As the routine operations are starting to become highly automated, it is crucial to develop autonomous solutions that are infrastructure independent. Achieving this is challenging due to the ever-changing landscape of...
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ISBN:
(纸本)9798331517939;9788993215380
As the routine operations are starting to become highly automated, it is crucial to develop autonomous solutions that are infrastructure independent. Achieving this is challenging due to the ever-changing landscape of mines, which complicates infrastructure development. In response, this paper introduces a robust framework employing drones to gather data from hard-to-access areas in mines and deliver the data back to the base station for routine monitoring purposes. These tasks include gathering data from operational vehicles (mine trucks, loaders etc.), as well as various sensors (e.g. monitoring rock bolts) and relaying the data to the mine's base station for monitoring purposes. The proposed framework is based on autonomous navigation using a known point cloud map of the mine, proximity detection via Ultra WideBand (UWB) radios and the data transfer is accomplished through the IEEE 802.15.4 communication standard, operating in the 868 MHz ISM band, with the aim to guarantee long range operation. On the mission level, the drones act as data mules capable of autonomously extracting data from operating vehicles, storing the data onboard and eventually delivering the data to the base station, which is enabled through a Point and Click (PAC) autonomy framework based on global planning, reactive navigation, communication link and behavior management. The efficacy of this framework has been demonstrated through real-world experiments conducted at a test mine in Sweden, validating the overall architecture of the proposed solution.
This paper presents a research project focusing on enhancing security features in cloud access through the utilization of AES (Advanced Encryption Standard) algorithms. The primary objective of this project is to ensu...
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The digitization of education stands as an indispensable instrument for nations dedicated to the attainment of education that is both of high quality and inclusively accessible. This research delves into the critical ...
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Bionic arm industries face a lot of challenges in relation to optimal thickness of the arm, bending stress development in the arm, torsional stress in critical components etc. A Digital Twin will be extremely helpful ...
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ISBN:
(纸本)9798350385939;9798350385922
Bionic arm industries face a lot of challenges in relation to optimal thickness of the arm, bending stress development in the arm, torsional stress in critical components etc. A Digital Twin will be extremely helpful in this regard. In this project, a Digital Twin of a 7-DOF Bionic arm which is voice controlled is created on Simscape Multibody platform. Apart from imparting mass and inertia properties, the digital twin also incorporates forward and inverse kinematics model of the 7-DOF bionic arm, joint limits, serial port communication with the physical counterpart and the digital twin is fitted with a mannequin for simulation of different tasks. Besides, the digital twin is used for joint space trajectory planning, determination of bending stress in the fore arm, determination of torsional stress in critical elements, determination of optimal thickness and determination of optimal load that the bionic arm can lift. Since, the bionic arm is developed for an upper arm amputee, there are 7 degrees of freedom- 5 for the 5 fingers, one for the wrist and one for the elbow. Since the bionic arm is intended to operate with voice commands, for the simultaneous control of the twins, voice control module is used in physical twin and communication between the fabricated physical and the virtual model is established through serial communication.
Regarding the evolution of 6G networks, traditional RAN will gradually evolve into communication and computing integrated network. The traditional communication functions of control plane and user plane adopt the"...
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Switched Reluctance Motor (SRM) is emerging as an alternative to traditional drives because of its advantages such as lightweight, robust structure and fault-tolerant nature. SRM has been proposed for various sectors ...
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ISBN:
(纸本)9798350385939;9798350385922
Switched Reluctance Motor (SRM) is emerging as an alternative to traditional drives because of its advantages such as lightweight, robust structure and fault-tolerant nature. SRM has been proposed for various sectors in domestic and industrial applications. However, torque ripple stands as a prominent challenge in SRM. The double-salient geometry introduces a significant ripple in its torque profile, leading to vibration and acoustic noise. SRM needs continuous position information and a sequential switching approach, unlike traditional motor drives. Torque Sharing Function (TSF) is a widely used torque control scheme for SRM. In TSF, the commutation ripple is controlled by adjusting the conduction period of incoming and outgoing phases. This article presents a novel TSF with conduction angle control. The linear and cubic TSFs are combined to create a hybrid TSF, and conduction angles are optimized to reduce the ripple up to a speed of 2000 rpm in a 1 hp SRM. A PI controller works as the outer loop torque controller, and hysteresis band current control is implemented for the inner loop current control. Simulation results show that the optimal conduction angle reduced the torque ripple from 125% to 20%. Further, with the proposed novel hybrid TSF, it has been reduced up to 2.70%.
This project introduces a comprehensive home automation system leveraging Wi-Fi connectivity and ESP32 micro controllers, aimed at enhancing modern living through seamless automation and user-centric design. The backg...
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Modern automation systems are extremely diverse. Traditional multilevel distributed systems of industrial and infrastructural automation, multi-operational manufacturing equipment, instrument automation and other segm...
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This paper is related to an important area of electronics and communication engineering research that deals with the processing of analog signals. The paper proposes new filters of diverse characteristics. The buildin...
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This paper addresses the trajectory tracking control problem for nonlinear low-altitude vehicles by proposing a data-driven, model-free adaptive control scheme to circumvent the complexities and challenges associated ...
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ISBN:
(纸本)9798350377040;9798350377033
This paper addresses the trajectory tracking control problem for nonlinear low-altitude vehicles by proposing a data-driven, model-free adaptive control scheme to circumvent the complexities and challenges associated with traditional modeling. To reduce tracking errors for unmanned aerial vehicles (UAVs), a parameter dynamic updating mechanism is introduced. Based on data-driven techniques and parameter updates, a novel adaptive flight control algorithm is presented. Then, simulation examples are provided to demonstrate the effectiveness and stability of the proposed algorithm by incorporating three types of communication interruptions and compensations to analyze their impacts on the system. Finally, parameter tuning is conducted through PID comparison experiments.
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