scholarly journals An Integrated Hydrodynamics and Control Model of A Tethered Underwater Robot

2018 ◽  
Vol 32 (5) ◽  
pp. 557-569 ◽  
Author(s):  
Jia-ming Wu ◽  
Ying Xu ◽  
Long-bin Tao ◽  
Miao Yu ◽  
Yi-zhe Dou
Keyword(s):  
Control Model ◽  
Underwater Robot ◽  
And Control

Hydrodynamic Response of Tethered Underwater Robot by Feed-Forward and Incremental PID Control Techniques

2020 ◽  
Author(s):  
Jiaming Wu ◽  
Dongjun Chen ◽  
Jinhua Lin ◽  
Yan Chen ◽  
Yizhe Dou
Keyword(s):  
Hydrodynamic Model ◽  
Control Model ◽  
Control Mode ◽  
Control Technique ◽  
Underwater Robot ◽  
Robot System ◽  
Feed Forward ◽  
Trajectory Following ◽  
Umbilical Cable ◽  
And Control

Abstract The trajectory of tethered underwater robot is usually controlled by actuating the rotating speeds of control propellers attached to the robot and/or adjusting the length of umbilical cable. When the trajectory control problem of a tethered underwater robot is studied, it is necessary to couple the main body of underwater robot, umbilical cable and control propellers together forming an integrated hydrodynamic model so that the robot is in a comprehensive dynamic equilibrium condition, suitable control algorithms are then jointed into the hydrodynamic model constructing a hydrodynamic and control model for the tethered underwater robot system. Only in this way the hydrodynamic and control nature of a tethered underwater robot during different kinds of control manipulations can be numerically revealed objectively. In this paper, a hydrodynamic and control model to simulate the trajectory following control of a tethered underwater robot system is proposed, and the hydrodynamic performances of the robot and the umbilical cable are observed. To achieve this goal, three-dimensional hydrodynamic model of tethered underwater robot system is first introduced, feed-forward control technique for adjusting the length of umbilical cable and incremental PID algorithm for regulating the rotating speeds of propellers are then incorporated into the hydrodynamic model forming the hydrodynamic and control model. Based on the established hydrodynamic and control mode, relationships between the thrusts from the propellers and the rotating speeds of the propellers, and those among the trajectory following of the underwater robot and the control actions of adjusting the length of umbilical cable and governing the rotating speeds of the propellers are analyzed, and also the hydrodynamic performances of the tethered underwater robot system under the control manipulation are observed. In the research, the amplitude limit filtering method is applied in solving the governing equations of the umbilical cable, this technique is applied to avoid the chattering effect in the cable tension computation, so that a successive and stable computation process is maintained. The main factors affecting the singular nature of coefficient matrices during the numerical solutions of the proposed model are also investigated in the paper.

scholarly journals Protection and Response of a Tertiary Hospital in Shenzhen, China to the COVID-19 Outbreak—the Practice of the Comprehensive Response Mode

2021 ◽  
pp. 1-17
Author(s):  
Benling Hu ◽  
Le Yang ◽  
Chan Wei ◽  
Min Luo
Keyword(s):  
Prevention And Control ◽  
Tertiary Hospital ◽  
Control Model ◽  
Normal Operation ◽  
Process Reengineering ◽  
Equipment Management ◽  
Hospital Acquired Infection ◽  
Public Health Emergencies ◽  
Hospital Acquired ◽  
And Control

ABSTRACT Objective: To evaluate the management mode for the prevention and control of coronavirus 2019 (COVID-19) transmission utilized at a general hospital in Shenzhen, China, with the aim to maintain the normal operation of the hospital. Methods: From January 2, 2020 to April 23, 2020, Hong Kong–Shenzhen Hospital, a tertiary hospital in Shenzhen, has operated a special response protocol named comprehensive pandemic prevention and control model, which mainly includes six aspects: 1) human resource management; 2) equipment management; 3) logistics management; 4) cleaning, disinfection and process reengineering; 5) environment layout; 6) and training and assessment. The detail of every aspect was described and its efficiency was evaluated. Results: A total of 198,802 patients were received. Of those, 10,821 were hospitalized; 26,767 were received by the emergency department and fever clinics; 288 patients were admitted for observation with fever; and 324 were admitted as suspected cases for isolation. Under the protocol of comprehensive pandemic prevention and control model, no case of hospital-acquired infection with COVID-19 occurred among the inpatients or staff. Conclusion: The present comprehensive response model may be useful in large public health emergencies to ensure appropriate management and protect the health and life of individuals.

Power Reserve Classification and Control for Peaking Balance with Intermittent Generation Grid

2014 ◽  
Vol 521 ◽  
pp. 252-255
Author(s):  
Jian Yuan Xu ◽  
Jia Jue Li ◽  
Jie Jun Zhang ◽  
Yu Zhu
Keyword(s):  
Real Time ◽  
Balance Control ◽  
Control Model ◽  
Intermediate Variable ◽  
Proposed Model ◽  
Grid Operators ◽  
Period Constant ◽  
Grid Operation ◽  
And Control ◽  
Time Reserve

The problem of intermittent generation peaking is highly concerned by the grid operator. To build control model for solving unbalance of peaking is great necessary. In this paper, we propose reserve classification control model which contain constant reserve control model with real-time reserve control model to guide the peaking balance of the grid with intermittent generation. The proposed model associate time-period constant reserve control model with real-time reserve control model to calculate, and use the peaking margin as intermediate variable. Therefore, the model solutions which are the capacity of reserve classification are obtained. The grid operators use the solution to achieve the peaking balance control. The proposed model was examined by real grid operation case, and the results of the case demonstrate the validity of the proposed model.

Real Time Energy Monitoring and Control Model for Peer-to-Peer Integrated Hybrid Supply System

2021 ◽  
Author(s):  
Kufre Esenowo Jack ◽  
Nsikak John Affia ◽  
Uchenna Godswill Onu ◽  
Emmanuel Okekenwa ◽  
Ernest Ozoemela Ezugwu ◽  
...  
Keyword(s):  
Real Time ◽  
Control Model ◽  
Peer To Peer ◽  
Supply System ◽  
Monitoring And Control ◽  
Energy Monitoring ◽  
And Control

Terrorism control model and control policy

2004 ◽  
Vol 7 (2) ◽  
pp. 153-164
Author(s):  
Md. Asim Uddin Khan
Keyword(s):  
Control Policy ◽  
Control Model ◽  
And Control
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