scholarly journals An Autonomous Human Following Caddie Robot with High-Level Driving Functions

Electronics ◽  
2020 ◽  
Vol 9 (9) ◽  
pp. 1516
Author(s):  
Jung Hyun Choi ◽  
Kangwagye Samuel ◽  
Kanghyun Nam ◽  
Sehoon Oh
Keyword(s):  
Control Algorithm ◽  
Ground Surface ◽  
Golf Course ◽  
Driving Mode ◽  
Operating Modes ◽  
Advanced Control ◽  
Heading Angle ◽  
High Level ◽  
Trajectory Generator ◽  
Manual Mode

Nowadays, mobile robot platforms are utilized in various fields not only for transportation but also for other diverse services such as industrial, medical and, sports, etc. Mobile robots are also an emerging application as sports field robots, where they can help serve players or even play the games. In this paper, a novel caddie robot which can autonomously follow the golfer as well as provide useful information such as golf course navigation system and weather updates, is introduced. The locomotion of the caddie robot is designed with two modes: autonomous human following mode and manual driving mode. The transition between each mode can be achieved manually or by an algorithm based on the velocity, heading angle, and inclination of the ground surface. Moreover, the transition to manual mode is activated after a caddie robot has recognized the human intention input by hand. In addition, the advanced control algorithm along with a trajectory generator for the caddie robot are developed taking into consideration the locomotion modes. Experimental results show that the proposed strategies to drive various operating modes are efficient and the robot is verified to be utilized in the golf course.

scholarly journals Study of the Intelligent Control and Modes of the Arctic-Adopted Wind–Diesel Hybrid System

Energies ◽  
2021 ◽  
Vol 14 (14) ◽  
pp. 4188
Author(s):  
Viktor Elistratov ◽  
Mikhail Konishchev ◽  
Roman Denisov ◽  
Inna Bogun ◽  
Aki Grönman ◽  
...  
Keyword(s):  
Control System ◽  
Dynamic Control ◽  
Field Tests ◽  
Field Studies ◽  
Climatic Conditions ◽  
The Arctic ◽  
Control Approach ◽  
Operating Modes ◽  
Advanced Control ◽  
High Level

For energy supply in the Arctic regions, hybrid systems should be designed and equipped to ensure a high level of renewable energy penetration. Energy systems located in remote Arctic areas may experience many peculiar challenges, for example, due to the limited transport options throughout the year and the lack of qualified on-site maintenance specialists. Reliable operation of such systems in harsh climatic conditions requires not only a standard control system but also an advanced system based on predictions concerning weather, wind, and ice accretion on the blades. To satisfy these requirements, the current work presents an advanced intelligent automatic control system. In the developed control system, the transformation, control, and distribution of energy are based on dynamic power redistribution, dynamic control of dump loads, and a bi-directional current transducer. The article shows the architecture of the advanced control system, presents the results of field studies under the standard control approach, and models the performance of the system under different operating modes. Additionally, the effect of using turbine control to reduce the effects of icing is examined. It is shown that the advanced control approach can reduce fuel consumption in field tests by 22%. Moreover, the proposed turbine control scheme has the potential to reduce icing effects by 2% to 5%.

scholarly journals The control algorithm of whole angle mode for HRG based on the vector composition

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Wanliang Zhao ◽  
Yuxiang Cheng ◽  
Shaoliang Li ◽  
Lijun Song
Keyword(s):  
Control Algorithm ◽  
High Reliability ◽  
Energy Transition ◽  
Life Time ◽  
Mathematics Model ◽  
Operating Modes ◽  
Hemispherical Resonator ◽  
Order Of Magnitude ◽  
Electrostatic Control ◽  
Space Launcher

AbstractThe Hemispherical Resonator Gyroscope (HRG) has many advantages such as high precision, high reliability and long life-time, it is widely used in the space-launcher and the satellites. The HRG has been mechanized to operate in the distinct operating modes, the Force to Rebalanced (FTR) mode and the Whole Angle (WA) mode. In the paper, different from the traditional control algorithm is based on average methods which usually used for the WA mode, a new electrostatic control algorithm is presented, which based on the vector composition and decomposition method to control the equivalent drive force in order to track the phase of the standing wave. The mathematics model and the control algorithm are presented in the paper, and the hardware experimental circuit system is implemented, the HRG has a range of more than 300°/s with the linearity of 40 ppm. Meanwhile, the energy transition efficiency increases by an order of magnitude.

Preliminary microzonation of the Memphis, Tennessee, area

1982 ◽  
Vol 72 (3) ◽  
pp. 1011-1024
Author(s):  
Sunil Sharma ◽  
William D. Kovacs
Keyword(s):  
United States ◽  
Soil Properties ◽  
Damping Ratio ◽  
Ground Surface ◽  
Strong Motion ◽  
Response Analysis ◽  
Borehole Data ◽  
Central United States ◽  
Hazardous Zone ◽  
High Level

abstract The city of Memphis, which is situated very close to the inferred epicenter of one of the three major 1811 to 1812 earthquakes, is in a potentially hazardous zone which will be susceptible to the usual seismic hazards. By recognizing the high level of seismicity in the New Madrid area, this study attempts to microzone the potential hazards by considering the following subjects: (i) the seismicity of the central United States; (ii) design earthquakes; and (iii) response analysis which allows construction of the necessary microzonation maps. The seismicity of the region is evaluated from state-of-the-art literature as there is no recorded strong-motion data available for the central United States. Synthetically generated accelerograms, simulating the design earthquakes, were used to represent the ground motions which were applied at a depth of 45 m, below ground surface, at numerous sites in Memphis. The soil stratigraphy was conceptualized from borehole data, made available by local sources, and dynamic soil properties estimated from available empirical correlations. The results of the response analysis were transformed into microzonation maps depicting: (i) zones showing qualitative estimates of ground response; (ii) zones showing the natural frequency of the soils; (iii) zones showing the peak spectral acceleration for 2 per cent damping ratio; and (iv) zones of liquefaction potential. These maps are useful for preliminary design and are not intended to be used on a quantitative basis. Further investigation is necessary in determining the stratigraphy and soil properties for a site-specific design and analysis.

scholarly journals The Control Algorithm of Whole Angle Mode for HRG Based on the Vector Composition

2020 ◽  
Author(s):  
Wanliang Zhao ◽  
Yuxiang Cheng ◽  
Shaoliang Li ◽  
Lijun Song
Keyword(s):  
Control Algorithm ◽  
High Reliability ◽  
Energy Transition ◽  
Life Time ◽  
Mathematics Model ◽  
Operating Modes ◽  
Hemispherical Resonator ◽  
Order Of Magnitude ◽  
Electrostatic Control ◽  
Space Launcher

Abstract The Hemispherical Resonator Gyroscope (HRG) has many advantages such as high precision, high reliability and long life-time, it is widely used in the space-launcher and the satellites. The HRG has been mechanized to operate in two the distinct operating modes, the Force to Rebalanced (FTR) mode and the Whole Angle (WA) mode. Different from the traditional control algorithm is based on average methods which usually used for WA mode, in the paper, a new electrostatic control algorithm is presented, which based on the vector composition and decomposition method to control the equivalent drive force in order to track the phase of the standing wave. The mathematics model and the control algorithm are presented in the paper. And the hardware experimental circuit system is implemented, the HRG has a range of more than 300°/s with the linearity of 40 ppm. Meanwhile, the energy transition efficiency increases by an order of magnitude, rather than the average methods.

scholarly journals A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Yang Wang ◽  
Daojin Yao ◽  
Jie He ◽  
Xiaohui Xiao
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Ground Surface ◽  
Step Length ◽  
Bipedal Walking ◽  
Level Control ◽  
Stabilization Method ◽  
Feedforward Controller ◽  
High Level ◽  
Adaptive Feedforward

Both compliance and discontinuity are the common characteristics of the real ground surface. This paper proposes a stabilization method for the underactuated bipedal locomotion on the discontinuous compliant ground. Unlike a totally new control method, the method is actually a high-level control strategy developed based on an existing low-level controller meant for the continuous compliant ground. As a result, although the ground environment is more complex, the calculation cost for the robot walking control system is not increased. With the high-level control strategy, the robot is able to adjust its step-length and velocity simultaneously to stride over the discontinuous areas on the compliant ground surface. The effectiveness of the developed method is validated with a numerical simulation and a physical experiment.

Total System Performance Assessment Model for the Final Environmental Impact Statement for the Potential High-Level Nuclear Waste Repository at Yucca Mountain

2002 ◽  
Author(s):  
George J. Saulnier ◽  
K. Patrick Lee ◽  
Donald A. Kalinich ◽  
S. David Sevougian ◽  
Jerry A. McNeish
Keyword(s):  
System Performance ◽  
Transport Model ◽  
Yucca Mountain ◽  
Nuclear Waste Repository ◽  
Total System ◽  
Operating Modes ◽  
Final Rule ◽  
High Level Nuclear Waste ◽  
High Level ◽  
Component Models

The total-system performance assessment (TSPA) model for the final environmental impact statement (FEIS) for the potential high-level nuclear-waste repository at Yucca Mountain, Nevada was developed from a series of analyses and model studies of the Yucca Mountain site. The U.S. Department of Energy (DOE) has recommended the Yucca Mountain, Nevada site for the potential development of a geologic repository for the disposal of high-level radioactive waste and spent nuclear fuel. In May 2001, the DOE released the Yucca Mountain Science and Engineering Report (S&ER) for public review and comment. The S&ER summarizes more than 20 years of scientific and engineering studies supporting the site recommendation (SR). Following internal reviews of the S&ER and other documents, the DOE performed supplemental analyses of uncertainty in support of the SR as summarized in the Supplemental Science and Performance Analysis (SSPA) reports [2, 3]. The SSPA (1) provided insights into the impact of new scientific data and improved models and (2) evaluated a range of thermal operating modes and their effect on the predicted performance of a potential repository. The various updated component models for the SSPA resulted in a modified TSPA model, referred to as the supplemental TSPA model or SSPA TSPA model capturing the combined effects of the alternative model representations on system performance. The SSPA TSPA model was the basis for analyses for the FEIS for the Yucca Mountain site. However, after completion of the SSPA, the U.S. Environmental Protection Agency (EPA) released its final radiation-protection standards for the potential repository at Yucca Mountain (40 CFR Part 197). Compliance with the regulation required modification of several of the component models (e.g., the biosphere transport model and the saturated-zone transport model) in order to evaluate repository performance against the new standards. These changes were incorporated into the SSPA TSPA model. The resulting FEIS TSPA model, known as the “integrated TSPA model,” was used to perform the calculations presented in this report. The results of calculations using the FEIS TSPA model under a non-disruptive scenario, show that the potential disposal of commercial and DOE waste at a Yucca Mountain repository would not produce releases to the environment that would exceed the regulatory standards promulgated in the EPA Final Rule 10 CFR 197 and the NRC Final Rule 10 CFR 63 for both individual protection and groundwater protection. The analyses also show that both the high and low-temperature operating modes result in similar mean annual dose to the reasonably maximally exposed individual (RMEI). Further, the analyses show that consideration of intrusive and extrusive igneous events, human intrusion, or inclusion of the potential inventory of all radioactive material in the commercial and DOE inventory would not exceed those published standards.

scholarly journals A New Method of Applying Data Engine Technology to Realize Neural Network Control

Algorithms ◽  
2019 ◽  
Vol 12 (5) ◽  
pp. 97
Author(s):  
Song Zheng ◽  
Chao Bi ◽  
Yilin Song
Keyword(s):  
Neural Network ◽  
Control System ◽  
Real Time ◽  
Control Algorithm ◽  
Network Control ◽  
Neural Network Control ◽  
Hybrid Controller ◽  
Advanced Control ◽  
Real Time Database ◽  
And Control

This paper presents a novel diagonal recurrent neural network hybrid controller based on the shared memory of real-time database structure. The controller uses Data Engine (DE) technology, through the establishment of a unified and standardized software architecture and real-time database in different control stations, effectively solves many problems caused by technical standard, communication protocol, and programming language in actual industrial application: the advanced control algorithm and control system co-debugging difficulties, algorithm implementation and update inefficiency, and high development and operation and maintenance costs effectively fill the current technical gap. More importantly, the control algorithm development uses a unified visual graphics configuration programming environment, effectively solving the problem of integrated control of heterogeneous devices; and has the advantages of intuitive configuration and transparent data processing process, reducing the difficulty of the advanced control algorithms debugging in engineering applications. In this paper, the application of a neural network hybrid controller based on DE in motor speed measurement and control system shows that the system has excellent control characteristics and anti-disturbance ability, and provides an integrated method for neural network control algorithm in a practical industrial control system, which is the major contribution of this article.

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