Six-Legged Walking Robot for Inspection Tasks

2011 ◽  
Vol 180 ◽  
pp. 137-144 ◽  
Author(s):  
Stanisław Krenich ◽  
Marcin Urbanczyk
Keyword(s):  
Control System ◽  
Vision System ◽  
Control Unit ◽  
The Body ◽  
Walking Robots ◽  
Movement Trajectory ◽  
Level Control ◽  
Inspection Tasks ◽  
Dc Servomotor ◽  
And Control

In the paper an approach to design and control of reconfigurable walking robots is presented. Based on the biological inspiration the conception of the six-legged robot is proposed. In the first part a mechanical structure, basic kinematical and dynamical dependences in the robot legs are described. The structure, kinetics rules, gait patterns etc. are derived from typical stick insects. According to the above assumptions the body and the legs of the robot are designed and made. At all legs eighteen DC servomotors with resistant encoders are used. In addition at the robot head one DC servomotor for sensors or a vision system is introduced. In the second part a control system is discussed. The multi-level control unit is based on the AVR Atmega8/16 microcontrollers which are responsible for generating of a movement trajectory and at the same time for controlling of the all servomotors. For the proposed control system different gait algorithms and behaviour rules including a forward/back movement, avoiding of obstacles are worked out. They allow an autonomous work of the robot or remote control by an operator. In addition, during the walk the algorithms can match the type of attitudes and gaits to an environment. Next, some experiments of walking for different control algorithms are carried out and described. At the end some conclusions and directions of the further research are given.

scholarly journals DESIGN AND CONTROL SYSTEM OF THE ROBOT ORNITHOPTER, EQUIPPED WITH WINGS AND TAIL

2018 ◽  
Vol 22 (2) ◽  
pp. 18-26 ◽  
Author(s):  
S. F. Jatsun ◽  
О. G. Loktionova ◽  
L. Yu. Vorochaeva ◽  
О. V. Emelianova
Keyword(s):  
Control System ◽  
Flight Control ◽  
Control Unit ◽  
Longitudinal Axis ◽  
Control Device ◽  
Control Area ◽  
The Body ◽  
Flight Control System ◽  
Spherical Hinge ◽  
And Control

The paper deals with the ornithopter flight which simulates the flight of a bird. The robot consists of a body, two folding wings and a tail. The ornithopter roll is provided by wing swings, and pitch and yaw are provided by twists of the tail in two planes. When switching to the design scheme of the device, each wing is replaced by two links connected to each other and to the body by means of cylindrical hinges, the axes of all hinges are parallel to the longitudinal axis of the robot. Two mechanisms are used to implement swings in the device. One of them (the mechanism of swings) directly provides fluctuations in the wings relative to the body, as well as changing their area by adding when moving up and decomposition when moving down. This mechanism consists of a motor and crank-rod-rocker mechanism. The second mechanism (rotation of the ailerons on the wings) allows the wings in addition to flapping additionally to flex during motion, thereby "pocketing" of the air and the extra control area of the wings: its decrease with the movement of the wings up and the increase in the movement of the wings down. The tail is connected to the body due to the spherical hinge and two crank mechanisms. With the help of one of the mechanisms the tail rotates relative to the longitudinal axis of the body in the horizontal plane, and with the help of the other - in the vertical. For this robot a flight control system is proposed, which provides the robot movement along a given trajectory. The control system includes a control unit and a control device (ornithopter). The control unit is formed by modules specifying the effects and calculation of angles, as well as comparator and controller. The control device includes drives, links (wings and tail) and the robot body. Management is carried out on six generalized coordinates determining the position and orientation of the hull in space. For this purpose, eight feedbacks are used in the angles of rotation of the wings and the tail of the robot relative to its body.

Temperature/Humidity Control System Based on Micro Controller Unit in the Room of Bikram's Yoga

2012 ◽  
Vol 529 ◽  
pp. 352-355
Author(s):  
Na Li ◽  
Yong Gang Tang ◽  
Gui Ying Wang
Keyword(s):  
Control System ◽  
Humidity Sensor ◽  
Control Unit ◽  
Data Display ◽  
Control Temperature ◽  
The Core ◽  
Wireless Transceiver ◽  
Remote System ◽  
And Control ◽  
Micro Controller Unit

This thesis has designed a temperature/humidity remote system which takes Micro controller Unit AT89S51 as the core control unit. The system consists of Micro controller Unit, SHT75 temperature/humidity sensor, Rok 101 007 wireless transceiver and PC data display modules. The system can detect and control temperature/humidity in the room of Bikram's yuga remotely to create an environment suitable for fitness in high temperature.

scholarly journals Architecture of homeostatic security control for digital manufacture systems based on software-defined networks

2018 ◽  
Vol 44 ◽  
pp. 00067
Author(s):  
Evgeny Pavlenko ◽  
Dmitry Zegzhda
Keyword(s):  
Control System ◽  
System Architecture ◽  
Control Unit ◽  
Software Defined Networks ◽  
Decision Making Unit ◽  
Security Control ◽  
Protection And Control ◽  
And Control ◽  
Control System Architecture ◽  
Digital Manufacture

The authors have offered the homeostatic control system architecture for digital manufacture security based on the software-defined network technology. We have highlighted the development features of digital manufacture systems and defined the technology advantages of software- defined networks, which allow these networks to be successfully applied with flexible and adaptive topology for a highly efficient new generation of cyber-physical systems. We have also described the main operating principles of software-defined networks in digital manufacture systems. A description of homeostatic security control technology, which includes a combination of engines to provide stability of the system’s internal environment and structural and functional resistance to external disturbances, is provided. We have proposed and described in detail the homeostatic security control system architecture including three generalized components: monitoring unit, decision-making unit, protection and control unit.

scholarly journals Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989132
Author(s):  
Ivan Chavdarov ◽  
Bozhidar Naydenov
Keyword(s):  
Control System ◽  
Walking Robots ◽  
Energy Losses ◽  
Simple Design ◽  
Walking Robot ◽  
Minimum Number ◽  
And Control ◽  
Original Concept ◽  
Dimensional Optimization

The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors. Described are basic geometric and kinematic dependencies related to its movement. It is proposed optimization of basic dimensions of the robot in order to reduce energy losses when moving on flat terrain. Developed and produced is a 3-D printed prototype of the robot. Simulation and experiments for overcoming an obstacle are presented. Trajectories and instantaneous velocities centers of links from the robot are experimentally determined. The phases of walking and the stages of overcoming an obstacle are described. The theoretical and experimental results are compared. The suggested dimensional optimization approaches to reduce energy loss and experimental determination of the instant center of rotation are also applicable to other walking robots.

scholarly journals Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Junzhi Yu ◽  
Kai Wang ◽  
Min Tan ◽  
Jianwei Zhang
Keyword(s):  
Visual Processing ◽  
Vision System ◽  
The Body ◽  
Robotic Fish ◽  
Multiple Control ◽  
Caudal Fin ◽  
Embedded Vision ◽  
And Control ◽  
Control Surfaces ◽  
Pelvic Fin

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.

scholarly journals Power Level Control of Nuclear Power Plant Based on Asymptotical State Observer under Neutron Sensor Fault

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Liming Zhang ◽  
Hongyun Xie ◽  
Qizhi Duan ◽  
Chao Lu ◽  
Jixue Li ◽  
...  
Keyword(s):  
Control System ◽  
Power Control ◽  
Control Systems ◽  
Nuclear Power ◽  
Power Plants ◽  
Power Level ◽  
Level Control ◽  
Power Control System ◽  
Neutron Sensors ◽  
And Control

Power level control is one of the critical functions in the instrument and control system of nuclear power plants (NPPs). In most power level control systems of NPPs, the power level or average neutron flux in reactor cores provided by out-of-core neutron sensors are usually measured as feedback of power control systems, while, as critical measuring devices, there is a risk of damage to out-of-core neutron sensors. For improving the operation reliability of NPPs under the neutron sensors’ failure, a power control system based on power observer is developed in this work. The simulation based on NPP simulator shows the power control system based on the observer is effective when neutron sensors fail.

scholarly journals Design and Implementation of Scalable Beam Steering Control System for Phased Array Radar

2019 ◽  
Vol 8 (9) ◽  
pp. 2984-2989
Keyword(s):  
Control System ◽  
Phased Array ◽  
Beam Steering ◽  
Control Unit ◽  
Steering Control ◽  
Control Logic ◽  
Phase Gradient ◽  
Phased Array Radar ◽  
And Control ◽  
Control System Architecture

Transmit/Receive (T/R) modules plays important role in advanced phased array radar system consists of array of antenna elements. In order to produce beam pattern for multiple radiating elements, the phase angle for each T/R module should be assigned with calculated value. When phase gradient is sent to T/R unit, phase values are calculated for array of elements associated with them. The paper presents a beam steering control system architecture consists of Graphical user interface, group controller with scalable T/R control unit (TRCU) having two hexa decagon T/R module controllers (HTRMCs) and control logic unit for parallel data flow. Calculation of 6 bit phase value from the phase gradient carried out using FPGA. Also, use of logic core and quantization of phase values are discussed. The paper also reports the area factor for the proposed architecture

scholarly journals Higway Criuse Control System for Vehicles using Low Power RF and Can Protocol

2020 ◽  
Vol 9 (6) ◽  
pp. 1147-1153
Keyword(s):  
Control System ◽  
Low Power ◽  
Control Unit ◽  
Speed Control ◽  
Traffic Signals ◽  
Fixed Time ◽  
Primary Target ◽  
Street Sign ◽  
Electronic Display ◽  
And Control

Nowadays mishaps are happening much of the time, causing destruction of numerous individuals by committing unassuming errors while driving (in school zone, slopes region, and roadways). In any case, once in a while it may not be conceivable to see the billboards put by the Highway Department to caution the drivers in such sort of spots and there is an opportunity for mishap. The headway in the processor innovation and microcontrollers has opened another framework intended to forestall the mishaps caused because of carelessness of drivers in observing rush hour gridlock flags close by the street and different abnormalities on the streets. So to suggest the driver about the zones and to consequently keep up the speed is cultivated by methods for low power RF innovation. The primary target is to plan an Electronic Display controller implied for vehicle's speed control and screens the zones, which runs on an implanted framework and can be hand crafted to fit into a vehicle's dashboard to show data on the vehicle. This framework whenever received by some state can successfully diminish the quantity of street mishaps brought about by speeding vehicles losing control of the vehicle at speed breakers or by driver's carelessness towards traffic signals. This paper presents another structure to control the speed of the vehicles at clumsy zones and security zone places for fixed time. The undertaking is made out of two separate units: Zone status transmitter unit, Electronic Display and Control unit. When the street sign is gotten from the zones, the vehicle's Electronic Display Controller Unit cautions the driver, to lessen the speed as indicated by the zone; it hangs tight for driver's reaction and diminishes the speed of vehicle consequently with CAN Protocol.

Highlights of two and one-half years of simulation efforts for deep submergence vehicles

SIMULATION ◽  
1967 ◽  
Vol 8 (5) ◽  
pp. 283-293
Author(s):  
Tom F. Noble
Keyword(s):  
Computer Simulation ◽  
Control System ◽  
System Design ◽  
Block Diagram ◽  
The Body ◽  
Degree Of Freedom ◽  
Control Input ◽  
Design Work ◽  
Input Devices ◽  
And Control

This paper describes the highlights of two and one-half years of computer simulation effort on the deep submer gence vehicles Trieste II (Trieste), NR-1, and Deep Sub mergence Rescue Vehicle (DSRV). The work, which is still in progress, is being performed by Sperry Gyroscope Com pany under Navy and company-funded programs. Introductory material of the paper presents the simula tion program objectives, outlines the simulation facilities, and gives an overall simulation block diagram. The com puter simulations are being used in control-system, hull, and force-effector design efforts for the development of operational doctrine, as a tool for human engineering as sessment of displays, control input devices, and console layouts, and as a pilot training aid. Basic computation equipment consists of a hybridiza tion between an Electronic Associates 231-R analog com puter and an Ambilog Model 200 digital computer. Major facilities used to supplement these computers are a two- degree-of-freedom cab containing console mockup, pilot's control station, and an electronic flying-spot-scanner tele vision display generator. Major elements characterized in the simulations are six- degree-of-freedom boat dynamics; coordinate transforma tions for television display cues and real-world television pictures; various effectors, actuators, and sensors; and control computer equations. The body of the paper gives details on the use of the computer simulation in deep submergence craft design work. The design stages are broken down as: statement of design criteria, analysis of system parts, analysis of com plete system, synthesis of system design, fabrication of system hardware, test and evaluation, and improvement of design. Unique hull, effector, actuator, and control-system design problems encountered during the two-and-one- half-year simulation study are outlined.. This paper on simulation is concluded with a summary which indicates the need for highly integrated displays, control input devices, and control computers for deep sea craft.

The Research on the System of Double-Holding Water Tank Liquid Level Control with the PID Control

2014 ◽  
Vol 945-949 ◽  
pp. 2559-2562
Author(s):  
Miao Yu ◽  
Hong Li Jia ◽  
Pan Jie Chen
Keyword(s):  
Control System ◽  
Liquid Level ◽  
Water Tank ◽  
Level Control ◽  
Parameters Tuning ◽  
Combined Control ◽  
Interaction Interface ◽  
Tank System ◽  
And Control ◽  
Liquid Level Control

Double tank level control system is the combined control with the host computer and basic instrument, and it realizes the communicative function through monitoring and management. The object of this topic is mainly on double-tank system, then gets the theoretical parameters PID through measuring the characteristic curves of the water level, and finally use MCGS configuration software on PC, for further interaction interface to the parameters tuning of double-holding water tank system and to set the parameters. After reaching the expected target, on the base of routine control PID, we can improve the system function by forming the double loop system and control the liquid level of the water bank better. The two tank liquid level control is made as the core control system by computer and as one kind of fashionable trends.

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