Control Design of GOOGOL’s Mobile Two-Wheeled Self-Balancing Robot Based on TP Model Transformation and Non-fixed-time Step Sampling Method

Author(s):  
Bao Shi ◽  
Fei Chang ◽  
Sharina Huang ◽  
Guoliang Zhao ◽  
Yilong Li
2021 ◽  
pp. 1-1
Author(s):  
Kunal Garg ◽  
Ryan K. Cosner ◽  
Ugo Rosolia ◽  
Aaron D. Ames ◽  
Dimitra Panagou

2019 ◽  
Vol 9 (10) ◽  
pp. 1972 ◽  
Author(s):  
Elzbieta Gawronska

Progress in computational methods has been stimulated by the widespread availability of cheap computational power leading to the improved precision and efficiency of simulation software. Simulation tools become indispensable tools for engineers who are interested in attacking increasingly larger problems or are interested in searching larger phase space of process and system variables to find the optimal design. In this paper, we show and introduce a new approach to a computational method that involves mixed time stepping scheme and allows to decrease computational cost. Implementation of our algorithm does not require a parallel computing environment. Our strategy splits domains of a dynamically changing physical phenomena and allows to adjust the numerical model to various sub-domains. We are the first (to our best knowledge) to show that it is possible to use a mixed time partitioning method with various combination of schemes during binary alloys solidification. In particular, we use a fixed time step in one domain, and look for much larger time steps in other domains, while maintaining high accuracy. Our method is independent of a number of domains considered, comparing to traditional methods where only two domains were considered. Mixed time partitioning methods are of high importance here, because of natural separation of domain types. Typically all important physical phenomena occur in the casting and are of high computational cost, while in the mold domains less dynamic processes are observed and consequently larger time step can be chosen. Finally, we performed series of numerical experiments and demonstrate that our approach allows reducing computational time by more than three times without losing the significant precision of results and without parallel computing.


2019 ◽  
Vol 27 (1) ◽  
pp. 23-36
Author(s):  
Thilo Moshagen

Abstract In engineering, it is a common desire to couple existing simulation tools together into one big system by passing information from subsystems as parameters into the subsystems under influence. As executed at fixed time points, this data exchange gives the global method a strong explicit component. Globally, such an explicit co-simulation schemes exchange time step can be seen as a step of an one-step method which is explicit in some solution components. Exploiting this structure, we give a convergence proof for such schemes. As flows of conserved quantities are passed across subsystem boundaries, it is not ensured that system-wide balances are fulfilled: the system is not solved as one single equation system. These balance errors can accumulate and make simulation results inaccurate. Use of higher-order extrapolation in exchanged data can reduce this problem but cannot solve it. The remaining balance error has been handled in past work by recontributing it to the input signal in next coupling time step, a technique labeled balance correction methods. Convergence for that method is proven. Further, the lack of stability for co-simulation schemes with and without balance correction is stated.


1952 ◽  
Vol 84 (10) ◽  
pp. 316-321 ◽  
Author(s):  
R. W. Stark

General.—The purpose of this paper is to analyse a sampling method devised to assess larval populations in an outbreak of the lodgepole needle miner, Recurvaria milleri Busck (Busck 1914, Hopping 1945).The problem of developing an adequate sampling method is intimately concerned with the life-history of the insect, the region of the outbreak and the nature of the forest stand in which the outbreak occurs. In sampling most defoliator populations the problem is made more difficult by external feeding and wandering habits, hence it is usually done in some relatively inactive stage at a fixed time. de Gryse (1934) describes the problems inherent in sampling these insects. The needle miner, however, is fixed in its location for most of its life-cycle and is therefore readily obtainable for study. The problem here is reduced to a statistical one, that of obtaining an acceptable sample i.e. within suitable error limits with due regard for existing variables.


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