Navigation of an omnidirectional robot based on Takagi-Sugeno Logic Model Type-I

2021 ◽  
Author(s):  
Francisco Valdepena ◽  
Dante Mujica Vargas ◽  
Antonio Luna-Alvarez ◽  
Miguel Angel Ruiz-Jaimes
Keyword(s):  
Logic Model ◽  
Type I ◽  
Model Type ◽  
Takagi Sugeno

scholarly journals Fuzzy Gain Scheduling PID Control for Position of the AR.Drone

2018 ◽  
Vol 8 (4) ◽  
pp. 1939 ◽  
Author(s):  
Agung Prayitno ◽  
Veronica Indrawati ◽  
Ivan Immanuel Trusulaw
Keyword(s):  
Fuzzy Logic ◽  
Pid Control ◽  
Gain Scheduling ◽  
Logic Model ◽  
Pid Controllers ◽  
Process Scheduling ◽  
Tuning Parameters ◽  
Control Scheme ◽  
Integral Error ◽  
Takagi Sugeno

This paper describes the design and implementation of fuzzy gain scheduling PID control for position of the AR.Drone. This control scheme uses 3 PID controllers as the main controller of the AR.Drone, in this case to control pitch, roll and throttle. The process of tuning parameters for each PID is done automatically by scheduling determined by Takagi-Sugeno-Kang (TSK) fuzzy logic model. This paper uses five function sets of PID parameters that will be evaluated by fuzzy logic in order to tune PID controllers. Error position (x,y,z), as inputs of controller, enters the PID Signal block yielding the ouputs in term of error, integral error and differential error. These signal become the inputs of the fuzzy scheduler to yield outputs pitch, roll and throttle to the AR.drone. The control scheme is implemented on the AR.Drone to make it fly to forming a square in the room. The experimental results show that the control scheme can follow the desired points, and process scheduling PID parameters can be shown.

scholarly journals AN INTEGER LINEAR PROGRAMMING APPROACH APPLIED TO THE CERRADO (SAVANNA) MANAGEMENT

FLORESTA ◽  
2014 ◽  
Vol 44 (1) ◽  
pp. 1
Author(s):  
Henrique Moreira Dabien Haddad ◽  
Lucas Rezende Gomide ◽  
Bruno Rogério Cruz ◽  
Sérgio Teixeira Da Silva
Keyword(s):  
Linear Programming ◽  
Forest Management ◽  
Integer Linear Programming ◽  
Planning Horizon ◽  
Sensu Stricto ◽  
Programming Approach ◽  
Type I ◽  
Promising Alternative ◽  
Model Type ◽  
Regulation Model

AbstractCerrado presents great potential for the use of its resources, whether timber or non-timber, as fruits, firewood and charcoal. Thus, this study aimed to test the use of forest regulation model type I in a remnant of cerrado, applying the integer linear programming. The studied area was a remnant of cerrado sensu stricto located in São Romão – MG. The type of forest management carried out was the strip cutting. with post regeneration conduction. The model type I was applied generating 8 scenarios considering 14 years of planning horizon. The tested scenarios considered the area control, volume control and also both controls in the same model, where the objective function was to maximize the present value of revenues (PVR). After data processing it was observed that scenario 5 was the best, because it obtained the lowest amplitude variation (425 – 575 ha/year) and volume (18.000 – 21.000 m3/year) of the exploited surface limits, presenting a PVR of R$4,004,561.58. It is possible to conclude that the developed models were able to regulate the volumetric yield in constant flows over the planning horizon, representing a promising alternative for the sustainable planning of the wood resources of the cerrado.Keywords: Mathematical programming; forest regulation; forest management. ResumoUma abordagem aplicada da programação linear inteira no manejo do cerrado. O cerrado apresenta um grande potencial de uso de seus recursos, sejam eles madeireiros ou não madeireiros, como frutos, lenha e carvão vegetal. Assim, o trabalho teve como objetivo testar o uso do modelo tipo I de regulação florestal em um remanescente de cerrado utilizando a programação linear inteira. A área de estudo foi um remanescente de cerrado sensu stricto localizado em São Romão – MG. O regime de manejo elaborado foi o corte em faixas com posterior condução da regeneração. O modelo tipo I foi aplicado gerando 8 cenários em um horizonte de planejamento de 14 anos. Os cenários testados consideraram o controle por área, por volume, bem como ambos no mesmo modelo, sendo a função objetivo o valor presente das receitas (VPR) a ser maximizado. Após o processamento dos modelos observou-se que o cenário 5 foi o melhor, possuindo limites de área explorada (425 – 575 ha/ano) e volumétricos (18.000 – 21.000 m3/ano) com menor variação de amplitude, apresentando R$4.004.561,58 de VPR. Pôde-se concluir que os modelos formulados foram capazes de regular a produção volumétrica em fluxos constantes ao longo do horizonte de planejamento, em sua grande maioria, constituindo-se de uma alternativa promissora ao planejamento sustentável dos recursos madeireiros do cerrado.Palavras-chave: Programação matemática; regulação florestal; manejo florestal.

Heat-Etching with a Bullivant Type II Simple Freeze-Cleave Device

1970 ◽  
Vol 28 ◽  
pp. 106-107 ◽  
Author(s):  
Ronald S. Weinstein ◽  
N. Scott McNutt
Keyword(s):  
New Zealand ◽  
General Hospital ◽  
Massachusetts General Hospital ◽  
Type I ◽  
Type Ii ◽  
Collaborative Effort ◽  
Temperature And Pressure ◽  
The University

The Type I simple cold block device was described by Bullivant and Ames in 1966 and represented the product of the first successful effort to simplify the equipment required to do sophisticated freeze-cleave techniques. Bullivant, Weinstein and Someda described the Type II device which is a modification of the Type I device and was developed as a collaborative effort at the Massachusetts General Hospital and the University of Auckland, New Zealand. The modifications reduced specimen contamination and provided controlled specimen warming for heat-etching of fracture faces. We have now tested the Mass. General Hospital version of the Type II device (called the “Type II-MGH device”) on a wide variety of biological specimens and have established temperature and pressure curves for routine heat-etching with the device.

Two Distinct Types of Microfilaments in the Cytoplasm of Human Adenohypophysial Cells

1973 ◽  
Vol 31 ◽  
pp. 668-669
Author(s):  
E. Horvath ◽  
K. Kovacs ◽  
I. E. Stratmann ◽  
C. Ezrin
Keyword(s):  
Pituitary Tumors ◽  
Average Diameter ◽  
Anterior Lobe ◽  
Uranyl Acetate ◽  
Type I ◽  
Breast Cancer Patients ◽  
Human Pituitary ◽  
Severe Diabetes ◽  
Pituitary Glands ◽  
Membrane Bound

Surgically removed human pituitary glands as well as pituitary tumors fixed in glutaraldehyde, postfixed in osmium tetroxide, embedded in epon resin, stained with uranyl acetate and lead citrate have been investigated by electron microscopy in order to correlate ultrastructure with functional activity. In the course of this study two distinct types of microfilaments have been identified in the cytoplasm of adenohypophysiocytes.Type I microfilaments (Fig. 1) were found in the cytoplasm of anterior lobe cells of five female subjects with disseminated mammary cancer and two patients with severe diabetes mellitus. The breast cancer patients were treated pre-operatively for various periods of time with different doses of oxysteroids. The microfilaments had an average diameter of JO A, formed parallel bundles, were scattered irregularly in the cytoplasm and were frequently located in the perikaryon. They were not membrane-bound and failed to show any periodicity.

The diagnosis of metabolic storage disease in skin biopsies (a light-, electronmicroscopic, and analytical study)

1978 ◽  
Vol 36 (2) ◽  
pp. 648-649
Author(s):  
W. Jurecka ◽  
W. Gebhart ◽  
H. Lassmann
Keyword(s):  
Storage Disease ◽  
Hunter Syndrome ◽  
Histochemical Demonstration ◽  
Sweat Glands ◽  
Type I ◽  
Storage Material ◽  
Scheie Syndrome ◽  
Storage Products ◽  
Skin Biopsies ◽  
Type V

Diagnosis of metabolic storage disease can be established by the determination of enzymes or storage material in blood, urine, or several tissues or by clinical parameters. Identification of the accumulated storage products is possible by biochemical analysis of isolated material, by histochemical demonstration in sections, or by ultrastructural demonstration of typical inclusion bodies. In order to determine the significance of such inclusions in human skin biopsies several types of metabolic storage disease were investigated. The following results were obtained.In MPS type I (Pfaundler-Hurler-Syndrome), type II (Hunter-Syndrome), and type V (Ullrich-Scheie-Syndrome) mainly “empty” vacuoles were found in skin fibroblasts, in Schwann cells, keratinocytes and macrophages (Dorfmann and Matalon 1972). In addition, prominent vacuolisation was found in eccrine sweat glands. The storage material could be preserved in part by fixation with cetylpyridiniumchloride and was also present within fibroblasts grown in tissue culture.

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