Test-environment based on a team of miniature walking robots for evaluation of collaborative control methods

This paper presents the design and implementation of a small-scale hardware-in-the-loop test environment for lateral vehicle dynamics controllers. The test rig consists of a conveyor belt and a 1:10 scale model vehicle. The vehicle is anchored to the frame of the conveyor belt using a special fixture, which constrains only the longitudinal displacement of the car. Therefore, the longitudinal velocity of the vehicle is provided by the conveyor belt, while the steering is generated by the computational unit, where various control methods can be implemented. The test rig is equipped with sensors that provide accurate measurements of the position and orientation of the car, which can be used as feedback in the control algorithms. The paper includes a case study, where the analytical stability analysis of a lane-keeping controller is verified with experiments on the test rig. The proposed test environment provides a compact, cost effective and versatile framework for the testing of various steering control methods in a running vehicle, while maintaining the benefits of a controlled laboratory environment. The experimental setup can also be used for educational and demonstrational purposes.

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Control Methods for Bipedal Walking Robots With Integrated Elastic Elements

Advances in Systems Analysis, Software Engineering, and High Performance Computing - Cyber-Physical Systems for Social Applications ◽

10.4018/978-1-5225-7879-6.ch017 ◽

2019 ◽

pp. 365-385

Author(s):

Sergei Savin

Keyword(s):

Control System ◽

Controller Design ◽

Feedback Controller ◽

Bipedal Walking ◽

Walking Robots ◽

Control Methods ◽

Control Laws ◽

Motor Torque ◽

Inertial Parameters ◽

Elastic Elements

In this chapter, the problem of controlling bipedal walking robots with integrated elastic elements is considered. A survey of the existing control methods developed for walking robots is given, and their applicability to the task of controlling the robots with elastic elements is analyzed. The focus of the chapter lies with the feedback controller design. The chapter studies the influence that the elastic elements modelled as a spring-damper system have on the behavior of the control system. The influence of the spring-damper parameters and the inertial parameters of the actuator gear box and the motor shaft on the generated control laws and the resulting peak torques are discussed. The changes in these effects associated with motor torque saturation and sensors nonlinearities are studied. It is shown that the introduction of torque saturation changes the way the elastic drive parameters affect the resulting behavior of the control system. The ways to use obtained results in practice are discussed.

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Numerical simulation of fire smoke control methods in subway stations and collaborative control system for emergency rescue

Process Safety and Environmental Protection ◽

10.1016/j.psep.2020.09.033 ◽

2021 ◽

Vol 147 ◽

pp. 146-161 ◽

Cited By ~ 1

Author(s):

Kai Wang ◽

Weiyao Cai ◽

Yuchen Zhang ◽

Haiqing Hao ◽

Ziting Wang

Keyword(s):

Numerical Simulation ◽

Control System ◽

Control Methods ◽

Smoke Control ◽

Emergency Rescue ◽

Collaborative Control ◽

Fire Smoke ◽

Subway Stations

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Collaborative Control Methods for Automated Air-to-Air Refuelling

AIAA Guidance, Navigation, and Control Conference ◽

10.2514/6.2012-4767 ◽

2012 ◽

Cited By ~ 3

Author(s):

Steve Bullock ◽

Peter Thomas ◽

Ujjar Bhandari ◽

Thomas Richardson

Keyword(s):

Control Methods ◽

Collaborative Control

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IT-Cooling Collaborative Control Methods for Battery-Aware IT-Systems Targeting India

ICT as Key Technology against Global Warming - Lecture Notes in Computer Science ◽

10.1007/978-3-642-32606-6_1 ◽

2012 ◽

pp. 1-17 ◽

Cited By ~ 1

Author(s):

Tadayuki Matsumura ◽

Tetsuya Yamada

Keyword(s):

Control Methods ◽

Collaborative Control ◽

It Systems

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Comparative Analysis of Control Methods for Walking Robots with Nonlinear Sensors

2018 Dynamics of Systems, Mechanisms and Machines (Dynamics) ◽

10.1109/dynamics.2018.8601490 ◽

2018 ◽

Author(s):

Sergei Savin

Keyword(s):

Comparative Analysis ◽

Walking Robots ◽

Control Methods ◽

Nonlinear Sensors

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Correlation between dislocation, grain boundary and interface of duplex SS in stress corrosion cracking(SCC)

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100177775 ◽

1990 ◽

Vol 48 (4) ◽

pp. 928-929

Author(s):

Wang Zheng-fang ◽

Z.F. Wang

Keyword(s):

Stainless Steel ◽

Thermal Cycle ◽

Secondary Phase ◽

Corrosion Cracking ◽

Coarse Grained ◽

Test Environment ◽

Fine Grained ◽

Evaluation Test ◽

Welding Thermal Cycle ◽

Micro Analysis

The main purpose of this study highlights on the evaluation of chloride SCC resistance of the material,duplex stainless steel,OOCr18Ni5Mo3Si2 (18-5Mo) and its welded coarse grained zone(CGZ).18-5Mo is a dual phases (A+F) stainless steel with yield strength:512N/mm2 .The proportion of secondary Phase(A phase) accounts for 30-35% of the total with fine grained and homogeneously distributed A and F phases(Fig.1).After being welded by a specific welding thermal cycle to the material,i.e. Tmax=1350°C and t8/5=20s,microstructure may change from fine grained morphology to coarse grained morphology and from homogeneously distributed of A phase to a concentration of A phase(Fig.2).Meanwhile,the proportion of A phase reduced from 35% to 5-10°o.For this reason it is known as welded coarse grained zone(CGZ).In association with difference of microstructure between base metal and welded CGZ,so chloride SCC resistance also differ from each other.Test procedures:Constant load tensile test(CLTT) were performed for recording Esce-t curve by which corrosion cracking growth can be described, tf,fractured time,can also be recorded by the test which is taken as a electrochemical behavior and mechanical property for SCC resistance evaluation. Test environment:143°C boiling 42%MgCl2 solution is used.Besides, micro analysis were conducted with light microscopy(LM),SEM,TEM,and Auger energy spectrum(AES) so as to reveal the correlation between the data generated by the CLTT results and micro analysis.

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Manipulate Me

European Journal of Psychological Assessment ◽

10.1027/1015-5759/a000534 ◽

2020 ◽

Vol 36 (4) ◽

pp. 554-562

Author(s):

Alica Thissen ◽

Frank M. Spinath ◽

Nicolas Becker

Keyword(s):

High School Students ◽

Spatial Ability ◽

Convergent Validity ◽

Item Difficulty ◽

Test Results ◽

Response Elimination ◽

School Students ◽

Test Environment ◽

Response Options ◽

Construction Task

Abstract. The cube construction task represents a novel format in the assessment of spatial ability through mental cube rotation tasks. Instead of selecting the correct answer from several response options, respondents construct their own response in a computerized test environment, leading to a higher demand for spatial ability. In the present study with a sample of 146 German high-school students, we tested an approach to manipulate the item difficulties in order to create items with a greater difficulty range. Furthermore, we compared the cube task in a distractor-free and a distractor-based version while the item stems were held identical. The average item difficulty of the distractor-free format was significantly higher than in the distractor-based format ( M = 0.27 vs. M = 0.46) and the distractor-free format showed a broader range of item difficulties (.02 ≤ pi ≤ .95 vs. .37 ≤ pi ≤ .63). The analyses of the test results also showed that the distractor-free format had a significantly higher correlation with a broad intelligence test ( r = .57 vs. r = .17). Reasons for the higher convergent validity of the distractor-free format (prevention of response elimination strategies and the broader range of item difficulties) and further research possibilities are discussed.

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