Joystick Steering in Recreational Boats Using L1 Adaptive Control

2020 ◽  
Vol 142 (6) ◽  
Author(s):  
John A. Bayless ◽  
Phillip A. Voglewede
Keyword(s):  
Adaptive Control ◽  
Scale Model ◽  
Small Scale ◽  
Physical Parameters ◽  
Velocity Control ◽  
Loop Control ◽  
L1 Adaptive Control ◽  
The Cost ◽  
Control Methodology ◽  
Joystick Control

Abstract This paper addresses the challenge of commissioning recreational boats with joystick control systems when the boat's physical parameters are not known. The work was conducted through matlab simulations and scale-model physical testing. The outcome is a working nonlinear, closed-loop control methodology shown on a small-scale prototype boat. The control methodology, L1 adaptive control (L1AC), provides adaptive velocity and angular velocity control. The control system delivers performance levels that could reduce the cost of commissioning boats with joystick control, improve overall performance, and potentially enable the technology to support new boat markets.

The Application of the OPTICS Algorithm to Cluster Analysis in Atom Probe Tomography Data

2019 ◽  
Vol 25 (2) ◽  
pp. 338-348 ◽  
Author(s):  
Jing Wang ◽  
Daniel K. Schreiber ◽  
Nathan Bailey ◽  
Peter Hosemann ◽  
Mychailo B. Toloczko
Keyword(s):  
Cluster Analysis ◽  
Atom Probe Tomography ◽  
Spatial Clustering ◽  
Atom Probe ◽  
Atomic Density ◽  
Scale Model ◽  
Small Scale ◽  
Physical Parameters ◽  
Structure Property ◽  
Ferritic Alloy

AbstractAtom probe tomography (APT) is a powerful technique to characterize buried three-dimensional nanostructures in a variety of materials. Accurate characterization of those nanometer-scale clusters and precipitates is of great scientific significance to understand the structure–property relationships and the microstructural evolution. The current widely used cluster analysis method, a variant of the density-based spatial clustering of applications with noise algorithm, can only accurately extract clusters of the same atomic density, neglecting several experimental realities, such as density variations within and between clusters and the nonuniformity of the atomic density in the APT reconstruction itself (e.g., crystallographic poles and other field evaporation artifacts). This clustering method relies heavily on multiple input parameters, but ideal selection of those parameters is challenging and oftentimes ambiguous. In this study, we utilize a well-known cluster analysis algorithm, called ordering points to identify the clustering structures, and an automatic cluster extraction algorithm to analyze clusters of varying atomic density in APT data. This approach requires only one free parameter, and other inputs can be estimated or bounded based on physical parameters, such as the lattice parameter and solute concentration. The effectiveness of this method is demonstrated by application to several small-scale model datasets and a real APT dataset obtained from an oxide-dispersion strengthened ferritic alloy specimen.

scholarly journals Cost effective meter of moisture integral parameters of the atmospheric column

2021 ◽  
pp. 24-33
Author(s):  
N. V. Ruzhentsev ◽  
S. S. Zhyla ◽  
V. V. Pavlikov ◽  
V. V. Kosharsky ◽  
G. S. Cherepnin
Keyword(s):  
Millimeter Wave ◽  
Remote Monitoring ◽  
Propagation Model ◽  
Small Scale ◽  
Physical Parameters ◽  
Scale Production ◽  
Atmospheric Moisture ◽  
Atmospheric Column ◽  
The Cost ◽  
Element Base

Continuous remote monitoring of the atmospheric physical parameters is an urgent task for solving the issues related to meteorology, climatology, artificial influence on clouds, studying the physical parameters of cloud cover etc. In the developed countries such issues are solved using science-driven technologies of millimeter wave range radiometry. They allow, in particular, quick restoration of the values of total content and effective temperature of droplet and vaporous moisture in the atmospheric column, and distinguishing the areas with crystalline, droplet or vaporous water phases. This work aims at substantiating, by calculation and experiment, the possibility of large-scale solving the problems of continuous remote monitoring of the studied atmospheric moisture parameters using the method of centimetre wavelength range radiometry. To determine the best pair of frequencies for restoring the atmospheric moisture parameters based on radiometric data of remote sensing the linear absorption coefficients were calculated for clear atmosphere, for cloudy atmosphere depending on the temperature of drops and for rainfalls of various intensities for 4, 12, 20, 40 and 94 GHz frequencies. In order to calculate these data, we used a well-known MPM model (Atmospheric Millimeter-Wave Propagation Model). At the same time, calculation of the altitude profiles of the atmospheric meteorological parameters was carried out based on the ERA-15 model. Comparison of the data obtained by calculation, taking into account the progress of the technical parameters of the serial element base, indicated a possibility of solving the above problems in the centimetre wavelength as well. The research presents a description of the diagram and technical solutions, as well as the appearance of a two-frequency radiometric system with 1.5 cm and 2.5 cm ranges created at the National Aerospace University (KhAI) on the basis of an easily accessible modern element base and full-scale tests' results. The budget-friendly focus of the described product allows for radiophysical measurement with a sensitivity of radiometers exceeding 0.01 K while ensuring the cost of small-scale production of the radio technical part of the system, comparable to the cost of TV converters commonly used in everyday life.

Novel L1 Adaptive Control Methodology for Aerial Refueling with Guaranteed Transient Performance

2008 ◽  
Vol 31 (1) ◽  
pp. 182-193 ◽  
Author(s):  
Jiang Wang ◽  
Vijay V. Patel ◽  
Chengyu Cao ◽  
Naira Hovakimyan ◽  
Eugene Lavretsky
Keyword(s):  
Adaptive Control ◽  
Transient Performance ◽  
Aerial Refueling ◽  
L1 Adaptive Control ◽  
Control Methodology

Large Deformation of Flexure Couplings for Robotic Arm Joints

2017 ◽  
Author(s):  
Nicola Y. Bailey ◽  
Chris Lusty ◽  
Patrick S. Keogh
Keyword(s):  
Open Loop ◽  
Small Scale ◽  
Nonlinear Mathematical Model ◽  
Loop Control ◽  
Multiple Paths ◽  
Deformable Structure ◽  
Scale Motion ◽  
Multi Body ◽  
Control Methodology ◽  
Limited Motion

Conventional multi-body mechanisms used in robotics and automated machinery can have limited motion due to the bearing and transmission parts. Replacing a traditional bearing joint with a compact deformable structure (flexure coupling) can improve the performance envelope for a mechanism. A dynamic nonlinear mathematical model is derived for a mechanism comprising a flexure coupling, which can undergo large deformations, connected to a rigid link. Direct actuation of the mechanism is assumed in three directions and an open-loop control methodology is designed to regulate the actuation forces to achieve a prescribed path with precise and repeatable small scale motion. A mechanism containing a flexure coupling is examined and compared to that of an ideal hinge joint. The results show that a flexure coupling allows an increased range of motion for the mechanism compared to a hinge coupling and can have multiple paths in the x and y direction for a prescribed angle trajectory at the end of the mechanism.

RANCANG BANGUN PERANGKAT EKSPERIMENTASI PROSES PIROLISIS BIOMASA GELOMBANG MIKRO

2013 ◽  
Vol 14 (2) ◽  
Author(s):  
Noor Fachrizal
Keyword(s):  
Large Scale ◽  
Continuous Model ◽  
Biomass Energy ◽  
Scale Model ◽  
Small Scale ◽  
Laboratory Apparatus ◽  
Liquid Form ◽  
Large Scale Model ◽  
Bio Oil ◽  
Pyrolysis Of Biomass

Biomass such as agriculture waste and urban waste are enormous potency as energy resources instead of enviromental problem. organic waste can be converted into energy in the form of liquid fuel, solid, and syngas by using of pyrolysis technique. Pyrolysis process can yield higher liquid form when the process can be drifted into fast and flash response. It can be solved by using microwave heating method. This research is started from developing an experimentation laboratory apparatus of microwave-assisted pyrolysis of biomass energy conversion system, and conducting preliminary experiments for gaining the proof that this method can be established for driving the process properly and safely. Modifying commercial oven into laboratory apparatus has been done, it works safely, and initial experiments have been carried out, process yields bio-oil and charcoal shortly, several parameters are achieved. Some further experiments are still needed for more detail parameters. Theresults may be used to design small-scale continuous model of productionsystem, which then can be developed into large-scale model that applicable for comercial use.

scholarly journals Analysis of Operational Efficiencies and Costs for Extracting Thinned Woods in Small-Scale Forestry, Nasunogahara Area, Tochigi Prefecture, Japan

2020 ◽  
Vol 3 (1) ◽  
pp. 61
Author(s):  
Kazuhiro Aruga
Keyword(s):  
Transportation Costs ◽  
The Other ◽  
Small Scale ◽  
Light Truck ◽  
Operation Costs ◽  
Other Hand ◽  
Light Trucks ◽  
The Cost ◽  
Manual Extraction ◽  
Truck Transportation

In this study, two operational methodologies to extract thinned woods were investigated in the Nasunogahara area, Tochigi Prefecture, Japan. Methodology one included manual extraction and light truck transportation. Methodology two included mini-forwarder forwarding and four-ton truck transportation. Furthermore, a newly introduced chipper was investigated. As a result, costs of manual extractions within 10 m and 20 m were JPY942/m3 and JPY1040/m3, respectively. On the other hand, the forwarding cost of the mini-forwarder was JPY499/m3, which was significantly lower than the cost of manual extractions. Transportation costs with light trucks and four-ton trucks were JPY7224/m3 and JPY1298/m3, respectively, with 28 km transportation distances. Chipping operation costs were JPY1036/m3 and JPY1160/m3 with three and two persons, respectively. Finally, the total costs of methodologies one and two from extraction within 20 m to chipping were estimated as JPY9300/m3 and JPY2833/m3, respectively, with 28 km transportation distances and three-person chipping operations (EUR1 = JPY126, as of 12 August 2020).

scholarly journals Sensuator: A Hybrid Sensor–Actuator Approach to Soft Robotic Proprioception Using Recurrent Neural Networks

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 30
Author(s):  
Pornthep Preechayasomboon ◽  
Eric Rombokas
Keyword(s):  
Neural Networks ◽  
Recurrent Neural Networks ◽  
Linear Models ◽  
Open Loop ◽  
Proof Of Concept ◽  
State Estimator ◽  
Loop Control ◽  
Practical Applications ◽  
Soft Actuator ◽  
The Cost

Soft robotic actuators are now being used in practical applications; however, they are often limited to open-loop control that relies on the inherent compliance of the actuator. Achieving human-like manipulation and grasping with soft robotic actuators requires at least some form of sensing, which often comes at the cost of complex fabrication and purposefully built sensor structures. In this paper, we utilize the actuating fluid itself as a sensing medium to achieve high-fidelity proprioception in a soft actuator. As our sensors are somewhat unstructured, their readings are difficult to interpret using linear models. We therefore present a proof of concept of a method for deriving the pose of the soft actuator using recurrent neural networks. We present the experimental setup and our learned state estimator to show that our method is viable for achieving proprioception and is also robust to common sensor failures.

scholarly journals Experimental Study on the Behavior of Existing Reinforced Concrete Multi-Column Piers under Earthquake Loading

2021 ◽  
Vol 11 (6) ◽  
pp. 2652
Author(s):  
Jung Han Kim ◽  
Ick-Hyun Kim ◽  
Jin Ho Lee
Keyword(s):  
Seismic Performance ◽  
Seismic Design ◽  
Bridge Piers ◽  
Scale Model ◽  
Inertia Force ◽  
Small Scale ◽  
Lap Splice ◽  
Existing Structures ◽  
Seismic Design Code ◽  
Seismic Force

When a seismic force acts on bridges, the pier can be damaged by the horizontal inertia force of the superstructure. To prevent this failure, criteria for seismic reinforcement details have been developed in many design codes. However, in moderate seismicity regions, many existing bridges were constructed without considering seismic detail because the detailed seismic design code was only applied recently. These existing structures should be retrofitted by evaluating their seismic performance. Even if the seismic design criteria are not applied, it cannot be concluded that the structure does not have adequate seismic performance. In particular, the performance of a lap-spliced reinforcement bar at a construction joint applied by past practices cannot be easily evaluated analytically. Therefore, experimental tests on the bridge piers considering a non-seismic detail of existing structures need to be performed to evaluate the seismic performance. For this reason, six small scale specimens according to existing bridge piers were constructed and seismic performances were evaluated experimentally. The three types of reinforcement detail were adjusted, including a lap-splice for construction joints. Quasi-static loading tests were performed for three types of scale model with two-column piers in both the longitudinal and transverse directions. From the test results, the effect on the failure mechanism of the lap-splice and transverse reinforcement ratio were investigated. The difference in failure characteristics according to the loading direction was investigated by the location of plastic hinges. Finally, the seismic capacity related to the displacement ductility factor and the absorbed energy by hysteresis behavior for each test were obtained and discussed.

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