scholarly journals The Development of a Stair-climbing Robot with Wavy Movement by Rotating Crosses

2002 ◽  
Vol 14 (3) ◽  
pp. 298-303
Author(s):  
Ato Kitagawa ◽  
◽  
Liang Zhang ◽  
Takashi Eguchi ◽  
Hideyuki Tsukagushi ◽  
...  
Keyword(s):  
Simple Structure ◽  
Control Method ◽  
Design Method ◽  
Fire Fighting ◽  
Stair Climbing ◽  
Experimental Result ◽  
Climbing Robot ◽  
New Type ◽  
Fire Fighting Robot

A new type of movement called wavy movement, which is realized by rotating crosses, is proposed to build a stair-climbing fire-fighting robot. The prototype robot consists of 12 crosses, which are driven by 2 motors via sprockets and chains. In this paper, the principle of wavy movement, the mechanism, the design method, and the experimental result of the developed robot are discussed. It is confirmed through experiment that a robot with wavy movement is able to climb stairs with simple structure and easy control method.

Design and Research of Intelligent Fire-Fighting Robot

2013 ◽  
Vol 823 ◽  
pp. 358-362 ◽  
Author(s):  
Li Cai ◽  
Rong Zhang
Keyword(s):  
Simple Structure ◽  
Particle Swarm Optimization Algorithm ◽  
Far Infrared ◽  
Fire Fighting ◽  
Infrared Sensors ◽  
Multiple Sensors ◽  
Intelligent Robots ◽  
Flame Detection ◽  
Microelectronics Technology ◽  
Fire Fighting Robot

With the development of microelectronics technology and microprocessor, some intelligent robots have emerged. This paper presents a simple design of the robot based on 51-series microcomputer and multiple sensors with the optimization algorithm.The fire-fighting robot which can avoid the obstacles with the photoelectric sensors, can extinguish fire through flame detection with far infrared sensors. The particle swarm optimization algorithm is introduced into software design to improve the sensitivity of fire-fighting robot,which has the advantages of simple structure and easy control.

scholarly journals Predictive Set Point Modulation Charging of Autonomous Rail Transit Vehicles

Energies ◽  
2020 ◽  
Vol 13 (19) ◽  
pp. 4992
Author(s):  
Heng Li ◽  
Yu Zhang ◽  
Hongtao Liao ◽  
Jun Peng
Keyword(s):  
Control Method ◽  
Design Method ◽  
Rail Transit ◽  
Loop Model ◽  
Set Point ◽  
Charging System ◽  
Urban Rail ◽  
Overshoot Phenomenon ◽  
New Type ◽  
The Stability

Autonomous rail transit (ART) vehicle is a new type of urban rail transportation, which has good development prospects. It is powered by onboard supercapacitors, which are charged at midway stations. It requires short charging time and fast charging speed. Usually, multiple chargers are used in parallel for charging. However, this will cause an overshoot phenomenon during charging, and the overshoot of multiple chargers will be superimposed on the supercapacitor, affecting the stability and life of both supercapacitors and chargers. In this paper, we propose a predictive set point modulation charging method, which can reduce the system’s overshoot and increase the reliability of the system. First, the state-space averaging method is used to establish the electronic physical model of the multicharger system. Secondly, a predictive set point modulation charging control method is designed, and the closed-loop model of the proposed charging system is developed using the buck diagram. The effectiveness of the proposed method is verified through extensive simulation and experiments. The experimental results show that compared with the classical design method, the proposed method can effectively suppress the current overshoot.

ARDUINO AND SENSORS BASED FIRE FIGHTING ROBOT

2018 ◽  
Vol 6 (2) ◽  
pp. 37 ◽  
Author(s):  
SINGH DHARMENDRA ◽  
KUMAR DAS SHISHIR ◽  
DAS EKTA ◽  
AGRAWAL MAYANK ◽  
PATEL VISHAL ◽  
...  
Keyword(s):  
Fire Fighting ◽  
Fire Fighting Robot

Fire Fighting Robot

2020 ◽  
Author(s):  
Rasika Sohani ◽  
Shruti Somoshi ◽  
Vaishnavi Tayade ◽  
Amruta Kapse
Keyword(s):  
Fire Fighting ◽  
Fire Fighting Robot

scholarly journals Internal Leakage Fault Detection and Tolerant Control of Single-Rod Hydraulic Actuators

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Jianyong Yao ◽  
Guichao Yang ◽  
Dawei Ma
Keyword(s):  
Fault Detection ◽  
Simple Structure ◽  
Control Method ◽  
Fault Tolerant ◽  
Parameter Adaptation ◽  
Servo Systems ◽  
Hydraulic Actuators ◽  
Quadratic Lyapunov Functions ◽  
Safety And Reliability ◽  
Hydraulic Servo

The integration of internal leakage fault detection and tolerant control for single-rod hydraulic actuators is present in this paper. Fault detection is a potential technique to provide efficient condition monitoring and/or preventive maintenance, and fault tolerant control is a critical method to improve the safety and reliability of hydraulic servo systems. Based on quadratic Lyapunov functions, a performance-oriented fault detection method is proposed, which has a simple structure and is prone to implement in practice. The main feature is that, when a prescribed performance index is satisfied (even a slight fault has occurred), there is no fault alarmed; otherwise (i.e., a severe fault has occurred), the fault is detected and then a fault tolerant controller is activated. The proposed tolerant controller, which is based on the parameter adaptive methodology, is also prone to realize, and the learning mechanism is simple since only the internal leakage is considered in parameter adaptation and thus the persistent exciting (PE) condition is easily satisfied. After the activation of the fault tolerant controller, the control performance is gradually recovered. Simulation results on a hydraulic servo system with both abrupt and incipient internal leakage fault demonstrate the effectiveness of the proposed fault detection and tolerant control method.

Intelligent Information of TS Fuzzy PID Control System of BLDCM

2013 ◽  
Vol 846-847 ◽  
pp. 313-316 ◽  
Author(s):  
Xiao Yun Zhang
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Pid Control ◽  
Control Method ◽  
Design Method ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Control Precision ◽  
Simulation Results ◽  
Intelligent Information

This paper presented a new method based on the Fuzzy self - adaptive PID for BLDCM. This method overcomes some defects of the traditional PID control. Such as lower control precision and worse anti - jamming performance. It dynamic model of BLDCM was built, and then design method for TS fuzzy PID model is given, At last, it compared simulation results of PID control method with TS Fuzzy PID control method. The results show that the TS Fuzzy PID control method has more excellent dynamic antistatic performances, as well as anti-jamming performance. The experiment shows that TS fuzzy PID control has the stronger adaptability robustness and transplant.

Research on a New Type of Lithium Battery String Equalization and Management System

2011 ◽  
Vol 383-390 ◽  
pp. 1470-1476
Author(s):  
Hao Wang ◽  
Ding Guo Shao ◽  
Lu Xu
Keyword(s):  
Lithium Batteries ◽  
Management System ◽  
Lithium Battery ◽  
Large Scale ◽  
Control Method ◽  
Balance Control ◽  
Industrial Applications ◽  
Control Technique ◽  
New Type ◽  
Management Functions

Lithium battery has been employed widely in many industrial applications. Parameter mismatches between lithium batteries along a series string is the critical limits of the large-scale applications in high power situation. Maintaining equalization between batteries is the key technique in lithium batteries application. This paper summarizes normal equalization techniques and proposed a new type of lithium Battery Equalization and Management System (BEMS) employing the isolated DC-DC converter structure. The system is integrated both equalization functions and management functions by using distributed 3-level controlled structure and digital control technique. With this control method the flexibility of the balance control strategy and the compatibility for different battery strings are both improved dramatically. The experimental results show optimizing equalization, efficiency and the battery string life span has been extended.

Research on Adaptive PID Control for Load Simulator with Varying Load

2014 ◽  
Vol 568-570 ◽  
pp. 1031-1035
Author(s):  
Ju Tian ◽  
Yao Chen
Keyword(s):  
Pid Control ◽  
Simple Structure ◽  
Control Method ◽  
Parameter Tuning ◽  
Hardware In The Loop ◽  
Tuning Method ◽  
Hydraulic Load ◽  
Variation Characteristics ◽  
Load Simulator ◽  
Adaptive Pid Control

The electro-hydraulic load simulator is an important equipment for aircraft hardware-in-the-loop simulation. An adaptive PID control method for compensating extraneous torque with simple structure and easy to implement is proposed according to the variation characteristics of load gradient in the load simulator. The control parameter tuning method is also given.

Suspend-Dome Static Behavior Analysis

2013 ◽  
Vol 351-352 ◽  
pp. 1057-1060 ◽  
Author(s):  
Xi Yun Dai ◽  
Xiang Yun Kong ◽  
Lin Tian
Keyword(s):  
Design Method ◽  
Joint Stiffness ◽  
Hybrid Structure ◽  
Structure Form ◽  
Static Behavior ◽  
Structure System ◽  
Optimizing Design ◽  
New Type ◽  
Dome Structure ◽  
Cable Dome

Suspend-dome structure form which colligates advantages of cable dome and reticulated shell is a new type spatial hybrid structure system. This article introduced the configuration and principle of suspend-dome structure system, and researched the structural behavior influence by altering the joint stiffness, vector height of the suspend-dome and the loop cable pretension. The results show that suspend-dome structure should make comprehensive consideration on interaction between vector height, prestress application and other factors, and relevant optimizing design method can be adopted in the design.

Sign in / Sign up

Export Citation Format

Share Document