Determination of control actions and energy consumption during programmed motion of the manipulator

The paper presents the modeling of the solution to one of the problems of mechanics - the automated control of the manipulator used in the forestry industry for moving operations at various stages of the technological process. A unified model has been developed that allows generating control actions and energy consumption of the object under study. As a result of solving the problem, a system of equations was obtained for determining the control moment and control force, which allow the manipulator to be set in motion, as well as to determine the energy consumption for the implementation of the program motion, in which the load moves at a given speed from point a to point b along a straight line inclined at a given angle to the horizon. The proposed algorithm is generalized for solving computer-aided design problems and is a simulation experiment. The software solution is implemented in two forms. In the first module, the database is filled with the initial metric, angular and physical and mathematical characteristics of the manipulator. In the second, according to the unified model described above, the indicators are calculated that are necessary for the movement of the object and characterize the dynamics of movement, as well as the necessary energy consumption for performing the operations performed. The possibility of converting the calculated values from the database into an MS Excel table is provided.

Telematics on urban passenger transport

The monograph discusses the application of telematics in dispatch control systems in urban passenger transport. The role of telematics as a technological basis in automating the solution of control tasks, accounting and analysis of the volume and quality of transport work in modern dispatch control systems on urban passenger transport is shown. Analytical models have been developed to estimate the capacity of a high-speed bus transportation system on a dedicated line. Mathematical models and algorithms for predicting passenger vehicle interior filling at critical stages of urban passenger transport routes are presented. The issues of application of the concept of the phase space of states introduced by the authors to assess the quality of the passenger transportation process on the route of urban passenger transport are described. The developed classification of service levels and their application in order to inform passengers at stopping points about the degree of filling of the passenger compartment of the arriving vehicle is described. The material is based on the results of theoretical research and practical work on the creation and implementation of automated control systems for urban passenger transport in Russian cities. The material of M.H. Duque Sarango's dissertation submitted for the degree of Candidate of Technical Sciences in the specialty 05.22.10 "Operation of motor transport" was used. It will be useful to specialists in the field of telematics on urban passenger transport.

Communications Technologies for Smart Grid Applications

Smart grid is a modern power grid infrastructure for improved efficiency, reliability, and safety, with smooth integration of renewable and alternative energy sources, through automated control and modern communications technologies. The smart grid offers several advantages over traditional power grids such as reduced operational costs and opening new markets to utility providers, direct communication with customer premises through advanced metering infrastructure, self-healing in case of power drops or outage, providing security against several types of attacks, and preserving power quality by increasing link quality. Typically, a heterogeneous set of networking technologies is found in the smart grid. In this chapter, smart grid communications technologies along with their advantages and disadvantages are explained. Moreover, research challenges and open research issues are provided.

Automated control of fixed loads and remote sockets: design and evaluation

The world is moving towards the process of automation. From the use of manual vehicles to the use of self-driving cars as people seek comfort, convenience and accessibility. Home automation basically does that, making the devices easily accessible from anywhere in the home. To overcome the challenges associated with standing up to switch on and off home appliances, especially during this pandemic era. Hence, “Automated control of fixed loads and remote Sockets: Design and evaluation” presented. This research describes the evaluation via survey and design of a circuit incorporated with a Bluetooth module and design application for smartphones so that any device connected to the circuit such as fans, lightings, sockets etc can make use of the application to control it. The application once it has been successfully installed in any smartphone and successfully connected to the circuit helps in switching on and off the lights, the fan, sockets, etc It will also help in the regulation of the speed of the devices. This is more effective, reliable, automated, time saving and cost effective.

Information processing using the Kalman filter in Matlab Simulink

In this paper, we investigate the problem of improving data quality using the Kalman filter in Matlab Simulink. Recently, this filter has become one of the most common algorithms for filtering and processing data in the implementation of control systems (including automated control systems) and the creation of software systems for digital filtering from noise and interference, for example, speech signals. It is also widely used in many fields of science and technology. Due to its simplicity and efficiency, it can be found in GPS receivers, in devices for processing sensor readings for various purposes, etc. It is known that one of the important tasks that should be solved in systems for processing sensor readings is the ability to detect and filter noise. Sensor noise leads to unstable measurement data. This, of course, ultimately leads to a decrease in the accuracy and performance of the control device. One of the methods that can be used to solve the problem of optimal filtering is the development of cybernetic algorithms based on the Kalman and Wiener filters. The filtering process can be carried out in two forms, namely: hardware and software algorithms. Hardware filtering can be built electronically. However, it is less efficient as it requires additional circuitry in the system. To overcome this obstacle, you can use filtering in the form of programming algorithms in a single method. In addition to the fact that it does not require electronic hardware circuitry, the filtering performed is even more accurate because it uses a computational process. The paper analyzes the results of applying the Kalman filter to eliminate errors when measuring the coordinates of the tracked target, to obtain a "smoothed" trajectory and shows the results of the filter development process when processing an electrocardiogram. The development of the Kalman filter algorithm is based on the procedure of recursive assessment of the measured state of the research object.

USE OF DIGITALIZATION MEANS IN THE FORMATION OF THE MICROCLIMATE OF ANIMAL PREMISES

The study of information systems and technologies, specialized software products aimed at solving the problems of animal husbandry management and determining the prospects for their use by specialists is relevant. The main factor determining the life of animals is the environment. One of the ways to intensify livestock (pigs, cattle, poultry, etc.) is a comprehensive automation of labor-intensive technological processes, including the formation of the microclimate of livestock facilities, which would have a positive impact on animal health, productivity and product quality. However, animals are also affected by certain methods and methods of feeding, man-made content, zonal climate, heat-shielding properties of enclosing structures, air exchange rate, ventilation efficiency, sewage condition, manure removal and removal methods, lighting. The impact of microclimate on animals consists of a set of environmental factors: temperature, humidity, air velocity, chemical composition, microbial and dust pollution, lighting, etc. The main parameter of the air environment is temperature. This has the greatest impact on animal health and productivity. The hygienic value of temperature is that it affects the thermoregulation of the body, which is divided into the processes of chemical thermoregulation - the reaction of heat generation and the processes of physical thermoregulation - the regulation of heat transfer. The study of the technology of improving the efficiency of microclimate regulation in livestock premises based on the use of an automated control system is promising. Thus, changing the composition and properties of the environment, you can affect the body of animals, achieving high productivity.

Statics simulation of the sulphate iron-containing wastewater neutralization process

At the present stage of technical progress, all industries face an extremely complex problem of creating reliable barriers that prevent the penetration of industrial emissions into the environment. Currently, the issues of stabilizing the quality of wastewater treatment have become especially important in connection with the task of developing wastewater-free industrial complexes. Among the complex scientific and technical problems associated with this task, the problem of stable and reliable maintenance of water quality parameters at the outlet of technological systems is crucial, as leakage of pollutants immediately affects the state of basic production, disrupting its technology and infecting ecosystems. The focus of industry on a sharp reduction in emissions and on the creation of industrial cycles with circulating water supply requires intensive efforts to improve the wastewater treatment technology, the introduction of high-performance processes and devices, as well as the synthesis of control systems for typical wastewater treatment processes. For the performance of automated control systems for typical cleaning processes, it is necessary to develop a software package on the basis of appropriate mathematical models of typical processes. To obtain them, methods of mathematical and simulation modeling and variance analysis were used. In order to assess the quality of modeling, the presented mathematical model describing the statics of the neutralization process for ferrous sulfate water was tested for compliance. To do this, two experiments were performed (the first at an initial concentration of sulfuric acid of 800 [mg/l] and ferrous sulfate of 4000 [mg/l] and the second at an initial concentration of sulfuric acid of 800 [mg/l] and ferrous sulfate of 2000 [mg/l]). First of all, a precondition for the reproducibility of experimental results was verified using the Cochrane test. The mathematical model was verified for adequacy on the basis of Fisher's criterion for the significance level q = 0.05 with degrees of freedom j1 = 16 and j2 = 17. For the first experiment, Grozr = 0.50557 and Gmab = 0.73; i.e., Grozr < Gmab and dispersions are homogeneous. Frozr = 1.0225 and Fmab = 2.4 and thus Frozr < Fmab, and there is no reason to say that the model is inadequate. For the second experiment, Grozr = 0.50308 and Gmab = 0.73; i.e., Grozr < Gmab and dispersions are also homogeneous. Frozr = 1.0005 and Fmab = 2.4 and thus Frozr < Fmab, which also indicates that the model is adequate. The issue related to the performance of technological systems for wastewater treatment in non-stationary modes is directly dictated by the specific operating conditions of treatment facilities, which are expressed by the instability of parameters at their inlet. The inability to apply the necessary technological action to the flow in time is a serious obstacle to the implementation of the cleaning depth, which is guaranteed by the physicochemical basis of the methods incorporated in technological systems and requiring cleaning standards. The operator cannot handle this complex task manually. On the basis of the proposed mathematical model, a structural-parametric diagram of the automated process control system has been developed, which makes it possible to proceed to the elaboration of algorithms and software for the control system necessary for automated control of the wastewater treatment process.

ULTRASONIC MEASUREMENT TECHNOLOGY IN AUTOMATED CONTROL OF WATER RESOURCES

Control of water resources is becoming an important strategic issue. That is why authorities set the goal for wa-ter agencies to manage the availability of water and create regulations to its rational use. The main point in water control is measurement. There are three important aspects of measurements of water resources: at water extraction from nature, at the consumption and at custody transfer. Control of water consumption sometimes is based not on measurements, but on preliminary estimation, for example, by pumping. Ultrasonic measurement technology as a key feature of automated control of resources has a potential role in this market. In contrast to mechanical (turbine) meters, ultrasonic meters have a priority because they also give a possibility to realize smart metering. In contrast to electromagnetic meters, which also measure with high accuracy and realize smart functions, ultrasonic meters much more suitable for rough water, wastewater and sewage. Such water resources are usually poorly controlled, which means that no one knows their exact cost. Measurement is mandatory to control cost and for billing. Accuracy is important issue, especially when we say about measurements in large pipe diameters. There is practically no alternative to ultrasonic flow meters. Market of diverse meters concentrated on diameters under 400 mm. For larger diameters, only ultrasonic meters are in use. They have many chords, difficult algorithms for data processing. Thus, they are applicable over a very wide flow range. In this paper, we discover transit-time ultrasonic flow meters to understand features of their measurement theory taking into account all factors affecting their work. This article describes errors inherent in these flowmeters during measurements. As far as accuracy is significantly important in billing, the cost of 1% measurement error in consumption of water resources for small (DN50÷DN150 mm) and large (DN200÷DN1200 mm) pipe diameters has been evaluated and analyzed. The losses from the installation of low-quality metering devices are demonstrated and discussed.

Microfluidic device integrating a network of hyper-elastic valves for automated glucose stimulation and insulin secretion collection from a single pancreatic islet

Advances in microphysiological systems have prompted the need for robust and reliable cell culture devices. While microfluidic technology has made significant progress, devices often lack user-friendliness and are not designed to be industrialized on a large scale. Pancreatic islets are often being studied using microfluidic platforms in which the monitoring of fluxes is generally very limited, especially because the integration of valves to direct the flow is difficult to achieve. Considering these constraints, we present a thermoplastic manufactured microfluidic chip with an automated control of fluxes for the stimulation and secretion collection of pancreatic islet. The islet was directed toward precise locations through passive hydrodynamic trapping and both dynamic glucose stimulation and insulin harvesting were done automatically via a network of large deformation valves, directing the reagents and the pancreatic islet toward different pathways. This device we developed enables monitoring of insulin secretion from a single islet and can be adapted for the study of a wide variety of biological tissues and secretomes.

Informational aspects at model of power consumption by main drainage facilities of iron-ore mining enterprises

The work investigates into variable informational approaches to modeling power consumption by main drainage facilities of ore mining enterprises with underground mining method. Methodological recommendations for using the models are also designed. The research deals with general methodological approaches to model formation with both power consumption indices for drainage facilities and corresponding costs. Logistics of model formation is substantiated, namely, combination of classic multifactor regression modeling with modern digital modeling methods – automated control systems used for drainage facilities. Principles of building fuzzy logic controllers and algorithms of their functioning under multichannel control are determined in detail. The improved fuzzy logic-based variant is proposed and combined, with correlation analysis, to provide the basis for developing algorithms of the automated control systems of electric power consumption. There is an example of developing a “road map” for implementing a generalized algorithm for automated control systems power flows for two current cases – a selective tariff with limited daily contract-based power consumption and that with a variable tariff. It is established that application of the two-rate hourly tariff with its conditional distribution (Night/Peak) instead of the three-rate tariff (Night/Half-Peak/Peak) on a single-use basis leads to a thirteen percent increase of daily power costs with a single-channel control of the ore flow and a seven percent increase with two-channel control (ore flow and drainage simultaneously). The use of fuzzy logic controllers enables minimizing these losses.