scholarly journals Design and control of a low-cost autonomous profiling float

2020 ◽  
Vol 21 (5) ◽  
pp. 512
Author(s):  
Thomas Le Mézo ◽  
Gilles Le Maillot ◽  
Thierry Ropert ◽  
Luc Jaulin ◽  
Aurélien Ponte ◽  
...  
Keyword(s):  
Kalman Filter ◽  
State Feedback ◽  
Design Method ◽  
Low Cost ◽  
Model Parameters ◽  
Design Rules ◽  
Profiling Float ◽  
Loop Design ◽  
Depth Control ◽  
And Control

This paper presents the development made around the SeaBot, a new low-cost profiling float design for shallow water. We introduce a simplified dynamical model of the float and propose a state feedback depth controller coupled with an Extended Kalman Filter (EKF) to estimate model parameters. We show experimental results of the depth control that validate the model and the controller. We finally propose a loop design method to build low-cost floats by highlighting key design choices along with design rules.

Vector field path-following control for a small unmanned ground vehicle with Kalman filter estimation

2020 ◽  
pp. 095440542097734
Author(s):  
Yun-Ping Sun ◽  
Yen-Chu Liang
Keyword(s):  
Kalman Filter ◽  
Vector Field ◽  
Design Method ◽  
Path Following ◽  
Labor Cost ◽  
Design Parameters ◽  
Ground Vehicles ◽  
Level Control ◽  
Path Following Control ◽  
And Control

Industry 4.0 accelerates the growth of unmanned technology that reduces the labor cost and creates high automation in manufacturing system. The automated guided vehicle which is capable of transferring materials or executing tasks without human intervention becomes a necessary system for modern unmanned factories. The study explores the guidance and control design to accomplish the common task of path-following control for unmanned ground vehicles (UGV). A complete design method is presented that includes the lateral-directional autopilot, the vector field guidance for path-following, and multi-sensor fusion. The lateral-directional autopilot produces the low-level control action, the higher level guidance indicates the course direction of UGV at every spatial point based on the lateral path error, and the accurate UGV position relies on the estimate obtained by dynamically fusing sensors with extended Kalman filter. The design parameters in every stage are analyzed theoretically first and then fine-tuned in practice. The process is clearly described in this study, and the field test results are discussed in details to verify the performance of the proposed method and demonstrate the superiority over others.

Low cost automation using INS/GPS data fusion for accurate positioning

Robotica ◽  
2003 ◽  
Vol 21 (3) ◽  
pp. 255-260 ◽  
Author(s):  
J. Z. Sasiadek ◽  
Q. Wang
Keyword(s):  
Kalman Filter ◽  
Global Positioning System ◽  
Autonomous Vehicles ◽  
Low Cost ◽  
Real Time Control ◽  
Adaptive Kalman Filter ◽  
Time Control ◽  
Global Positioning ◽  
And Control ◽  
Fuzzy Adaptive

Low cost automation often requires accurate positioning. This happens whenever a vehicle or robotic manipulator is used to move materials, parts or minerals on the factory floor or outdoors. In last few years, such vehicles and devices are mostly autonomous. This paper presents the method of sensor fusion based on the Adaptive Fuzzy Kalman Filtering. This method has been applied to fuse position signals from the Global Positioning System (GPS) and Inertial Navigation System (INS) for the autonomous mobile vehicles. The presented method has been validated in 3-D environment and is of particular importance for guidance, navigation, and control of mobile, autonomous vehicles. The Extended Kalman Filter (EKF) and the noise characteristic have been modified using the Fuzzy Logic Adaptive System and compared with the performance of regular EKF. It has been demonstrated that the Fuzzy Adaptive Kalman Filter gives better results (more accurate) than the EKF. The presented method is suitable for real-time control and is relatively inexpensive. Also, it applies to fusion process with sensors different than INS or GPS.

scholarly journals A Novel Data-Driven Modeling and Control Design Method for Autonomous Vehicles

Energies ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 517
Author(s):  
Dániel Fényes ◽  
Balázs Németh ◽  
Péter Gáspár
Keyword(s):  
Autonomous Vehicles ◽  
Design Method ◽  
Nonlinear Modeling ◽  
Autonomous Vehicle ◽  
Control Design ◽  
Path Following ◽  
Simulation Software ◽  
Model Parameters ◽  
Modeling And Control ◽  
And Control

This paper presents a novel modeling method for the control design of autonomous vehicle systems. The goal of the method is to provide a control-oriented model in a predefined Linear Parameter Varying (LPV) structure. The scheduling variables of the LPV model through machine-learning-based methods using a big dataset are selected. Moreover, the LPV model parameters through an optimization algorithm are computed, with which accurate fitting on the dataset is achieved. The proposed method is illustrated on the nonlinear modeling of the lateral vehicle dynamics. The resulting LPV-based vehicle model is used for the control design of path following functionality of autonomous vehicles. The effectiveness of the modeling and control design methods through comprehensive simulation examples based on a high-fidelity simulation software are illustrated.

Simultaneously Satisfying Multi-Objective Design of Structural and Control Systems Based on Consideration of Uncertainty by Set-Based Approach

2018 ◽  
Author(s):  
Haruo Ishikawa ◽  
Naoko Sasaki
Keyword(s):  
Control System ◽  
Control Systems ◽  
Optimum Design ◽  
Design Method ◽  
Low Cost ◽  
Influence Factors ◽  
Mathematical Optimization ◽  
Design Stage ◽  
Set Based Design ◽  
And Control

The simultaneous optimum design for structural and control systems is very important to realize better performance, short lead time and low cost in the development of product. Previous researches on the simultaneous optimum design of these systems are mainly based on mathematical optimization or coupled computation by CAE which are based on point-based iterative calculation. On the other hand, it is general and essential that the required performances and the influence factors for them have some kinds of uncertainty especially in the initial design stage of structural design and uncertainty arising from the difference of real structural (mechanical) and mathematical models in the control system. In this research, for the expression of uncertainty, we use set-based method rather than point-based for processing these uncertainties. Also, generally, the design of the system has often multi-performances, whether structural system or control system. Then, how effective the set-based design method is to solve the simultaneous design problem is investigated, using simple examples of classical control and modern control. As a result, it is found that the applicability of the set-based design method is shown.

Design of Greenhouse Monitoring System Based on Zigbee

2013 ◽  
Vol 655-657 ◽  
pp. 773-776
Author(s):  
Jun Wang ◽  
Cheng Dong Wu ◽  
Feng Wang
Keyword(s):  
Monitoring System ◽  
Design Method ◽  
Low Cost ◽  
Monitoring And Control ◽  
Monitoring And Control System ◽  
Gateway Node ◽  
Spray System ◽  
Growth Requirement ◽  
And Control ◽  
Hardware Circuit

To satisfy the requirement of the control parameters in greenhouse, this paper introduced the design scheme of monitoring and control system based on Zigbee due to its low-cost, simplicity and mobility. We designed the sensor node, control node and gateway node based on CC2430, described the design method of hardware circuit and the flow chart of software. By monitoring the environment factors in real time, such as illumination, temperature, humility and carbon dioxide, the spray system, ventilation fans and lighting lamps were automated controlled to satisfy crop growth requirement. The monitoring system is easy to expand and update, and the program interface is friendly to operate.

State Feedback Observer for Yaw Rate Based on the Nonlinear Vehicle Model

2011 ◽  
Vol 52-54 ◽  
pp. 523-528
Author(s):  
Wei Da Wang ◽  
Li Juan Yuan ◽  
Wei Zhang
Keyword(s):  
Kalman Filter ◽  
State Feedback ◽  
Low Cost ◽  
Estimation Algorithm ◽  
The State ◽  
Vehicle Model ◽  
Yaw Rate ◽  
On Line ◽  
Nonlinear Vehicle Model ◽  
Rate Sensor

Researching the estimating algorithm for the vehicle yaw rate is providing complement to the sensor measure and reference of the sensor diagnosis. If the estimating precision is good enough, the yaw rate sensor will be canceled and the cost of VDC system will be cut down. Based on the eight-DOF vehicle model and a modified Dugoff tire model which is simple and accurate, the estimation algorithm of vehicle yaw rate is proposed in this paper. The state feedback observer for yaw rate is designed and compared to the observer based on Kalman filter. The simulation results indicate that this algorithm can calculate vehicle yaw rate in real-time and the estimating precision is better than the Kalman filter in nonlinear condition. Therefore, the state feedback observer in this paper is proposing a low-cost and more practical idea for estimating the vehicle yaw rate on-line.

scholarly journals Improving the Performance of a Dual Kalman Filter for the Identification of PEM Fuel Cells in Impedance Spectroscopy Experiments

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3377 ◽  
Author(s):  
Antonio Guarino ◽  
Giovanni Petrone ◽  
Walter Zamboni
Keyword(s):  
Kalman Filter ◽  
Impedance Spectroscopy ◽  
Electrochemical Impedance ◽  
Low Cost ◽  
Polymer Electrolyte Membrane ◽  
Parametric Identification ◽  
Pem Fuel Cells ◽  
Model Parameters ◽  
Filter Performance ◽  
Sinusoidal Input

In this paper, the Dual Kalman Filter (DKF) is used for the parametric identification of an RC model of a Polymer Electrolyte Membrane Fuel Cell (FC) stack. The identification is performed for diagnostic purposes, starting from time-domain voltage and current signals in the framework of Electrochemical Impedance Spectroscopy (EIS) tests. Here, the sinusoidal input of the tests makes the identification of DKF parameters challenging. The paper analyzes the filter performance and proposes a possible approach to address the filter tuning to let it work with FC operating either in normal conditions or in the presence of drying and flooding fault conditions, or in fuel starvation mode. The analysis is mainly performed in a simulated environment, where the Fouquet model is used to simulate the FC. Some criteria to tune the filter are derived from the analysis and used also with experimental data produced by some EIS tests, to achieve the best estimate in constrained conditions. The results show that the DKF can be turned into a valuable tool to identify the model parameters even with signals developed for other scopes. The identification results envisage the possibility of assisting the model-based FC diagnosis by means of a very simple tool that can run on a low-cost embedded device. Indeed, the simplicity of the filter approach and a lightweight implementation allow the deployment of the algorithm in embedded solutions.

Identificación de polaridad de los devanados en un motor trifásico de 6 terminales

2019 ◽  
pp. 13-19
Author(s):  
José Luis Viramontes-Reyna ◽  
Josafat Moreno-Silva ◽  
José Guadalupe Montelongo-Sierra ◽  
Erasmo Velazquez-Leyva
Keyword(s):  
Low Cost ◽  
Voltage Reference ◽  
Three Phase ◽  
Voltage Phase ◽  
The Law ◽  
And Control

This document presents the results obtained from the application of the law of Lens to correctly identify the polarity of the windings in a three-phase motor with 6 exposed terminals, when the corresponding labeling is not in any situation; Prior to identifying the polarity, it should be considered to have the pairs of the three windings located. For the polarity, it is proposed to feed with a voltage of 12 Vrms to one of the windings, which are identified randomly as W1 and W2, where W1 is connected to the voltage phase of 12 Vrms of the signal and W2 to the voltage reference to 0V; by means of voltage induction and considering the law of Lens, the remaining 4 terminals can be identified and labeled as V1, V2, U1 and U2. For this process a microcontroller and control elements with low cost are used.

Restoring and Controlling the Water Pollution of Endangered River in Bangladesh: A Case Study in Pabna City

2020 ◽  
Vol 3 (2) ◽  
pp. 68-81
Author(s):  
Abu Sadath ◽  
Farhana Afroz ◽  
Hosne Ara ◽  
Abdulla-Al Kafy
Keyword(s):  
Water Pollution ◽  
Local Community ◽  
River Flow ◽  
Low Cost ◽  
Design Approach ◽  
Government Officials ◽  
Conservation Plan ◽  
Policy Measures ◽  
And Control ◽  
Riverfront Development

Rivers are the lifeline of Bangladesh economy and serve as the source of water supply, fisheries, irrigation for agriculture, low-cost transport, generate electricity and conserve biodiversity. The Ichamati River situated in Pabna, Bangladesh is also a blessing for the city. However, recently, due to the irregular and unplanned activities adjacent to the riverside, the life, flow and water quality of the river is in a vulnerable condition. This study aims to identify the present status of the Ichamati River and provide an effective design approach and policy measures in restoring the river flow and control water pollution. The data was collected from the questioner surveys, key informant interviews and focus group discussions. Results suggest that several factors such as the construction of an illegal settlement, unplanned waste dumping, disposal of fiscal sludge through sewerage connection, lack of awareness among people regarding the importance of river biodiversity and absence of riverfront development and conservation plan are responsible for water pollution, inconsistent water flow and damaging the life cycle of Ichamati river. The design approach and policy measures were developed based on the perceptions of local community people, experts and government officials. The suggested policy measures will help to restore the flow of the river and reduce the water pollution, and the design approach will ensure the economic benefit of the riverfront development in future.

The Artificial Pancreas in Cyborg Bodies

2020 ◽  
pp. 412-430
Author(s):  
Anthony Ryan Hatch ◽  
Julia T. Gordon ◽  
Sonya R. Sternlieb
Keyword(s):  
Glucose Sensor ◽  
Social Inequalities ◽  
Infusion Pump ◽  
Artificial Pancreas ◽  
Small Scale ◽  
Glucose Levels ◽  
Loop Design ◽  
Access To Health ◽  
Do It Yourself ◽  
And Control

The new artificial pancreas system includes a body-attached blood glucose sensor that tracks glucose levels, a worn insulin infusion pump that communicates with the sensor, and features new software that integrates the two systems. The artificial pancreas is purportedly revolutionary because of its closed-loop design, which means that the machine can give insulin without direct patient intervention. It can read a blood sugar and administer insulin based on an algorithm. But, the hardware for the corporate artificial pancreas is expensive and its software code is closed-access. Yet, well-educated, tech-savvy diabetics have been fashioning their own fully automated do-it-yourself (DIY) artificial pancreases for years, relying on small-scale manufacturing, open-source software, and inventive repurposing of corporate hardware. In this chapter, we trace the corporate and DIY artificial pancreases as they grapple with issues of design and accessibility in a content where not everyone can become a diabetic cyborg. The corporate artificial pancreas offers the cyborg low levels of agency and no ownership and control over his or her own data; it also requires access to health insurance in order to procure and use the technology. The DIY artificial pancreas offers patients a more robust of agency but also requires high levels of intellectual capital to hack the devices and make the system work safely. We argue that efforts to increase agency, radically democratize biotechnology, and expand information ownership in the DIY movement are characterized by ideologies and social inequalities that also define corporate pathways.

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