scholarly journals Improvement of DC Motor Speed Control for Mobile Robot to Minimize Slip Phenomenon

Jurnal INFORM ◽  
2021 ◽  
Vol 6 (1) ◽  
pp. 28-34
Author(s):  
Bayu Sandi Marta ◽  
Dewi Mutiara Sari
Keyword(s):  
Mobile Robot ◽  
Mean Squared Error ◽  
Dc Motor ◽  
Motor Speed ◽  
Slip Control ◽  
Position Accuracy ◽  
Squared Error ◽  
Speed Performance ◽  
Robot Position ◽  
Slip Phenomenon

Slip on the mobile robot has a significant impact on the maneuver and the accuracy of the mobile robot movement. The slip phenomenon occurs because of the loss of traction between the surface and the wheels due to the spontaneous acceleration or declaration application. This paper presents a method to improve DC motor performance by using slip control as an observer such that the slip phenomenon effect can be minimized. The performance that will be analyzed is the accuracy of motor speed and robot position accuracy when the robot is moving. The result shows that the Root Mean Squared Error (RMSE) for the motor speed performance that does not use slip control is 2.680, the system using slip control produces RMSE 1.3393. Regarding the robot position accuracy, the RMSE of the system that does not use slip control is 0.0379, the system using slip control is 0.0065.

scholarly journals PERFORMANCE IMPROVEMENTS OF SEPARATELY EXCITED DC MOTOR USING FUZZY LOGIC CONTROL

2020 ◽  
Vol 6 (2) ◽  
pp. 47-58
Author(s):  
R. Nagarajan ◽  
M. Gokulkannan ◽  
T. Dinesh ◽  
S. Murugesan ◽  
M. Naveenprasanth
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Expert Knowledge ◽  
Speed Control ◽  
Dc Motor ◽  
Fuzzy Rules ◽  
Motor Speed ◽  
Performance Improvements ◽  
Speed Performance

This paper demonstrates the importance of a fuzzy logic controller over conventional method. The performance of the separately excited DC motor is analyzed by using fuzzy logic controller (FLC) in MATLAB/SIMULINK environment. The FLC speed controller is designed based on the expert knowledge of the fuzzy rules system. The proposed DC motor speed control fuzzy rules are designed for fuzzy logic controller. The output response of the system is obtained by using fuzzy logic controller. The designed fuzzy controller for speed control performance is investigated. Significantly reducing the overshoot and shortening the settling time of the speed response of the motor. They validate different control of approaches, the simulation results show improvement in motor efficiency and speed performance.

scholarly journals A Comparison of GPS Performance in a Southern Hardwood Forest: Exploring Low-Cost Solutions for Forestry Applications

2009 ◽  
Vol 33 (1) ◽  
pp. 9-16 ◽  
Author(s):  
Scott D. Danskin ◽  
Pete Bettinger ◽  
Thomas R. Jordan ◽  
Chris Cieszewski
Keyword(s):  
Mean Squared Error ◽  
Low Cost ◽  
Slope Position ◽  
Horizontal Position ◽  
Differential Correction ◽  
Position Accuracy ◽  
Squared Error ◽  
Wide Area Augmentation System ◽  
Receiver Performance ◽  
Improved Performance

Abstract The global positioning system (GPS) exhibits much potential for forestry applications, where traditional methods of position determination still dominate. Recent advances in GPS technology may offer improved performance of GPS in forested conditions, and at a considerable cost advantage compared with previous GPS alternatives. We examined the use of several mapping- to recreation-grade GPS receivers across a topographic gradient and the influence of using the Wide Area Augmentation System (WAAS) to their performance under leaf-on and leaf-off conditions. Generally, the mapping-grade receiver with postprocessed differential correction offered the highest position accuracies, which improved root mean squared error (RMSE95) from 3.64 to 5.32 m across leaf conditions, compared with recreation-grade receiver performance, which ranged in RMSE95 from 12.76 to 38.74 m under leaf-on conditions to 8.22 to 36.81 m under leaf-off conditions. Users of this information should keep in mind that RMSE95 equals actual RMSE × 1.7308. These results are consistent with the general thoughts that (a) mapping-grade receivers should provide higher horizontal position accuracy than consumer-grade receivers, (b) better horizontal position accuracy is obtained during leaf-off forest conditions (i.e., winter), (c) differential correction can improve horizontal position accuracy, and (d) WAAS, when available, can improve horizontal position accuracy. Results also indicate that slope position and the number of position fixes acquired may influence the performance of the GPS units.

Use of reflectance spectroscopy to estimate the organic carbon and CaCO3 contents of soils

2012 ◽  
Vol 61 (2) ◽  
pp. 277-290 ◽  
Author(s):  
Ádám Csorba ◽  
Vince Láng ◽  
László Fenyvesi ◽  
Erika Michéli
Keyword(s):  
Organic Carbon ◽  
Least Squares ◽  
Partial Least Squares ◽  
Partial Least Squares Regression ◽  
Mean Squared Error ◽  
Reflectance Spectroscopy ◽  
Least Squares Regression ◽  
Root Mean Squared Error ◽  
Squared Error

Napjainkban egyre nagyobb igény mutatkozik olyan technológiák és módszerek kidolgozására és alkalmazására, melyek lehetővé teszik a gyors, költséghatékony és környezetbarát talajadat-felvételezést és kiértékelést. Ezeknek az igényeknek felel meg a reflektancia spektroszkópia, mely az elektromágneses spektrum látható (VIS) és közeli infravörös (NIR) tartományában (350–2500 nm) végzett reflektancia-mérésekre épül. Figyelembe véve, hogy a talajokról felvett reflektancia spektrum információban nagyon gazdag, és a vizsgált tartományban számos talajalkotó rendelkezik karakterisztikus spektrális „ujjlenyomattal”, egyetlen görbéből lehetővé válik nagyszámú, kulcsfontosságú talajparaméter egyidejű meghatározása. Dolgozatunkban, a reflektancia spektroszkópia alapjaira helyezett, a talajok ösz-szetételének meghatározását célzó módszertani fejlesztés első lépéseit mutatjuk be. Munkánk során talajok szervesszén- és CaCO3-tartalmának megbecslését lehetővé tévő többváltozós matematikai-statisztikai módszerekre (részleges legkisebb négyzetek módszere, partial least squares regression – PLSR) épülő prediktív modellek létrehozását és tesztelését végeztük el. A létrehozott modellek tesztelése során megállapítottuk, hogy az eljárás mindkét talajparaméter esetében magas R2értéket [R2(szerves szén) = 0,815; R2(CaCO3) = 0,907] adott. A becslés pontosságát jelző közepes négyzetes eltérés (root mean squared error – RMSE) érték mindkét paraméter esetében közepesnek mondható [RMSE (szerves szén) = 0,467; RMSE (CaCO3) = 3,508], mely a reflektancia mérési előírások standardizálásával jelentősen javítható. Vizsgálataink alapján arra a következtetésre jutottunk, hogy a reflektancia spektroszkópia és a többváltozós kemometriai eljárások együttes alkalmazásával, gyors és költséghatékony adatfelvételezési és -értékelési módszerhez juthatunk.

Using Approximation Non-Bayesian Computation with Fuzzy Data to Estimation Inverse Weibull Parameters and Reliability Function

2018 ◽  
pp. 397
Author(s):  
Nadia Hashim Al-Noor ◽  
Shurooq A.K. Al-Sultany
Keyword(s):  
Maximum Likelihood ◽  
Expectation Maximization ◽  
Mean Squared Error ◽  
Maximum Likelihood Estimators ◽  
Reliability Function ◽  
Fuzzy Data ◽  
Monte Carlo Simulation Study ◽  
Weibull Parameters ◽  
Squared Error ◽  
Newton Raphson

        In real situations all observations and measurements are not exact numbers but more or less non-exact, also called fuzzy. So, in this paper, we use approximate non-Bayesian computational methods to estimate inverse Weibull parameters and reliability function with fuzzy data. The maximum likelihood and moment estimations are obtained as non-Bayesian estimation. The maximum likelihood estimators have been derived numerically based on two iterative techniques namely “Newton-Raphson” and the “Expectation-Maximization” techniques. In addition, we provide compared numerically through Monte-Carlo simulation study to obtained estimates of the parameters and reliability function in terms of their mean squared error values and integrated mean squared error values respectively.

Image Quality Enhancing by Efficient Histogram Equalization

2014 ◽  
Vol 2 (2) ◽  
pp. 47-58
Author(s):  
Ismail Sh. Baqer
Keyword(s):  
Image Quality ◽  
Contrast Enhancement ◽  
Mean Squared Error ◽  
Signal To Noise Ratio ◽  
Histogram Equalization ◽  
Gray Level ◽  
Signal To Noise ◽  
Squared Error ◽  
Noise Ratio

A two Level Image Quality enhancement is proposed in this paper. In the first level, Dualistic Sub-Image Histogram Equalization DSIHE method decomposes the original image into two sub-images based on median of original images. The second level deals with spikes shaped noise that may appear in the image after processing. We presents three methods of image enhancement GHE, LHE and proposed DSIHE that improve the visual quality of images. A comparative calculations is being carried out on above mentioned techniques to examine objective and subjective image quality parameters e.g. Peak Signal-to-Noise Ratio PSNR values, entropy H and mean squared error MSE to measure the quality of gray scale enhanced images. For handling gray-level images, convenient Histogram Equalization methods e.g. GHE and LHE tend to change the mean brightness of an image to middle level of the gray-level range limiting their appropriateness for contrast enhancement in consumer electronics such as TV monitors. The DSIHE methods seem to overcome this disadvantage as they tend to preserve both, the brightness and contrast enhancement. Experimental results show that the proposed technique gives better results in terms of Discrete Entropy, Signal to Noise ratio and Mean Squared Error values than the Global and Local histogram-based equalization methods

Straight-Move Robot Control System with LabView-Based Proportional Integral Derivative (PID) Control

2019 ◽  
Vol 3 (2) ◽  
pp. 13-24
Author(s):  
Andrean George W
Keyword(s):  
Pid Control ◽  
Rotational Speed ◽  
Pid Controller ◽  
Dc Motor ◽  
Motor Speed ◽  
Labview Software ◽  
Dc Motors ◽  
Dc Motor Control ◽  
Process System ◽  
Interface Devices

Abstract - Control and monitoring of the rotational speed of a wheel (DC motor) in a process system is very important role in the implementation of the industry. PWM control and monitoring for wheel rotational speed on a pair of DC motors uses computer interface devices where in the industry this is needed to facilitate operators in controlling and monitoring motor speed. In order to obtain the best controller, tuning the Integral Derifative (PID) controller parameter is done. In this tuning we can know the value of proportional gain (Kp), integral time (Ti) and derivative time (Td). The PID controller will give action to the DC motor control based on the error obtained, the desired DC motor rotation value is called the set point. LabVIEW software is used as a PE monitor, motor speed control. Keyword : LabView, Motor DC, Arduino, LabView, PID.

scholarly journals Thematic Maps for the Variation of Bearing Capacity of Soil Using SPTs and MATLAB

Geosciences ◽  
2020 ◽  
Vol 10 (9) ◽  
pp. 329
Author(s):  
Mahdi O. Karkush ◽  
Mahmood D. Ahmed ◽  
Ammar Abdul-Hassan Sheikha ◽  
Ayad Al-Rumaithi
Keyword(s):  
Bearing Capacity ◽  
Mean Squared Error ◽  
Ground Level ◽  
The Other ◽  
Thematic Maps ◽  
First Order ◽  
Squared Error ◽  
Order Polynomial ◽  
Interpolation Polynomials ◽  
Penetration Tests

The current study involves placing 135 boreholes drilled to a depth of 10 m below the existing ground level. Three standard penetration tests (SPT) are performed at depths of 1.5, 6, and 9.5 m for each borehole. To produce thematic maps with coordinates and depths for the bearing capacity variation of the soil, a numerical analysis was conducted using MATLAB software. Despite several-order interpolation polynomials being used to estimate the bearing capacity of soil, the first-order polynomial was the best among the other trials due to its simplicity and fast calculations. Additionally, the root mean squared error (RMSE) was almost the same for the all of the tried models. The results of the study can be summarized by the production of thematic maps showing the variation of the bearing capacity of the soil over the whole area of Al-Basrah city correlated with several depths. The bearing capacity of soil obtained from the suggested first-order polynomial matches well with those calculated from the results of SPTs with a deviation of ±30% at a 95% confidence interval.

scholarly journals Industrial Control under Non-Ideal Measurements: Data-Based Signal Processing as an Alternative to Controller Retuning

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1237
Author(s):  
Ivan Pisa ◽  
Antoni Morell ◽  
Ramón Vilanova ◽  
Jose Lopez Vicario
Keyword(s):  
Mean Squared Error ◽  
Control Strategies ◽  
Treatment Plant ◽  
Industrial Control ◽  
Output Data ◽  
Complex Processes ◽  
Squared Error ◽  
Complex Design ◽  
Solution Design ◽  
Delay Correction

Industrial environments are characterised by the non-lineal and highly complex processes they perform. Different control strategies are considered to assure that these processes are correctly performed. Nevertheless, these strategies are sensible to noise-corrupted and delayed measurements. For that reason, denoising techniques and delay correction methodologies should be considered but, most of these techniques require a complex design and optimisation process as a function of the scenario where they are applied. To alleviate this, a complete data-based approach devoted to denoising and correcting the delay of measurements is proposed here with a two-fold objective: simplify the solution design process and achieve its decoupling from the considered control strategy as well as from the scenario. Here it corresponds to a Wastewater Treatment Plant (WWTP). However, the proposed solution can be adopted at any industrial environment since neither an optimization nor a design focused on the scenario is required, only pairs of input and output data. Results show that a minimum Root Mean Squared Error (RMSE) improvement of a 63.87% is achieved when the new proposed data-based denoising approach is considered. In addition, the whole system performance show that similar and even better results are obtained when compared to scenario-optimised methodologies.

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