecting ◽  
Reliability Control

In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper. First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors. Then the models describing the relationships between the two kinds of factors and control variables are established. Based on this, a multivariable and multiconstraint optimization model is constructed. Second, a hierarchical system control model which incorporates the operational reliability factors is constructed. The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control. Operational reliability related performance parameters are measured and used as the system’s feedback. Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module. The operational reliability factors affect these three control levels in the form of control variable constraints. Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.

scholarly journals Research on Control Method Based on Real-Time Operational Reliability Evaluation for Space Manipulator

2014 ◽  
Vol 6 ◽  
pp. 179293 ◽  
Author(s):  
Yifan Wang ◽  
Xin Gao ◽  
Hanxu Sun ◽  
Qingxuan Jia ◽  
Wencan Zhao ◽  
...  
Keyword(s):  
State Space ◽  
Real Time ◽  
Process Parameters ◽  
Bayesian Method ◽  
Control Method ◽  
Control Variable ◽  
Reliability Evaluation ◽  
Operational Reliability ◽  
Space Manipulator ◽  
Space Equation

A control method based on real-time operational reliability evaluation for space manipulator is presented for improving the success rate of a manipulator during the execution of a task. In this paper, a method for quantitative analysis of operational reliability is given when manipulator is executing a specified task; then a control model which could control the quantitative operational reliability is built. First, the control process is described by using a state space equation. Second, process parameters are estimated in real time using Bayesian method. Third, the expression of the system's real-time operational reliability is deduced based on the state space equation and process parameters which are estimated using Bayesian method. Finally, a control variable regulation strategy which considers the cost of control is given based on the Theory of Statistical Process Control. It is shown via simulations that this method effectively improves the operational reliability of space manipulator control system.

scholarly journals Research on Anti-saturation Feedback Control Method for UAV Avionics System

2018 ◽  
Vol 232 ◽  
pp. 04008
Author(s):  
Xiao-Jun Zhang
Keyword(s):  
Steady State ◽  
Control Method ◽  
Control Process ◽  
System Control ◽  
State Control ◽  
Saturation Control ◽  
Disturbance Rejection Control ◽  
Feedback Control Method ◽  
Equivalent Control ◽  
Steady State Control

UAV avionics system is prone to saturation distortion under unsteady conditions, so anti-saturation control is needed. A control method of UAV avionics system based on anti-saturation feedback compensation is proposed. The anti-saturation control process of UAV avionics system is a multi-objective optimization process with multi-variables. The constrained parameter model of UAV avionics system control is constructed. Electromagnetic loss, torque, output power and other parameters are taken as constraint indexes, the original control information of UAV avionics system is treated with self-stabilization, the equivalent control circuit is designed, and the magnetic resonance transmission mode of avionics system is analyzed. An anti-saturation feedback tracking control method is used for steady-state control of the output voltage of the avionics system. The error compensation function is constructed to adjust the output adaptive parameters of the avionics system and the static anti-saturation compensator is constructed to compensate the power gain. The yaw error and the output steady-state error of the avionics system are reduced. The simulation results show that the proposed method has better output stability, lower output error, better real-time performance and better linear auto-disturbance rejection control performance.

scholarly journals Research and Application of Rubber Tree Quantitative Fertilization System Control Based on PLC

2018 ◽  
Vol 176 ◽  
pp. 01013
Author(s):  
Yeqin Wang ◽  
Yuan Zhang ◽  
Yiguo Deng ◽  
Lijiao Wei ◽  
Shengli Liu
Keyword(s):  
Natural Rubber ◽  
Control Method ◽  
Frequency Converter ◽  
Rubber Tree ◽  
Control Process ◽  
System Control ◽  
Application Process ◽  
Type Selection ◽  
Fertilization System ◽  
Selection Of

In this paper, the quantitative control method and system control process of the natural rubber forest quantitative fertilization system are introduced on the basis of the demand for the quantitative fertilization of natural rubber forest and the application process of the rubber forest fertilizing machine. The selection of PLC, frequency converter type selection and software design process are described in detail.

scholarly journals Research on Construction Method of Operational Reliability Control Model for Space Manipulator Based on Particle Filter

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Xin Gao ◽  
Yifan Wang ◽  
Hanxu Sun ◽  
Qingxuan Jia ◽  
Xiaojian Yang ◽  
...  
Keyword(s):  
Particle Filter ◽  
Control Method ◽  
Operational Reliability ◽  
Control Model ◽  
Control Methods ◽  
Space Manipulator ◽  
Performance Function ◽  
Model Based ◽  
Simulation Results ◽  
A Performance

The operational reliability of the space manipulator is closely related to the control method. However the existing control methods seldom consider the operational reliability from the system level. A method to construct the operational reliability system control model based on particle filter for the space manipulator is presented in this paper. Firstly, the definition of operational reliability and the degree of operational reliability are given and the state space equations of the control system are established as well. Secondly, based on the particle filter algorithm, a method to estimate the distribution of the end position error and calculate the degree of operational reliability with any form of noise distribution in real time is established. Furthermore, a performance model based on quality loss theory is built and a performance function is obtained to evaluate the quality of the control process. The adjustment value of the end position of the space manipulator can be calculated by using the performance function. Finally, a large number of simulation results show that the control method proposed in this paper can improve the task success rate effectively compared to the simulation results using traditional control methods and control methods based on Bayesian estimation.

Inherently Safe Design of Home Elevator System by Passive Dynamic Control

2007 ◽  
Author(s):  
Y. Minamiyama ◽  
T. Kiyota ◽  
N. Sugimoto
Keyword(s):  
Control Method ◽  
Dynamic Control ◽  
Control Process ◽  
Constant Load ◽  
System Control ◽  
Cost Performance ◽  
Remote Areas ◽  
Power Failure ◽  
Constant Tension ◽  
Small Force

The passive dynamic control (“PDC”) is a new mechanical system control method requiring less energy but ensuring higher safety, which is based on inherently safe design using variable passive elements. The PDC divides its control process into four steps: hold step, take-over step, unbalance step and free step. In each of these steps, it is confirmed that the next step has satisfied the inherently safe design and then the execution of the next step is permitted. In this study, the authors have developed a PDC balancer equipped with a constant-load spring balancer to provide a constant tension regardless of the wire elongation, and conducted positioning experiments using this PDC balancer. This paper proposes a new home elevator system using the PDC balancer. When the balance of the elevator is maintained by using the PDC balancer, the elevator can be moved by a small force. Even if power failure occurs or severance is caused to the spring of the PDC balancer, as long as the cage of the elevator is so mechanically arranged as to ascend in such case, impact on the passengers will be mitigated to be smaller than impact when it descends. Furthermore, this elevator is so designed as to prevent the passengers from being confined in the cage. The inherently safe design can be realized by multiplying the spring structure and employing the PDC for this system. This system is featured by its excellence in safety, energy saving and cost performance. If this system is realized, the home elevator can be used even in remote areas, which is expected to facilitate the spread of the home elevator.

scholarly journals Research on the operational reliability system control methodology and its application for aerospace mechanism

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141667748 ◽  
Author(s):  
Xin Gao ◽  
Haoxin Wu ◽  
Mingtao Du ◽  
Gang Chen ◽  
Hanxu Sun ◽  
...  
Keyword(s):  
Control System ◽  
Path Planning ◽  
Influence Factors ◽  
Operational Reliability ◽  
Control Model ◽  
System Control ◽  
Space Manipulator ◽  
Operation Stability ◽  
And Control ◽  
Control Methodology

According to the characteristics of space missions and space environment, to slow performance deterioration and possible reliability attenuation for aerospace mechanisms, an operational reliability system control methodology is proposed in this article. A space manipulator – a kind of typical complicated aerospace mechanism – is chosen as the research object. First, considering relevant materials and structure mechanism of joint and link parts, the influence factors of operational reliability for space manipulator are divided. Then, by introducing the responding layer factors, a mapping relationship between the influence factors of operational reliability and control variables is analysed. On this basis, a new method to build a hierarchical control system of operational reliability for the aerospace mechanisms is proposed. In this method, the mechanism how the influence factors of operational reliability are introduced into the control system is defined, and an operational reliability system control model is built, which is made up of task planning, path planning, and motion control. Finally, the proposed methodology is further explained with the operational stability of a space manipulator as an example. After analysing the mapping relationship among the influence factors of operational reliability, the factors of responding layer and control variables, a multi-objective optimization method based on Nondominated Sorting Genetic Algorithm II (NSGA-II) is proposed to ensure the operation stability for a space manipulator. These optimization objectives are introduced into the optimized control model at path planning level as constraints. According to these constraints, the optimized control system can be adjusted to improve the operation stability of the manipulator, and the operational reliability is also improved during this process correspondingly. Simulation results prove the effectiveness of the proposed method.

scholarly journals Optimization of the design of relay valves for rail vehicles braking systems in the context of train traffic safety

2019 ◽  
Vol 294 ◽  
pp. 03013
Author(s):  
Sylwin Tomaszewski ◽  
Franciszek Tomaszewski ◽  
Włodzimierz Stawecki ◽  
Patryk Urbański ◽  
Mariusz Far ◽  
...  
Keyword(s):  
Traffic Safety ◽  
Low Temperatures ◽  
Control Method ◽  
High Reliability ◽  
Operational Reliability ◽  
Design Solution ◽  
Structural Factors ◽  
Factors Affecting ◽  
Braking System ◽  
Rail Vehicles

The article presents the functions of the relay valve and its place in brake systems of rail vehicles. The relay valve were divided according to their type, the structure and principle of their operation were discussed, and examples of rail vehicles and modules in which relay valves are installed are presented. Because of their function in braking systems the relay valves should be characterized by high reliability and correct carrying out the tasks in the braking system of rail vehicles. The article describes selected structural factors affecting the operation of the relay valve and which are important for ensuring the safety of train traffic. Such factors are the lubricants used in the relay valves and the way of controlling it simultaneously with two signals with the function of an alternative that eliminates unreliable elements of the braking system. The analysis of the test results of the lubricant parameters and the testing of the relay valves on the test bench showed that the correctness of the relay valves depends essentially on the properties of the lubricant used, especially at low temperatures. On the basis of the tests carried out, a grease was selected that at low temperatures meets the criteria for correct and reliable operation of relay valves in rail vehicles. In terms of the control method, a comparison of two control signal delivery systems to the relay valve has been made, a new design solution is presented that ensures greater operational reliability and thus greater safety of the train traffic.

SEDATION OF SIMULATED ICU PATIENTS USING REINFORCEMENT LEARNING BASED CONTROL

2005 ◽  
Vol 14 (01n02) ◽  
pp. 137-156 ◽  
Author(s):  
ERIC D. SINZINGER ◽  
BRETT MOORE
Keyword(s):  
Reinforcement Learning ◽  
Intelligent Systems ◽  
Pharmacokinetic Model ◽  
Control Method ◽  
Control Variable ◽  
System Control ◽  
Icu Patients ◽  
Increase Risk ◽  
Challenging Environment ◽  
Temporal Differencing

The Intensive Care Unit (ICU) is a challenging environment to both patient and caregiver. Continued shortages in staffing increase risk to patients. To evaluate the use of intelligent systems in the improvement of patient care, an intelligent agent was developed to regulate ICU patient sedation. A temporal differencing form of reinforcement learning was used to train the agent in the administration of intravenous propofol in simulated ICU patients. The agent utilized a well-studied pharmacokinetic model to calculate the distribution of drug within the patient. Pharmacodynamics were then estimated for the drug effect. A derivative of the electroencephalograms, the bispectral index, served as the system control variable. The agent demonstrated satisfactory control of the simulated patient's consciousness level in static and dynamic setpoint conditions. The agent demonstrated superior stability and responsiveness when compared to a well-tuned PID controller, the control method of choice in closed-loop sedation control literature.

scholarly journals Research on Control Method of Wet Desulfurization System for Coal-fired Boiler

2021 ◽  
Vol 2076 (1) ◽  
pp. 012063
Author(s):  
Xingchao Zhang ◽  
Jianhong Liu ◽  
Peng Hu
Keyword(s):  
Flue Gas ◽  
Control Method ◽  
Ph Value ◽  
Dynamic Performance ◽  
Control Process ◽  
Internal Model Control ◽  
Flue Gas Desulfurization ◽  
System Control ◽  
Model Control ◽  
Key Factor

Abstract In wet flue gas desulfurization technology, the key factor affecting flue gas SO2 absorption is the control of slurry pH value in the absorption tower. However, most of the commonly used pH value control methods have some defects and cannot fully meet the system control requirements. On the basis of the analysis for the problems in the control process, this paper discussed a control strategy based on internal model control algorithm. The system simulation test showed that this control method had good dynamic performance, robustness and anti-interference, which could realize the relatively accurate control of pH value for wet flue gas desulfurization system, and achieve the control goal.

scholarly journals A Study on Data Analysis and Electronic Application for the Growth of Smart Farming

2021 ◽  
Vol 36 (1) ◽  
pp. 209-218
Author(s):  
Dr. Mohammad M. Othman ◽  
K.R. Ishwarya ◽  
Manikandan Ganesan ◽  
Ganesh Babu Loganathan
Keyword(s):  
Automatic Control ◽  
Control Method ◽  
System Development ◽  
Control Process ◽  
Smartphone Application ◽  
Northeast India ◽  
System Control ◽  
Agricultural Crop ◽  
Agricultural Field ◽  
Soil Humidity

This paper proposed the system development especially for watering the agricultural crops depend upon the WSN. This paper focused to develop and model a control process by joint radars in the agricultural crop along with information management through web and smartphone application. The 3 elements are application of mobile, web and hardware. The first element i.e. hardware was executed and designed in manage box hardware linked to gather information about the crops. Soil humidity radars are used to detect the agricultural field linked to the control box. The 2nd element i.e. web method was web depend method which was executed and modeled to handle the details of field and crop information. This element applied information mining to examine the information for finding perfect soil humidity, moisture level and temperature. The last element i.e. mobile method was used mainly to manage field watering by a mobile method in a phone. This allows manual or automatic control by the controller. An automatic control uses information from soil humidity radars for watering the crops. The user may choose the manual method for watering the field in the system control method. The method may send notifications by LINE API for the line app. The method was tested and executed in Northeast India. The outputs displayed the executions to be helpful in the field of agriculture. The humidity level of the soil was appropriately maintained for improving manufacturing in agriculture, growth of vegetables and decreasing cost. Therefore, this paper displays the driving agriculture field by digital creativity.

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