scholarly journals Modeling, design, and control of low-cost Remotely Operated Vehicle for shallow water survey

2020 ◽  
Vol 3 (SI1) ◽  
pp. First
Author(s):  
Tran Ngoc Huy ◽  
Huynh Tan Dat
Keyword(s):  
Shallow Water ◽  
Low Cost ◽  
New Technology ◽  
Pid Controllers ◽  
Remotely Operated Vehicle ◽  
External Disturbances ◽  
Cable Systems ◽  
And Control ◽  
Nonlinear Plant

Shallow water zones, including lakes, ponds, creeks, and rivers, play a prominent role in the spiritual culture and economy of Vietnamese people throughout history. Therefore, numerous researches have been conducted in regard to this topic for many purposes, most of which focus on elevating the quality of life and safety. With the aid of new technology, modern platforms gradually replace conventional methods and reach a higher level of efficiency and convenience. This paper presents the research on design and control of Remotely Operated Vehicle (ROV) belonging to National key Laboratory of Digital Control and System Engineering. Basically, it is controlled by human pilots to move underwater and perform specifically pre-assigned tasks. The power supply and communication channel for the vehicle are connected from an onshore station via cable systems. There are several stages of the pipeline in implementing a full-scale ROV platform that must be studied carefully. Prior to the experiments in practical conditions, the proposed 3D model designed by SOLIDWORKS® and MATLAB Simulink® mathematical model analysis firstly provide a nonlinear plant in order to apply classical PID controllers and evaluate their feasibility through simulation process. The outer frame protects other components from being damaged or unattached, while the thruster allocation strategy from the simulated model enables flexibility in motion. A system of sensors and cameras collects data from an underwater environment for on-the-spot monitoring, or they can be captured for further post-analysis processes. After assembling all parts into a whole model, we launched the vehicle at the maximum depth of a pool as the condition of a shallow water survey. Optimistic experimental results have proved the ability of controllers even in case of the presence of external disturbances.

Financial management and forecasting using business intelligence and big data analytic tools

2018 ◽  
Vol 05 (02) ◽  
pp. 1850011 ◽  
Author(s):  
Shrutika Mishra
Keyword(s):  
Business Intelligence ◽  
Financial Management ◽  
Low Cost ◽  
New Technology ◽  
Digital World ◽  
Efficient Management ◽  
Open Sector ◽  
Tools And Techniques ◽  
And Control ◽  
Data Analytic

This paper discusses about the latest and efficient financial tools and techniques which optimize the financial cost of the organization and predict the financial situation of the organization to flourish the business in the efficient way. Financial management basically means to accumulate funding for the enterprise at a low cost and to expend this collected funding for earning extreme profits. Thus, financial management means to plan and control the finance of the company. Financial management is usually concerned with the flow and control of money within an organization and be it either reserved or open sector. So, these tools if functional in the better way then business will reach in the utmost altitude. Recently some computational tools have been developed by the computer scientist for the efficient management and prediction for the business which is very useful for forecast and prediction in the era of digital world. The intention of this paper is to review and discuss the most significant applications of Business Intelligence in financial management and forecasting and prediction domain as well as point to new technology trends that will affect financial development.

Development of an Underwater Remotely Operated Vehicle (ROV) for Surveillance and Inspection of Port Facilities

2010 ◽  
Author(s):  
Luis B. Gutierrez ◽  
Carlos A. Zuluaga ◽  
Juan A. Ramirez ◽  
Rafael E. Vasquez ◽  
Diego A. Florez ◽  
...  
Keyword(s):  
Visual Information ◽  
Degrees Of Freedom ◽  
Pid Controllers ◽  
Remotely Operated Vehicle ◽  
Design Constraints ◽  
Computational Tools ◽  
Port Facilities ◽  
Oceanographic Research ◽  
And Control ◽  
Underwater Structures

This work addresses the development of an underwater remotely operated vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities and oceanographic research. The most relevant design constraints were evaluated considering environmental conditions, dimensional restrictions, hydrostatics, hydrodynamics, degrees of freedom and the availability of instrumentation and control hardware. The mechanical/naval design was performed through an iterative process by using computational tools CAD/CAE/CFD. The hardware architecture was divided in three layers: instrumentation, communications and control. The software was developed using ANSI C with Embedded Linux operating system. The guidance and navigation system used the Kalman filter to estimate the state of the vehicle. The vehicle can operate in manual and semi-automatic modes. In the semi-automatic, the position of a joystick is converted into the velocity set-points that are integrated to get the yaw and depth commands for the PID controllers. The rigorous design and a consistent construction processes allowed the development of a robust and reliable robotic system that constitutes an innovative product in Colombia.

The Untethered Remotely Operated Vehicle PICASSO-1 and Its Deployment From Chartered Dive Vessels for Deep Sea Surveys Off Okinawa, Japan, and Osprey Reef, Coral Sea, Australia

2012 ◽  
Vol 46 (4) ◽  
pp. 20-32 ◽  
Author(s):  
Dhugal J. Lindsay ◽  
Hiroshi Yoshida ◽  
Takayuki Uemura ◽  
Hiroyuki Yamamoto ◽  
Shojiro Ishibashi ◽  
...  
Keyword(s):  
Earth Science ◽  
Low Cost ◽  
Reef Coral ◽  
Vital Statistics ◽  
Remotely Operated Vehicle ◽  
Position Information ◽  
Coral Sea ◽  
Information Depth ◽  
Vehicle Position ◽  
And Control

AbstractThe untethered remotely operated vehicle (uROV) PICASSO-1, which is controlled in real time from a surface support vessel via a Φ0.9 mm fiber optic cable, is capable of dives to 1,000-m depth at a duration of up to 6 h and yet is deployable from ships of sizes as low as 17 tonnes. The vehicle was developed at the Japan Agency for Marine-Earth Science and Technology, has carried out 63 dives to date, and is now operable by a team of four biologists and one technician. PICASSO-1 can collect video (HDTV × 1, NTSC × 3) and environmental information (depth, temperature, salinity, dissolved oxygen concentration, fluorescence [chlorophyll a proxy], turbidity) concurrently, and this is output with vehicle heading, camera zoom, and other vital statistics via Ethernet. Acoustically obtained vehicle position information, deck and control room video, and sound data streams are also output via Ethernet, and the whole dive is recorded in a synchronous fashion on a logging/playback system that enables dives to be re-enacted in their entirety to facilitate analyses back in the laboratory. Operations have been successfully carried out overseas using a chartered dive boat, and the system represents a leap forward for exploration of the oceans to significant depths but at relatively low cost and with no loss in data quality.

scholarly journals Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 29
Author(s):  
Vítor H. Pinto ◽  
José Gonçalves ◽  
Paulo Costa
Keyword(s):  
Design Process ◽  
Low Cost ◽  
Biologically Inspired ◽  
External Disturbances ◽  
State Space Approach ◽  
Modeling And Control ◽  
Locomotion System ◽  
Rigid Joints ◽  
And Control ◽  
Space Approach

This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system’s stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system’s design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

scholarly journals Effect of Hands-on Science Activities on the Ghanaian Student: A Preliminary Control Study

2020 ◽  
Vol 2 (1) ◽  
pp. 18-32
Author(s):  
Heather Beem
Keyword(s):  
Low Cost ◽  
School Level ◽  
Significant Shift ◽  
Stem Majors ◽  
Hands On ◽  
Quasi Experimental ◽  
And Control ◽  
Greater Accra Region ◽  
Control Study

A quasi-experimental study was carried out with 309 students across 9 public Junior High Schools in the Greater Accra Region of Ghana. The effect of $<$Blinded Institution$>$'s approach of training STEM teachers on low-cost approaches to employing hands-on activities was studied in terms of student learning and attitudes towards science. Experimental schools received weekly teacher training over a 2.5 month period. Pre-post differences were measured across both experimental and control schools. The intervention caused an average difference-in-differences of 10.9% increase in exam scores, but the results were mixed at the school-level. The intervention caused a significant increase in student engagement in the lessons (p = 3 x 10-7, g = 0.85). On average, there was also a 22% greater increase in student enjoyment of science at the experimental schools than the control schools. No significant change was measured in the ease of learning science. Females reported a significant shift in interest towards STEM majors and careers, while their male counterparts did not. Results from this study should inform the design of future studies with longer duration and which take factors such as quality of school infrastructure into account.

Development of Generation Technology of High Quality Semi-Solid Slurry by Double-Axis-Electromagnetic Stirrer Combined with Properly Designed Cup

2012 ◽  
Vol 192-193 ◽  
pp. 441-446
Author(s):  
Masayuki Itamura ◽  
Koichi Anzai ◽  
Naoya Hirata ◽  
Shinichi Shimaski ◽  
Takuma Maeda
Keyword(s):  
Magnetic Field ◽  
High Speed ◽  
Low Cost ◽  
New Technology ◽  
Casting Process ◽  
Rotating Magnetic Field ◽  
High Quality ◽  
Semi Solid ◽  
Cup Design

For the semi-solid casting process it is very important to make high quality slurry with high speed and low cost. Recently the double-axis-electromagnetic stirrer is developed as the slurry-making tool. This stirrer has rotating magnetic field (RMF) and linear traveling magnetic field (TMF). This new technology shows several advantages in the quality of slurry. The cup design is also important to make uniform quality slurry. In this paper the new stirrer and its advantages from test report and technology of cup design is introduced.

scholarly journals Methods for overcoming dormancy and seed storage of Enterolobium contortisiliquum

2019 ◽  
Vol 41 (1) ◽  
pp. 42602 ◽  
Author(s):  
Denes Ferraz ◽  
Werther Pereira Ramalho ◽  
Luís Sérgio Rodrigues Vale
Keyword(s):  
Storage Time ◽  
Low Cost ◽  
Seedling Emergence ◽  
Seed Storage ◽  
Emergence Time ◽  
Efficient Treatment ◽  
Physiological Quality ◽  
The Mean ◽  
And Control

The production of forest species that present seedlings with exogenous dormancy is limited by low germination rates, which can be overcome by rupturing or weakening the tegument. This study aimed to evaluate the efficiency of low-cost methods of overcoming dormancy and determine the effect of storage on the seeds of Enterolobium contortisiliquum. Four storage periods were used, freshly collected seeds (0), stored for 6, 12 and 18 months, and four methods were applied, mechanical scarification and immersion in water (EI), mechanical scarification (ES), immersion in water (IM) and control (TE). We obtained the percentage values of seedling emergence (EP) and the mean emergence time (TME). Conductivity and moisture were obtained as indicators of the physical and physiological quality of seeds, respectively. Variations in moisture content and electrical conductivity during storage did not have effect on the percentage of germination. EI treatment was more efficient for overcoming dormancy than the ES was, regardless of storage time. IM and TE treatments did not lead to germination. EI was the most efficient treatment for decreasing the TME. The results indicate that alternative and low-cost methods are efficient at overcoming exogenous dormancy and thus can be used to optimize the process of seedling production.

scholarly journals Strength Characteristics of Bamboo Reinforced Slabs

2018 ◽  
Vol 7 (3.27) ◽  
pp. 336 ◽  
Author(s):  
S Suppiah ◽  
S Agnihotri ◽  
S Mishra ◽  
S Vishwakarma
Keyword(s):  
Construction Industry ◽  
Fossil Fuel ◽  
Low Cost ◽  
Agricultural Products ◽  
Bambusa Vulgaris ◽  
And Control ◽  
Rattan Cane ◽  
Non Destructive ◽  
Different Parts

The construction industry consumes large quantities of composite materials, such as steel, cement and other binding materials. This process emits enormous volume of carbon dioxide leading to global warming and other environmental degradation. As an alternative to steel, bamboo, rattan cane and other agricultural products have been used as reinforcement in different parts of world. However, the application of this non fossil-fuel products has not been exploited to greater extent. In the present study the use of bamboo (bambusa vulgaris) has been adopted as an alternative to steel in fabricating slabs of dimension 1500 mm x 500 mm x 75 mm (length x breadth x thickness). M25 grade with water cement ratio as 0.5 was used. The slabs were tested using Non-Destructive Tests to determine the quality of concrete adopted. Subsequently, destructive tests were carried using a loading frame of  capacity 1000 kN. The non-destructive tests and destructive tests were repeated on steel reinforced slabs and control slabs (without any reinforcement). The results indicate that the bamboo reinforced slabs comparatively weaker with respect to steel reinforced slabs and stronger with respect to control slabs. Therefore, it is recommended to adopt BRC slabs for low cost dwellings.  

Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators

2019 ◽  
Vol 234 (3) ◽  
pp. 420-429
Author(s):  
João Francisco Silva Trentin ◽  
Tiago Peghin Cenale ◽  
Samuel da Silva ◽  
Jean Marcos de Souza Ribeiro
Keyword(s):  
Attitude Control ◽  
Low Cost ◽  
Main Idea ◽  
Rigid Bodies ◽  
Rate Of Change ◽  
Reaction Wheel ◽  
External Disturbances ◽  
Inverted Position ◽  
And Control

The attitude control using reaction wheels as actuators has been one of the most popular ways to stabilize and repel external disturbances in aerospace devices. From the controlled change of the angular momentum rate of change using reaction wheels, it is possible to control the oscillation and direction rates of change of rigid bodies in space. Thus, the main idea of this article is to present a case study with different configurations of the well-known reaction wheel pendulum. The first is based on the classical configuration, and the second, a new one, a pendulum with two reaction wheels. For both configurations, proportional–integral–derivative controllers were designed and experimental devices were built to perform real-time controllers using low-cost hardware. The simulated and experimental results have shown that the pendulums were controlled using a simple controller in the inverted position and the results were satisfactory. Four performance indices were calculated to evaluate the results for each configuration. They showed that the pendulum with two reaction wheels worked better than the pendulum with one reaction wheel. Two actuators made it easier to move and control the pendulum in the inverted position.

Measurement and Comparison of Force Effort During Friction Stir Welding in a Parallel Kinematic 5-Axis Milling Machine

2012 ◽  
Author(s):  
Arun Prasath Manogaran ◽  
Guillaume Racineux ◽  
Jean-Yves Hascoet
Keyword(s):  
Friction Stir Welding ◽  
Low Cost ◽  
Milling Machine ◽  
Friction Stir ◽  
Advantages And Disadvantages ◽  
Measuring Devices ◽  
Wide Range ◽  
Dynamic Measuring ◽  
And Control

Friction stir welding (FSW) is so quite promising that leads it to one of the preferred joining process for a wide range of applications especially for Aluminum. FSW machines are very expensive. The objective is to develop a simple and low cost technique to measure and control the force during FSW in a milling machine. Measurement of forces during welding is a difficult task. Many dynamic measuring devices such as dynamometers are available but each have their own advantages and disadvantages. A new approach to measure force while performing weld is discussed. First, incorporation of FSW in PKM 5-axes milling machine is done. The head of the machine is modified to support higher force levels that are generated during FSW. With the help of the NC-Controller, the force values are retrieved from the axes of the machine while performing weld through actuators. Forces were also measured from load cell and compared to estimate the quality of measurement.

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