scholarly journals APPLICATION OF SOFT COMPUTING TECHNIQUES TO MOTION CONTROL OF UNDERWATER ROBOTIC VEHICLE

2014 ◽  
Vol 46 (1) ◽  
pp. 4-13
Author(s):  
Jerzy Garus ◽  
Józef Małecki
Keyword(s):  
Line Of Sight ◽  
Control Law ◽  
Environmental Disturbances ◽  
Quality Of Control ◽  
Soft Computing Techniques ◽  
Robotic Vehicle ◽  
Command Signals ◽  
Point Line ◽  
Underwater Robotic Vehicle

Using of artificial intelligence techniques to steering of underwater robotic vehicle along a reference path is considered in the paper. For the tracking, the way-point line of sight scheme is applied. Command signals are generated by an autopilot consisting of four independent controllers with a fuzzy control law implemented. Parameters of the controllers are tuned by means of genetic algorithms. A quality of control is tested without and in presence of environmental disturbances. Selected results of computer simulations are inserted to demonstrate quality of the approach.

Modelling of Underwater Robotic Vehicle Motion with Using of Genetic Algorithms

2016 ◽  
Vol 817 ◽  
pp. 177-186
Author(s):  
Jerzy Garus ◽  
Ryszard Studański ◽  
Pero Vidan
Keyword(s):  
Genetic Algorithms ◽  
Control System ◽  
Computer Simulations ◽  
Human Operator ◽  
Line Of Sight ◽  
Spatial Motion ◽  
Vehicle Motion ◽  
Robotic Vehicle ◽  
Command Signals ◽  
Underwater Robotic Vehicle

The utilization of underwater robotic vehicles has known an increasing importance in many marine activities. The robotic vehicle is equipped with a propulsion system and controlled by a human operator. To simplify tasks of the operator, a control system guaranteeing the automation of elementary robot’s behaviours is often applied. In the paper, a control system supporting the robot spatial motion along a reference path is presented. A waypoint line-of-sight scheme is incorporated and Genetic Algorithms are applied to calculate command signals. Selected results of computer simulations are inserted to demonstrate quality and correctness of the proposed approach.

Experience with the Relay Procedure for Tuning Controllers in Automatic Control of Chlorination

1993 ◽  
Vol 28 (11-12) ◽  
pp. 257-261
Author(s):  
M. Truett Garrett ◽  
Zaki Ahmad ◽  
Shelly Young
Keyword(s):  
Wastewater Treatment ◽  
Automatic Control ◽  
Time Constant ◽  
Wastewater Treatment Plants ◽  
Relay Feedback ◽  
Quality Of Control ◽  
Incomplete Mixing ◽  
Long Time ◽  
Chlorine Demand

The recent requirements by U.S.E.P.A. for dechlorination and biomonitoring have increased the importance of automatic control of effluent chlorination in wastewater treatment plants. Difficulties with the Ziegler-Nichols controller tuning procedure were reported at the Kyoto Workshop, 1990. Problems are caused by the noise of incomplete mixing, a long time constant, and the disturbances of changing flow and chlorine demand. The Astrom-Hagglund relay feedback procedure provides acceptable control while data is logged to determine the controller constants. Experiences in using the procedure in existing facilities (not redesigning the mixing point) and the quality of control are presented.

scholarly journals Quality of Control in the Tavis–Cummings–Hubbard Model

2021 ◽  
Author(s):  
R. Düll ◽  
A. Kulagin ◽  
W. Lee ◽  
Yu. Ozhigov ◽  
H. Miao ◽  
...  
Keyword(s):  
Hubbard Model ◽  
Quality Of Control

scholarly journals Evaluating Alternative Flight Plans in Thermal Drone Wildlife Surveys—Simulation Study

2021 ◽  
Vol 13 (6) ◽  
pp. 1102
Author(s):  
Julia Witczuk ◽  
Stanisław Pagacz
Keyword(s):  
Computer Simulations ◽  
Survey Design ◽  
Distance Sampling ◽  
Line Of Sight ◽  
Density Estimates ◽  
Accuracy And Precision ◽  
Survey Costs ◽  
Random Survey ◽  
Density Population

The rapidly developing technology of unmanned aerial vehicles (drones) extends to the availability of aerial surveys for wildlife research and management. However, regulations limiting drone operations to visual line of sight (VLOS) seriously affect the design of surveys, as flight paths must be concentrated within small sampling blocks. Such a design is inferior to spatially unrestricted randomized designs available if operations beyond visual line of sight (BVLOS) are allowed. We used computer simulations to assess whether the VLOS rule affects the accuracy and precision of wildlife density estimates derived from drone collected data. We tested two alternative flight plans (VLOS vs. BVLOS) in simulated surveys of low-, medium- and high-density populations of a hypothetical ungulate species with three levels of effort (one to three repetitions). The population density was estimated using the ratio estimate and distance sampling method. The observed differences in the accuracy and precision of estimates from the VLOS and BVLOS surveys were relatively small and negligible. Only in the case of the low-density population (2 ind./100 ha) surveyed once was the VLOS design inferior to BVLOS, delivering biased and less precise estimates. These results show that while the VLOS regulations complicate survey logistics and interfere with random survey design, the quality of derived estimates does not have to be compromised. We advise testing alternative survey variants with the aid of computer simulations to achieve reliable estimates while minimizing survey costs.

ON ASSESSMENT OF THE QUALITY OF CONTROL AND SORTING MACHINES. PART I

2021 ◽  
pp. 27-33
Author(s):  
YA.L. LIBERMAN ◽  
◽  
L.N. GORBUNOVA ◽  
Keyword(s):  
Quality Of Control

ENTREPRENEURIAL OPTIMISM, THE NATURE OF ENTREPRENEURIAL EXPERIENCE AND DEBT DECISION FOR BUSINESS START-UP

2018 ◽  
Vol 22 (03) ◽  
pp. 1850024 ◽  
Author(s):  
HÉDIA FOURATI ◽  
RIHAB BEN ATTITALAH
Keyword(s):  
Earnings Forecasts ◽  
Adjustment Cost ◽  
Debt Ratio ◽  
Entrepreneurial Experience ◽  
Panel Data Estimation ◽  
Quality Of Control ◽  
Start Up ◽  
Serial Entrepreneurs ◽  
Data Estimation

This paper studies the entrepreneurial optimism and debt decisions for business start-up. By analysing a sample of 160 business start-up and by using the panel data estimation, we study entrepreneurs’ optimism and its impact on debt decision of business start-up. The measure of entrepreneurial optimism is based on the entrepreneur earnings forecasts initiated by Lin et al. (2005). Meanwhile, the nature of entrepreneurial experience (serial and portfolio entrepreneur) has an effect on entrepreneurial optimism and leads to more or less optimistic entrepreneur. The results reveal that optimistic entrepreneur prefers equity in funding the financial deficit. Serial entrepreneurs tend to use more debt funding. In the dynamic model, the entrepreneur acquiring business concurrently adjusts slowly to debt ratio. Nevertheless, the sequential entrepreneurial experience leads to more optimism and so on more debt use. Given the governance role played by banks, the high adjustment cost for start-up is a consequence of the efficiency of the quality of control exercised by banks that in spite of entrepreneurial optimism, the entrepreneur does not convince the financiers to be so confident on the prospect of the business.

scholarly journals Rancang Bangun Voice Over Internet Protocol dan GSM Gateway Berbasis Raspberry Pi

2019 ◽  
Vol 5 (1) ◽  
pp. 55-64
Author(s):  
Ardi Windiarto ◽  
Kholilatul Wardani
Keyword(s):  
Packet Loss ◽  
Internet Protocol ◽  
Quality Of Services ◽  
Line Of Sight ◽  
Raspberry Pi ◽  
Voice Over Internet Protocol ◽  
Non Line Of Sight

Makalah ini membahas desain layanan jaringan komunikasi VoIP Server menggunakan Raspberry Pi sebagai alat komunikasi wireless. VoIP server berbasis Raspberry Pi menggunakan sistem operasi RasPBX. Di dalam sistem operasi RasPBX sudah ada software asterisk yang berfungsi sebagai softswicth. Client VoIP menggunakan zoiper sebagai softphone. Alat ini dilengkapi dengan fitur GSM gateway yaitu fitur yang dapat menghubungkan jaringan VoIP ke jaringan GSM. Fitur GSM gateway ini menggunakan modem GSM sebagai jembatan yang menghubungkan jaringan VoIP dengan jaringan GSM. Persentase keberhasilan panggilan VoIP ke VoIP, VoIP ke GSM, dan GSM ke VoIP mencapai 100%. Berdasarkan hasil pengujian Quality of services (QoS) pada panggilan VoIP ke GSM, dihasilkan rata-rata delay sebesar 12,11 ms yang termasuk dalam kategori kualitas baik, Troughput sebesar 0,151, jitter sebesar 0,052 ms yang termasuk dalam kategori kualitas baik, dan packet loss sebesar 0% yang termasuk dalam kategori kualitas sangat baik. Jangkauan maksimal antara client VoIP ke server agar komunikasi berjalan dengan baik adalah 100 meter dalam kondisi Line Of Sight (LOS). Pengujian dengan jarak 25 m dalam kondisi Non Line Of Sight (NLOS), masih menghasilkan komunikasi yang baik. Berdasarkan hasil pengujian kuisioner dari 30 pengguna, dihasilkan nilai MOS 3,88 yang termasuk dalam kategori kualitas cukup baik.

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