scholarly journals HEXAPOD MOVEMENT ALGORITHMS TO AVOID INTERFERENCE. ANGULAR MOVEMENT

2021 ◽  
pp. 58-64
Author(s):  
Ilya Platov ◽  
Oleksii Pavlovskyi ◽  
Yuliia Pavlovska
Keyword(s):  
Power Supply ◽  
Vertical Movement ◽  
Work Design ◽  
Walking Robots ◽  
Practical Implementation ◽  
State Matrix ◽  
Starting Position ◽  
Confined Spaces ◽  
Versatile Tool ◽  
Area Of Application

This paper considers the possibility of using a stepping robot - hexapod for research, monitoring the condition of technical dry channels, enclosed spaces and more. Compared to existing designs used today, the hexapod has a list of advantages that make it a more versatile tool, namely: autonomy, due to the power supply installed at work, design features that ensure its increased patency on uneven surfaces. Instead, this type of work requires the development of complex algorithms for movement than in the case of wheeled or tracked machines, ie. hexapod is a platform that moves the limbs, which in turn move with the help of servos. Therefore, the movement of the platform is provided by the control of each servo. In addition, environmental information is additionally processed from rangefinders, limb con-tact sensors with the surface, cameras, accelerometers, etc. Particular attention is paid to robot rotation algorithms, as the proposed scope imposes restrictions on the ability to maneuver freely in space. An algorithm for rotating robots in confined spaces based on limb state matrices has been developed, which greatly simplifies the practical implementation and allows to easily change the type of stroke during the hexapod operation. It is also proposed to introduce a buffer state matrix, which allows you to remember the last position of the limbs of the robot in case of its failure, after the elimination of which, it is possible to continue moving from any last state. Or return to the starting position and change the route. The versatility of the algorithm allows its use not only in the development of the software part of the hesapod, but also for other types of walking robots. Since the developed algorithm allows you to easily modify the types of moves at each iteration of the step. In the future, it is planned to test this algorithm on a model of a hexapod and supplement it with the necessary components for vertical movement, which is very important for passability in this area of application.

scholarly journals MOVEMENT ALGORITHM OF AN AUTONOMOUS ROBOT-HEXAPOD FOR MOVING IN NARROW CLOSED SPACES

2021 ◽  
pp. 61-68
Author(s):  
Ilya Platov ◽  
Oleksii Pavlovskyi
Keyword(s):  
Static Stability ◽  
Technical Condition ◽  
Initial Position ◽  
Walking Robots ◽  
Practical Implementation ◽  
Video Cameras ◽  
Confined Spaces ◽  
The Future ◽  
The Matrix ◽  
Servo Drives

The article proposes the use of a walking robot - hexapod for its use to monitor the technical condition of ventilation shafts, technical dry channels, enclosed spaces, etc. The peculiarity of this type of robots is the increased possibility in comparison with tracked or wheeled machines, due to their design and ability to overcome irregularities. Also, in comparison with existing designs, the hexapod can be fully autonomous and does not depend on a stationary power source. In its turn, construction of walking robots requires development of complex algorithms of motion, which are significantly different compared to wheeled or tracked moving devices, because in addition to the control of limbs, which are set in motion by servo drives, the computer core must process information from sensors that provide information both about the position of the robot itself, and about the surrounding objects, which can be: distance sensors, touch sensors, video cameras, accelerometers, gyroscopes, etc. The paper highlights the developments used to date, but analysis of existing algorithms for walking robots showed a lack of such for the use of the robot in narrow and confined spaces, ventilation shafts, dry technical ducts, etc. In this regard, an algorithm was developed that partially closes this gap. The peculiarity of this algorithm is the simplicity of practical implementation, as well as the safety of the construction of work in progress, because it takes into account the need for increased static stability by modifying the matrix of limb position by a third state, which gives the opportunity to consider the initial position, or memorize the limb state, from which, in the future, you can continue the movement from an arbitrary stable position. In addition, the algorithm can be applied not only to robots with six limbs, but also to other kinds of mobile walking platforms, because the proposed variant allows testing and calibration of any type of gait at each iteration of the step. In the future, it is planned to test the proposed algorithm on the developed prototype not only when moving the work on horizontal surfaces, but also on vertical surfaces, which is an important component for the proposed application area.

scholarly journals Development of Interrelated Voltage Regulation System for Coal Mines Energy Efficiency Improving

2018 ◽  
Vol 41 ◽  
pp. 03013 ◽  
Author(s):  
Fedor Nepsha ◽  
Roman Belyaevsky
Keyword(s):  
Energy Efficiency ◽  
Power Consumption ◽  
Power Supply ◽  
Coal Mines ◽  
Voltage Regulation ◽  
Active Power ◽  
Regulation System ◽  
State Matrix ◽  
Voltage Level ◽  
Supply Systems

In this paper, the authors propose an algorithm for interrelated voltage regulation in the power supply system of coal mine which allows to provide a normative voltage level and to minimize the level of active power consumption. A feature of the proposed algorithm is a separate consideration of discrete and nondiscrete variables. Nondiscrete variables are represented as a state matrix. The optimization of nondiscrete variables is performed for each state. The algorithm chooses a state with the minimal active power consumption. The obtained values of discrete and nondiscrete variables are transferred in the form of control signals to voltage regulation devices. In this case, the periodicity of the switching is determined by the resource of the on-load tap-changing device. The use of this algorithm will theoretically allow increasing the energy efficiency of power supply systems of coal mines.

Location and Distance Estimates by Blind and Sighted Children

1975 ◽  
Vol 27 (2) ◽  
pp. 295-301 ◽  
Author(s):  
B. Hermelin ◽  
N. O'Connor
Keyword(s):  
Arm Movement ◽  
Vertical Movement ◽  
Normal Children ◽  
Starting Position ◽  
Starting Point ◽  
Blind Children ◽  
Congenitally Blind ◽  
Motor Movements ◽  
Visual Reference

Blindfold normal, blindfold autistic and congenitally blind children made reproduction location and distance estimates of an arm movement. For each task they first experienced a standard vertical movement of a predetermined extent. In the test tasks which followed, they either reproduced the movement exactly, reproduced the end point although commencing from a different starting position, or reproduced the same distance from a different starting point. Sighted normal children and blind children performed very similarly on both the reproduction and the location task. However on distance reproduction, the blind children underestimated the longer distances more markedly than did the normals. Autistic children resembled the blind in their attempts to reproduce the longer distances. In addition they had a tendency to overshoot over short distances in all tasks. The results are discussed in terms of the role of a visual reference system for different aspects of motor movements.

Realizacija besprekidnog napajanja komandno-upravljačkog centra u sistemu OOiU

2021 ◽  
Vol 23 (2) ◽  
pp. 64-72
Author(s):  
Marko Tajdić ◽  
◽  
Željko Despotović ◽  
Jovan Kon ◽  
Keyword(s):  
Power Supply ◽  
Warning System ◽  
Practical Implementation ◽  
Entire System ◽  
Uninterruptible Power Supply ◽  
Control Center ◽  
Fast Switching ◽  
Autonomous Operation ◽  
The Republic ◽  
Uninterruptible Power

The emergency and notification warning system has the task to, in accordance with legal regulations, rules and observances, perform all necessary measures in order to monitoring, inform, and if necessary, partial or general public alerting of the population in the endangered area. The emergency and notification warning system, which is, among other things, very important for the Emergency management sector of the Republic Serbia, is managed from the command-control center. The importance of this system is evidenced by the fact that it has data transmission on two transmission paths (WiFi and UHF). Based on the above, it follows that it is very important to ensure robust, reliable and uninterrupted operation of the CCC and thus the smooth operation of the emergency and notification warning system. Uninterruptible power supply (UPS) plays a significant role in ensuring reliable, uninterrupted and autonomous operation of the entire system. The role of BPN is very important, because in case of loss of mains power 230 V, 50 Hz, it should take over the power supply of the system. The control system should provide a very fast switching (switching time ≤10 ms) to the backup power supply without interruption and voltage failure of the entire system. When working on a battery bank, the autonomy of the designed system in the absence of mains power is 48 hours. The paper will present the practical implementation of such a system, as well as the experimental results obtained during the operational commissioning of the UPS system. The solution is in use in the CCC-Valjevo of the emergency and notification warning system, starting from June 30, 2020.

Alternative Technique of Inverter Power Source Synchronization

2014 ◽  
Vol 9 (3) ◽  
pp. 20-24
Author(s):  
Petr Bak ◽  
Andrey Ottmar ◽  
Dmitriy Starostenko
Keyword(s):  
Power Supply ◽  
Power Source ◽  
External Factors ◽  
Practical Implementation ◽  
Hardware Implementations ◽  
Internal Parameters ◽  
Inverter Power Supply ◽  
General Aspects ◽  
Inverter Power Source

In devices synchronized with electric mains and sensitive to interference (particularly to an inverter power source) it is expedient to also synchronize the power source. The paper describes a method of synchronizing the inverter power supply with the mains. The general aspects of the method are discussed in detail, and possible hardware implementations are considered. External factors and internal parameters affecting the quality of synchronization are analyzed. The results of practical implementation of this method for synchronization of klystron filament power supply are presented

scholarly journals Study of the Assembly Manufacturing Automated Traceability System Identification Tools

2019 ◽  
Vol 297 ◽  
pp. 01005
Author(s):  
Vladimir Nosenko ◽  
Aleksei Silaev ◽  
Stepan Efremkin ◽  
Sergei Grednikov
Keyword(s):  
Power Supply ◽  
Operating Conditions ◽  
Work Design ◽  
Identification System ◽  
Rfid Tags ◽  
Advantages And Disadvantages ◽  
Traceability System ◽  
Technological Route ◽  
And Control ◽  
Design Power

This paper considered questions of quality control of production at assembly manufacturing using an automated traceability and identification system. The main possibilities of these systems are: control of the movement of materials, components and products within the production; construction the technological route and control over the accuracy of its compliance; identification all operations with a binding to the operators. Also authors are carried out the review of problems that can be solved by these systems. As one of the methods of identification of materials, components and products, the technology of using RFID-tags are considered. The main characteristics of RFID tags have analyzed (frequency of work, design, power supply). Advantages and disadvantages of this technology are revealed. For example, advantages are high protection at hard operating conditions, rewritable tags and the disadvantages are limited using the tags at high temperatures, occurrence the effect of collision. Authors made conclusions that investigated RFID-tags can be used for assembly manufacturing.

An Overview of Digital Image Processing and Recognition (Invited Paper)

1982 ◽  
Vol 40 ◽  
pp. 700-702
Author(s):  
R. C. Gonzalez
Keyword(s):  
Image Processing ◽  
New York ◽  
Digital Image Processing ◽  
Digital Image ◽  
Practical Implementation ◽  
Submarine Cable ◽  
Vigorous Growth ◽  
Digitized Pictures ◽  
Processing Techniques ◽  
And Storage

Interest in digital image processing techniques dates back to the early 1920's, when digitized pictures of world news events were first transmitted by submarine cable between New York and London. Applications of digital image processing concepts, however, did not become widespread until the middle 1960's, when third-generation digital computers began to offer the speed and storage capabilities required for practical implementation of image processing algorithms. Since then, this area has experienced vigorous growth, having been a subject of interdisciplinary research in fields ranging from engineering and computer science to biology, chemistry, and medicine.

New replica method with plasma polymerized film by glow discharge

1988 ◽  
Vol 46 ◽  
pp. 414-415
Author(s):  
A. Tanaka ◽  
M. Yamaguchi ◽  
T. Hirano
Keyword(s):  
Power Supply ◽  
Plasma Polymerization ◽  
Vacuum Chamber ◽  
Complex Surface ◽  
Replica Method ◽  
Metal Extraction ◽  
High Voltage Power Supply ◽  
Negative Glow ◽  
Hydrocarbon Gas ◽  
Hydrocarbon Molecules

The plasma polymerization replica method and its apparatus have been devised by Tanaka (1-3). We have published several reports on its application: surface replicas of biological and inorganic specimens, replicas of freeze-fractured tissues and metal-extraction replicas with immunocytochemical markers.The apparatus for plasma polymerization consists of a high voltage power supply, a vacuum chamber containing a hydrocarbon gas (naphthalene, methane, ethylene), and electrodes of an anode disk and a cathode of the specimen base. The surface replication by plasma polymerization in negative glow phase on the cathode was carried out by gassing at 0.05-0.1 Torr and glow discharging at 1.5-3 kV D.C. Ionized hydrocarbon molecules diffused into complex surface configurations and deposited as a three-dimensionally polymerized film of 1050 nm in thickness.The resulting film on the complex surface had uniform thickness and showed no granular texture. Since the film was chemically inert, resistant to heat and mecanically strong, it could be treated with almost any organic or inorganic solvents.

P20 phosphor on polyimide as a large area high-resolution transmission screen for slow scan CCD systems

1995 ◽  
Vol 53 ◽  
pp. 20-21
Author(s):  
C. C. Ahn ◽  
S. Karnes ◽  
M. Lvovsky ◽  
C. M. Garland ◽  
H. A. Atwater ◽  
...  
Keyword(s):  
Mechanical Stability ◽  
High Energy ◽  
Practical Implementation ◽  
Line Pair ◽  
Modulation Transfer ◽  
Large Area ◽  
Ccd Imaging ◽  
Transmission Electron ◽  
The One ◽  
Beam Broadening

The bane of CCD imaging systems for transmission electron microscopy at intermediate and high voltages has been their relatively poor modulation transfer function (MTF), or line pair resolution. The problem originates primarily with the phosphor screen. On the one hand, screens should be thick so that as many incident electrons as possible are converted to photons, yielding a high detective quantum efficiency(DQE). The MTF diminishes as a function of scintillator thickness however, and to some extent as a function of fluorescence within the scintillator substrates. Fan has noted that the use of a thin layer of phosphor beneath a self supporting 2μ, thick Al substrate might provide the most appropriate compromise for high DQE and MTF in transmission electron microcscopes which operate at higher voltages. Monte Carlo simulations of high energy electron trajectories reveal that only little beam broadening occurs within this thickness of Al film. Consequently, the MTF is limited predominantly by broadening within the thin phosphor underlayer. There are difficulties however, in the practical implementation of this design, associated mostly with the mechanical stability of the Al support film.

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