scholarly journals A generalized Frame Adaptive MPC for the low-level control of UAVs

2018 ◽  
Author(s):  
Emil Fresk ◽  
George Nikolakopoulos
Keyword(s):  
Level Control ◽  
Low Level ◽  
Generalized Frame

Energy evaluation of low-level control in UAVs powered by lithium polymer battery

2017 ◽  
Vol 71 ◽  
pp. 563-572 ◽  
Author(s):  
Daniel C. Gandolfo ◽  
Lucio R. Salinas ◽  
Mario E. Serrano ◽  
Juan M. Toibero
Keyword(s):  
Level Control ◽  
Lithium Polymer Battery ◽  
Low Level ◽  
Energy Evaluation ◽  
Polymer Battery

scholarly journals Report on Research with Biomimetic Autonomous Underwater Vehicle — Low Level Control

2018 ◽  
Vol 212 (1) ◽  
pp. 105-123
Author(s):  
Tomasz Praczyk ◽  
Piotr Szymak ◽  
Krzysztof Naus ◽  
Leszek Pietrukaniec ◽  
Stanisław Hożyń
Keyword(s):  
Research And Development ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Swimming Pool ◽  
Final Report ◽  
Level Control ◽  
Low Level

Abstract The paper presents the first part of the final report on all the experiments with biomimetic autono-mous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.

scholarly journals Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators

2021 ◽  
Vol 8 ◽  
Author(s):  
Serhat Ibrahim ◽  
Jan Christoph Krause ◽  
Alexander Olbrich ◽  
Annika Raatz
Keyword(s):  
Inertial Measurement Unit ◽  
Closed Loop ◽  
Measurement Unit ◽  
Closed Loop Control ◽  
State Variables ◽  
Level Control ◽  
Pneumatic Actuators ◽  
Loop Control ◽  
Inertial Measurement ◽  
Low Level

To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actuator is presented. The piecewise constant curvature approach is used to describe the actuator’s shape and deformation variables. For low-level control, the chamber’s lengths are reconstructed from bending angles with a geometrical model and the identified material characteristics. For parameter identification and model validation, data from a camera tracking system is analyzed. Then, a closed-loop control of pressure and chambers’ length of the actuator is investigated. It will be shown, that the reconstruction model is suitable for estimating the state variables of the actuator. In addition, the use of the inertial measurement unit will demonstrate a cost-effective and compact sensor for soft pneumatic actuators.

scholarly journals Simulasi Kontrol 2 Pompa Supplay Air Bersih Menggunakanrelay Change Over Dan Floatless Level Switch (Sebagai Modul Praktek Mahasiswa Ps Teknik Pendingin Dan Tata Udara)

2018 ◽  
Vol 4 (1) ◽  
pp. 10-16
Author(s):  
Sudirman Sudirman ◽  
I Nyoman Gede Baliarta
Keyword(s):  
Water Level ◽  
Level Control ◽  
Low Level ◽  
Upper Level ◽  
Underground Tank

Sistem supplay air bersih pasti ada dipasang disuatu gedung. Tujuan dari penelitian ini adalah untuk menciptakan modul praktek mahasiswa Program Studi Teknik Pendingin  dalam mata Kuliah Praktek Utility Gedung dan BAS. Sehingga kompetensi mahasiswa tentang utility gedung, khususnya dibidang system pompa supplai air bersih bisa tercapai dengan lebih mudah. Modul praktek ini menggunakan 2 buah pompa, 2 buah tangki air, 1 sebagai tangki sebagai tangki underground tank dan 1 lagi sebagai tower tank. Menggunakan WLC (water level control) untuk mengontrol hidup mati pompa berdasarkan level  air pada tangki tower. Dan menggunakan Relay Change over untuk merubah pompa on duty secara otomatis. Hasil uji kerja alat simulasi ini, saat level air pada tangki tower low level, Pompa 1 akan hidup sampai level air mencapai upper level dan akan Off, secara otomatis Relay change over merubah pompa on duty dari Pompa 1 ke Pompa 2. Pada saat level air mencapai low level lagi di tangki tower, yang hidup adalah Pompa 2.

Low-Level Control of Network Elements from an Agent Platform

2003 ◽  
pp. 156-166
Author(s):  
M. Hansen ◽  
P. Jensen ◽  
J. Soldatos ◽  
E. Vayias
Keyword(s):  
Level Control ◽  
Agent Platform ◽  
Low Level

Powered Ankle-Foot Prostheses: A Survey on Sensing Systems and Control Strategies

2019 ◽  
Author(s):  
Erik Chumacero-Polanco ◽  
James Yang
Keyword(s):  
Control Strategies ◽  
Level Control ◽  
Low Level ◽  
Kinetic Information ◽  
Sensing Systems ◽  
Systems And Control ◽  
Finite State ◽  
High Level ◽  
And Control

Abstract People who have suffered a transtibial amputation show diminished ambulation and impaired quality of life. Powered ankle foot prostheses (AFP) are used to recover some mobility of transtibial amputees (TTAs). Powered AFP is an emerging technology that has great potential to improve the quality of life of TTAs with important avenues for research and development in different fields. This paper presents a survey on sensing systems and control strategies applied to powered AFPs. Sensing kinematic and kinetic information in powered AFPs is critical for control. Ankle angle position is commonly obtained via potentiometers and encoders directly installed on the joint, velocities can be estimated using numerical differentiators, and accelerations are normally obtained via inertial measurement units (IMUs). On the other hand, kinetic information is usually obtained via strain gauges and torque sensors. On the other hand, control strategies are classified as high- and low-level control. The high-level control sets the torque or position references based on pattern generators, user’s intent of motion recognition, or finite-state machine. The low-level control usually consists of linear controllers that drive the ankle’s joint position, velocity, or torque to follow an imposed reference signal. The most widely used control strategy is the one based on finite-state machines for the high-level control combined with a proportional-derivative torque control for low-level. Most designs have been experimentally assessed with acceptable results in terms of walking speed. However, some drawbacks related to powered AFP’s weight and autonomy remain to be overcome. Future research should be focused on reducing powered AFP size and weight, increasing energy efficiency, and improving both the high- and the low-level controllers in terms of efficiency and performance.

Structure Design, Kinematics and Grasp Constraint of a Metamorphic Robotic Hand for Meat Deboning Operation

2013 ◽  
Author(s):  
Guowu Wei ◽  
Vahid Aminzadeh ◽  
Evangelos Emmanouil ◽  
Jian S. Dai
Keyword(s):  
Closed Form ◽  
Structure Design ◽  
Robotic Hand ◽  
Meat Industry ◽  
Sensor Systems ◽  
Level Control ◽  
Closed Form Solutions ◽  
Low Level ◽  
Structure And Design

A four-fingered metamorphic robotic hand with a reconfigurable palm is presented in this paper with the application in deboning operation of meat industry. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility for the hand. Mechanical structure and design of the robotic hand are presented and based on mechanism decomposition, kinematics of the metamorphic hand is investigated with closed-form solutions leading to the workspace characterization of the robotic hand. Based on the kinematics of the four-fingered metamorphic hand, utilizing product-of-exponentials formula, grasp map and grasp constraint of the hand are then formulated revealing the grasp robustness and manipulability performed by the metamorphic hand. A prototype of the four-fingered metamorphic hand is consequently fabricated and integrated with low level control and sensor systems leading to a scenario of applying the hand in the field of meat industry for deboning operation.

Sign in / Sign up

Export Citation Format

Share Document