scholarly journals Remote supervision and control based on wireless technology to operation of central pivot irrigation machine

2018 ◽  
Vol 16 (44) ◽  
pp. 63-74
Author(s):  
Lianet Avello Fernández ◽  
Eduardo Izaguirre Castellanos ◽  
Manuel Luciano Vidal Díaz ◽  
Alain S. Martínez Laguardia ◽  
Luis Hernández Santana
Keyword(s):  
Water Resources ◽  
New Technologies ◽  
Real Time Control ◽  
Remote Supervision ◽  
Time Control ◽  
Center Pivot ◽  
Control And Monitoring System ◽  
And Control ◽  
Positive Effect

The availability of water resources in agriculture is a growing concern throughout the planet. The new technologies of automation and communications offer a set of solutions for the collection and analysis of information that make possible the decision making in the modern systems of agricultural irrigation. Important steps have been taken in the automation of irrigation systems, focused on the adequate determination of water requirements in crops, which has a positive effect on the saving of energy carriers, water resources, and agricultural productivity. In the present research we propose to perform a real-time control and monitoring system, allowing the operation and remote monitoring of irrigation machines of center pivot. For this, a programmable logic controller and wireless communication technology are used, according with the requirements and characteristics of the context of agricultural application..

Determination of the Minimum Distance Between Moving Objects Including Velocity Information

1993 ◽  
Author(s):  
Meyer Nahon
Keyword(s):  
Minimum Distance ◽  
Moving Objects ◽  
Rapid Determination ◽  
Computation Time ◽  
Optimization Techniques ◽  
Real Time Control ◽  
Time Step ◽  
Time Control ◽  
Velocity Information

Abstract The rapid determination of the minimum distance between objects is of importance in collision avoidance for a robot maneuvering among obstacles. Currently, the fastest algorithms for the solution of this problem are based on the use of optimization techniques to minimize a distance function. Furthermore, to date this problem has been approached purely through the position kinematics of the two objects. However, although the minimum distance between two objects can be found quickly on state-of-the-art hardware, the modelling of realistic scenes entails the determination of the minimum distances between large numbers of pairs of objects, and the computation time to calculate the overall minimum distance between any two objects is significant, and introduces a delay which has serious repercussions on the real-time control of the robot. This paper presents a technique to modify the original optimization problem in order to include velocity information. In effect, the minimum distance calculation is performed at a future time step by projecting the effect of present velocity. This method has proven to give good results on a 6-dof robot maneuvering among obstacles, and has allowed a complete compensation of the lags incurred due to computational delays.

Integrative Modeling Platform for Design and Control of an Adaptive Wind Turbine Blade

2018 ◽  
Author(s):  
Hamid Khakpour Nejadkhaki ◽  
John F. Hall ◽  
Minghui Zheng ◽  
Teng Wu
Keyword(s):  
Simulation Model ◽  
Wind Turbine ◽  
Real Time ◽  
Turbine Blade ◽  
Design Tool ◽  
Real Time Control ◽  
Time Control ◽  
Partial Load ◽  
And Control

A platform for the engineering design, performance, and control of an adaptive wind turbine blade is presented. This environment includes a simulation model, integrative design tool, and control framework. The authors are currently developing a novel blade with an adaptive twist angle distribution (TAD). The TAD influences the aerodynamic loads and thus, system dynamics. The modeling platform facilitates the use of an integrative design tool that establishes the TAD in relation to wind speed. The outcome of this design enables the transformation of the TAD during operation. Still, a robust control method is required to realize the benefits of the adaptive TAD. Moreover, simulation of the TAD is computationally expensive. It also requires a unique approach for both partial and full-load operation. A framework is currently being developed to relate the TAD to the wind turbine and its components. Understanding the relationship between the TAD and the dynamic system is crucial in the establishment of real-time control. This capability is necessary to improve wind capture and reduce system loads. In the current state of development, the platform is capable of maximizing wind capture during partial-load operation. However, the control tasks related to Region 3 and load mitigation are more complex. Our framework will require high-fidelity modeling and reduced-order models that support real-time control. The paper outlines the components of this framework that is being developed. The proposed platform will facilitate expansion and the use of these required modeling techniques. A case study of a 20 kW system is presented based upon the partial-load operation. The study demonstrates how the platform is used to design and control the blade. A low-dimensional aerodynamic model characterizes the blade performance. This interacts with the simulation model to predict the power production. The design tool establishes actuator locations and stiffness properties required for the blade shape to achieve a range of TAD configurations. A supervisory control model is implemented and used to demonstrate how the simulation model blade performs in the case study.

Design and Development of a Multi-Module Deployable Manipulator

1999 ◽  
Author(s):  
Kenneth Wong ◽  
Vinod J. Modi ◽  
Clarence W. de Silva ◽  
Arun K. Misra
Keyword(s):  
Real Time ◽  
Experimental Investigations ◽  
Computationally Efficient ◽  
Real Time Control ◽  
Design And Development ◽  
Time Control ◽  
Dynamics And Control ◽  
Manipulator Design ◽  
A Chain ◽  
And Control

Abstract This paper presents the design and development of a Multi-module Deployable Manipulator System (MDMS) as well as a dynamical formulation for it. The system is designed for experimental investigations aimed at dynamics and control of this variable geometry manipulator by implementing different control algorithms to regulate its performance. The manipulator operates in a horizontal plane and is unique in that it comprises of four modules, each of which has one revolute joint and one prismatic joint, connected in a chain topology. Each module has a slewing link of approximately 20cm length and is capable of extending by 15cm. The manipulator design involves the selection and sizing of actuators, the design of mounting and connecting components, and the selection of hardware as well as software for real-time control. The dynamical model is formulated using an O(N) algorithm, based on the Lagrangian approach and velocity transformations. The O(N) character is computationally efficient permitting real-time control of the system.

Applications of Data-Driven Modelling and Machine Learning in Control of Water Resources

2011 ◽  
pp. 197-217 ◽  
Author(s):  
D. P. Solomatine
Keyword(s):  
Machine Learning ◽  
Water Resources ◽  
Computational Intelligence ◽  
Flood Control ◽  
Water Levels ◽  
Data Driven ◽  
Real Time Control ◽  
Modeling And Control ◽  
Physically Based ◽  
And Control

Traditionally, management and control of water resources is based on behavior-driven or physically based models based on equations describing the behavior of water bodies. Since recently models built on the basis of large amounts of collected data are gaining popularity. This modeling approach we will call data-driven modeling; it borrows methods from various areas related to computational intelligence—machine learning, data mining, soft computing, etc. The chapter gives an overview of successful applications of several data-driven techniques in the problems of water resources management and control. The list of such applications includes: using decision trees in classifying flood conditions and water levels in the coastal zone depending on the hydrometeorological data, using artificial neural networks (ANN) and fuzzy rule-based systems for building controllers for real-time control of water resources, using ANNs and M5 model trees in flood control, using chaos theory in predicting water levels for ship guidance, etc. Conclusions are drawn on the applicability of the mentioned methods and the future role of computational intelligence in modeling and control of water resources.

Modeling, Model Reduction, and Control of a Hands-Free Two-Wheeled Self-Balancing Scooter

2020 ◽  
pp. 185-202
Author(s):  
Qiong Li ◽  
Wangling Yu ◽  
H. Henry Zhang
Keyword(s):  
Model Reduction ◽  
Large Scale ◽  
Power Transmission ◽  
System Response ◽  
Real Time Control ◽  
Time Control ◽  
Iteration Period ◽  
Synergistic Approach ◽  
Model Reduction Technique ◽  
And Control

Designing a two-wheeled self-balancing scooter involves in the synergistic approach of multidisciplinary engineering fields with mutual relationships of power transmission, mass transmission, and information transmission. The scooter consists of several subsystems and forms a large-scale system. The mathematical models are in the complex algebraic and differential equations in the form of high dimension. The complexity of its controller renders difficulties in its realization due to the limit of iteration period of real time control. Routh model reduction technique is employed to convert the original high-dimensional mathematical model into a simplified lower dimensional form. The modeling is derived using a unified variational method for both mechanical and electrical subsystems of the scooter, and for the electronic components equivalent circuit method is adopted. Simulations of the system response are based on the reduced model and its control design. A prototype is developed and realized with Matlab-Labview simulation and control environment.

scholarly journals Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

2020 ◽  
Vol 10 (22) ◽  
pp. 8031
Author(s):  
Long Qin ◽  
Fanghao Huang ◽  
Zheng Chen ◽  
Wei Song ◽  
Shiqiang Zhu
Keyword(s):  
Force Feedback ◽  
Inverse Kinematic ◽  
Real Time Control ◽  
Kinematics Model ◽  
Time Control ◽  
Virtual Force ◽  
Control Scheme ◽  
Continuum Manipulators ◽  
Transmission Structure ◽  
And Control

Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc. However, the hyper-redundancy, which endows much dexterity and flexibility, brings a huge challenge to the kinematics solution and control of the continuum manipulators. Due to the pseudoinverse calculation of high-order Jacobian matrix or iteration, many inverse kinematic solution approaches of continuum manipulators are very time-consuming, which extremely limit their applicability in real-time control. Additionally, it is often difficult for the manipulators to perform the tasks well in complex scenarios due to lack of human intervention. Therefore, in this paper, a simplified kinematics model of a typical hyper-redundant manipulator is proposed based on its unique geometry relationships, where the mapping relationships between the actuators’ rotation and the end-effector’s position are derived through the analysis of its driving subsystem and motion subsystem, in particular the joint modules. To perform the tasks of manipulators with the help of operators, a teleoperation control scheme with modified wave transmission structure is designed to achieve the guaranteed stability and improved transparency, and the leader’s trajectory and generated force feedback are the transmitted signals in the communication channel. Specifically, a virtual force feedback generation algorithm is developed in the teleoperation control scheme via the processing tracking errors, which can improve the operators’ assistance and perception during the teleoperation process. The practical experiments with comparative wave variable structures in two different sets are implemented to verify the effectiveness of proposed kinematics model and control scheme.

Development of a Control Strategy to Reduce Combined Sewerage Overflows: The Case of Bremen – Left of the Weser

1991 ◽  
Vol 24 (6) ◽  
pp. 201-208 ◽  
Author(s):  
Amar Khelil ◽  
Stefan Schneider
Keyword(s):  
Storage Capacity ◽  
Control Strategies ◽  
Drainage System ◽  
West Germany ◽  
Real Time Control ◽  
Time Control ◽  
On Line ◽  
Line Survey ◽  
The City

In recent years, the population and authorities in West Germany have become very concerned with water pollution. In this respect, combined sewage discharges have been pointed out as a major source. Various measures can be considered, which can be ordered into three categories: a redefinition of the objectives of the Urban Drainage System (UDS), the reshaping of the UDS (e.g. extension of the storage capacity) or the modification of its operation. Among the latter measures, Real-Time Control (RTC) constitutes the main option. It aims at a better exploitation of the existing storage potential. As the city of Bremen (Germany) decided, several years ago, to renew the on-line survey and monitoring system of its UDS, the determination of on-line strategies to operate the pumps came to the fore. Methods and tools to investigate the possibility to reduce the pollution loads through improved control strategies have been developed. Some results are presented.

scholarly journals Smart Health and Safety Equipment Monitoring System for Distributed Workplaces

Computers ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 82 ◽  
Author(s):  
Jabbar Al-Dulaimi ◽  
John Cosmas ◽  
Maysam Abbod
Keyword(s):  
Monitoring System ◽  
Health And Safety ◽  
Safety Monitoring ◽  
Real Time Control ◽  
Time Control ◽  
Safety Monitoring System ◽  
The Status ◽  
On Line ◽  
Smart Health ◽  
Control And Monitoring System

This paper presents a design and prototype of an IoT-based health and safety monitoring system using MATLAB GUI. This system, which is called the Smart Health and Safety Monitoring System, is aimed at reducing the time, cost and manpower requirements of distributed workplaces. The proposed system is a real-time control and monitoring system that can access on-line the status of consumable devices in the workplace via the internet and prioritise the critically high location that need replenishing. The system dynamically updates the status of all location, such as first aid boxes, earplug dispensers and fire extinguishers. Simulation results of the proposed system gives shorter path, time and cost in comparison to manual maintenance systems.

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