Modeling Soil Forces on a Rotary Tine Tool in Artificial Soil

2021 ◽  
Vol 64 (5) ◽  
pp. 1693-1704
Author(s):  
Safal Kshetri ◽  
Brian L Steward ◽  
Mehari Z Tekeste
Keyword(s):  
Mathematical Model ◽  
Longitudinal Velocity ◽  
Artificial Soil ◽  
Speed Ratio ◽  
Model Parameters ◽  
List Type ◽  
Inertial Forces ◽  
Force Coefficients ◽  
Soil Failure ◽  
Soil Bin

HighlightsA mathematical model of soil reaction forces on a rotary tine tool was developed.Soil bin experiments using artificial soil enabled observation of soil failure due to soil-tine interaction.The model-predicted forces were similar to experimentally measured forces.Abstract. Understanding soil-tool interaction can enable better control of weeding tools to achieve higher weeding efficacy. The interaction between a vertical tine (mounted on a rotating disc) and soil was investigated using a mathematical model that estimated soil horizontal forces on the tine operating at different linear and rotational velocities. The kinematics associated with the linear and rotational velocities of the rotary tine tool were modeled, and the shearing and inertial forces were estimated. To evaluate model performance with different experimental factors, two sets of soil bin experiments were conducted using an artificial soil: with one tine to estimate model parameters and with two tines 180° apart. Experimental factors were longitudinal velocity (travel speed) at three levels (0.09, 0.29, and 0.5 m s-1) and speed ratio, i.e., the ratio of longitudinal velocity to peripheral velocity of the tines, at three levels (1, 1.5, and 2). Soil horizontal force and torque on the rotary tine tool were measured. A nonlinear least squares method was used to estimate model parameters from the experimental data, resulting in shearing force coefficients ranging from 2.9 to 37 N and inertial force coefficients ranging from 16 to 528 N s2 m-2. The variations in the shearing and inertial forces on the tine were due to differences in soil failure patterns among the treatments. The predicted longitudinal and tangential forces for two tines using the model showed trends that were similar to the forces measured in the experiment. However, the model overestimated the predicted forces because it did not account for the reduced force on a tine due to soil disturbance created by the other tine. Keywords: Soil-tine interaction, Weed control.

scholarly journals The identification of a device based on a Peltier element by the least squares method

2020 ◽  
pp. 17-27
Author(s):  
Vladimir Grinkevich ◽  
Keyword(s):  
Mathematical Model ◽  
Least Squares ◽  
Least Squares Method ◽  
Control Object ◽  
Object Identification ◽  
Model Parameters ◽  
Peltier Element ◽  
Transport Delay ◽  
Non Linear ◽  
The Mathematical Model

The evaluation of the mathematical model parameters of a non-linear object with a transport delay is considered in this paper. A temperature controlled stage based on a Peltier element is an identification object in the paper. Several input signal implementations are applied to the input of the identification object. The least squares method is applied for the calculation of the non-linear differential equitation parameters which describe the identification object. The least squares method is used due to its simplicity and the possibility of identification non-linear objects. The parameters values obtained in the process of identification are provided. The plots of temperature changes in the temperature control system with a controller designed based on the mathematical model of the control object obtained as a result of identification are shown. It is found that the mathematical model obtained in the process of identification may be applied to design controllers for non-linear systems, in particular for a temperature stage based on a Peltier element, and for self-tuning controllers. However, the least square method proposed in the paper cannot estimate the transport delay time. Therefore it is required to evaluate the time delay by temperature transient processes. Dynamic object identification is applied when it is required to obtain a mathematical model structure and evaluate the parameters by an input and output control object signal. Also, identification is applied for auto tuning of controllers. A mathematical model of a control object is required to design the controller which is used to provide the required accuracy and stability of control systems. Peltier elements are applied to design low-power and small- size temperature stage . Hot benches based on a Peltier element can provide the desired temperature above and below ambient temperature.

scholarly journals Cost-effectiveness of implementing objective diagnostic verification of asthma in the United States

2019 ◽  
Author(s):  
Mohsen Yaghoubi ◽  
Amin Adibi ◽  
Zafar Zafari ◽  
J Mark FitzGerald ◽  
Shawn D. Aaron ◽  
...  
Keyword(s):  
Quality Of Life ◽  
United States ◽  
Cost Effectiveness ◽  
The United States ◽  
Model Parameters ◽  
List Type ◽  
Asthma Diagnosis ◽  
Verification Algorithm ◽  
Input Parameters

AbstractBackgroundAsthma diagnosis in the community is often made without objective testing.ObjectiveThe aim of this study was to evaluate the cost-effectiveness of implementing a stepwise objective diagnostic verification algorithm among patients with community-diagnosed asthma in the United States (US).MethodsWe developed a probabilistic time-in-state cohort model that compared a stepwise asthma verification algorithm based on spirometry and methacholine challenge test against the current standard of care over 20 years. Model input parameters were informed from the literature and with original data analyses when required. The target population was US adults (≥15 y/o) with physician-diagnosed asthma. The final outcomes were costs (in 2018 $) and quality-adjusted life years (QALYs), discounted at 3% annually. Deterministic and probabilistic analyses were undertaken to examine the effect of alternative assumptions and uncertainty in model parameters on the results.ResultsIn a simulated cohort of 10,000 adults with diagnosed asthma, the stepwise algorithm resulted in the removal of diagnosis in 3,366. This was projected to be associated with savings of $36.26 million in direct costs and a gain of 4,049.28 QALYs over 20 years. Extrapolating these results to the US population indicated an undiscounted potential savings of $56.48 billion over 20 years. Results were robust against alternative assumptions and plausible changes in values of input parameters.ConclusionImplementation of a simple diagnostic testing algorithm to verify asthma diagnosis might result in substantial savings and improvement in patients’ quality of life.Key MessagesCompared with current standards of practice, the implementation of an asthma verification algorithm among US adults with diagnosed asthma can be associated with reduction in costs and gain in quality of life.There is substantial room for improving patient care and outcomes through promoting objective asthma diagnosis.Capsule summaryAsthma ‘overdiagnosis’ is common among US adults. An objective, stepwise verification algorithm for re-evaluation of asthma diagnosis can result in substantial savings in costs and improvements in quality of life.

scholarly journals Battery state of charge estimation and online wheel slip ratio control for autonomous wheeled mobile robot

2021 ◽  
Author(s):  
Maral Partovibakhsh
Keyword(s):  
Kalman Filter ◽  
Power Consumption ◽  
Mobile Robot ◽  
Unscented Kalman Filter ◽  
Longitudinal Velocity ◽  
Accurate Estimation ◽  
Model Parameters ◽  
Slip Ratio ◽  
Soc Estimation ◽  
Increasing Function

For autonomous mobile robots moving in unknown environment, accurate estimation of available power along with the robot power demand for each mission is paramount to successful completion of that mission. Regarding the power consumption, the control unit deals with two tasks simultaneously: 1) it has to monitor the power supply (batteries) state of charge (SoC) constantly. This leads to estimation of robot current available power. Besides, batteries are sensitive to deep discharge or overcharge. The battery SoC is an essential factor in power management of a mobile robot. Accurate estimation of the battery SoC can improve power management, optimize the performance, extend the lifetime, and prevent permanent damage to the batteries. 2) The dynamic characteristics of the terrain the robot traverse requires rapid online modifications in its behaviour. The power required for driving a wheel is an increasing function of its slip ratio. For a wheeled robot moving for driving a wheel is an increasing function of its slip ratio. For a wheeled robot moving on different terrains, slip of the wheels should be checked and compensated for to keep the robot moving with less power consumption. To reduce the power consumption, the target robot moving with less power consumption. To reduce the power consumption, the target of the control system is to keep the slip ratio of the driving wheels around the desired value of the control system is to keep the slip ratio of the driving wheels around the desired value. To fulfill the above mentioned tasks, in this thesis, to increase model validity of lithium-ion battery in various charge/discharge scenarios during the mobile robot operation, the battery capacity fade and internal resistance change are modeled by adding them as state variables to a state space model. Using the output measured data, adaptive unscented Kalman Filter (AUKF) is employed for online model parameters identification of the equivalent circuit model at each sampling time. Subsequently, based on the updated model parameters, SoC estimation is conducted using AUKF. The effectiveness of the proposed method is verified through experiments under different power duties in the lab environment through experiments under different power duties in the lab environment. Better results are obtained both in battery model parameters estimation and the battery SoC estimation in comparison with other Kalman filter extensions. Furthermore, for effective control of the slip ratio, a model-based approach to estimating the longitudinal velocity of the mobile robot is presented. The AUKF is developed to estimate the vehicle longitudinal velocity and the wheel angular velocity using measurements from wheel encoders. Based on the estimated slip ratio, a sliding mode controller is designed for slip control of the uncertain nonlinear dynamical system in the presence of model uncertainties, parameter variations, and disturbances. Experiments are carried out in real time on a four-wheel mobile robot to verify the effectiveness of the estimation algorithm and the controller. It is shown that the controller is able to control the slip ratio of the mobile robot on different terrains while adaptive concept of AUKF leads to better results than the unscented Kalman filter in estimating the vehicle velocity which is difficult to measure in actual practice.

scholarly journals A mathematical model of common-cold epidemics on Tristan da Cunha

1971 ◽  
Vol 69 (3) ◽  
pp. 423-433 ◽  
Author(s):  
B. J. Hammond ◽  
D. A. J. Tyrrell
Keyword(s):  
Mathematical Model ◽  
Common Cold ◽  
Average Duration ◽  
Model Parameters ◽  
Epidemic Threshold ◽  
Tristan Da Cunha ◽  
Simulation Techniques ◽  
Time Courses ◽  
The Mathematical Model ◽  
Computer Simulation Techniques

SUMMARYRecords of seven common-cold outbreaks on the island of Tristan da Cunha are compared with the corresponding time courses given by the mathematical model of Kermack & McKendrick (1927) and with an alternative model that directly involves a constant average duration of individual infection. Using computer simulation techniques the latter model is shown to be preferred and is then closely matched to the field data to obtain values for the model parameters. Consideration is then given to the intensity of epidemics predicted by the model and to the distribution of the actual epidemics relative to the theoretical epidemic threshold.

Abstract WMP85: Recovery Rate vs. Recovery Capacity: A Mathematical Model and its Implications for Rehabilitation

Stroke ◽  
2013 ◽  
Vol 44 (suppl_1) ◽  
Author(s):  
Adam B Schweber ◽  
Lauren E Dunn ◽  
Andrea R Lendaris ◽  
Brandon M Minzer ◽  
Ronald M Lazar ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Recovery Rate ◽  
Goodness Of Fit ◽  
Recovery Period ◽  
Stroke Onset ◽  
Motor Deficit ◽  
Model Parameters ◽  
Stroke Severity ◽  
Recovery Capacity ◽  
Rate Dynamic

INTRODUCTION: Recovery of most hemiparetic patients at 90 days can be well predicted as a fixed proportion (70%) of initial motor deficit. However, recent work has shown considerable variability in the rate of recovery among proportional recoverers, prompting consideration of whether rate of recovery and recovery capacity are independent and whether a single rate dynamic governs proportional recovery. HYPOTHESIS: Among proportional recoverers, recovery rate variability can be accounted for by a single mathematical model in which: 1) recovery rate is independent of recovery capacity and 2) recovery has a sigmoid trajectory parameterized only by initial stroke severity. METHODS: We studied 23 patients with first-ever unilateral hemiparetic stroke previously identified as proportional recoverers. Fugl-Meyer Upper Extremity Motor Exam (FM-UE) had been measured at <72h, 1 week, and 90 days. A non-linear model predicting patients’ FM-UE score at any time after stroke onset was posited and model parameters were estimated by regressing one-week FM-UE scores against initial scores. Statistical significance and goodness of fit were evaluated. RESULTS: The model accounted for 86% of variability in motor recovery achieved by patients at 1 week after stroke onset (pseudo-R 2 =0.863, F 23,21= 418.0, p <.0001) and predicted that more severely impaired patients will have a slower maximum recovery rate and a recovery period that is longer in duration and more delayed in onset. CONCLUSION: The model provides evidence that proportional recovery is governed by a single rate dynamic and that recovery rate is independent of recovery capacity. It provides a tool for predicting motor impairment at any time following stroke onset and suggests a framework for characterizing the biology of recovery and the role of therapeutic interventions as either capacity-enhancing or rate-enhancing.

scholarly journals The generation of a mathematical model of the biogas production process from organic municipal solid waste

2020 ◽  
Vol 180 ◽  
pp. 02019 ◽  
Author(s):  
Marzhan Temirbekova ◽  
Madina Aliyarova ◽  
Iliya Iliev ◽  
Aliya Yelemanova ◽  
Saule Sagintayeva
Keyword(s):  
Mathematical Model ◽  
Municipal Solid Waste ◽  
Solid Waste ◽  
Anaerobic Fermentation ◽  
Biogas Production ◽  
Biogas Plant ◽  
Model Parameters ◽  
Biochemical Processes ◽  
Biogas Plants ◽  
The Mathematical Model

This paper justifies the efficiency of the biogas collection and utilization at the MSW (municipal solid waste) landfill in Almaty with the installation of several modern biogas plants. The optimal mode of processes occurring in a biogas plant is determined by computer generated simulations. Mathematical model parameters were identified to describe biochemical processes occurring in a biogas plant. Two approaches are used to resolve the mathematical model: the finite-difference method for solving the system of differential equations and simulation modeling by using the Any Logic package. A program is written in the algorithmic language C ++. Numerous calculations were carried out, the results of which are presented in curves and their qualitative picture is consistent with the ongoing processes. The created computer program allows to make a preliminary forecast of anaerobic fermentation occurring in the bioreactor depending on volume of the substrate, methane microorganisms and temperature conditions.

scholarly journals Vehicle Velocity Estimation Fusion with Kinematic Integral and Empirical Correction on Multi-Timescales

Energies ◽  
2019 ◽  
Vol 12 (7) ◽  
pp. 1242
Author(s):  
Jiangyi Lv ◽  
Hongwen He ◽  
Wei Liu ◽  
Yong Chen ◽  
Fengchun Sun
Keyword(s):  
Autonomous Vehicles ◽  
Estimation Error ◽  
Longitudinal Velocity ◽  
Estimation Method ◽  
Velocity Estimation ◽  
Model Parameters ◽  
Lateral Velocity ◽  
Empirical Correction ◽  
Vehicle Velocity ◽  
Wide Range

Accurate and reliable vehicle velocity estimation is greatly motivated by the increasing demands of high-precision motion control for autonomous vehicles and the decreasing cost of the required multi-axis IMU sensors. A practical estimation method for the longitudinal and lateral velocities of electric vehicles is proposed. Two reliable driving empirical judgements about the velocities are extracted from the signals of the ordinary onboard vehicle sensors, which correct the integral errors of the corresponding kinematic equations on a long timescale. Meanwhile, the additive biases of the measured accelerations are estimated recursively by comparing the integral of the measured accelerations with the difference of the estimated velocities between the adjacent strong empirical correction instants, which further compensates the kinematic integral error on short timescale. The algorithm is verified by both the CarSim-Simulink co-simulation and the controller-in-the-loop test under the CarMaker-RoadBox environment. The results show that the velocities can be accurately and reliably estimated under a wide range of driving conditions without prior knowledge of the tire-model and other unavailable signals or frequently changeable model parameters. The relative estimation error of the longitudinal velocity and the absolute estimation error of the lateral velocity are kept within 2% and 0.5 km/h, respectively.

scholarly journals Study on the Interaction between Soil and the Five-Claw Combination of a Mole Using the Discrete Element Method

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Yuwan Yang ◽  
Mo Li ◽  
Jin Tong ◽  
Yunhai Ma
Keyword(s):  
Discrete Element Method ◽  
Discrete Element ◽  
Rake Angle ◽  
Soil Resistance ◽  
Distance Ratio ◽  
Soil Failure ◽  
Soil Cutting ◽  
Soil Bin ◽  
Rupture Distance ◽  
Element Method

A mole is a born digger spending its entire existence digging tunnels. The five claws of a mole’s hand are combinative to cut soil powerfully and efficiently. However, little was known in detail about the interaction between the soil and the five-claw combination. In this study, we simulated the soil cutting process of the five-claw combination using the discrete element method (DEM) as an attempt for the potential design of soil-engaging tools to reduce soil resistance. The five-claw combination moved horizontally in the soil bin. Soil forces (draught and vertical forces) and soil failure (soil rupture distance ratio) were measured at different rake angles and speeds. Results showed that the draught and vertical forces varied nonlinearly as the rake angle increased from 10 to 90°, and both changed linearly with the speed increasing from 1 to 5 m/s. The curve of the soil rupture distance ratio with rake angles could be better described using a quadric function, but the speed had little effect on the soil rupture distance ratio. Notably, the soil rupture distance ratio of the five-claw combination in simulation was on average 19.6% lower than the predicted ratio of simple blades at different rake angles indicating that the five-claw combination could make less soil failure and thereby produce lower soil resistance. Given the draught and vertical forces, the performance of the five-claw combination was optimized at the rake angle of 30°.

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