Path Control of a Heat Treatment Truck Considering Driver-Vehicle Interaction

2018 ◽  
Author(s):  
Andong Dai ◽  
Yunjun Xu
Keyword(s):  
Heat Treatment ◽  
Vision System ◽  
Optimal Path ◽  
Operation Time ◽  
The United States ◽  
Financial Loss ◽  
Linear Quadratic ◽  
Tree Alignment ◽  
Path Control ◽  
Production Period

Citrus greening (Huanglongbing) has caused significant financial loss in many states of the United States and worldwide. In recent years, a heat therapy method has been investigated to prolong the production period of the diseased citrus trees after infection. One crucial step in this heat treatment process is to precisely align the truck with the diseased tree to reduce the operation time during deployment of the treatment tent. In this study, a binocular vision system is used to detect the position of the diseased tree relative to the truck, and a direct based path planning method is used to generate a nominal, optimal path for the truck to follow. A driver’s eye perception model is derived, simulating the distortion due to the human eye’s perception of objects on the computer screen, which will be used in the truck controller. A linear quadratic controller is then designed to compensate for the error coming from the eye perception mismatches and sensor and actuator noise. The studied human augmented driving control system can significantly reduce the operation time as the driver doesn’t have to constantly get out of the cab to check the truck-tree alignment. Simulation results show the effectiveness of the proposed system.

Optimal Error-Clamping Design for Position-Based Visual Servoing of a 2-DOF Model Helicopter

2011 ◽  
Author(s):  
M. Alizadeh ◽  
C. Ratanasawanya ◽  
M. Mehrandezh ◽  
R. Paranjape
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Vision System ◽  
Physical Space ◽  
Linear Quadratic Regulator ◽  
Image Plane ◽  
Reference Trajectory ◽  
Linear Quadratic ◽  
Feed Forward ◽  
Model Helicopter

A vision-based servoing technique is proposed for a 2 degrees-of-freedom (dof) model helicopter equipped with a monocular vision system. In general, these techniques can be categorized as image- and position-based, where the task error is defined in the image plane in the former and in the physical space in the latter. The 2-dof model helicopter requires a configuration-dependent feed-forward control to compensate for gravitational forces when servoing on a ground target. Therefore, a position-based visual servoing deems more appropriate for precision control. Image information collected from a ground object, with known geometry a priori, is used to calculate the desired pose of the camera and correspondingly the desired joint angles of the model helicopter. To assure a smooth servoing, the task error is parameterized, using the information obtained from the linearaized image Jacobian, and time scaled to form a moving reference trajectory. At the higher level, a Linear Quadratic Regulator (LQR), augmented with a feed-forward term and an integrator, is used to track this trajectory. The discretization of the reference trajectory is achieved by an error-clamping strategy for optimal performance. The proposed technique was tested on a 2-dof model helicopter capable of pitch and yaw maneuvers carrying a light-weight off-the-shelf video camera. The test results show that the optimized controller can servo the model helicopter to a hovering pose for an image acquisition rate of as low as 2 frames per second.

Theoretical Analysis of Overlay GNSS Receiver Effects

2012 ◽  
Vol 3 (3) ◽  
pp. 38-53
Author(s):  
Alexander Rügamer ◽  
Cécile Mongrédien ◽  
Santiago Urquijo ◽  
Günter Rohmer
Keyword(s):  
Lower Bound ◽  
State Of The Art ◽  
Optimal Path ◽  
Signal Quality ◽  
Relative Gain ◽  
Noise Floor ◽  
Code Tracking ◽  
Front End ◽  
Path Control ◽  
Multi Band

Having given a short overview of GNSS signals and state-of-the-art multi-band front-end architectures, this paper presents a novel contribution to efficient multi-band GNSS reception. A general overlay based front-end architecture is introduced that enables the joint reception of two signals broadcast in separate frequency bands, sharing just one common baseband stage. The consequences of this overlay are analyzed for both signal and noise components. Signal overlay is shown to have a negligible impact on signal quality. It is shown that the noise floor superposition results in non-negligible degradations. However, it is also demonstrated that these degradations can be minimized by judiciously setting the relative gain between the two signal paths. As an illustration, the analytical optimal path-control expression to combine overlaid signals in an ionospheric-free pseudorange is derived for both Cramér-Rao Lower Bound and practical code tracking parameters. Finally, some practical overlay receiver and path control aspects are discussed.

Trajectory planning of mobile manipulators using dynamic programming approach

Robotica ◽  
2012 ◽  
Vol 31 (4) ◽  
pp. 643-656 ◽  
Author(s):  
M. H. Korayem ◽  
M. Irani ◽  
A. Charesaz ◽  
A. H. Korayem ◽  
A. Hashemi
Keyword(s):  
Dynamic Programming ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Vision System ◽  
Optimal Path ◽  
Optimization Method ◽  
Mobile Manipulator ◽  
Programming Approach ◽  
Planning Problem ◽  
Mobile Manipulators

SUMMARYThis paper presents a solution for optimal trajectory planning problem of robotic manipulators with complicated dynamic equations. The main goal is to find the optimal path with maximum dynamic load carrying capacity (DLCC). Proposed method can be implemented to problems of both motion along a specified path and point-to-point motion. Dynamic Programming (DP) approach is applied to solve optimization problem and find the positions and velocities that minimize a pre-defined performance index. Unlike previous attempts, proposed method increases the speed of convergence by using the sequential quadratic programming (SQP) formulation. This formulation is used for solving problems with nonlinear constraints. Also, this paper proposes a new algorithm to design optimal trajectory with maximum DLCC for both fixed and mobile base mechanical manipulators. Algorithms for DLCC calculations in previous works were based on indirect optimization method or linear programming approach. The proposed trajectory planning method is applied to a linear tracked Puma and the mobile manipulator named Scout. Application of this algorithm is confirmed and simulation results are compared with experimental results for Scout robot. In experimental test, results are obtained using a new stereo vision system to determine the position of the robot end-effector.

scholarly journals Az atomerőművek üzemidejének meghosszabbítása az Egyesült Államokban és Magyarországon

2020 ◽  
Vol 15 (28) ◽  
pp. 344-375
Author(s):  
Anita Paulovics
Keyword(s):  
United States ◽  
Nuclear Power ◽  
Power Plants ◽  
Nuclear Power Plants ◽  
Operation Time ◽  
The United States ◽  
Legal Regulation ◽  
Time Limit ◽  
Energy Strategy ◽  
The Usa

This paper is about the legal regulation of the extension of the operation time of nuclear power plants.  In Hungary the most important document in this respect has been the National Energy Strategy analyzed in the paper. In Hungary, the legal regulation of the extension of the time limit of the operation-permit of nuclear power plants is modelled on that of the United States. For this reason, the paper examines the rules in force in the USA on the extension of the operation time.  It could be of interest for several European countries considering to extend the operation time of their nuclear power plants.

scholarly journals Pileup of Insufficient Sleep and Day-to-Day Trajectories of Affective and Physical Well-Being

2021 ◽  
Vol 5 (Supplement_1) ◽  
pp. 113-113
Author(s):  
Soomi Lee
Keyword(s):  
Negative Affect ◽  
Multilevel Models ◽  
Well Being ◽  
The United States ◽  
Physical Symptoms ◽  
Vicious Cycle ◽  
Linear Quadratic ◽  
Insufficient Sleep ◽  
Diary Data ◽  
Rate Of Increase

Abstract This study examined whether and how pileup of insufficient sleep is associated with day-to-day trajectories of affective and physical well-being. Participants from the Midlife in the United States Study (N=1,795) provided diary data for eight days. Pileup of insufficient sleep was operationalized as the number of consecutive nights with <6 hours of sleep. Multilevel models evaluated the linear, quadratic, and cubic effects of pileup of insufficient sleep on daily well-being, adjusting for sociodemographic covariates. Daily negative affect increased and positive affect decreased in curvilinear fashion as the pileup of insufficient sleep increased. For example, daily negative affect increased, but the rate of increase decelerated as the pileup of insufficient sleep increased. In the days most distal to baseline, the rate of increase in negative affect accelerated again. Results were consistent for physical symptoms. Findings suggest that making efforts to break the vicious cycle of insufficient sleep may protect daily well-being.

Effectiveness of Wastewater Sludge Treatment Processes to Inactivate Parasites

1986 ◽  
Vol 18 (7-8) ◽  
pp. 397-404 ◽  
Author(s):  
R. S. Reimers ◽  
D. B. McDonell ◽  
M. D. Little ◽  
D. D. Bowman ◽  
A. J. Englande ◽  
...  
Keyword(s):  
Heat Treatment ◽  
The United States ◽  
Wastewater Sludge ◽  
Sludge Treatment ◽  
Treatment Processes ◽  
Sludge Digestion ◽  
Thermophilic Digestion ◽  
Sludge Drying ◽  
Aerobic And Anaerobic ◽  
Trichuris Vulpis

In the United States, Ascaris spp., Trichuris trichiura, Trichuris vulpis and Toxocara spp. are the most commonly found viable parasites in both treated and untreated municipal sludges. As expected, heat treatment, thermophilic digestion (aerobic and anaerobic) and thermophilic composting were effective in parasite inactivation, and with good sludge digestion (both aerobic and anaerobic), the effectiveness of sludge lagoon storage and sludge drying beds to inactivate parasites and pathogens is greatly enhanced. At present two commercial sludge processes, Chemfixation and Ozonics treatment have shown potential to inactivate parasites.

Mitigating the effects of boom occlusion on automated aerial refueling through shadow volumes

2018 ◽  
Vol 16 (2) ◽  
pp. 175-189 ◽  
Author(s):  
Zachary Paulson ◽  
Scott Nykl ◽  
John Pecarina ◽  
Brian Woolley
Keyword(s):  
Air Force ◽  
High Frequency ◽  
United States Air Force ◽  
Vision System ◽  
The United States ◽  
Negative Effects ◽  
Aerial Refueling ◽  
Vision Processing ◽  
Shadow Volume ◽  
Naive Approach

In-flight refueling of unmanned aerial vehicles (UAVs) is critical to the United States Air Force (USAF). However, the large communication latency between a ground-based operator and his/her remote UAV makes docking with a refueling tanker unsafe. This latency may be mitigated by leveraging a tanker-centric stereo vision system. The vision system observes and computes an approaching receiver’s relative position and orientation offering a low-latency, high frequency docking solution. Unfortunately, the boom – an articulated refueling arm responsible for physically pumping fuel into the receiver – occludes large portions of the receiver especially as the receiver approaches and docks with the tanker. The vision system must be able to compensate for the boom’s occlusion of the receiver aircraft. We present a novel algorithm for mitigating the negative effects of boom occlusion in stereo-based aerial environments. Our algorithm dynamically compensates for occluded receiver geometry by transforming the occluded areas into shadow volumes. These shadow volumes are then used to cull hidden geometry that is traditionally consumed, in error, by the vision processing and point registration pipeline. Our algorithm improves computer-vision pose estimates by 44% over a naïve approach without shadow volume culling.

Microbiological Safety of Cheese Made from Heat-Treated Milk, Part II. Microbiology

1990 ◽  
Vol 53 (6) ◽  
pp. 519-540 ◽  
Author(s):  
ERIC A. JOHNSON ◽  
JOHN H. NELSON ◽  
MARK JOHNSON
Keyword(s):  
Escherichia Coli ◽  
Heat Treatment ◽  
Raw Milk ◽  
Causative Factor ◽  
Ph Control ◽  
The United States ◽  
Curing Conditions ◽  
Microbiological Safety ◽  
Heat Treated ◽  
The U.S

A review of epidemiological literature identified six illness outbreaks transmitted via U.S. produced cheese during 40 years, 1948–1988. During these four decades, the United States cheese industry produced over 100 billion pounds of natural cheese (not including cottage and related varieties). The most frequent causative factor in U.S. and Canadian cheese-related outbreaks was post-pasteurization contamination. Faulty pasteurization equipment or procedures were implicated in one outbreak each in the U.S. and Canada. Use of raw milk was a factor in one outbreak in each country. Inadequate time-temperature combinations used for milk heat treatment were not implicated. The epidemiology of cheese-related outbreaks in the U.S., Canada, and Europe demonstrated that soft surface-ripened cheese, e.g. Camembert and Brie, are at significantly greater risk to transmit pathogens than other cheeses. No outbreaks were linked to hard Italian varieties, e.g. Parmesan, Romano, and Provolone. Varieties such as Cheddar and Swiss were infrequently involved. A variety of pathogens have been isolated from raw milk. Some, including Salmonella, Listeria, and enteropathogenic Escherichia coli can survive and grow in some cheeses. In one of the few published studies of milk heat-treatment for cheesemaking, multistrain or species mixtures of pathogens were inoculated into raw milk at levels of 105/ml which was heat-treated in a commercial HTST pasteurizer — mean holding time 17.6 s, minimum 16.2 s. All strains of Yersinia enterocolitica, Campylobactersp., Escherichia coli 0157:H7, and all but one Salmonella species were destroyed at 65°C (149°F). Salmonella senftenberg (rarely isolated from cheese) was inactivated at 69°C (156.2°F). Listeria monocytogenes in naturally contaminated milk at levels of 104 organisms per ml was inactivated at 66°C (150.8°F); laboratory-cultured inoculum at levels of 105 organisms per ml required 69.0°C (156.2°F). A multiplicity of practices other than pasteurization or heat-treatment contribute significantly to the microbiological safety of cheese. Some, such as milk quality management, lactic culture management, pH control, salt addition, and controlled curing conditions are established technologies. Others represent potential opportunities, such as natural inhibitory substances in milk, antibacterial substances, e.g. nisin and lysozyme.

Naturally Occurring Consecutive Sleep Loss and Day-to-Day Trajectories of Affective and Physical Well-Being

2021 ◽  
Author(s):  
Soomi Lee
Keyword(s):  
Negative Affect ◽  
Multilevel Models ◽  
Experimental Studies ◽  
Well Being ◽  
The United States ◽  
Physical Symptoms ◽  
Sleep Loss ◽  
Linear Quadratic ◽  
Naturally Occurring ◽  
Rate Of Increase

Abstract Background Experimental studies have shown that just 1 night of sleep loss impairs next-day performance, mood, and energy. Yet, little is known about the effects of consecutive sleep loss on daily well-being in participants’ own settings. Purpose This study examined whether and how naturally occurring consecutive sleep loss is associated with day-to-day trajectories of affective and physical well-being. Methods Participants were adults (N = 1,958) from the Midlife in the United States Study who provided daily diary data for eight consecutive days. Consecutive sleep loss was operationalized as the within-person number of consecutive nights with <6 hr of sleep. Multilevel models evaluated the linear, quadratic, and cubic effects of consecutive sleep loss on daily well-being, after controlling for sociodemographic, health, and daily covariates. Results Daily negative affect increased and positive affect decreased in curvilinear fashion as the number of consecutive sleep loss increased. For example, daily negative affect increased (linear), but the rate of increase decelerated as the number of consecutive sleep loss increased (quadratic). Results were consistent for the number and severity of physical symptoms. For negative affect and the severity of physical symptoms, cubic effect was also significant such that the rate of increase accelerated again in the days most distal to baseline (no sleep loss). Conclusions Consecutive sleep loss was associated with degraded trajectories of daily affective and physical well-being. Making efforts to break the vicious cycle of sleep loss may protect daily well-being in adults whose sleep time is often compromised.

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