scholarly journals Implementasi Pengendalian Robot Mobil Pencari Target Dan Penghindar Rintangan

2021 ◽  
Vol 11 (2) ◽  
pp. 36-42
Author(s):  
Khairil Khairil ◽  
Toibah Umi Kalsum
Keyword(s):  
High Risk ◽  
Control Method ◽  
Block Diagram ◽  
Pi Control ◽  
Dirty Work ◽  
Black Line ◽  
Push Button ◽  
Proportional Control ◽  
Wheeled Robots ◽  
Sophisticated Technology

Robots are useful to help humans in performing jobs that require high precision, substantial labor, repetitive and dirty work, and high-risk or dangerous jobs. Those are the high-risk human jobs that a robot can do. Wheeled robots have the ability to go to the targeted position. Proportional control is used to control the movement of robots. In addition, the robot will also be equipped with PI control method to adjust the actual wheel speed of the robot. The block diagram of the obstacle-driven avoider robot consists of push button, rotary encoder, ultrasonic sensor, Atmega, IC L298D, DC Motor and Light. The results of the obstacle-driven avoider robot, wheeled robots have the ability to run in accordance with the desired black line. Proportional control is used to control the movement of robots. In addition, the robot will also be equipped with ultrasonic sensors to set the robot in avoiding obstacles. Based on the results of testing and analysis that have done, it is suggested that there is tool that can be provided to develop a more sophisticated technology like adding sensors or more features.

Development of New Polymer Dosage Control Method for Sludge Dewatering Process

1993 ◽  
Vol 28 (11-12) ◽  
pp. 263-272 ◽  
Author(s):  
Chiaki Igarashi ◽  
Kazunari Tanaka ◽  
Teruaki Kitamura ◽  
Kazuo Fujita ◽  
Kazuaki Arai ◽  
...  
Keyword(s):  
Control Method ◽  
Sludge Dewatering ◽  
Proportional Control ◽  
Sludge Characteristics ◽  
Streaming Current

In a sludge dewatering process using polymer, controlling the polymer dosage is an important factor for upgrading performance and achieving a saving on costs. A new automatic polymer dosage control method has been developed by the authors, which features the use of a streaming current detector or a colloid titrator. These detectors detect the colloidal charge of the filtrate from sludge. The said method was used with actual dehydrators and the following advantages were confirmed.(1) The said method is applicable for various types of dehydrators.(2) The said method is effective even when there are changes in sludge characteristics.(3) The said method is more economical than a conventional solids proportional control method in that less polymer is used.

The Implementation of Permanent Magnet Synchronous Motor Direct Torque Control

2013 ◽  
Vol 712-715 ◽  
pp. 2757-2760
Author(s):  
Jun Li Zhang ◽  
Yu Ren Li ◽  
Long Fei Fu ◽  
Fan Gao
Keyword(s):  
Coordinate System ◽  
Permanent Magnet ◽  
Control Method ◽  
Block Diagram ◽  
Permanent Magnet Synchronous Motor ◽  
Direct Torque Control ◽  
Torque Ripple ◽  
Synchronous Motor ◽  
Torque Control ◽  
Two Phase

In order to deeply understand the characteristics of the permanent magnet synchronous motor direct torque control method, its mathematical models were established in the two-phase stationary coordinate system, the two-phase synchronous rotating coordinate system, and x-y stator synchronous rotating coordinate system. The implementation process of direct torque control method in varied stator winding connection was analyzed in detail. In order to improve the speed and torque performance of the permanent magnet synchronous motor, the direct torque control block diagram and the space voltage vector selection table were given. Finally, the summary and outlook of reducing torque ripple in the permanent magnet synchronous motor direct torque control methods.

Continuous reinforcement learning based ramp jump control for single-track two-wheeled robots

2021 ◽  
pp. 014233122110378
Author(s):  
Qingyuan Zheng ◽  
Duo Wang ◽  
Zhang Chen ◽  
Yiyong Sun ◽  
Bin Liang
Keyword(s):  
Reinforcement Learning ◽  
Energy Savings ◽  
Control Method ◽  
Learning Control ◽  
Action Space ◽  
Gradient Algorithm ◽  
Single Track ◽  
Wheeled Robots ◽  
Reward Function ◽  
Wheeled Robot

Single-track two-wheeled robots have become an important research topic in recent years, owing to their simple structure, energy savings and ability to run on narrow roads. However, the ramp jump remains a challenging task. In this study, we propose to realize a single-track two-wheeled robot ramp jump. We present a control method that employs continuous action reinforcement learning techniques for single-track two-wheeled robot control. We design a novel reward function for reinforcement learning, optimize the dimensions of the action space, and enable training under the deep deterministic policy gradient algorithm. Finally, we validate the control method through simulation experiments and successfully realize the single-track two-wheeled robot ramp jump task. Simulation results validate that the control method is effective and has several advantages over high-dimension action space control, reinforcement learning control of sparse reward function and discrete action reinforcement learning control.

scholarly journals An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Jun Dai ◽  
Naohiko Hanajima ◽  
Toshiharu Kazama ◽  
Akihiko Takashima
Keyword(s):  
Control Method ◽  
Convergence Property ◽  
Tangential Direction ◽  
Navigation Problem ◽  
Wheeled Robots ◽  
Robot Trajectory ◽  
Look Ahead ◽  
Straight Line ◽  
The Family ◽  
Straight Lines

The improved path-generating regulator (PGR) is proposed to path track the circle/arc passage for two-wheeled robots. The PGR, which is a control method for robots so as to orient its heading toward the tangential direction of one of the curves belonging to the family of path functions, is applied to navigation problem originally. Driving environments for robots are usually roads, streets, paths, passages, and ridges. These tracks can be seen as they consist of straight lines and arcs. In the case of small interval, arc can be regarded as straight line approximately; therefore we extended the PGR to drive the robot move along circle/arc passage based on the theory that PGR to track the straight passage. In addition, the adjustable look-ahead method is proposed to improve the robot trajectory convergence property to the target circle/arc. The effectiveness is proved through MATLAB simulations on both the comparisons with the PGR and the improved PGR with adjustable look-ahead method. The results of numerical simulations show that the adjustable look-ahead method has better convergence property and stronger capacity of resisting disturbance.

scholarly journals A mask-based infection control method for screening endoscopy may prevent SARS-CoV-2 transmission and relieve staff anxiety

2021 ◽  
Vol 9 ◽  
pp. 205031212110470
Author(s):  
Yuji Nadatani ◽  
Akira Higashimori ◽  
Shingo Takashima ◽  
Hirotsugu Maruyama ◽  
Koji Otani ◽  
...  
Keyword(s):  
High Risk ◽  
Infection Control ◽  
Personal Protective Equipment ◽  
Medical Staff ◽  
Fluorescent Dyes ◽  
Control Method ◽  
Protective Equipment ◽  
Health Checkup ◽  
Screening Endoscopy ◽  
Droplet Trajectory

Objectives: Endoscopy confers high risk for acquiring coronavirus disease 2019. Although guidelines recommend that medical staff use personal protective equipment, no infection control equipment have been established for patients. This study aimed to clarify the usefulness of two face masks we had designed for transnasal and transoral endoscopy. Methods: The efficacy of the masks was evaluated by simulating coughing in a mannequin with fluorescent dyes and mapping the droplet trajectory and number. The number of aerosols generated during endoscopy was clinically evaluated in the endoscopy room. Overall, 4356 screening endoscopies were performed with the patients wearing our masks at Medcity21, a health checkup facility, between June and December 2020; the effects of the masks on the patient’s condition were evaluated retrospectively. An 11-item paper-based survey was performed by the endoscopy staff 6 months after the adoption of the mask-based infection control method. Results: Use of both masks reduced the number of droplets released during the simulation. Clinically, the use of both masks did not affect the patients’ conditions during endoscopy and prevented an increase in the aerosols in the endoscopy room. This mask-based infection control method was favorably received, and all staff indicated that understanding the efficacy of our mask-based infection control reduced their anxiety regarding infection. Until December 2020, none of our staff had contracted SARS-CoV-2. Conclusion: Our mask-based infection control method is easy to adopt, inexpensive, and effective; understanding its effectiveness may help ease the fear of infection among endoscopy staff.

scholarly journals Nonlinear Compound Control for Nonsinusoidal Vibration of the Mold Driven by Servo Motor with Variable Speed

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Qiang Li ◽  
Yi-ming Fang ◽  
Jian-xiong Li ◽  
Zhuang Ma
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Rotation Speed ◽  
Pi Control ◽  
Variable Speed ◽  
Servo Motor ◽  
Motor Speed ◽  
Vector Method ◽  
Compound Control ◽  
The Relationship

In this paper, a fuzzy PI control method based on nonlinear feedforward compensation is proposed for the nonsinusoidal vibration system of mold driven by servo motor, rotated in single direction with variable speed. During controller design, there are mainly two issues to consider: (i) nonlinear relationship (approximate periodic function) between mold displacement and servo motor speed and (ii) uncertainties caused by backlash due to motor variable speed. So, firstly, the relationship between mold displacement and motor rotation speed is built directly based on the rotation vector method. Then, an observer is designed to estimate the uncertainties and feedforward compensation. Secondly, as the motor rotates in single direction with variable speed, a fuzzy control with bidirectional parameter adjustment is adopted to improve rapidity and stability based on the traditional PI method. Finally, some simulation results show the effectiveness of the proposed control method.

Study on Fuzzy PI Control of Vehicle Yaw Moment Based on Optimal Allocation of Braking Forces

2014 ◽  
Vol 556-562 ◽  
pp. 2293-2296
Author(s):  
Gang Li ◽  
Hai Lan Han ◽  
Chao Wang ◽  
Gao Feng Ma
Keyword(s):  
Optimal Allocation ◽  
Control Method ◽  
Hierarchical Control ◽  
Pi Control ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Brake Force ◽  
Moment Control ◽  
Driving Stability ◽  
Yaw Moment

For vehicle direct yaw moment control (DYC) ,the additional yaw moment decision method based on the fuzzy PI control and optimal allocation method of yaw moment based on quadratic programming are studied. Yaw moment control adopts hierarchical control method.The fuzzy PI controller and brake force optimization distributor are designed. The control method is verified through the Matlab/Simulink and CarSim co-simulation experiment.The results show that the control method can make the vehicle track the expected value better and improve the driving stability effectively.

A Control Method for Active Power Filters with Three-Level NPC Inverter

2011 ◽  
Vol 268-270 ◽  
pp. 428-433
Author(s):  
Chen Guo ◽  
Cun Bing Gui ◽  
Zhong Ren Chen
Keyword(s):  
Control Algorithm ◽  
Control Method ◽  
Sampling Period ◽  
Active Power ◽  
Pi Control ◽  
State Variables ◽  
Active Power Filters ◽  
Power Filters ◽  
Repetitive Nature ◽  
Periodic Error

This paper researches control problem for active power filters with three-level NPC inverter and proposes a novel PI control algorithm for tracking harmonic command current. This novel PI control algorithm can suppress the periodic error in the whole system to achieve zero steady error tracking. In this scheme, the state variables are estimated with a state observer to cancel the delay of one sampling period in this digital control system. Harmonic current is predicted with a repetitive algorithm simultaneity, which makes use of the repetitive nature of load current. The controller is analyzed and designed in the paper, and the experiment results illustrate that this APF can be controlled in a satisfactory way.

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