Wireless Speed Control of Vehicles with Detection of Person & Zebra Crossing

Pedestrians crossing zebra lines are one of the major concerns for road accidents. Nowadays, the number of road accidents increases due to careless driving and pedestrian motions at crosswalks. It is necessary to detect both person and zebra crossings properly and control vehicle speed accordingly. Here in this paper, a suitable solution that improves both detections can be introducing. Here used the TensorFlow Single Shot Detection (SSD) model is the best and most convenient trained model for Zebra line and person detection. A database is taking for the analysis. The input image could process as a crosswalk detection, which has more used for zebra crossing identification via the SSD model. Suppose detected the person and zebra crossings were at the same time. In that case, it will perform commands such as run, slow down, stop, horn, etc., with the help of wireless serial communication Universal Asynchronous Receiver-Transmitter. A Bluetooth command signal matches UART, which provides the vehicle with the necessary control inputs to execute the prescribed topology properly. Simultaneous detection of pedestrians at zebra crossings is a critical factor. It results most efficiently and to identify the person detection.

Experimental investigation into the basic application of force and position control for human-machine team lifting operations in manufacturing

In manual material handling operations associated with manufacturing, often a two-person team lifts a container. The labor intensive task of lifting a container could be improved by replacing the two-person team with a human-machine team. It is hypothesized that a human-machine team could behave similarly to a two-person team when lifting a container. To test this hypothesis, the presented research experimentally investigated the application of force and position control to a machine that was working collaboratively with a human to lift a constructed container. A basic experimental approach to lifting and control was undertaken at a benchtop scale to evaluate the results for proof-of-concept and further development. For the experimental setup presented, the results show that a combined force and position control architecture delivered better lifting performance as compared to standalone force or position control. It was concluded that the combined force and position control strategy created better team behavior for the machine as it worked collaboratively with the human to lift a constructed container. The advantage of the control approach presented is its simplicity and its ability to be retrofitted to existing equipment. The novelty of the control approach lies within the way the force and position errors from independent controllers are combined into a single command signal with no priority given to either force or position.

A Study of Integrated Signal and Power Transfer for Compact Isolated SiC MOSFET Gate-Drivers

This work discusses a novel set of alternate implementations of isolated gate driver circuits for power electronic transistors. The proposed topologies for the driver have been designed specifically for SiC power MOSFET. Three different solutions are discussed, all of them providing the required gate turn-on and turn-off command signal with galvanic isolation, but also supplying power to the secondary side of the driver by means of magnetic transformers. The resulting solutions, all of them implemented with simple circuitry, enable the integration of the driver into the power cell, allowing for theoretical higher power density values in the final system. The principle of operation of the different solutions is discussed, and then the main relevant implementation details are presented. After that, the operation of the circuits is demonstrated experimentally, by testing a set of prototypes of these drivers. This provides a comprehensive design example that assesses the feasibility of the proposed solutions. Finally, the main results of the performance of the three gate drivers, on an SiC MOSFET-based prototype are presented and compared.

Algorithm of Energy-Saving Control Over Hammers of Active Excavator Buckets

The article considers the operation of excavators designed to mine hard or frozen soils. To reduce significant energy consumption, which characterizes the process, active buckets equipped with special hammers are used. Minimizing the energy consumption of such buckets can be achieved by optimally controlling their operating modes. Expressions for the energy consumed by a hammer, characteristics of its head, operating modes, soil are derived, with the minimum of the energy estimated. On the basis of those expressions, an algorithm of energy-saving control over hammers of active excavator buckets is formed and described. It determines the corresponding speed of impact of the hammer head on the soil which can be supplied to the hammer control system in the form of a command signal. The combination of all speeds when digging a track will provide the required performance of the excavator, with each speed set to the minimum, from the viewpoint of optimizing the energy consumption, necessary for the work of the hammer.

The motor cortex uses active suppression to sculpt movement

Even the simplest movements are generated by a remarkably complex pattern of muscle activity. Fast, accurate movements at a single joint are produced by a stereotyped pattern that includes a decrease in any preexisting activity in antagonist muscles. This premovement suppression is necessary to prevent the antagonist muscle from opposing movement generated by the agonist muscle. Here, we provide evidence that the primary motor cortex (M1) sends a command signal that generates this premovement suppression. Thus, output neurons in M1 sculpt complex spatiotemporal patterns of motor output not only by actively turning on muscles but also by actively turning them off.

Designing a Robust Controller Using SMC and Fuzzy Artificial Organic Networks for Brushed DC Motors

Electric direct-current (DC) drives based on DC motor are extremely important in the manufacturing process, so it must be crucial to increase their performance when they are working on load disturbances or the DC motor’s parameters change. Usually, several load torque suddenly appears when electric drives are operating in a speed closed-loop, so robust controllers are required to keep the speed high-performance. One of the most well-known robust strategies is the sliding mode controller (SMC), which works under discontinue operation. This controller can handle disturbances and variations in the plant’s parameters, so the controller has robust performance. Nevertheless, it has some disadvantages (chattering). Therefore, this paper proposed a fuzzy logic controller (FLC) that includes an artificial organic network for adjusting the command signal of the SMC. The proposed controller gives a smooth signal that decrements the chattering in the SMC. The stability condition that is based on Lyapunov of the DC motor is driven is evaluated; besides, the stability margins are calculated. The proposed controller is designed using co-simulation and a real testbed since co-simulation is an extremely useful tool in academia and industry allows to move from co-simulation to real implementation in short period of time. Moreover, there are several universities and industries that adopt co-simulation as the main step to design prototypes. Thus, engineering students and designers are able to achieve excellent results when they design rapid and functional prototypes. For instance, co-simulation based on Multisim leads to design directly printed circuit boards so engineering students or designers could swiftly get an experimental DC drive. The experimental results using this platform show excellent DC-drive performance when the load torque disturbances are suddenly applied to the system. As a result, the proposed controller based on fuzzy artificial organic and SMC allows for adjusting the command signal that improves the dynamic response in DC drives. The experimental response using the sliding-mode controller with fuzzy artificial organic networks is compared against an auto-tuning, Proportional-Integral-Derivative (PID), which is a conventional controller. The PID controller is the most implemented controller in several industries, so this proposal can contribute to improving manufacturing applications, such as micro-computer numerical control (CNC) machines. Moreover, the proposed robust controller achieves a superior-speed response under the whole tested scenarios. Finally, the presented design methodology based on co-simulation could be used by universities and industry for validating and implementing advanced control systems in DC drives.

SIMPLIFIED CONTROLLER DESIGN FOR OUTPUT PERFORMANCE UNDER COMMON INPUT LIMITATIONS WITH GENERALIZED INTEGRAL ANTI-WINDUP FOR A CLASS OF PROCESSES

One of basic key tasks of a control system design is to achieve the desired output responses both in transient and steady states. Besides, the common input limitations, such as saturation and slew rate or at least avoiding a sudden jump in the command signal, must be considered in practice. However, popular controllers such as PI and PID cause sudden changes or even impulsive surges in the command signal under external excitations by a step reference input and/or step input/output disturbances. In this paper, a simplified controller design with its preferred structure models to meet the mentioned requirements is presented for a class of minimum-phase stable linear time-invariant single-input single-output processes with proper real rational transfer function. The structure of such controller is mathematically investigated and the result is that the controller must be strictly proper and containing an integral factor. The design procedure is simple and straightforward based on reference model matching and model cancellation with only two required conditions on the desired closed-loop transfer function which are its relative degree comparing to the processes to be controlled and the equality of the lower order coefficient(s) in its numerator and denominator polynomials. A generalized integral anti-windup structure, based on back calculation method and PI/PID anti-windup scheme, to lessen the saturation effect on the integral action of the proposed controller is additionally introduced by rearranging the controller in a parallel form with one separated integral control action portion. Numerical examples are investigated to demonstrate the design procedure and verify the success of the proposed controller to the required objectives.