scholarly journals A Mode Matched Triaxial Vibratory Wheel Gyroscope with Fully Decoupled Structure

Sensors ◽  
2015 ◽  
Vol 15 (11) ◽  
pp. 28979-29002 ◽  
Author(s):  
Dunzhu Xia ◽  
Lun Kong ◽  
Haiyu Gao
Keyword(s):  
Decoupled Structure

scholarly journals Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 745
Author(s):  
Marco Carpio ◽  
Roque Saltaren ◽  
Julio Viola ◽  
Cristian Calderon ◽  
Juan Guerra
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Parallel Robot ◽  
Pid Controllers ◽  
Fuzzy Pid ◽  
End Effector ◽  
Robot Systems ◽  
Decoupled Control ◽  
The Mathematical Model ◽  
Decoupled Structure

The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.

A tri-port MIMO antenna designed for Micro/Pico Cell applications with self-decoupled structure

2014 ◽  
Vol 11 (11) ◽  
pp. 1-6 ◽  
Author(s):  
Wang Han ◽  
Liu Longsheng ◽  
Zhang Zhijun
Keyword(s):  
Mimo Antenna ◽  
Decoupled Structure

Doubly Decoupled Structure in Odd-Odd 178-186 Ir Nuclei

2000 ◽  
Vol 18 (1) ◽  
pp. 27-29 ◽  
Author(s):  
Zhang Yu-Hu ◽  
T Hayakawa ◽  
M Oshima ◽  
Y Toh ◽  
J Katakura ◽  
...  
Keyword(s):  
Decoupled Structure

scholarly journals An Assessment of Pseudo-Operational Ground-Based Light Detection and Ranging Sensors to Determine the Boundary-Layer Structure in the Coastal Atmosphere

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Conor Milroy ◽  
Giovanni Martucci ◽  
Simone Lolli ◽  
Sophie Loaec ◽  
Laurent Sauvage ◽  
...  
Keyword(s):  
Boundary Layer ◽  
Layer Structure ◽  
Future Studies ◽  
Boundary Layer Structure ◽  
Remote Sensors ◽  
Laser Sensors ◽  
In Situ Data ◽  
Decoupled Structure ◽  
Aerosol Backscatter

Twenty-one cases of boundary-layer structure were retrieved by three co-located remote sensors, One LIDAR and two ceilometers at the coastal site of Mace Head, Ireland. Data were collected during the ICOS field campaign held at the GAW Atmospheric Station of Mace Head, Ireland, from 8th to 28th of June, 2009. The study is a two-step investigation of the BL structure based on (i) the intercomparison of the backscatter profiles from the three laser sensors, namely the Leosphere ALS300 LIDAR, the Vaisala CL31 ceilometer and the Jenoptik CHM15K ceilometer; (ii) and the comparison of the backscatter profiles with twenty-three radiosoundings performed during the period from the 8th to the 15th of June, 2009. The sensor-independent Temporal Height-Tracking algorithm was applied to the backscatter profiles as retrieved by each instrument to determine the decoupled structure of the BL over Mace Head. The LIDAR and ceilometers-retrieved BL heights were compared to the radiosoundings temperature profiles. The comparison between the remote and the in-situ data proved the existence of the inherent link between temperature and aerosol backscatter profiles and opened at future studies focusing on the further assessment of LIDAR-ceilometer comparison.

Delay-dependent robust H∞ control for neutral time-delay systems

2014 ◽  
Vol 24 (5) ◽  
Author(s):  
MAN SUN ◽  
AIMIN YANG
Keyword(s):  
Time Delay ◽  
Performance Criterion ◽  
Controller Synthesis ◽  
Delay Systems ◽  
Descriptor System ◽  
Linear Matrix ◽  
Time Delay Systems ◽  
Matrix Inequalities ◽  
Delay Dependent ◽  
Decoupled Structure

We derive a delay-dependent H∞ performance criterion with a decoupled structure for systems with neutral time delay. We then extend it to an H∞ controller synthesis for systems with polytopic uncertainty. All conditions are given in terms of linear matrix inequalities (LMIs). In some previous descriptor system methods, the products of the controller and Lyapunov matrices are completely separated for the performance analysis, but not for controller synthesis - the method developed in the current paper eliminates this weakness. We present a numerical example to illustrate the effectiveness of the solution.

Model Predictive Control of an AUV Using De-Coupled Approach

2018 ◽  
Vol Vol 160 (A1) ◽  
Author(s):  
M P R Prasad
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Autonomous Underwater Vehicle ◽  
Satisfactory Performance ◽  
Dynamics And Control ◽  
Simple Implementation ◽  
Robotic Vehicle ◽  
And Control ◽  
Decoupled Structure ◽  
Underwater Robotic Vehicle

This paper considers the decoupled dynamics and control of an Autonomous Underwater Vehicle (AUV). The decoupled model consists of speed, steering and depth subsystems. Generally AUV model is unstable and nonlinear. The central theme of this paper is the development of model predictive control (MPC) for underwater robotic vehicle for ocean survey applications. The proposed MPC for decoupled structure can have simple implementation. Simulation results have been presented which confirm satisfactory performance. Decoupled approach is well suitable for applying control.

Design and Simulation of a Differential and Decoupled Micromachined Gyroscope

2011 ◽  
Vol 483 ◽  
pp. 674-678
Author(s):  
Yang Liu ◽  
Ling Yun Wang ◽  
Ting Ping Lei ◽  
Jiang Du ◽  
Yi Wen Jiang ◽  
...  
Keyword(s):  
Mode Frequency ◽  
Anodic Bonding ◽  
Sense Mode ◽  
Ansys Software ◽  
Drive Mode ◽  
Deep Reactive Ion Etching ◽  
Element Simulation ◽  
Micromachined Gyroscope ◽  
Gyroscope Sensor ◽  
Decoupled Structure

In this paper, a differential and decoupled micromachined gyroscope fabricated by through-etching the silicon substrate anodically bonded on the glass substrate was presented. The decoupled structure can make the sense mode frequency match with the drive mode frequency and reduce the quadrature error. The sensitivity is further improved by differential detection using antiphase oscillation of double masses along the drive axis. Finite-element simulation is performed with ANSYS software to analyze the vibration mode. The device employs silicon-on-glass gyroscope sensor chip processed with Deep Reactive Ion Etching (DRIE) and glass-silicon anodic bonding. Then it is tested at atmospheric pressure. Drive mode and sense mode are obtained as 2015 Hz and 1957 Hz which are closed to the simulated ones. Q factor of the drive and sense mode also can be gained as 56 and 3.4.

scholarly journals On the inertially decoupled structure of the floating base robot dynamics★

2015 ◽  
Vol 48 (1) ◽  
pp. 322-327 ◽  
Author(s):  
Gianluca Garofalo ◽  
Bernd Henze ◽  
Johannes Englsberger ◽  
Christian Ott
Keyword(s):  
Robot Dynamics ◽  
Floating Base ◽  
Decoupled Structure

scholarly journals Marine boundary layer structure as observed by space-based Lidar

2015 ◽  
Vol 15 (23) ◽  
pp. 34063-34090 ◽  
Author(s):  
T. Luo ◽  
Z. Wang ◽  
D. Zhang
Keyword(s):  
Boundary Layer ◽  
Marine Boundary Layer ◽  
Layer Structure ◽  
Mixing Layer ◽  
Clear Sky ◽  
Low Cloud ◽  
Mixing Layer Height ◽  
Entrainment Process ◽  
Inversion Strength ◽  
Decoupled Structure

Abstract. The marine boundary layer (MBL) structure is important to the exchange of heat, momentum, and moisture between oceans and the low atmosphere and to the marine low cloud processes. This paper explores MBL structure over the eastern Pacific region with a new 4 year satellite-based dataset. The MBL aerosol lidar backscattering from the CALIPSO (Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations) was used to identify the MBL top (BLH) and the mixing layer height (MLH). Results showed that MBL is generally decoupled with MLH / BLH ratio ranging from ∼ 0.5 to ∼ 0.8 and the MBL decoupling magnitude is mainly controlled by estimated inversion strength (EIS) that affects the cloud top entrainment process. The systematic differences between drizzling and non-drizzling stratocumulus tops, which may relate to the meso-scale circulations or gravity wave in MBL, also show dependence on EIS. Further analysis indicated that the MBL shows similar decoupled structure for clear sky and cumulus cloud-topped conditions, but is better mixed under stratiform cloud breakup and overcast conditions.

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