scholarly journals Microcontroller based granular urea application attachment for rice transplanter

2019 ◽  
Vol 17 (3) ◽  
pp. 380-387
Author(s):  
Md Towfiqur Rahman ◽  
Md Monjurul Alam ◽  
Md Mosharraf Hossain ◽  
Muhammad Rashed Al Mamun
Keyword(s):  
Control Structure ◽  
Fertilizer Application ◽  
Physical Structure ◽  
Variable Rate ◽  
Electronic Control ◽  
Power Requirement ◽  
Deep Placement ◽  
Loop Control ◽  
Urea Deep Placement ◽  
The Cost

Transplanting and fertilizer application for rice production in Bangladesh are tedious, time consuming and laborious task, and mostly done manually. Mechanical transplanting of rice becoming popular in the country in recent years and few machines have been developed for granular urea deep placement, however, having some limitations. Placing granular urea precisely along with rice transplanting, an attempt was under taken to design and fabricate an electronic control granular urea applicator to be attach with a 4-row walk behind type rice transplanter. Fabrication of the electronic granular urea applicator was done in the workshop of the Department of Farm Power and Machinery, Bangladesh Agricultural University, Mymensingh. Physical structure of the attachment was assembled with available parts of BARI granular urea applicator. A DC gear motor was coupled with metering disk shaft to rotate and pick granular urea from hopper. Moreover, its speed was synchronized with the picker speed of the rice transplanter by a microcontroller Arduino Mega 2560. A computer program was developed and compiled successfully into Arduino IDE, where an equation was derived and incorporated into loop control structure. The program can also be used for any kind of applications where variable rate is required. The machine was found successful in test run and laboratory-based experiments. Average spacing of granular urea placement was found 34.71 cm with 1.38% missing hill, Its power requirement was found about 20 W. This innovation provided options for performing granular urea application and rice transplanting, two most laborious tasks simultaneously which might minimize the cost of production as well as human drudgery with an error free manner. J Bangladesh Agril Univ 17(3): 380–387, 2019

scholarly journals Sensuator: A Hybrid Sensor–Actuator Approach to Soft Robotic Proprioception Using Recurrent Neural Networks

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 30
Author(s):  
Pornthep Preechayasomboon ◽  
Eric Rombokas
Keyword(s):  
Neural Networks ◽  
Recurrent Neural Networks ◽  
Linear Models ◽  
Open Loop ◽  
Proof Of Concept ◽  
State Estimator ◽  
Loop Control ◽  
Practical Applications ◽  
Soft Actuator ◽  
The Cost

Soft robotic actuators are now being used in practical applications; however, they are often limited to open-loop control that relies on the inherent compliance of the actuator. Achieving human-like manipulation and grasping with soft robotic actuators requires at least some form of sensing, which often comes at the cost of complex fabrication and purposefully built sensor structures. In this paper, we utilize the actuating fluid itself as a sensing medium to achieve high-fidelity proprioception in a soft actuator. As our sensors are somewhat unstructured, their readings are difficult to interpret using linear models. We therefore present a proof of concept of a method for deriving the pose of the soft actuator using recurrent neural networks. We present the experimental setup and our learned state estimator to show that our method is viable for achieving proprioception and is also robust to common sensor failures.

scholarly journals Synchronous Generator Rectification System Based on Double Closed-Loop Control of Backstepping and Sliding Mode Variable Structure

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1832
Author(s):  
Jinfeng Liu ◽  
Xin Qu ◽  
Herbert Ho-Ching Iu
Keyword(s):  
Closed Loop ◽  
Control Structure ◽  
Low Voltage ◽  
Sliding Mode ◽  
Variable Structure ◽  
Synchronous Generator ◽  
Closed Loop Control ◽  
High Current ◽  
Loop Control ◽  
Sliding Mode Variable Structure

Low-voltage and high-current direct current (DC) power supplies are essential for aerospace and shipping. However, its robustness and dynamic response need to be optimized further on some special occasions. In this paper, a novel rectification system platform is built with the low-voltage and high-current permanent magnet synchronous generator (PMSG), in which the DC voltage double closed-loop control system is constructed with the backstepping control method and the sliding mode variable structure (SMVS). In the active component control structure of this system, reasonable virtual control variables are set to obtain the overall structural control variable which satisfied the stability requirements of Lyapunov stability theory. Thus, the fast-tracking and the global adjustment of the system are realized and the robustness is improved. Since the reactive component control structure is simple and no subsystem has to be constructed, the SMVS is used to stabilize the system power factor. By building a simulation model and experimental platform of the 5 V/300 A rectification module based on the PMSG, it is verified that the power factor of the system can reach about 98.5%. When the load mutation occurs, the DC output achieves stability again within 0.02 s, and the system fluctuation rate does not exceed 2%.

Multi-loop model-based control structure for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 491-499 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Friedrich M. Wahl
Keyword(s):  
Control Structure ◽  
Robot Manipulator ◽  
Loop Model ◽  
Loop Control ◽  
Model Based Control ◽  
Model Following Control ◽  
Model Following ◽  
Theoretical Assumptions ◽  
Quantitative Results ◽  
The Stability

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

Nozzles for Variable Rate Fertilizer Application

2008 ◽  
Author(s):  
Geetika Dilawari ◽  
Randal K Taylor ◽  
John B Solie ◽  
Praveen Bennur
Keyword(s):  
Fertilizer Application ◽  
Variable Rate

Supporting Co-Design of Physical and Control Architectures of Mechatronic Systems

2011 ◽  
Author(s):  
Andre´s A. Alvarez Cabrera ◽  
Hitoshi Komoto ◽  
Tetsuo Tomiyama
Keyword(s):  
Control Structure ◽  
Mutual Influence ◽  
Early Stage ◽  
Physical Structure ◽  
Mechatronic Systems ◽  
Design Problems ◽  
Software And Hardware ◽  
Design Integration ◽  
And Control ◽  
Recent Tendency

There is a rather recent tendency to define the physical structure and the control structure of a system concurrently when designing the architecture of a product, i.e., to perform codesign. We argue that co-design can only be enabled when the mutual influence between physical system and control is made evident to the designer at an early stage. Though the idea of design integration is not new, to the best of our knowledge, there is no computer tooling that explicitly supports this activity by enabling co-design as stated before. In this paper the authors propose a method for co-design of physical and control architectures as a better approach to design mechatronic systems, allowing to exploit the synergy between software and hardware and detecting certain design problems at an early stage of design. The proposed approach is supported by a set of tools and demonstrated through an example case.

Study on Twin-Rotary Motion Control System Based on Siemens Technology CPU

2012 ◽  
Vol 229-231 ◽  
pp. 2201-2204
Author(s):  
Cun Hai Pan ◽  
Hui Li ◽  
Su Mei Du ◽  
Wei Gao
Keyword(s):  
Control System ◽  
Motion Control ◽  
Rotary Motion ◽  
Three Dimension ◽  
Motion Control System ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Dimension Space ◽  
The Cost

A twin-rotary motion control system was built based on a cam technology and Siemens S7-300T PLC in this paper. The system can position accurately in a three-dimension space using a twin-servo closed loop control system and can real-time monitor various parameters of positioning system by HMI (Human Machine Interface). It also can automatically collect various parameter information and judge the type of fault.At the same time, the degree of automation has been raised and the cost of production was reduced.

scholarly journals Decoupled Multi-Loop Robust Control for a Walk-Assistance Robot Employing a Two-Wheeled Inverted Pendulum

Machines ◽  
2021 ◽  
Vol 9 (10) ◽  
pp. 205
Author(s):  
Fu-Cheng Wang ◽  
Yu-Hong Chen ◽  
Zih-Jia Wang ◽  
Chi-Hao Liu ◽  
Pei-Chun Lin ◽  
...  
Keyword(s):  
Robust Control ◽  
Transfer Function ◽  
Inverted Pendulum ◽  
Control Structure ◽  
Position Tracking ◽  
Loop Control ◽  
Wheeled Inverted Pendulum ◽  
Decoupled Control ◽  
Rotational Motions ◽  
Electrical Motors

This paper develops a decoupled multi-loop control for a two-wheeled inverted pendulum (TWIP) robot that can assist user’s with walking. The TWIP robot is equipped with two wheels driven by electrical motors. We derive the system’s transfer function and design a robust loop-shaping controller to balance the system. The simulation and experimental results show that the TWIP system can be balanced but might experience velocity drifts because its balancing point is affected by model variations and disturbances. Therefore, we propose a multi-loop control layout consisting of a velocity loop and a position loop for the TWIP robot. The velocity loop can adjust the balancing point in real-time and regulate the forward velocity, while the position loop can achieve position tracking. For walking assistance, we design a decoupled control structure that transfers the linear and rotational motions of the robot to the commands of two parallel motors. We implement the designed controllers for simulation and experiments and show that the TWIP system employing the proposed decoupled multi-loop control can provide satisfactory responses when assisting with walking.

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