Spin-type forward motion mode based on double steering wheel parking AGV

2020 ◽  
Vol 47 (5) ◽  
pp. 777-787
Author(s):  
Ting Pan ◽  
Jiaqing Yan ◽  
Shenyun Zhou ◽  
Yingjie Cai ◽  
Congda Lu
Keyword(s):  
Operation Mode ◽  
Path Following ◽  
Steering Wheel ◽  
Utilization Rate ◽  
Parking Space ◽  
Motion Controller ◽  
Forward Motion ◽  
Content Type ◽  
Car Exhaust ◽  
Motion Mode

Purpose The purpose of this paper is to propose the situation that the existing parking automated guided vehicle (AGV) has a single walking mode, a spin forward motion mode based on a dual steering wheel driven parking AGV. In this way, the AGV can complete the 180° spin of the AGV in the process of straight forward. Design/methodology/approach A spin forward kinematics model of the dual steering wheel AGV is established, and a motion controller of the dual steering wheel AGV is designed based on the principle of model predictive control to complete the path following the spin forward motion mode. Findings Computer simulations and laboratory tests were performed on this movement mode, which showed that the operation mode was feasible. It also verified that the mode can improve the handling efficiency, and also solved the problem that the parking space beside the wall could not be set and the site utilization was improved. Research limitations/implications The controller should be further improved to make the operation smoother and more accurate. Practical implications This mode has the applicability to the indoor logistics AGVs. In addition, it can improve the handling efficiency and also solved the problem that the storage space for goods beside the wall could not be set and the site utilization was improved. Social implications This method can solve the problem due to the increasing number of private cars and parking spaces are hard to find. It increases the number of parking spaces and improves the utilization rate of the site. In addition, it also saves people the time to find a parking space and reduces car exhaust emissions in the process. It follows the requirements of sustainable development. Originality/value The studies in this paper provide AGV with more ideas on the issue of improving handling efficiency and site utilization and also solves the problem of being unable to set parking spaces when parking against the wall. In addition, this model has applicability to indoor logistics AGV and plays the same role.

scholarly journals A surface electromyography controlled steering assistance interface

2019 ◽  
Vol 2 (1) ◽  
pp. 1-13 ◽  
Author(s):  
Edric John Cruz Nacpil ◽  
Rencheng Zheng ◽  
Tsutomu Kaizuka ◽  
Kimihiko Nakano
Keyword(s):  
Surface Electromyography ◽  
Driving Simulator ◽  
Biceps Brachii ◽  
Path Following ◽  
Steering Wheel ◽  
Shoulder Injury ◽  
Content Type ◽  
Machine Interface ◽  
Further Development ◽  
Semg Signals

Purpose Two-handed automobile steering at low vehicle speeds may lead to reduced steering ability at large steering wheel angles and shoulder injury at high steering wheel rates (SWRs). As a first step toward solving these problems, this study aims, firstly, to design a surface electromyography (sEMG) controlled steering assistance interface that enables hands-free steering wheel rotation and, secondly, to validate the effect of this rotation on path-following accuracy. Design/methodology/approach A total of 24 drivers used biceps brachii sEMG signals to control the steering assistance interface at a maximized SWR in three driving simulator scenarios: U-turn, 90º turn and 45º turn. For comparison, the scenarios were repeated with a slower SWR and a game steering wheel in place of the steering assistance interface. The path-following accuracy of the steering assistance interface would be validated if it was at least comparable to that of the game steering wheel. Findings Overall, the steering assistance interface with a maximized SWR was comparable to a game steering wheel. For the U-turn, 90º turn and 45º turn, the sEMG-based human–machine interface (HMI) had median lateral errors of 0.55, 0.3 and 0.2 m, respectively, whereas the game steering wheel, respectively, had median lateral errors of 0.7, 0.4 and 0.3 m. The higher accuracy of the sEMG-based HMI was statistically significant in the case of the U-turn. Originality/value Although production automobiles do not use sEMG-based HMIs, and few studies have proposed sEMG controlled steering, the results of the current study warrant further development of a sEMG-based HMI for an actual automobile.

Antecedents and consequences of replacing international independent intermediaries

2014 ◽  
Vol 26 (3) ◽  
pp. 218-237
Author(s):  
Erik B. Nes
Keyword(s):  
Longitudinal Design ◽  
Operation Mode ◽  
Content Type ◽  
Performance Variables ◽  
Direct Sales ◽  
Home Based ◽  
Process Theories ◽  
Antecedents And Consequences ◽  
Communication Control ◽  
And Control

Purpose – What characterizes the relationships with intermediaries that are soon to be replaced, and are the replacements successful? The paper aims to discuss these issues. Design/methodology/approach – The study applies a longitudinal design. The paper conducted a survey among a sample of exporters concerning their relationships with independent intermediaries in terms of trust, commitment, communication, control and two performance variables; financial performance and strategic goal achievement. Five years thereafter the author contacted the same companies again and questioned which independent intermediaries had been replaced in the period. The author then compared the replaced intermediaries with the extended intermediaries before they were replaced and analysed changes in the evaluations of the relationships and of the performance after the replacement. Findings – The relationships with terminated intermediaries that were replaced by sales subsidiary or home-based direct sales were characterized having higher trust, communication and control than extended relationships before replacement. While it may be surprising that these quite successful relationships were terminated, this is in line with internationalization process theories. The replacements, both intermediaries that were replaced by other intermediaries and by sales subsidiary/home-based direct sales, were highly successful in terms of improvement in performance and behavioural relationship variables. Research limitations/implications – The empirical findings are limited by the sample and by data collection from the principal only in the dyadic relations. Practical implications – International independent intermediaries should analyse the likelihood of being replaced by the principal because the relationship or the performance is unsatisfactory, but also because of satisfactory evaluations. Terminations of satisfactory relationships tend to be accompanied by change in operation mode to internal organization. The independent intermediary should in such cases build a defence structure against unwanted termination and/or prepare for buyout. The success of the replacements suggests that international marketers benefit from being proactive in replacing intermediaries with new intermediaries or with a hierarchal entry mode. Originality/value – This is the first study that applies most of these variables from interorganizational relations theory in the study of international independent intermediary replacements. It is also the first to give insight into the consequences of intermediary terminations.

Using scaled FE solutions for an efficient coupled electromagnetic–thermal induction machine model

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Martin Marco Nell ◽  
Benedikt Groschup ◽  
Kay Hameyer
Keyword(s):  
Finite Element ◽  
Thermal Behavior ◽  
Fe Simulation ◽  
Operation Mode ◽  
Induction Machine ◽  
Optimization Procedure ◽  
Machine Model ◽  
Content Type ◽  
Thermal Network ◽  
Scaling Procedure

Purpose This paper aims to use a scaling approach to scale the solutions of a beforehand-simulated finite element (FE) solution of an induction machine (IM). The scaling procedure is coupled to an analytic three-node-lumped parameter thermal network (LPTN) model enabling the possibility to adjust the machine losses in the simulation to the actual calculated temperature. Design/methodology/approach The proposed scaling procedure of IMs allows the possibility to scale the solutions, particularly the losses, of a beforehand-performed FE simulation owing to temperature changes and therefore enables the possibility of a very general multiphysics approach by coupling the FE simulation results of the IM to a thermal model in a very fast and efficient way. The thermal capacities and resistances of the three-node thermal network model are parameterized by analytical formulations and an optimization procedure. For the parameterization of the model, temperature measurements of the IM operated in the 30-min short-time mode are used. Findings This approach allows an efficient calculation of the machine temperature under consideration of temperature-dependent losses. Using the proposed scaling procedure, the time to simulate the thermal behavior of an IM in a continuous operation mode is less than 5 s. The scaling procedure of IMs enables a rapid calculation of the thermal behavior using FE simulation data. Originality/value The approach uses a scaling procedure for the FE solutions of IMs, which results in the possibility to weakly couple a finite element method model and a LPTN model in a very efficient way.

Modeling and simulation analysis of the hybrid excitation synchronous machine system utilizing tooth harmonic for excitation

2016 ◽  
Vol 35 (2) ◽  
pp. 540-555 ◽  
Author(s):  
Yonghong Xia ◽  
Junbo Liu ◽  
Bo Xu ◽  
Hongjian Wu
Keyword(s):  
Permanent Magnet ◽  
Operation Mode ◽  
Structural Features ◽  
Current Waveform ◽  
Standard State ◽  
State Equations ◽  
Permanent Magnet Machine ◽  
Content Type ◽  
Machine System ◽  
Hybrid Excitation

Purpose – The purpose of this paper is to propose a novel hybrid excitation permanent magnet synchronous generator (HEPMSG) utilizing tooth harmonic for excitation, the structural features and operation principle of which are also described. Design/methodology/approach – To obtain the operation performance quickly, this paper derives the mathematical model of the machine system represented by circuit, and analyzes the operation mode of rectifier circuit in the tooth harmonic excitation system, then the standard state equations for each operation mode are obtained. Combining the inductance parameter of this machine with the load resistance and inductance, the armature current waveform, the field current waveform and tooth harmonic winding current waveform are obtained by using the numerical method to solve the standard state equation. Findings – Comparing with the experimental results, the availability of the principle and the validity of the model of the machine system are verified. Practical implications – This HEPMSG is a new brushless self-excited and self-regulated generator, which is suitable for an independent power source. Originality/value – Unlike the existing hybrid excitation permanent magnet machine, this HEPMSG utilized the inherent tooth harmonic EMF of the rotor to adjust the air-gap magnetic field of the permanent magnet machine.

Determination of the base position and working area for mobile manipulators

2016 ◽  
Vol 36 (1) ◽  
pp. 80-88 ◽  
Author(s):  
Shunan Ren ◽  
Xiangdong Yang ◽  
Jing Xu ◽  
Guolei Wang ◽  
Ying Xie ◽  
...  
Keyword(s):  
Operation Mode ◽  
Mobile Manipulator ◽  
Planning Problem ◽  
Mobile Manipulators ◽  
Line Planning ◽  
Content Type ◽  
Practical Applications ◽  
Base Position ◽  
Intersection Area ◽  
Intersection Line

Purpose – The purpose of this paper is to determine the base position and the largest working area for mobile manipulators. The base position determines the workspace of the mobile manipulator, particularly when the operation mode is intermittent (i.e. the mobile platform stops when the manipulator conducts the task). When the base of the manipulator is in the intersection area of the Base’s Workable Location Spaces (BWLSes), the end effector (EE) can reach all path points. In this study, the intersection line of BWLSes is calculated numerically, and the largest working area is determined using the BWLS concept. The performance of this method is validated with simulations on specific surface segments, such as plane, cylinder and conical surface segments. Design/methodology/approach – The BWLS is used to determine the largest working area and the base position in which the mobile manipulator can reach all path points with the objective of reducing off-line planning time. Findings – Without considering the orientation of the EE, the base position and the working area for the mobile manipulator are determined using the BWLS. Compared to other methods, the proposed algorithm is beneficial when the planning problem has six dimensions, ensuring the reachability and stability of the EE. Originality/value – The algorithm needs no manual configuration, and its performance is investigated for typical surfaces in practical applications.

Active disturbance rejection motion control of spherical robot with parameter tuning

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Manlu Liu ◽  
Rui Lin ◽  
Maotao Yang ◽  
Anaid V. Nazarova ◽  
Jianwen Huo
Keyword(s):  
Motion Control ◽  
Disturbance Rejection ◽  
Parameter Tuning ◽  
Pso Algorithm ◽  
State Equation ◽  
Expected Value ◽  
Spherical Robot ◽  
Motion Controller ◽  
Actual Case ◽  
Content Type

Purpose The characteristics of spherical robots, such as under-drive, non-holonomic constraints and strong coupling, make it difficult to establish its motion control model accurately. To improve the anti-interference performance of spherical robots in practical engineering, this paper proposes a spherical robot motion controller based on auto-disturbance rejection control (ADRC) with parameter tuning. Design/methodology/approach This paper considers the influences of the spherical shell, internal frame and pendulum on the movement of the spherical robot during the rotation to establish the multi-body dynamics model of the XK-I spherical robot. Due to the serious coupling problem of the dynamic model, the motion control state equation is constructed using linearization and decoupling. The XK-I spherical robot PSO-ADRC motion controller with parameter tuning function is designed by combining the state equation with the particle swarm optimization (PSO) algorithm. Finally, experiments are performed to evaluate the feasibility of PSO-ADRC in an actual case compared to ADRC, PSO-PID and PID. Findings By analyzing the required time to reach the expected value, the control stability and the fluctuation range of the standard deviation after reaching the expected value, the superiority of PSO-ADRC to ADRC, PSO-PID and PID is demonstrated in terms of the speed and anti-interference ability. Practical implications The proposed method can be applied to the robot control field. Originality/value A parameter-tuning method for auto-disturbance-rejection motion control of the spherical robot is proposed. According to the experimental results, the anti-interference ability of the spherical robot moving on uneven ground is improved. Therefore, it provides a foundation for the autonomous environmental monitoring of the spherical robot equipped with sensors.

Deviation from the direction of motion across gaits in a hexapodal robot

2020 ◽  
Vol 47 (3) ◽  
pp. 325-333
Author(s):  
Zijie Niu ◽  
Aiwen Zhan ◽  
Yongjie Cui
Keyword(s):  
Design Methodology ◽  
Planning Method ◽  
Hexapod Robot ◽  
Acceleration Sensor ◽  
Forward Motion ◽  
Gait Planning ◽  
Content Type ◽  
Cargo Handling ◽  
Subsequent Research ◽  
Experimental Errors

Purpose The purpose of this study is to test a chassis robot on rugged road cargo handling. Design/methodology/approach Attitude solution of D-H series robot gyroscope speed and acceleration sensor. Findings In identical experimental environments, hexapodal robots experience smaller deviations when using a four-footed propulsive gait from a typical three-footed gait for forward motion; for the same distance but at different speeds, the deviation basically keeps itself within the same range when the robot advances forward with four-foot propulsive gait; because the foot slide in the three-footed gait sometimes experiences frictions, the robot exhibits a large gap in directional deviations in different courses during motion; for motion using a four-footed propulsive gait, there are minor directional deviations of hexapodal robots resulting from experimental errors, which can be reduced through optimizing mechanical structures. Originality/value Planning different gaits can solve problems existing in some typical gaits. This article has put forward a gait planning method for hexapodal robots moving forward with diverse gaits as a redundant multifreedom structure. Subsequent research can combine a multiparallel-legged structure to analyze kinematics, optimize the robot’s mechanical structure and carry out in-depth research of hexapod robot gaits.

Analysis on the gamification and implementation of Leap Motion Controller in the I.E.D. Técnico industrial de Tocancipá

2018 ◽  
Vol 15 (2) ◽  
pp. 155-164 ◽  
Author(s):  
Maira Alejandra Castañeda ◽  
Ananda Maye Guerra ◽  
Roberto Ferro
Keyword(s):  
Positive Impact ◽  
Traditional Education ◽  
Future Research ◽  
Leap Motion ◽  
Motion Controller ◽  
Pedagogical Tools ◽  
Content Type ◽  
Leap Motion Controller ◽  
English Classes ◽  
Technological Tools

Purpose This paper aims to show that the use of technological tools such as augmented reality (AR) and its integration in the education system through gamification offers better learning results when compared with traditional education. Design/methodology/approach Through the implementation of the Leap Motion Controller in English classes of the first and third grades at the I.E.D. Técnico Industrial de Tocancipá, the authors compared the appropriation of topics in groups that received the class in the traditional way and groups that were introduced to the Leap Motion Controller as a pedagogical tool. A statistical and comparative analysis was performed on the results obtained for each group. Findings It was concluded that the use of technological tools has a positive impact in terms of educational performance and learning, giving better results than traditional education; in addition, students showed great empathy with the AR tool. On the other hand, there were limitations to just having a Leap Motion Controller device, which prevented the student experience was even more didactic; based on this, for future research, factors such as the size of the population and the amount of available resources will be taken into account to achieve better results. Originality/value The importance of this paper lies in the little research that has been done in Colombia regarding the introduction of AR and other emerging technologies as pedagogical tools, turning the present findings into a base to go deeper into the field and to prove that it is possible to introduce successfully this type of technology in the education.

Sequential auction based parking space sharing and pricing mechanism in the era of sharing economy

2019 ◽  
Vol 119 (8) ◽  
pp. 1734-1747 ◽  
Author(s):  
Bing Qing Tan ◽  
Su Xiu Xu ◽  
Ray Zhong ◽  
Meng Cheng ◽  
Kai Kang
Keyword(s):  
Market Design ◽  
Parking Space ◽  
Content Type ◽  
Auction Mechanism ◽  
Management Platform ◽  
Sealed Bid ◽  
Sequential Auction ◽  
Auction Mechanisms ◽  
Design Mechanism ◽  
The Impact

Purpose The purpose of this paper is to design a parking space management platform to alleviate the parking problem and a two-stage solution for sharing and allocating parking spaces. Design/methodology/approach The market design mechanism and auction mechanism are integrated to solve the problem of parking space sharing and allocation. In the first stage, the market design mechanism with two rules is applied for making the good use of idle parking spaces. In the second stage, two sequential auction mechanisms are designed by extending first/second-price sealed bid auction mechanism to allocate both private and public parking spaces, which are received in previous stage and owned by the platform. Two stages are connected through a forecasted price which is calculated through the exponential smoothing method. Findings First, we prove three important properties of the proposed sequential auction mechanisms, namely, incentive compatibility, revenue equivalence and individual rationality. Second, a simulation study is used to verify the effectiveness of the mechanisms through numerical analysis. The impact of the system on three parts, namely, agents (private parking space suppliers), bidders (parking space customers) and the platform, is examined. Third, the results show that the sharing mechanism with monetrary incentive will attract a number of agents to join in the platform. The bidders are also able to obtain considerable utility, as compared with the (average) market parking fees. The platform can thus effectively allocate parking spaces with reasonable prices. Originality/value This paper combines the classical sequential auction mechanisms with the market design mechanism for the parking space sharing and allocation problem. The modeling and analysis method can also be used to address the similar allocation and pricing problems of other resources like bicycle sharing.

The pop-up store as a foreign operation mode (FOM) for retailers

2014 ◽  
Vol 42 (7) ◽  
pp. 643-670 ◽  
Author(s):  
Karine Picot-Coupey
Keyword(s):  
International Development ◽  
Operation Mode ◽  
Secondary Data ◽  
Future Research ◽  
Internationalization Process ◽  
Structured Interviews ◽  
Senior Managers ◽  
International Context ◽  
Content Type ◽  
Foreign Operation

Purpose – The purpose of this paper is first, to describe the characteristics of a pop-up store in an international context, second, to investigate the motivating factors for its choice and third, to analyze its role in the retail internationalization process. Design/methodology/approach – A multiple-case study was adopted. Research was carried out using secondary data sources, social media observation and semi-structured interviews with senior managers in charge of the international development and management of pop-up stores. A conceptualizing content analysis was conducted both manually and with NVivo software. Findings – The main results cover the following aspects of an international pop-up store and highlight the differences between this choice of FOM and other store formats: key characteristics: location, design and atmosphere, merchandise mix, and store events are very creative in order to attract foreign consumer attention; choice motivations: three motivations were found, which were first, to test and adapt the concept with foreign consumers possibly unfamiliar with such a store concept, second, to raise and sustain the international profile of a retail brand, and third, to develop relationship networks with stakeholders in foreign markets; role in the retail internationalization process: a dynamic approach is adopted as role varies from mode switch at the entry stage to mode combination at the further expansion stage. Research limitations/implications – The results of this research suggest avenues for future research, particularly in relation to how the concept of the international pop-up store will evolve over time. Practical implications – This research provides guidelines for international retail managers wishing to choose a pop-up store as a foreign operation mode (FOM). Originality/value – This research provides a new insight into the characteristics, choice motivations and management of a pop-up store in an international context.

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