Nonlinear Observer-Based Feedback for Open-Channel Level Control

2008 ◽  
Vol 134 (9) ◽  
pp. 1267-1274 ◽  
Author(s):  
Gildas Besançon ◽  
Jean-François Dulhoste ◽  
Didier Georges
2022 ◽  
pp. 1-11
Author(s):  
Mondher Amor ◽  
Taoufik Ladhari ◽  
Salim Hadj Said ◽  
Faouzi M’Sahli

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Santiago Rúa ◽  
Rafael E. Vásquez

This paper addresses the development of the simulation of the low-level control system for the underwater remotely operated vehicle Visor3. The 6-DOF mathematical model of Visor3 is presented using two coordinated systems: Earth-fixed and body-fixed frames. The navigation, guidance, and control (NGC) structure is divided into three layers: the high level or the mission planner; the mid-level or the path planner; and the low level formed by the navigation and control systems. The nonlinear model-based observer is developed using the extended Kalman filter (EKF) which uses the linearization of the model to estimate the current state. The behavior of the observer is verified through simulations using Simulink®. An experiment was conducted with a trajectory that describes changes in the x and y and yaw components. To accomplish this task, two algorithms are compared: a multiloop PID and PID with gravity compensation. These controllers and the nonlinear observer are tested using the 6-DOF mathematical model of Visor3. The control and navigation systems are a fundamental part of the low-level control system that will allow Visor3’s operators to take advantage of more advanced vehicle’s capabilities during inspection tasks of port facilities, hydroelectric dams, and oceanographic research.


2008 ◽  
Vol 35 (S 01) ◽  
Author(s):  
Y.P Song ◽  
F Schlesinger ◽  
S Petri ◽  
R Dengler ◽  
K Krampfl

1975 ◽  
Vol 34 (01) ◽  
pp. 050-062
Author(s):  
Dale H Cowan ◽  
Richard C Graham ◽  
Patricia Shook ◽  
Ronda Griffin

SummaryTo determine the effect on platelet behavior of transient exposure of platelets to ascorbic acid, studies of platelet function and ultrastructure were done before exposure to ascorbic acid at pH 6.5, during exposure to pH 6.5, and after restoration of pH to pre-acidifìcation levels. The effect of ascorbic acid (A. A.) was compared to that of HCl and citric acid (C. A.). ADP- and collagen-induced aggregation of normal platelets were significantly impaired by both A. A. and C. A. but were less affected by HCl. The release of 14C-serotonin was significantly reduced by each agent. The ultra-structure of normal platelets brought to pH 6.5 by A.A. was normal. After neutralization, there was marked dilatation of the open channel system and loss of the disc shape. When platelets were brought to pH 6.5 by A. A., then neutralized, the aggregates which formed after stimulation by ADP or collagen were smaller than normal, the platelets were less closely approximated, and degranulation was less complete. The data show that exposure of platelets to ascorbic acid for short intervals impairs their function when measured after restoration of pH to levels compatible with maximal responses. Platelet survival studies using autologous platelets labelled with 51Cr in the presence or absence of ascorbic acid showed that the recovery of normal platelets was unaffected by ascorbic acid, whereas recovery of platelets from patients with idiopathic thrombocytopenic purpura, idiopathic thrombocythemia, and alcohol-related thrombocytopenia was markedly reduced. The injury resulting from the use of ascorbic acid in preparing platelets for studies of platelet survival in patients with disorders affecting platelets may impair the recovery of the cells, resulting in artifactual changes in the survival studies.


2002 ◽  
Vol 122 (6) ◽  
pp. 989-994
Author(s):  
Shinichiro Endo ◽  
Masami Konishi ◽  
Hirosuke Imabayashi ◽  
Hayami Sugiyama

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