scholarly journals Penerapan Sistem Kendali PID untuk KestabilanTwin-Tiltrotor dengan Metode DCM

2015 ◽  
Vol 5 (2) ◽  
pp. 145
Author(s):  
Andi Dharmawan ◽  
Sani Pramudita
Keyword(s):  
Pid Control ◽  
Pitch Angle ◽  
Center Of Gravity ◽  
The Body ◽  
Roll Angle ◽  
Sensor Data ◽  
Pid Algorithm ◽  
Wing Model ◽  
The Stability ◽  
The Right

AbstrakTwin-tiltrotor merupakan salah satu jenis dari multirotor yang memiliki dua buah baling-baling sebagai penggeraknya yang terletak di sisi kanan dan kiri dan dapat digerakkan secara longitudinal. Twin-tiltrotor memiliki sistem Vertical Take Off and Landing (VTOL), sehingga dapat melakukan hovering sewaktu-waktu dan dapat terbang menyerupai model fixed wing. Penelitian ini bertujuan untuk merancang sistem kestabilan pada saat tiltrotor melakuakn hovering menggunakan metode DCM dan kontrol PID.DCM merupakan sebuah metode yang digunakan untuk mengubah data yang diperoleh dari sensor IMU (accelerometer, gyroscope, dan magnetometer) menjadi sudut yang digunakan sebagai acuan dari kestabilan terbang dari tiltrotor yang dikendalikan menggunakan algoritma PID. Hasil kendali PID akan mengendalikan tiltcopter dengan menggerakkan motor servo dan motor brushless.Hasil pengujian menunjukkan bahwa, kestablian terbang pada tiltrotor dipengaruhi oleh peletakkan dari muatan serta letak dari titik center of gravity. Selain itu, dengan menggunakan metode DCM, hasil dari pengubahan nilai sensor menjadi sudut memiliki akurasi sebesar ±0.11 untuk sudut roll dan ±0.15 untuk sudut pitch. Untuk nilai PID pada sudut pitch adalah Kp 0.8, Ki 0.4, dan Kd 0.03, sedangkan untuk sudut roll adalah Kp 0.32, Ki 0.03, dan Kd 0.003. Kata kunci—Tiltrotor, DCM, IMU.  AbstractTwin-tiltrotor is a type of multirotor which has two propellers as propulsion located on the right and left of the body and can be moved longitudinally. Twin-tiltrotor has a Vertical Take Off and Landing system, so it can hover anytime and it can fly using fixed wing model. This study aims to design a system that can stabilize while hovering using DCM and PID control methods.DCM is a method that transform data obtained from IMU sensor (accelerometer, gyroscope, and magnetometer) and used as a refrence angle of stability of a tiltrotor controlled by PID algorithm. The results of PID will control the servo and brushless motor.The results of this study shows that the stability of the tiltrotor influenced by the position of the load and center of gravity. Beside that, by using the DCM, the result of conversion of sensor data into an angel, has an accuration ±0.11 for roll angle and ±0.15 for pitch angle. PID value of pitch is Kp 0.8, Ki 0.4, and Kd 0.03, while roll angle is Kp 0.32, Ki 0.03, and Kd 0.003. Keywords—Tiltrotor, DCM, IMU

scholarly journals Baropodometric profile of patients assisted in a physiotherapy clinic

2020 ◽  
Vol 18 ◽  
pp. 1-5
Author(s):  
Francisco Valmor Macedo Cunha ◽  
Joana D'arc Alves Sousa ◽  
Jonas Almeida Alves
Keyword(s):  
Plantar Pressure ◽  
Center Of Gravity ◽  
The Body ◽  
Anthropometric Parameters ◽  
Cross Sectional ◽  
Satisfactory Correlation ◽  
Health Council ◽  
Peak Plantar Pressure ◽  
The Right ◽  
Physiotherapy Clinic

Background: Computerized baropodometry, a posturographic recording technique used in the diagnosis and assessment of plantar pressure, which records the pressure points exerted by the body on the plantar surface, is an accurate, objective and quantitative examination. Its record is used in the diagnosis and evaluation of plantar pressure, both in static and dynamic positions. Objective: Analyze the baropodometric profile of patients in a physiotherapy clinic. Methods: A cross-sectional study of documentary character of baropodometry exams registered in the database of a physiotherapy clinic in Teresina (PI), carried out from January 2015 to December 2018. Totaling 193 exams, which include the types of feet, peak plantar pressure and correlation between peak plantar pressure with age, weight, height and BMI. The collected data were analyzed statistically by the software Win Track version 12.0, and presented through tables and figures. In this research, all ethical precepts were carried out in accordance with the resolution of the National Health Council and was approved by the ethics committee. Results: There was a higher prevalence of hollow feet (96.89%), showing a greater occurrence of displacement of the center of gravity posteriorly to the right (46.11%), it was found that there was no satisfactory correlation of anthropometric parameters with peak plantar pressure (p>0.05). Conclusion: It was possible to observe that the examinations evaluated showed a higher prevalence of hollow feet and center of gravity posteriorized to the right. In addition, there was no satisfactory correlation between peak plantar pressure with the variables age, weight, height and BMI.

Body Freedom Flutter Study and Passive Flutter Suppression for a High Aspect Ratio Flying Wing Model

2014 ◽  
Vol 608-609 ◽  
pp. 708-712 ◽  
Author(s):  
Yuan Dong Li ◽  
Xin Ping Zhang ◽  
Ying Song Gu ◽  
Zhi Chun Yang
Keyword(s):  
Aspect Ratio ◽  
Mass Balance ◽  
High Aspect Ratio ◽  
Center Of Gravity ◽  
The Body ◽  
Design Parameters ◽  
Wing Model ◽  
Design Variables ◽  
Optimization Study ◽  
Tip Mass

Normal mode and flutter analysis are conducted for a high aspect ratio aft swept flying wing model, and body freedom flutter is found to be the most critical aeroelastic instability for this air vehicle model. To determine the influence of various kinds of design parameters on BFF characteristics, eight factors are considered in the parametric study, i.e. wing vertical bending stiffness, weight and center of gravity of the wing root payload and the wing tip mass balance, wing half span, aft swept angle and the station of wing body blended line. After the parametric analysis, the mass and center of gravity of the wing root payload are selected as design variables, and the baseline model is utilized in the design optimization study subject to critical flutter speed constraint. Finally, the optimal mass balance design is suggested to suppress the body freedom flutter phenomenon passively and maximize the payload.

Robust Visual PID Control of Planar Parallel Robots Under Constant Disturbances

2013 ◽  
Author(s):  
Miguel A. Trujano ◽  
Ruben Garrido
Keyword(s):  
Stability Analysis ◽  
Pid Control ◽  
Visual Servoing ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Pid Algorithm ◽  
Control Scheme ◽  
The Stability ◽  
Invariance Theorem

This work presents an image-based visual servoing scheme applied to planar parallel robots. A PID algorithm regulates the robot end-effector position, and rejects constant disturbances perturbing the active robot joints. Instead using the La Salle invariance theorem, the stability analysis provided here relies on a strict Lyapunov function. Experiments on a redundant planar parallel robot validate the proposed control scheme.

scholarly journals SINGULAR AXIS SELF BALANCING ROBOT

2013 ◽  
pp. 258-260
Author(s):  
SULABH KUMRA ◽  
SHILPA MEHTA
Keyword(s):  
Control System ◽  
Pid Control ◽  
Balance Model ◽  
Balance System ◽  
Balancing Robot ◽  
The Stability ◽  
The Right ◽  
Limited Accuracy

In this paper, we presented the Balance model as a singular axis self balancing robot that is capable of adjusting itself with respect to changes in weight and position. We developed the Balance System from a single servo and a single accelerometer. The stability of the system is to show the capabilities of the ATMega8 in doing PID loops even with limited accuracy in position readings. PID control system is designed to monitor the motors so as to keep the system in equilibrium. It should be easily reproducible given the right parts and code.

scholarly journals Development of the Composition, Technology and Study of the Effectiveness of Drops for Oral Administration "Ascorbicdrop"

2021 ◽  
pp. 310-316
Author(s):  
B. Uktamov ◽  
N. M. Rizaeva ◽  
D. S. Mirzakamalova ◽  
I. Sh. Sharipova
Keyword(s):  
Shelf Life ◽  
Physical Inactivity ◽  
The Body ◽  
Natural State ◽  
Pure Nitrogen ◽  
Oxidative Processes ◽  
The Stability ◽  
The Right ◽  
Inadequate Nutrition ◽  
Vacuum Package

For normal life, many different substances are needed, among which vitamins play an important role. Everyone knows that the word "vitamin" comes from the Latin "vita" - life. This name is not accidental at all [1]. Vitamins are low molecular weight organic compounds, very small amounts of which are required for the implementation of various metabolic processes in the body. Most vitamins are indispensable because are not synthesized in the human body. In their natural state, they can be found in very small quantities in all foods of organic origin [1,2]. Insufficient intake of vitamins from food is a global problem, and not seasonal, as it is mistakenly believed. For a number of reasons, a modern person cannot get them in the right amount with food. Inadequate nutrition, physical inactivity lead to metabolic disorders in the body and increase the risk of developing serious diseases [3,4,5,6]. One of the main problems faced by drug manufacturers is sometimes a short shelf life. In order to preserve the pharmacological properties of drugs, they add preservatives to them or place them in a vacuum package. To date, the most effective way to solve this problem is to use a modified atmosphere with nitrogen. The stability of solutions of easily oxidizable substances increases significantly if they are filled in an inert gas environment, for example, carbon dioxide, nitrogen or argon. This filling allows you to remove oxygen, this oxidizing agent that destroys unstable substances. The following factors influence the reduction of shelf life: oxidative processes, development of molds, reproduction of microorganisms. All oxidative processes in the packaging of a medicinal product occur under the influence of oxygen. As a result of this reaction, medications deteriorate. With the help of a pure nitrogen environment, it is possible to reduce the O2 content to a minimum level [7].

scholarly journals Analysis of the stability control of the car with the admission to the infrastructure

2018 ◽  
Vol 77 (1) ◽  
pp. 49-57 ◽  
Author(s):  
T. A. Antropova ◽  
M. I. Glushko
Keyword(s):  
Traffic Safety ◽  
Lateral Displacement ◽  
Friction Pair ◽  
Stability Loss ◽  
Stability Control ◽  
Center Of Gravity ◽  
The Body ◽  
Railway Track ◽  
Rolling Stock ◽  
The Stability

The rolling stock and the railway track are a single stant tendency of the development of rail transport in relation to mechanical system. The running parts of the rolling stock and the the interaction of the power wheel-to-rail friction pair consists in track are interacting under difficult dynamic conditions. The con-increasing the axle load on the rails for freight rolling stock and further increasing the speed of the passenger trains. It takes a qualified approach to traffic safety issues and special attention to the stability of rolling stock to achieve these goals. An analysis of the stability control of the car with an admission to the infrastructure was carried out based on the regulatory documents that establish the main provisions and procedures for the operation of railways and railway workers. Authors proposed the elimination of existing shortcomings and ensuring the stability of the carriage motion by optimizing parameters of the placement of goods in the car. Calculations were made on the rollover stability conditions (stability loss) of the body and the criterion of the critical speed at which the carriage derailed due to the loss of contact of the wheels with the internal rail line of the curve. A method for controlling the stability of a car with a load by means of two-position weighing is proposed. The results obtained also make it possible to determine the height of the common center of gravity (CG), the magnitude of the longitudinal and lateral displacement of the center of gravity of the freight.

scholarly journals The Influence of Biofeedback in Postural Rehabilitation of Athletes

2021 ◽  
Vol 66 (1) ◽  
pp. 101-110
Author(s):  
Hajnal Chelaru ◽  
Codruța Florina Bulduş ◽  
Dan Monea
Keyword(s):  
Weight Distribution ◽  
Body Position ◽  
Center Of Gravity ◽  
The Body ◽  
Lower Limbs ◽  
Biofeedback Treatment ◽  
Postural System ◽  
Analysis System ◽  
The Right ◽  
Postural Analysis

"ABSTRACT. Background. A balanced posture allows sports movements PERFORMANCE with optimal consumption of energy and minimal stress on the musculoskeletal system with of the technology offered by the posturograph, we can identify the center of gravity deviations, the points of support, the load, the weight distribution in the soles, the anterior posteriorized or compressed posture, the asymmetries of the body. by an interpretation in biomechanical context, any compensations or decompensations can be identified. Aim. The aim of the study is to improve posture through biofeedback treatment using the GPS 600 device. Materials. The Posturograph or Global Postural System (GPS) is an advanced postural analysis system that uses techniques and methods of noninvasive diagnosis and evaluation in the field of medical recovery. Posturography includes 2 diagnostic units and software. Methods. We used the following methods: bibliographic study methods, method of observation, measurement method, experimental method, statistical method. Applied treatments. The treatments for re-educating the posture with the GPS 600 device took place for 2 weeks. During the treatment, the subjects had to maintain their body position / posture as indicated by the device. Results. From the 12 athletes, the anteriority of the head improved, the center of gravity, loading on the right and left lower limbs. At the end of the 2 weeks, the athletes reached a perfect balance of the center of gravity and the weight distribution on the lower limbs. Conclusion. Biofeedback treatments with the GPS 600 device help to improve POSTURE and maintain the results over time."

scholarly journals Sensitivity of a Hand-cranked Nursery Spreader to Operator Variables

1994 ◽  
Vol 12 (4) ◽  
pp. 187-190
Author(s):  
Richard L. Parish
Keyword(s):  
Distribution Pattern ◽  
Pitch Angle ◽  
Sensitivity Study ◽  
Roll Angle ◽  
Several Variables ◽  
The Right ◽  
Yaw Angle

Abstract Hand-cranked rotary spreaders are used to apply granular pesticides to container crops. Pattern was affected by several variables that are controlled by the operator. A sensitivity study was conducted with a typical hand-cranked spreader to determine which operator variables most affected the distribution pattern. Impeller height had little effect. Pattern slide setting had an important effect. Reducing cranking speed affected the pattern; increasing cranking speed did not. Roll angle affected pattern if the right side was angled down, but not if the left Side was angled down. Pitch angle affected the pattern only if the spreader was pitched down. Yaw angle had a major impact on pattern regardless of direction. Width of bed (i.e. distance between spreader passes) affected pattern uniformity.

Stability Limits in Extreme Postures: Effects of Load Positioning and Foot Placement

1995 ◽  
Vol 39 (10) ◽  
pp. 655-659 ◽  
Author(s):  
M.A. Holbein ◽  
D.B. Chaffin
Keyword(s):  
External Load ◽  
Postural Stability ◽  
Center Of Gravity ◽  
The Body ◽  
Functional Stability ◽  
Foot Placement ◽  
The Stability ◽  
Stability Issues ◽  
Stability Limits ◽  
Stability Modeling

Although injuries related to postural stability are prevalent, ergonomic job analyses have traditionally not addressed stability issues. In this research, functional stability limits are quantified for persons standing in extreme postures under various external load and foot positioning conditions. Six subjects were tested while standing unladen and while holding a 5.2 kg load. The foot positions, or bases of support (BOS), were varied in width of the stance and sagittal separation of the feet. They were asked to lean and displace their center of gravity (COG) as far as possible in eight directions to the sides and front of the body. Stability measures based on these COG displacements were calculated. All controlled variables significantly affected the stability measures. When standing unladen, subjects extended their COG to within 99% of their BOS limit. Movement was much more restricted when leaning while handling a load (89%), especially holding it with one hand on the shoulder (84%). On average, increased separation of the feet in a particular direction resulted in larger COG displacements in that direction. The results are discussed relative to their effects on balance and stability modeling.

Our Bodies, Whose Property?

2013 ◽  
Author(s):  
Anne Phillips
Keyword(s):  
Labor Markets ◽  
Personal Autonomy ◽  
The Body ◽  
Body Parts ◽  
Complex Issue ◽  
Human Organs ◽  
Property Owners ◽  
The Common ◽  
The Difference ◽  
The Right

No one wants to be treated like an object, regarded as an item of property, or put up for sale. Yet many people frame personal autonomy in terms of self-ownership, representing themselves as property owners with the right to do as they wish with their bodies. Others do not use the language of property, but are similarly insistent on the rights of free individuals to decide for themselves whether to engage in commercial transactions for sex, reproduction, or organ sales. Drawing on analyses of rape, surrogacy, and markets in human organs, this book challenges notions of freedom based on ownership of our bodies and argues against the normalization of markets in bodily services and parts. The book explores the risks associated with metaphors of property and the reasons why the commodification of the body remains problematic. The book asks what is wrong with thinking of oneself as the owner of one's body? What is wrong with making our bodies available for rent or sale? What, if anything, is the difference between markets in sex, reproduction, or human body parts, and the other markets we commonly applaud? The book contends that body markets occupy the outer edges of a continuum that is, in some way, a feature of all labor markets. But it also emphasizes that we all have bodies, and considers the implications of this otherwise banal fact for equality. Bodies remind us of shared vulnerability, alerting us to the common experience of living as embodied beings in the same world. Examining the complex issue of body exceptionalism, the book demonstrates that treating the body as property makes human equality harder to comprehend.

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