scholarly journals Multi-motor Drive Control Method of Upper-Retort-Robot Based on Machine Vision

2021 ◽  
Author(s):  
Jie Xiao ◽  
Wanjie Kang ◽  
Guofeng He ◽  
Xiangchen Li ◽  
Genglong Yan
Keyword(s):  
Machine Vision ◽  
Control Method ◽  
Processing System ◽  
The Body ◽  
Motor Drive ◽  
Transmission Performance ◽  
Cold Regions ◽  
Field Equipment ◽  
Drive Control

Abstract A research on the multi-motor drive control method of the upper-retort-robot based on machine vision is proposed in this paper for wine brewing automation to suffice the demand of military areas situated in cold regions as wine is recommended to keep the body temperature of soldiers normal in highly cold regions of China. Based on machine vision, the target is converted into an image signal by an image pickup device and is sent to the image processing system. The pixel distribution, brightness, color and other information are converted into digital signals and the target features are extracted to control the actions of the field equipment. The Monte-Carlo method is exploited to randomly generate joint variables within the variation range of each joint. The positive aspects of kinematics model are utilized and the working space of the upper-retort-robot is calculated using multi-motor drive control method. The multi-motor drive compensates the harmonic ripple torque, and establishes the fault-tolerant automatic control of the system to maintain quality of the liquor. The experimental results show that the robot arm can reach at any position in the barrel within the defined range. The robot will work in an automated mode to control the quality of the liquor. The transmission performance of the robot can meet the requirements of the automated quality control of the liquor during processing of wine from grapes. The results are obtained for robot transmission performance and robot dexterity which proves the robustness and viability of the proposed multi-motor drive control method (MMDCM).

scholarly journals Vector-Controlled Induction Motor Drive with Minimal Number of Sensors

2015 ◽  
Vol 19 (1) ◽  
pp. 21
Author(s):  
Evgenije M. Adžić ◽  
Vlado B. Porobić ◽  
Marko S. Vekić ◽  
Zoran R. Ivanović ◽  
Vladimir A. Katić
Keyword(s):  
Digital Signal Processor ◽  
High Performance ◽  
Control Method ◽  
Digital Signal ◽  
Motor Drive ◽  
Feedback Signal ◽  
Induction Motor Drive ◽  
Hardware In The Loop ◽  
Drive Control ◽  
Test Platform

This paper proposes an improved and robustinduction motor drive control method which uses minimalnumber of sensors, providing only dc-link current measurementas a feedback signal. The proposed dc-link current samplingscheme and modified asymmetrical PWM pattern cancelcharacteristic waveform errors which exist in all threereconstructed line currents. In that way, proposed method issuitable for high-quality and high-performance drives.Comparison between conventional and proposed currentreconstruction method is performed using hardware-in-the-loop(HIL) test platform and digital signal processor (DSP).

Ride comfort control of in-wheel motor drive unmanned ground vehicles with energy regeneration

2020 ◽  
pp. 095440702093336
Author(s):  
Lipeng Zhang ◽  
Chenhui Ren ◽  
Xinmao Yuan ◽  
Wei Zhang
Keyword(s):  
Ride Comfort ◽  
Control Method ◽  
The Body ◽  
Vibration Energy ◽  
Motor Drive ◽  
Optimal Control Strategy ◽  
Body Acceleration ◽  
Control Functions ◽  
Save Energy ◽  
Passive Suspensions

Adopting in-wheel motor drive can improve vehicle dynamics control functions, which is the most ideal drive mode of unmanned ground vehicle. However, with the increase of the heavy unspring-mass vibration energy while the vehicle running on uneven road, the ride comfort will be seriously deteriorated. To solve the problem and save energy, the ride comfort control based on regenerative suspensions is adopted. By analyzing the vibration performance, the adverse effects of the vehicle equipped in-wheel motors with passive suspensions are revealed. Then, the dynamics model of the regenerative suspension is built. Based on the suspension power recovery, the multi-state optimal control strategy for improving the ride comfort is designed. Finally, comparing the simulation results of regenerative suspensions with the test results of passive suspensions, when the vehicle mass ratio decreases from 8:1 to 4:1, the body acceleration and the root mean square value of tire dynamic load increase by 28.1% and 31.6%, correspondingly. With the control method, the body acceleration is decreased by 23% and reaches the level of conventional vehicles. Furthermore, part of the vehicle vibration energy can be recovered and the vehicle driving range can be extended.

scholarly journals Advanced induction motor drive control with single current sensor

2016 ◽  
Vol 20 (suppl. 2) ◽  
pp. 421-436
Author(s):  
Evgenije Adzic ◽  
Vlado Porobic ◽  
Milan Adzic ◽  
Zoran Ivanovic
Keyword(s):  
Induction Motor ◽  
Digital Signal Processor ◽  
Control Method ◽  
Digital Signal ◽  
Current Sensor ◽  
Motor Drive ◽  
Feedback Signal ◽  
Reconstruction Technique ◽  
Induction Motor Drive ◽  
Drive Control

This paper proposes induction motor drive control method which uses minimal number of sensors, providing only DC-link current as a feedback signal. Improved DC-link current sampling scheme and modified asymmetrical switching pattern cancels characteristic waveform errors which exist in all three reconstructed motor line-currents. Motor linecurrent harmonic content is reduced to an acceptable level, eliminating torque and speed oscillations which were inherent for conventional single sensor drives. Consequently, use of single current sensor and line-current reconstruction technique is no longer acceptable only for low and medium performance drives, but also for drives where priority is obtaining a highly accurate, stable and fast response. Proposed control algorithm is validated using induction motor drive hardware prototype based on TMS320F2812 digital signal processor.

scholarly journals PO-213 Comparison of the effects of Swimming and skiing exercise on the stamina quality of undergraduate male students in Capital University of physical Education and Sports

2018 ◽  
Vol 1 (5) ◽  
Author(s):  
Mengjie Ren ◽  
Yedan Ma
Keyword(s):  
College Students ◽  
Physical Education ◽  
Physical Exercise ◽  
Measurement Method ◽  
The Body ◽  
Test Method ◽  
Male Students ◽  
Field Equipment ◽  
Dynamic Endurance

Objective Many factors affecting the endurance quality of college students include genetic factors, age, sex, physical exercise, physical fitness and nervous system tolerance.Physical exercise is of great importance to improving endurance quality. If we take part in physical exercise for a long time, we can make people's heart muscle develop.The heart's potential is fully tapped.The purpose of this study is to compare the effects of swimming and skiing exercise on the endurance quality of undergraduate male students in Capital Institute of physical Education, so as to provide the basis for the improvement of endurance quality of college students. Methods 1 Measurement of general endurance (1) 1000m run (M) Significance of measurement: it mainly reflects the ability of the subjects to work long hours in the heart and lungs. Track and Field equipment: 400 mL 300 mU 200md track, stopwatch, whistle. Test method: the subjects stood at the starting line in a standing position and immediately started when they heard the whistle. The timekeeper starts counting, recording each test in detail, accurate to 0.1 seconds. Measurement requirements: testers report the number of laps left to the tester during the test to avoid running around. 2 Measurement of Speed Endurance (1) 400m run measurement Significance of measurement: it mainly reflects the speed and endurance level of the subjects. Field equipment: 400 m track, stopwatch, whistle. Issue a flag of command. The shorter it takes to run: 400m, the higher the speed endurance. Measurement method: after standing at the starting line, the subjects start at the whistle and finish the whole race as soon as possible. 3 Measurement of dynamic endurance (1) pull-up Significance of the test: the strength and dynamic force of the upper limb group and the shoulder band muscle group, which mainly respond to their own body weight. Measuring equipment: high horizontal bar. Measurement method: the subjects take off, hold the bar with their hands in a positive grip. After the body is still, both arms pull up at the same time and practice repeatedly until they try their best. Measurement requirements: When the bar is high, there should be corresponding protection measures. Participants can use the help of others when they can't hold the bar, but they must complete the whole process by themselves . In the face of testers in the process of testing instability can help their stability.   Results The results showed that the general endurance, speed endurance and dynamic endurance of the non-sports major boys who took the swimming course in the Capital Institute of physical Education were higher than those of the non-sports major boys who took the skiing courses. Conclusions In this experiment, SPSS20.0 software was selected to calculate and analyze the data, and t test was carried out. The difference was statistically significant (P < 0. 05). In this experiment, the results of the first elective swimming and skiing courses for male students of non-sports major are true and effective. After one semester, The endurance quality of the non-sports major boys in the first elective swimming course is higher than that of the non-sports major boys in the ski course. Therefore, it can be concluded that swimming can improve the endurance quality of the boys in the first body non-sports major more than skiing.  

Experience in the use of double broncholytic therapy in occupational practice

2019 ◽  
pp. 303-307
Author(s):  
Elena A. Beigel ◽  
Natalya G. Kuptsova ◽  
Elena V. Katamanova ◽  
Oksana V. Ushakova ◽  
Oleg L. Lakhman
Keyword(s):  
Quality Of Life ◽  
Personal Data ◽  
The Body ◽  
Step Test ◽  
Aluminum Production ◽  
Chronic Obstructive ◽  
Body Plethysmography ◽  
Occupational Copd ◽  
The Impact

Introduction. Occupational chronic obstructive pulmonary disease (COPD) is one of the leading nosological forms of occupational respiratory disease. Numerous studies have shown high effectiveness of the combination of indacaterol/glycopyrronium (Ultibro®breezhaler®) on the impact on clinical and functional indicators in the treatment of COPD in General practice.The aim of the investigation the case of occupational COPD with the analysis of the dynamics of functional indicators, tolerance to physical load and evaluation of the quality of life of workers engaged in aluminum production by using combination of indacaterol/glycopyrronium.Materials and methods. The random sampling method included 20 men, workers of aluminum production, with the established diagnosis of professional COPD at the age of 40 to 60 years. The survey was conducted (Borg scale, medical Research Council scale (mMRC) and COPD Assessment Test (CAT). Functional methods of studies were conducted: spirometry, body plethysmography, electrocardiography (ECG) and the six-minute stepper test (6-MST).Results. Against the background of 8 weeks of therapy, the volume of forced exhalation for 1 minute (FEV1) increased by 14.7% and amounted to 67.90% of the due values, the forced vital capacity of the lungs (FVC) increased by 11.3% and amounted to 76.95% of the due. According to the body plethysmography (BPG) is set to decrease in residual lung volume on average by 13.4% and static hyperinflation, confirmed by the decrease in functional residual volume (FRV) of 18.8%. During the study period increased physical activity of patients. The average difference between the distance traveled in the six-minute step test before and after treatment was 58.8 m. The analysis of personal data showed that the quality of life of patients improved, the total score in the questionnaire CAT at the beginning of the study was 16.9 points, and after 8 weeks decreased by 63% and amounted to 10.7 points.Conclusions: The Results indicate a positive effect of combination therapy with indacaterol/glycopyrronium on the course and progression of occupational COPD.

PENGARUH KONSEP DIRI DAN KOMPETENSI PEDAGOGIK GURU TERHADAP KUALITAS PROSES PEMBELAJARAN

Edum Journal ◽  
2018 ◽  
Vol 1 (2) ◽  
pp. 106-117
Author(s):  
Khamim Khamim ◽  
Wresni Pujiyati
Keyword(s):  
Significant Influence ◽  
Learning Process ◽  
The Body ◽  
Self Concept ◽  
Survey Method ◽  
Empirical Level ◽  
Pedagogical Competence ◽  
Teacher Needs ◽  
Evaluation Of Learning

The main focus of this research is on the self-concept and pedagogical competence of the teacher and its influence on the quality of the learning process both partially and double. The research method used is a survey method in which the authors go directly to the empirical level by distributing questionnaires to 47 teachers. The processing and analysis techniques used are linear and multiple regression. The results of the study show that: (1) There is a positive and significant influence of the teacher's self-concept on the quality of the learning process (2) There is a positive and significant influence on the teacher's pedagogical competence on the quality of the learning process. (3) There is a positive and significant effect of self-concept and pedagogical competence of teachers together on the quality of the learning process. Therefore, the authors suggest: (1) So that the teacher improves health and appearance because the results of the study show that the weakness of the teacher's self-concept is in the appearance and significance of the body. So that the teacher needs to be given enlightenment related to how to maintain health and fitness through the implementation of joint gymnastics or conducting group discussions related to the dirt to maintain a prime body. (2) To face future competition and improve the quality of education it is deemed necessary to further increase the pedagogical competence of teachers, especially those related to planning and evaluation of learning.

February 9 — Dentist Day in Russia

2020 ◽  
pp. 78-81
Author(s):  
Oksana Rybachok
Keyword(s):  
Early Childhood ◽  
Oral Cavity ◽  
Salivary Glands ◽  
Spiritual Development ◽  
The Body ◽  
Mechanical Processing ◽  
Normal Functioning ◽  
Digestion Process ◽  
Quality Of Food

«Man is what he eats,» these words belong to the great Pythagoras. He meant by these words the connection of the origin of consumed food with the spiritual development of man. In fact, a lot depends on the nature of nutrition, the quality of food and, of course, on the degree of its perception by the body. Digestion process begins not in the stomach, but directly in the oral cavity as a result of mechanical processing of products with teeth and under the influence of the secretion of the salivary glands. That is why healthy teeth are the key to the normal functioning of the whole organism — people should start taking care of their teeth from the early childhood and dentists, who are far from being beloved by everybody and are often carelessly evaded, are called upon to help keep the teeth healthy.

QUALIDADE DAS ÁGUAS E NÍVEL TRÓFICO DA BACIA DO RIO PACIÊNCIA NA ILHA DO MARANHÃO, BRASIL

2019 ◽  
Vol 21 (2) ◽  
pp. 437-453
Author(s):  
Elna Lucilia Santos Corrêa ◽  
Karina Suzana Feitosa Pinheiro ◽  
Cláudio José Da Silva de Sousa ◽  
Luiz Jorge Bezerra da Silva Dias
Keyword(s):  
Water Quality ◽  
Trophic Status ◽  
The Body ◽  
Chemical Parameters ◽  
Public Supply ◽  
Physico Chemical ◽  
Great Availability ◽  
Del Rio ◽  
Fluvial Environments

O Brasil apresenta grande disponibilidade de água doce em seus mananciais. Fazendo parte desse recurso encontra-se, o rio Paciência, localizado na Ilha do Maranhão destacado pela sua importância local, principalmente por contribuir com suas águas para recarga dos mananciais subterrâneos, fonte de abastecimento público de vários bairros de São Luís, capital do estado. No entanto, este rio vem sofrendo comprometimento da qualidade de suas águas, consequência do processo de uso e ocupação dos espaços em sua bacia. Destacando-se como um dos principais problemas relacionados a qualidade de ambientes fluviais,  a eutrofização, que consiste no processo em que o corpo d’água adquire elevados níveis de nutrientes (fosfatos e nitratos), é um indicador determinante da qualidade da água. Neste sentido, o objetivo deste trabalho foi caracterizar a qualidade da água e do estado trófico na bacia hidrográfica do rio Paciência atráves dos parâmetros fisico-químico evidenciando os trechos mais comprometidos conforme os valores alcançados nas análises. Os resultados das análises foram comparados com a CONAMA No. 357/05 que indicaram uma situação preocupante quanto à qualidade da água no local de estudo.Palavras-chave: Qualidade de água; Eutrofização; Ilha do Maranhão. ABSTRACTThe Brazil has great availability of fresh water in its springs. Within these contexts, the Paciência River, located on the Island of Maranhão stands out for its local importance, mainly for contributing its waters to the recharge of the underground springs, source of public supply of several districts of São Luís, capital of the state. However, this river has been compromising the quality of its waters, a consequence of the process of use and occupation of the spaces in its basin. Highlighting as one of the main problems related to the quality of fluvial environments, eutrophication, which consists of the process in which the body of water acquires high levels of nutrients (phosphates and nitrates), is a determinant indicator of water quality. In this sense, the objective of this work was to characterize the water quality and trophic status in the Paciência river basin through the physico-chemical parameters, showing the most compromised stretches according to the values reached in the analyzes. The results of the analyzes were compared with CONAMA No. 357/05 which indicated a worrying situation regarding the quality of the water at the place of study.Keywords: Water quality; Eutrophication; Island of Maranhão. RESUMENBrasil tiene gran disponibilidad de agua dulce en sus manantiales. Parte de este recurso es el río Paciencia, ubicado en la isla de Maranhão, que destaca por su importancia local, principalmente porque contribuye con sus aguas a recargar las fuentes subterráneas, fuente de suministro público de varios barrios de São Luís, capital del estado. Sin embargo, este río se ha visto afectado por la calidad de sus aguas, como consecuencia del proceso de uso y ocupación de los espacios en su cuenca. Destacando como uno de los principales problemas relacionados con la calidad de los ambientes fluviales, la eutrofización, que consiste en el proceso en el que el cuerpo de agua adquiere altos niveles de nutrientes (fosfatos y nitratos), es un indicador determinante de la calidad del agua. En este sentido, el objetivo de este trabajo fue caracterizar la calidad del agua y el estado trófico en la cuenca del río Paciência a través de los parámetros fisicoquímicos, mostrando las secciones más comprometidas de acuerdo con los valores alcanzados en los análisis. Los resultados de los análisis se compararon con CONAMA N°. 357/05, que indicó una situación preocupante con respecto a la calidad del agua en el sitio de estudio.Palabras clave: Calidad del agua; Eutrofización, Isla Maranhão.

METHODS ASSESSMENT QUALITY OF ACCOUNTING REPORTING AND MODELS OF THEIR MEASUREMENT

2020 ◽  
Vol 3 (3) ◽  
pp. 95-99
Author(s):  
E. H. ABU ◽  
Keyword(s):  
Internal Control ◽  
Stock Prices ◽  
Control Method ◽  
Financial Statements ◽  
Accounting Conservatism ◽  
Standardized Assessment ◽  
Accrual Quality ◽  
Indirect Measures

The article explores individual approaches used to measure and evaluate the quality of financial state-ments: standardized assessment, accrual-based models (accrual quality), Beneise models (M-Score), in-dexes - the internal control method and the degree of accounting conservatism. The reason for the great dependence on the use of indirect measures (proxies for the quality of financial statements or stock prices) is that some of the qualities of financial statements are unobservable.

Fast Method for the Determination of Residual Solvents in Radiopharmaceutical Products

2017 ◽  
Vol 68 (4) ◽  
pp. 666-670 ◽  
Author(s):  
Mirela Mihon ◽  
Catalin Stelian Tuta ◽  
Alina Catrinel Ion ◽  
Dana Niculae ◽  
Vasile Lavric
Keyword(s):  
Gas Chromatography ◽  
Control Method ◽  
Limit Of Detection ◽  
The Body ◽  
Biologically Active ◽  
Injection Technique ◽  
Fast Method ◽  
Residual Solvent ◽  
Residual Solvents

The aim of this work was the development and validation of a fast analytical method to determine the residual solvents content in radiopharmaceuticals such as: 18F-Fluorodeoxyglucose (18F-FDG), 18F-Fluoroestradiol (18F-FES), 18F-Fluorothymidine (18F-FLT),18F-Fluoromisonidazole (18F-FMISO). Radiopharmaceuticals are radioactive preparations for medical purposes used in nuclear medicine as tracers in diagnostic imaging and treatment of certain diseases. Positron Emission Tomography (PET) is a medical imaging technique that consists in introducing into the body of a small amount of a biologically active chemical compound labelled with a short lived positron-emitting radioisotope (18F, 11C, 68Ga). Residual solvents are critical impurities in radiopharmaceuticals that can affect labelling, stability and physicochemical properties of drugs. Therefore, the determination of these solvents is essential for quality control of radiopharmaceuticals. Validation of the control method for residual solvents by gas chromatography is referred by the European Pharmacopoeia using a special injection technique (head space). The parameters of the method, which comply with International Conference on Harmonization guidelines, are: accuracy, precision, linearity, limit of detection, limit of quantification and robustness. The proposed method (direct gas chromatography injection) proved to be linear, precise, accurate and robust. Good linearity was achieved for all the solvents and correlation coefficients (R2) for each residual solvent were found more than 0.99.

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