Design and Underwater Tests of Subsea Walking Hexapod MAK-1

2016 ◽  
Author(s):  
Vadim V. Chernyshev ◽  
Vladimir V. Arykantsev ◽  
Andrey E. Gavrilov ◽  
Yaroslav V. Kalinin ◽  
Nikolay G. Sharonov
Keyword(s):  
Movement Control ◽  
Experimental Tests ◽  
Energy Usage ◽  
Walking Machine ◽  
Walking Machines ◽  
Sea Bottom ◽  
Different Types ◽  
Robotic Devices ◽  
And Control ◽  
System Power

An important role among machines for sea bottom exploration is assigned to the autonomous ground devices. Some rescue tasks also require subsea robotic devices. The main purpose of the work is to investigate and improve adaptive characteristics, traction properties and control methods of cyclic walking movers in underwater conditions. Traction properties of walking machines, which moves at sea bottom was analyzed. Some experience of development and experimental tests of the walking robot “Vosminog”, designed for work at weak and waterlogged grounds. Dynamic model of a walking machine has been shown. Studied an opportunity to increase adaptive characteristics and shape passableness of walking machines. Also design and results of underwater tests of subsea walking unit MAK-1 are discussed. During tests the performance of a walking unit has been checked and the influence of design features of a walking mover on its traction characteristics and ground passability has been investigated. Some details about control system, power system and energy usage, vertical motions and accelerations for different types of walking and conditions of movement has been given. Also, certain attention was given to testing of methods of standalone movement control of subsea unit in conditions of incomplete and ambiguous vision of current situation. Tests have shown that walking movers in subsea conditions can provide higher traction properties, in comparison with wheeled and tracked ones. The unit can be used for exploration of seabed resources and for rescue tasks.

Knowledge and Awareness of Dengue Fever

2018 ◽  
pp. 219-222
Author(s):  
Y. Arockia Suganthi ◽  
Chitra K. ◽  
J. Magelin Mary
Keyword(s):  
Dengue Fever ◽  
Prevention And Control ◽  
Control Measures ◽  
Infection Transmission ◽  
Standard Guideline ◽  
The World ◽  
Different Types ◽  
Prevention And Control Measures ◽  
Dengue Prevention ◽  
And Control

Dengue fever is a painful mosquito-borne infection caused by different types of virus in various localities of the world. There is no particular medicine or vaccine to treat person suffering from dengue fever. Dengue viruses are transmitted by the bite of female Aedes (Ae) mosquitoes. Dengue fever viruses are mainly transmitted by Aedes which can be active in tropical or subtropical climates. Aedes Aegypti is the key step to avoid infection transmission to save millions of people in all over the world. This paper provides a standard guideline in the planning of dengue prevention and control measures. At the same time gives the priorities including clinical management and hospitalized dengue patients have to address essentially.

THE SOME QUESTIONS OF AUTONOMOUS MOTION AND MANAGEMENT OF LAND-MOBILE ROBOTIC COMPLEXES FOR UKRAINIAN GROUND FORCESE

2019 ◽  
pp. 53-58
Author(s):  
О. Кravchuk ◽  
V. Symonenkov ◽  
I. Symonenkova ◽  
O. Hryhorev
Keyword(s):  
Large Scale ◽  
Armed Forces ◽  
Distributed Information ◽  
Wide Range ◽  
Highly Effective ◽  
Information Management Systems ◽  
Robotic Devices ◽  
Principles And Standards ◽  
And Control ◽  
The Eu

Today, more than forty countries of the world are engaged in the development of military-purpose robots. A number of unique mobile robots with a wide range of capabilities are already being used by combat and intelligence units of the Armed forces of the developed world countries to conduct battlefield intelligence and support tactical groups. At present, the issue of using the latest information technology in the field of military robotics is thoroughly investigated, and the creation of highly effective information management systems in the land-mobile robotic complexes has acquired a new phase associated with the use of distributed information and sensory systems and consists in the transition from application of separate sensors and devices to the construction of modular information subsystems, which provide the availability of various data sources and complex methods of information processing. The purpose of the article is to investigate the ways to increase the autonomy of the land-mobile robotic complexes using in a non-deterministic conditions of modern combat. Relevance of researches is connected with the necessity of creation of highly effective information and control systems in the perspective robotic means for the needs of Land Forces of Ukraine. The development of the Armed Forces of Ukraine management system based on the criteria adopted by the EU and NATO member states is one of the main directions of increasing the effectiveness of the use of forces (forces), which involves achieving the principles and standards necessary for Ukraine to become a member of the EU and NATO. The inherent features of achieving these criteria will be the transition to a reduction of tasks of the combined-arms units and the large-scale use of high-precision weapons and land remote-controlled robotic devices. According to the views of the leading specialists in the field of robotics, the automation of information subsystems and components of the land-mobile robotic complexes can increase safety, reliability, error-tolerance and the effectiveness of the use of robotic means by standardizing the necessary actions with minimal human intervention, that is, a significant increase in the autonomy of the land-mobile robotic complexes for the needs of Land Forces of Ukraine.

scholarly journals Experimental Strain Measurement Approach Using Fiber Bragg Grating Sensors for Monitoring of Railway Switches and Crossings

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3639
Author(s):  
Abdelfateh Kerrouche ◽  
Taoufik Najeh ◽  
Pablo Jaen-Sola
Keyword(s):  
Fiber Bragg Grating ◽  
Experimental Tests ◽  
Cost Effective ◽  
Measuring Method ◽  
Bragg Grating ◽  
Railway Network ◽  
System Failures ◽  
Railway Infrastructure ◽  
Train Speed ◽  
And Control

Railway infrastructure plays a major role in providing the most cost-effective way to transport freight and passengers. The increase in train speed, traffic growth, heavier axles, and harsh environments make railway assets susceptible to degradation and failure. Railway switches and crossings (S&C) are a key element in any railway network, providing flexible traffic for trains to switch between tracks (through or turnout direction). S&C systems have complex structures, with many components, such as crossing parts, frogs, switchblades, and point machines. Many technologies (e.g., electrical, mechanical, and electronic devices) are used to operate and control S&C. These S&C systems are subject to failures and malfunctions that can cause delays, traffic disruptions, and even deadly accidents. Suitable field-based monitoring techniques to deal with fault detection in railway S&C systems are sought after. Wear is the major cause of S&C system failures. A novel measuring method to monitor excessive wear on the frog, as part of S&C, based on fiber Bragg grating (FBG) optical fiber sensors, is discussed in this paper. The developed solution is based on FBG sensors measuring the strain profile of the frog of S&C to determine wear size. A numerical model of a 3D prototype was developed through the finite element method, to define loading testing conditions, as well as for comparison with experimental tests. The sensors were examined under periodic and controlled loading tests. Results of this pilot study, based on simulation and laboratory tests, have shown a correlation for the static load. It was shown that the results of the experimental and the numerical studies were in good agreement.

Risk Evaluation for Conflicts between Crossing Pedestrians and Right-Turning Vehicles at Intersections

2021 ◽  
pp. 036119812110318
Author(s):  
Feifei Xin ◽  
Xiaobo Wang ◽  
Chongjing Sun
Keyword(s):  
Traffic Management ◽  
Traffic Signals ◽  
Control Measures ◽  
Video Information ◽  
Fuzzy Clustering Method ◽  
Different Types ◽  
Micro Level ◽  
Conflict Risk ◽  
And Control ◽  
Deceleration Time

In recent years, conflicts between crossing pedestrians and right-turning vehicles have become more severe at intersections in China, where right-turning vehicles are usually not controlled by traffic signals. This study proposes a quantitative method for evaluating the conflict risk between pedestrians and right-turning vehicles at intersections based on micro-level behavioral data obtained from video detection. A typical intersection in Shanghai was selected as the study site. In total, 670 min of video were recorded during the peak hours from 7:30 a.m. to 9:30 p.m on one day. After processing the video information, vehicle and pedestrian tracking data were obtained, including the velocity, acceleration, deceleration, time, and location coordinates. Based on these data, several conflict indicators were proposed and these indicators were extracted automatically using MATLAB to identify pedestrian–right-turning vehicle conflicts and to determine the severity of the conflicts identified. This process identified 93 examples of such conflicts. The conflict risks were quantitatively classified using the K-means fuzzy clustering method and all of the conflicts were assigned to five grades. The characteristics of the conflict distribution and the severity of different types of conflict were also analyzed, which showed that conflicts on different areas on the crosswalk differed in their severity. Based on the conclusions, practical traffic management and control measures are proposed to reduce the risk on pedestrian crossings.

scholarly journals Subgraphs of Interest Social Networks for Diffusion Dynamics Prediction

Entropy ◽  
2021 ◽  
Vol 23 (4) ◽  
pp. 492
Author(s):  
Valentina Y. Guleva ◽  
Polina O. Andreeva ◽  
Danila A. Vaganov
Keyword(s):  
Social Networks ◽  
Sampling Method ◽  
Building Blocks ◽  
Global Dynamics ◽  
Diffusion Dynamics ◽  
Different Types ◽  
Prediction And Control ◽  
Path Lengths ◽  
And Control ◽  
Diffusion Prediction

Finding the building blocks of real-world networks contributes to the understanding of their formation process and related dynamical processes, which is related to prediction and control tasks. We explore different types of social networks, demonstrating high structural variability, and aim to extract and see their minimal building blocks, which are able to reproduce supergraph structural and dynamical properties, so as to be appropriate for diffusion prediction for the whole graph on the base of its small subgraph. For this purpose, we determine topological and functional formal criteria and explore sampling techniques. Using the method that provides the best correspondence to both criteria, we explore the building blocks of interest networks. The best sampling method allows one to extract subgraphs of optimal 30 nodes, which reproduce path lengths, clustering, and degree particularities of an initial graph. The extracted subgraphs are different for the considered interest networks, and provide interesting material for the global dynamics exploration on the mesoscale base.

Servo Drive Trajectory Design of Three-Axis Laser Processing System

2014 ◽  
Vol 529 ◽  
pp. 139-143
Author(s):  
Wei Hua Jiang ◽  
Yuan Cheng Fan ◽  
Da Zeng
Keyword(s):  
Control System ◽  
Processing System ◽  
Movement Control ◽  
Linear Interpolation ◽  
Numerical Control ◽  
Trajectory Design ◽  
Servo Drive ◽  
Digital Integrator ◽  
Detector Resolution ◽  
And Control

Three-axis processing of laser inner engraving machine control system can carry on multi-axis linkage control. Furthermore, it ensures multi-axis of high feeding speed and trajectory control of high precision. This article introduces the design of laser inner engraving machine movement control system. The core is a digital integrator of linear interpolation algorithm to generate the desired trajectory and control XYZ axis linkage. Wide speed range of servo motor and position detector resolution is adequate to constitute a half-closed loop drive. With integral separation algorithm being introduced in the controller, the speed of numerical control system, track speed and positioning accuracy are guaranteed in order to achieve optimal specification for dynamic and static characteristics of the whole system.

scholarly journals Stochastic Inverse Identification of Nonlinear Roll Damping Moment of a Ship Moving at Nonzero-Forward Speeds

2012 ◽  
Vol 2012 ◽  
pp. 1-22 ◽  
Author(s):  
S. L. Han ◽  
Takeshi Kinoshita
Keyword(s):  
Nonlinear Damping ◽  
Rolling Motion ◽  
Forward Speed ◽  
Roll Damping ◽  
Nonparametric Approach ◽  
Nonlinear Responses ◽  
Different Types ◽  
Experimental Trials ◽  
And Control ◽  
Ship Rolling

The nonlinear responses of ship rolling motion characterized by a roll damping moment are of great interest to naval architects and ocean engineers. Modeling and identification of the nonlinear damping moment are essential to incorporate the inherent nonlinearity in design, analysis, and control of a ship. A stochastic nonparametric approach for identification of nonlinear damping in the general mechanical system has been presented in the literature (Han and Kinoshits 2012). The method has been also applied to identification of the nonlinear damping moment of a ship at zero-forward speed (Han and Kinoshits 2013). In the presence of forward speed, however, the characteristic of roll damping moment of a ship is significantly changed due to the lift effect. In this paper, the stochastic inverse method is applied to identification of the nonlinear damping moment of a ship moving at nonzero-forward speed. The workability and validity of the method are verified with laboratory tests under controlled conditions. In experimental trials, two different types of ship rolling motion are considered: time-dependent transient motion and frequency-dependent periodic motion. It is shown that this method enables the inherent nonlinearity in damping moment to be estimated, including its reliability analysis.

scholarly journals Numerical Evaluation of a Light-Gas Gun Facility for Impact Test

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
C. Rahner ◽  
H. A. Al-Qureshi ◽  
D. Stainer ◽  
D. Hotza ◽  
M. C. Fredel
Keyword(s):  
High Velocity ◽  
Numerical Evaluation ◽  
Impact Test ◽  
Experimental Tests ◽  
Reservoir Pressure ◽  
One Stage ◽  
Gas Gun ◽  
Numerical Predictions ◽  
High Velocity Impacts ◽  
Different Types

Experimental tests which match the application conditions might be used to properly evaluate materials for specific applications. High velocity impacts can be simulated using light-gas gun facilities, which come in different types and complexities. In this work different setups for a one-stage light-gas gun facility have been numerically analyzed in order to evaluate their suitability for testing materials and composites used as armor protection. A maximal barrel length of 6 m and a maximal reservoir pressure of a standard industrial gas bottle (20 MPa) were chosen as limitations. The numerical predictions show that it is not possible to accelerate the projectile directly to the desired velocity with nitrogen, helium, or hydrogen as propellant gas. When using a sabot corresponding to a higher bore diameter, the necessary velocity is achievable with helium and hydrogen gases.

Development of a Ring Permeability Test System

2010 ◽  
Vol 136 ◽  
pp. 153-157
Author(s):  
Yu Hong Du ◽  
Xiu Ming Jiang ◽  
Xiu Ren Li
Keyword(s):  
Control System ◽  
Control Method ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
Measuring Method ◽  
Test System ◽  
Fluid Theory ◽  
And Control ◽  
Relationship Of ◽  
The Mathematical Model

To solve the problem of detecting the permeability of the textile machinery, a dedicated test system has been developed based on the pressure difference measuring method. The established system has a number of advantages including simple, fast and accurate. The mathematical model of influencing factors for permeability is derived based on fluid theory, and the relationship of these parameters is achieved. Further investigations are directed towards the inherent characteristics of the control system. Based on the established model and measuring features, an information fusion based clustering control system is proposed to implement the measurement. Using this mechanical structure, a PID control system and a cluster control system have been developed. Simulation and experimental tests are carried out to examine the performance of the established system. It is noted that the clustering method has a high dynamic performance and control accuracy. This cluster fusion control method has been successfully utilized in powder metallurgy collar permeability testing.

Advanced Driver Assists and Safety Management System

2021 ◽  
Vol 6 (2) ◽  
Author(s):  
Dipti Chavan ◽  
Aniket Kamble ◽  
Aditya Khadsare ◽  
Vaibhav Chougule ◽  
Vaibhav Chougule
Keyword(s):  
Real Time ◽  
Automobile Industry ◽  
Safety Management ◽  
Public Utilities ◽  
Sensor Platform ◽  
Key Points ◽  
Different Types ◽  
Important Field ◽  
And Control ◽  
Web Platform

Electronics and communication is the most important field. In this paper, we can describe how much safety is in the Automobile industry. In this paper, we are using uno-Arduino. The different types of sensors facilities are also provided using key points. The different sensors are provided to check visitor count. In this system, we can monitor and control all the safety precautions their one IoT web platform. This helps in the proper utilization of drivers and helps in avoiding accidents. This paper can be implemented in any two-wheelers, heavily loaded trucks, small SUVs, compact cars. In our paper, the electronics machine/components will be automatically working with using of Arduino program. The proposed wireless sensor platform is an attempt to develop more safety devices that can be used in multiple areas such as homes, schools, and public utilities to reduce accidents. This Advanced Driver Assists system will provide real-time accident detections and monitoring usage information that helps in real-time by using GSM, GPS, and sensors.

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