scholarly journals Synthesis of the law of optimal control of the system of active dynamic stabilization of the movement of a self-propelled vehicle with a mounted working body

2020 ◽  
Vol 1 (5) ◽  
pp. 5-12
Author(s):  
P.V. Sirotin ◽  
Keyword(s):  
Optimal Control ◽  
The Body ◽  
System Control ◽  
Stabilization System ◽  
Stabilization Method ◽  
Emergency Braking ◽  
Total Energy Balance ◽  
The Law ◽  
Quadratic Integral ◽  
Linearized Model

The paper is devoted to the development of systems and technical devices for reduction of dy-namic loads acting on operators and the supporting system of self-propelled vehicles. The goal of the paper is to develop an algorithm and a law of optimal control of the stabilization system. The set of tasks to be solved for this is determined, the requirements for the information field are highlight-ed, the element base of the stabilization system is substantiated. The problem of optimal control of the stabilization system is formulated. The development of a law of control of the stabilization sys-tem of the movement of self-propelled wheeled vehicles based on the principle of active inertial vi-bration damping is presented. The law of optimal control of the stabilization system with the possi-bility of correcting the requirements for attenuation and the type of transient process was developed. On the basis of quadratic integral criteria, the indicators for assessing the quality of system control are distinguished. It is substantiated that for the system of stabilization of the harvester body it is necessary to regulate the output variables, such as the angular velocity of the body and the angle of the longitudinal inclination of the harvester body. A linearized model of the longitudinal-angular motion of the combine is considered, the equations that connect the laws of the disturbed motion of the body and the law of optimal control are presented. With the help of simulation modeling, the effectiveness of the proposed stabilization method and the law of control of the stabilization system in terms of reducing the longitudinal angles of inclination of the body when driving on an asphalt-concrete highway and a dirt road are shown. The effectiveness of the proposed law of control for suppressing the pitch of the combine body during emergency braking is shown. The calculated values of the power spent on control of the stabilization system for the considered driving modes are given. On the basis of calculations, it is shown that in the total energy balance of the combine, the power consumption for control is insignificant, which confirms the efficiency of the proposed stabilization method and the law of control. Conclusions are drawn, stages and directions of further research are determined.

scholarly journals Research of Trajectory Optimization Approaches in Synthesized Optimal Control

Symmetry ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 336
Author(s):  
Askhat Diveev ◽  
Elizaveta Shmalko
Keyword(s):  
Optimal Control ◽  
Equilibrium Point ◽  
Trajectory Optimization ◽  
Stable Equilibrium ◽  
Equilibrium Points ◽  
Control Object ◽  
Symbolic Regression ◽  
Optimal Location ◽  
Stable Equilibrium Point ◽  
Stabilization System

This article presents a study devoted to the emerging method of synthesized optimal control. This is a new type of control based on changing the position of a stable equilibrium point. The object stabilization system forces the object to move towards the equilibrium point, and by changing its position over time, it is possible to bring the object to the desired terminal state with the optimal value of the quality criterion. The implementation of such control requires the construction of two control contours. The first contour ensures the stability of the control object relative to some point in the state space. Methods of symbolic regression are applied for numerical synthesis of a stabilization system. The second contour provides optimal control of the stable equilibrium point position. The present paper provides a study of various approaches to find the optimal location of equilibrium points. A new problem statement with the search of function for optimal location of the equilibrium points in the second stage of the synthesized optimal control approach is formulated. Symbolic regression methods of solving the stated problem are discussed. In the presented numerical example, a piece-wise linear function is applied to approximate the location of equilibrium points.

scholarly journals Optimal control in liver kinetics

1986 ◽  
Vol 27 (3) ◽  
pp. 361-369 ◽  
Author(s):  
A. M. Fink
Keyword(s):  
Optimal Control ◽  
Minimization Problem ◽  
Enzymatic Reaction ◽  
The Body ◽  
Minimum Problem ◽  
Density Functions ◽  
Intermediate Form

AbstractWe solve a minimization problem in liver kinetics posed by Bass, et al., in this journal, (1984), pages 538–562. The problem is to choose the density functions for the location of two enzymes, in order to minimize the concentration of an intermediate form of a substance at the outlet of the liver. This form may be toxic to the rest of the body, but the second enzyme renders it harmless. It seems natural that the second enzyme should be downstream from the first. However, we can show that the minimum problem is sometimes solved by an overlap of the supports of the two density functions. Even more surprising is that, for certain forms of the kinetic functions and high levels of transformation of the first enzymatic reaction, some of the first enzyme should be located downstream from all the second enzyme. This suggests that the first reaction should be relatively slow.

From Hard-Copy to Digital Law via “Illustrated Courtrooms”: Visualising the History of Legal English

Pólemos ◽  
2017 ◽  
Vol 11 (1) ◽  
Author(s):  
Matteo Nicolini
Keyword(s):  
English Language ◽  
Body Politic ◽  
The Body ◽  
Hard Copy ◽  
Legal Language ◽  
History Of ◽  
Judicial Proceedings ◽  
Three Stages ◽  
The Law ◽  
Digital Law

Abstract This essay addresses different patterns of the visualisation of the law. It examines how scholars attempt to depict, represent, and perform the law and its founding authority. It also focuses on the pragmatics of legal language: written and spoken standard legal English are pragmatically enriched within contexts where the law is interpreted, uttered, or performed. The linguistic notion of “context” discloses the interrelations between the agendas of law and power and reveals how the law conveys its content to the body politic as its ultimate addressee. It then proposes a renewed concept of legal linguistics. In order to determine the different ideologies underpinning the evolution of English legal language, as well as its prototypical forms of the visualisation of the law, three stages in the history of the English language will be examined: Late Middle English, Early Modern English, and Contemporary English. Each of these stages will be likened to the different parts of judicial proceedings. This will allow us to examine how English legal language has been used in a specific context, the trial, where the law is both uttered and performed.

The Mind and its Tenement; Their Mutual Relations

1856 ◽  
Vol 2 (18) ◽  
pp. 479-494
Author(s):  
C. Lockhart Robertson
Keyword(s):  
Mental State ◽  
Modern Science ◽  
The State ◽  
The Body ◽  
The Law ◽  
Mutual Relations ◽  
The Mind

“The knowledge concerning the sympathies and concordances between the mind and the body” saith the founder† of modern science, in discoursing of human philosophy, or the knowledge of ourselves, as he terms it, is “fit to be emancipate and made a knowledge by itself. The consideration is double: either how and how far the humours and effects of the body do alter or work upon the mind; or again, how and how far the passions and apprehensions of the mind do alter or work upon the body. The former of these,” (the influence of the body on the mental state,) continues Bacon, “hath been enquired and considered as a part and appendix of medicine, but much more as a part of religion or superstition. For the physician prescribeth cures of the mind in phrensies and melancholy passions; and pretendeth also to exhibit medicines to exhilarate the mind, to confirm the courage, to clarify the wits, to corroborate the memory and the like: but the scruples and superstitions of diet and other regimen of the body in the sect of Pythagoreans, in the heresy of the Manicheans, and in the law of Mahomet do exceed. … The root and life of all which prescripts is besides the ceremony, the consideration of that dependency, which the affections of the mind are submitted unto, upon the state and disposition of the body.”

scholarly journals KESAKSIAN ANGGOTA TUBUH DI HARI KIAMAT PERSPEKTIF TAFSIR SAINS

2021 ◽  
Vol 3 (01) ◽  
pp. 65-94
Author(s):  
Rizki Pauziah Siregar
Keyword(s):  
Thematic Analysis ◽  
Qualitative Approach ◽  
The Body ◽  
Primary Sources ◽  
Research Approach ◽  
Secondary Sources ◽  
Analysis Methods ◽  
Library Research ◽  
The World ◽  
The Law

Testimony is a statement made by a witness who saw the incident by himself and was at the scene at that time. Nothing can escape this evidence in the afterlife, nor can it be manipulated in the slightest. So the source of the problem that will be discussed is how to witness the body and the interpretation of the rationality of the testimony of the limbs in QS. Yasin: 65. The research approach used by the author is a qualitative approach and is more inclined to follow library research and uses thematic analysis methods, this research will rely on the interpretation of Al-Jawahir Fi Tafsiril Qur'an by Tantawi Jauhari and books. as primary sources, research journals, and research theses as secondary sources. And what is relevant to this research, the results of the testimony of the limbs according to tantawi Jauhari are that the limbs will testify and it is not only in the afterlife, the body can testify against its owner. but even in the law that applies in the world, the limb that can be used to prove it, to reveal a crime such as murder or abuse. Here the limbs are like hands, it can help to expose the crime. One of them uses a DNA or fingerprint test, and only Allah will see what the testimony on the Day of Judgment is.

scholarly journals RANCANG BAGUN SISTEM INFORMASI AGENDA KERJA UNTUK ANGGOTA KEPOLISIAN BERBASIS KINERJA MENGGUNAKAN METODE BERORIENTASI OBJEK

2021 ◽  
Vol 14 (2) ◽  
pp. 181-189
Author(s):  
Edy Siswanto ◽  
Sugiarto Sugiarto
Keyword(s):  
Data Processing ◽  
Data Storage ◽  
Data Retrieval ◽  
Integrated System ◽  
The Body ◽  
Police Chief ◽  
Activity Data ◽  
Public Servant ◽  
The Law ◽  
The Republic

Within the body of the National Police, the Polsekta / Polsek have an important role in protecting, nurturing, serving and enforcing the law in the Tegowanu Police area community. Therefore, the Tegowanu Police are required to be able to serve the community where one of the main tasks of the Republic of Indonesia Police is as a public servant. As one of the law enforcement officers, the National The old work agenda system still uses manual methods and takes a lot of time and with this system will slow down the performance of Polsek members. Documentation of activities carried out by the Tegowanu Police Officer cannot be seen by the police chief and members, because photo documentation is only stored on the officer's computer. Another problem is that there is no data storage for community activity data and activity schedules, because there is no storage in the database so that data processing has not been well integrated. By designing a Performance-based Activity information system using the Object Oriented Method at the Tegowanu Police, Resort Grobogan is expected to help data processing so that it is more well integrated and the reporting process and data retrieval are faster if data is needed at any time and create an integrated system with the database. The information that will be built can speed up the process of processing and sending information and activities of the Tegowanu Police to the head of the Sector Police. 

Computer system for metrological testing of location sensors used to monitor the patient's condition in magnetotherapy

2021 ◽  
Author(s):  
S.G. Gurzhin ◽  
V.L. Nguyen ◽  
A.V. Shulyakov
Keyword(s):  
Personal Computer ◽  
Physiological State ◽  
Objective Assessment ◽  
Metrological Certification ◽  
Linear Displacement ◽  
Operating Conditions ◽  
The Body ◽  
Measuring Instruments ◽  
Virtual Device ◽  
The Law

Non-contact monitoring of vital signs of a person is a reliable and safe way of promptly obtaining objective diagnostic information about the current physiological state of a patient during surgical operations, physiotherapeutic procedures or during sleep. The absence of direct contact of the sensors with the patient's body makes it possible to exclude the influence of a number of interfering factors, such as a violation or weakening of contact, which can lead to a deterioration in the quality of signals from the output of the sensors, a long-term location of the sensors on the body can have a psychological effect on the patient, changing his condition and thereby distorting the treatment method, etc. In order for the results of monitoring and diagnostics to be reliable and guaranteed accurate, it is necessary to carry out periodic metrological certification of location sensors, especially since many of them are of foreign production and their characteristics are either not standardized or do not meet the requirements of their operating conditions. Therefore, the tasks of developing methods and means for carrying out metrological tests of non-contact sensors for medical purposes are becoming urgent. Purpose – to show the possibility of implementing automated metrological tests of location sensors for medical use based on a personal computer and publicly available standard hardware and software. A method has been developed and implemented for conducting metrological tests of location sensors based on a personal computer, a digital dynamic measure of linear displacement, virtual measuring instruments, laser and ultrasonic sensors, as well as determining conversion errors in the LabVIEW environment. As an exemplary measuring instrument, it is proposed to use a webcam with a virtual device for recording the law of displacement in the LabVIEW Vison Development application. Full-scale experiments have been carried out, in which, using a digital measure of linear displacement, it is possible to reproduce with high accuracy almost any law of displacement and to regulate its informative parameters. Real movement signals were received with the help of virtual devices, recorded by two location sensors and a web camera. The errors of the means of registration are determined in comparison with the given digital method and analytically the law of movement. Introduction of the developed method and hardware and software for metrological certification of sensors of diagnostic channels of the systems of complex magnetotherapy «Multimag» and «Relaxmag». Carrying out automated metrological tests of sensors will ensure prompt, reliable and objective control of their actual characteristics, which means it will increase the effectiveness of treatment due to the prompt and continuous monitoring of the patient's functional state and an objective assessment of a number of important indicators.

A Nonlinear Optimal Control Approach for the Vertical Take-off and Landing Aircraft

2021 ◽  
pp. 2150012
Author(s):  
G. Rigatos
Keyword(s):  
Optimal Control ◽  
Control Method ◽  
Nonlinear Optimal Control ◽  
The Body ◽  
Algebraic Riccati Equation ◽  
Control Input ◽  
Time Step ◽  
Control Approach ◽  
Vtol Aircraft ◽  
Optimal Control Approach

The paper proposes a nonlinear optimal control approach for the model of the vertical take-off and landing (VTOL) aircraft. This aerial drone receives as control input a directed thrust, as well as forces acting on its wing tips. The latter forces are not perpendicular to the body axis of the drone but are tilted by a small angle. The dynamic model of the VTOL undergoes approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The linearization procedure relies on the computation of the Jacobian matrices of the state-space model of the VTOL aircraft. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the aerial drone, under model uncertainties and external perturbations. For the computation of the controller’s feedback gains, an algebraic Riccati equation is solved at each time-step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the VTOL aircraft, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis.

Sign in / Sign up

Export Citation Format

Share Document