Application of Distributed Robotic Systems in Earthquakes: Search, Planning and Control Abstract

2021 ◽  
Vol 22 (11) ◽  
pp. 577-584
Author(s):  
A. V. Nazarova ◽  
Huo Jianwen
Keyword(s):  
Control System ◽  
Vision System ◽  
Movement Control ◽  
Least Square Method ◽  
Least Square ◽  
Map Matching ◽  
Emergency Rescue ◽  
Finite State ◽  
Switching Mode ◽  
Local Map

In order to search and rescue injured during earthquake, we proposed a method for multi-robots motion planning and distributed control in this paper. At first, we have created two probabilistic search models to considering the search area and the characteristics of sensors, which we used to search the injured targets. And after finding the targets, they are assigned to the mobile robots on the land to afford emergency rescue. In order to reach to the targets, a path planning method based on map matching is proposed. There are three parts here. Firstly, to obtain the global and local map: continuous ground images are first collected using the UAV’s vision system, and subsequently, a global map of the ground environment is created by processing the collected images. The local map of the ground environment is obtained using the 2D laser radar sensor of the leader (UGA). Established the coordinate conversion relationship between UAV and UGV, unknown values during map matching are determined via the least square method. Secondly, our robots moved by group (leader-follower). The leader’s path was planned globally and locally. The other multi-robots moved along the path planned by the leader. Thirdly, in order to plan and coordinate the robots in the group, the finite state machine is used to describe the logical level of control system for each robot in the group. After that, at the tactical level of the control system, the movement control law of formation maintaining mode and formation switching mode is designed.

Design and Realization on the Optimal Quadratic Controller for the Positional Servo System of Numerical Control System

2011 ◽  
Vol 317-319 ◽  
pp. 1960-1963
Author(s):  
Li Bing Zhang ◽  
Ting Wu
Keyword(s):  
Control System ◽  
Control Method ◽  
Servo System ◽  
Least Square Method ◽  
Least Square ◽  
Servo Control ◽  
Numerical Control ◽  
Recursive Least Square ◽  
Servo Control System ◽  
Position Servo

This paper presents a technique for the position servo system of numerical control (NC) machine tool by utilizing the optimal quadratic controller. The mathematical model of the position servo control system is structured, which of the plant model is identified by making use of recursive least square method. The fundamental method of designing the optimal quadratic controller is proposed. Simulation of the optimal quadratic controller and PID controller are implemented by using MATLAB. The results of simulation show that the proposed control method of positional servo control system has better dynamic characteristics and better steady performance.

scholarly journals Accountability: Efforts to Prevent Rush Money at Village Credit Institutions in Buleleng Regency

2021 ◽  
Vol 5 (2) ◽  
Author(s):  
Ni Wayan Novi Budiasni ◽  
Ni Made Sri Ayuni
Keyword(s):  
Control System ◽  
Internal Control ◽  
Structural Equation ◽  
Least Square Method ◽  
Financial Statements ◽  
Partial Least Square ◽  
Least Square ◽  
Equation Modeling ◽  
Internal Control System ◽  
System Variables

Ensuring the confidence of customers and other stakeholders, LPD requires an internal control system, presentation of financial statements and accountability. The purpose of this research is to know the implications of the internal control system and the presentation of financial statements to accountability. This study used quantitative method, population of 149 LPD that is still operating and selected 60 lpd samples in Buleleng Regency.  Questionnaire as an instrument to collect research data. The analysis technique used is SEM (Structural Equation Modeling) with PLS (Partial Least Square) method. Based on the first hypothesis it appears that the relationship between internal control system variables and accountability of parameter coefficients 0.364 with a statistical t value of 4.056 greater than the table t value of 1,960 (4,056>1,960). Similarly, the second hypothetical relationship between the presentation of financial statements has a parameter coefficient value of 0.525 with a statistical t value of 6.362 greater than the table t of 1,960 (6,362>1,960). Based on the results of the study, it can be concluded that the internal control system is positively related to accountability, and the presentation of financial statements relates positively to accountability.

scholarly journals A Driving Behaviour Model of Electrical Wheelchair Users

2016 ◽  
Vol 2016 ◽  
pp. 1-20 ◽  
Author(s):  
S. O. Onyango ◽  
Y. Hamam ◽  
K. Djouani ◽  
B. Daachi ◽  
N. Steyn
Keyword(s):  
Regression Analysis ◽  
Control System ◽  
Virtual Worlds ◽  
Potential Field ◽  
Least Square Method ◽  
Least Square ◽  
Wheelchair Users ◽  
Powered Wheelchair ◽  
Ordinary Least Square ◽  
Assistive Systems

In spite of the presence of powered wheelchairs, some of the users still experience steering challenges and manoeuvring difficulties that limit their capacity of navigating effectively. For such users, steering support and assistive systems may be very necessary. To appreciate the assistance, there is need that the assistive control is adaptable to the user’s steering behaviour. This paper contributes to wheelchair steering improvement by modelling the steering behaviour of powered wheelchair users, for integration into the control system. More precisely, the modelling is based on the improved Directed Potential Field (DPF) method for trajectory planning. The method has facilitated the formulation of a simple behaviour model that is also linear in parameters. To obtain the steering data for parameter identification, seven individuals participated in driving the wheelchair in different virtual worlds on the augmented platform. The obtained data facilitated the estimation of user parameters, using the ordinary least square method, with satisfactory regression analysis results.

On-Line Parameter Identification of an Induction Motor With Closed-Loop Speed Control Using the Least Square Method

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Rafael de Farias Campos ◽  
Eduardo Couto ◽  
Jose de Oliveira ◽  
Ademir Nied
Keyword(s):  
Control System ◽  
Induction Motor ◽  
Least Squares Method ◽  
Least Square Method ◽  
Parametric Identification ◽  
Least Square ◽  
Electrical Parameters ◽  
On Line ◽  
Single Matrix ◽  
Vector Control System

The control system of induction motors is designed to achieve dynamic stability, allowing accurate tracking of flux and speed. However, changes in electrical parameters, due to temperature rise or saturation level, can lead to undesirable errors of speed and position, eventually resulting in instability. This paper presents two modes for parametric identification of the induction motor based on the least squares method: batch estimator and recursive estimator. The objective is to update the electrical parameters during operation when the motor is driven by a vector control system. A drawback related to the batch estimator is the need for high quantity of available memory to make the process of identification robust enough. The proposed algorithm allows the batch estimator to be viewed as a single matrix problem reducing the need for processing memory. The identification procedure is based on the stator currents measurement and stator fluxes estimation. Basically, both modes of identification will be analyzed. Experimental results are presented to demonstrate the theoretical approach.

Drive System Design and Characteristic Curve-Fitting of Intelligent Motor Test System

2011 ◽  
Vol 216 ◽  
pp. 163-166
Author(s):  
Li Li ◽  
Jian Liu ◽  
Yue Long Yang
Keyword(s):  
Control System ◽  
Curve Fitting ◽  
Characteristic Curve ◽  
Least Square Method ◽  
Power Source ◽  
Test System ◽  
Least Square ◽  
Distributed Network ◽  
Motor Test ◽  
Working Characteristic

According to the system’s working character, it presents a design scheme of distributed network group control system, which combines the testing power source and unit control system. The paper also describes in detail the equivalent circuit algorithm for motor working characteristics calculation and the nonlinear least square method for experiment curve fitting. By taking full advantage of VB in user interface developing, the system is very convenient for curve fitting for motor type testing, and testing result printing, which intelligentize measurement of motor working characteristic.

Adaptive Objective Coordinate Optimization Method with Unknown Parameter

2011 ◽  
Vol 135-136 ◽  
pp. 179-186
Author(s):  
Biao Wang ◽  
Chang Qing Wang ◽  
Feng Ru ◽  
Xiao Lan Ma
Keyword(s):  
Control System ◽  
Unknown Parameter ◽  
Optimization Problems ◽  
Least Square Method ◽  
Optimization Method ◽  
Least Square ◽  
Line Identification ◽  
Optimization Control ◽  
On Line ◽  
Object Parameter

Multiple has accused of unknown parameter optimization problems of implementation of the object. Containing identification link should adaptive objective coordinate optimization control system. The local objects in decomposition based on optimizing, application target coordinate law to selected optimal criteria based on the minimum value to ensure coordinated operation in the process of making optimal index for global convergence, achieve the purpose of overall optimization. In order to execute real time on-line identification, Recursion least square method (RLS) could be used for the estimation of object parameter in the identification section.

scholarly journals Research on Calibration Method for Tractor Automatic Navigation Control System

2016 ◽  
Vol 10 (1) ◽  
pp. 129-140 ◽  
Author(s):  
Qun Sun ◽  
Shaomin Teng ◽  
Yongqi Du ◽  
Ze Kang ◽  
Chengqiang Yin ◽  
...  
Keyword(s):  
Control System ◽  
Computer Control ◽  
Least Square Method ◽  
Calibration Method ◽  
Least Square ◽  
Output Unit ◽  
Computer Control System ◽  
Automatic Navigation ◽  
Conversion Unit ◽  
Hydraulic Valves

A lower computer control system of tractor automatic navigation based on double-antennas Beidou satellite is developed, including the controller unit, bipolar output unit, RS232 bus communication unit, a switch reset unit and the power conversion unit. To obtain a continuous voltage output, the calibration method of lower control system using least square method to fit calibration curve has been studied. The lower computer control system receives navigation angel and navigation angel offset instruction provided by the host computer through RS232 bus communication unit. Continuous voltage from -10V to +10V is output through the bipolar output unit to adjust hydraulic valves to control the tractor steering after these are processed by the lower computer.

Identification of Location and Orientation for Terminal Blocks Based on Template Matching

2013 ◽  
Vol 561 ◽  
pp. 515-520
Author(s):  
Yu Xia Cui ◽  
Yang Li ◽  
Hua Jie Wang ◽  
Xian Lun Wang
Keyword(s):  
Template Matching ◽  
Vision System ◽  
Recognition Rate ◽  
Least Square Method ◽  
Least Square ◽  
Source Image ◽  
Centre Of Gravity ◽  
Gaussian Pyramid ◽  
Template Image ◽  
Real Time Application

A template matching method based on a vision system is proposed to get the location of terminal blocks. Gaussian pyramid decomposition is used to get the source image and template image samples, which will reduce the matching time and thus fulfill the requirement of real time application. The positioning screws used as mark points can be obtained by binarization, erosion, and dilation, and then the location of them can be worked out by the centre-of-gravity method. Finally, the location and the rotation angle of terminal blocks can be obtained with least square method. Experimental results show that this method is convenient to be operated with high recognition rate and efficiency.

MODEL-FREE METHOD FOR TIME VARYING DYNAMIC MEASUREMENTS IN CONTROL SYSTEM

2020 ◽  
Vol 70 (3) ◽  
pp. 51-60
Author(s):  
Miroslava Baraharska ◽  
Tsonyo Slavov ◽  
Ivan Markovsky
Keyword(s):  
Control System ◽  
Mass Measurement ◽  
Least Square Method ◽  
Information Criteria ◽  
Least Square ◽  
Time Varying ◽  
Dynamic Measurements ◽  
Recursive Least Square ◽  
Model Order Selection ◽  
Model Free

In this paper, a model-free method for time-varying dynamic measurements in a control system is presented. As an example, the dynamic mass-measurement process is examined. The method is based on the on-line estimation of time-varying parameters of autoregressive model by a recursive least square method with a constant trace of the covariance matrix. The model order selection is performed by Akaike’s information criteria. The performance of the method with respect to the variance of measurement noise is empirically tested by simulation experiments. For the aim of comparison, the Kalman filter for estimation of unknown measurement is designed. The simulation results show the advantage of the model-free method.

Path planning based on map matching in UAV/UGV collaboration system

2019 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Jianwen Huo ◽  
Stanislav Leonidovich Zenkevich ◽  
Anaid Vartanovna Nazarova ◽  
Meixin Zhai
Keyword(s):  
Path Planning ◽  
Least Squares Method ◽  
Vision System ◽  
Map Matching ◽  
Image Correction ◽  
Content Type ◽  
Window Method ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Local Map

Purpose Unmanned aerial/ground vehicles (UAV/UGV) collaboration systems are increasingly being used to perform reconnaissance and rescue missions autonomously, especially in disaster areas. The paper aims to discuss this issue. Design/methodology/approach To improve visibility, this study proposes a path-planning algorithm based on map matching. Continuous ground images are first collected aerially using the UAV vision system. Subsequently, a global map of the ground environment is created by processing the collected images using the methods of image correction, image mosaic and obstacle recognition. The local map of the ground environment is obtained using the 2D laser radar sensor of the UGV. A set of features for both global and local maps is established. Unknown values during map matching are determined via the least squares method. Based on the matched mapping, the traditional A* algorithm is used for the planning of global path in the global map, and the dynamic window method is used for adjustment of the local map. Findings Simulation experiments were carried out to demonstrate the effectiveness of the proposed algorithm. The experimental results show that the proposed algorithm can construct a global map of the wide environment and effectively bypass the obstacles missed by the UAV. Research limitations/implications Prior to map matching, there is a need to extract the edge of obstacles in the global map. Originality/value This paper proposed a path planning algorithm based on map matching, yielding insights into the application of the UAV/UGV collaboration systems in disaster areas.

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