In this study, the dynamics and control aspects of a spherical rolling robot's lateral motion are investigated. An approximate, simplified to a single plane, mathematical model is derived using Lagrange equations ...
In this study, the dynamics and control aspects of a spherical rolling robot's lateral motion are investigated. An approximate, simplified to a single plane, mathematical model is derived using Lagrange equations to check stability of the system. Utilizing the fusion of sensor data, a precise orientation measurement is achieved. Document focuses on a synthesis of a PID controller reducing sideway oscillations that occur in motion of a spherical robot with internal pendulum mechanism.
The paper presents two different types of approach for mathematical modeling of quadcopter kinematics and dynamics. The first one is based on the equations of classical mechanics and the other one is derived from Dena...
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Following a surgical procedure, patients are monitored in an ICU until physically stable, after which are discharged to a ward for further evaluation and recovery. Usually, ward evaluation does not imply continuous ph...
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Following a surgical procedure, patients are monitored in an ICU until physically stable, after which are discharged to a ward for further evaluation and recovery. Usually, ward evaluation does not imply continuous physiological parameters monitoring and therefore patient relapse is not uncommon. The present paper describes the steps taken to design and build a low-cost modular monitoring system prototype. This system aims to offer mobile support in order to facilitate faster and better medical interventions in emergency cases and has been developed using low-power dedicated sensor arrays for EKG, SpO2, temperature and movement. The interfaces for these sensors have been developed according to the IoT model: a central control unit exposes a RESTful based Web interface that ensures a platform agnostic behaviour and provides a flexible mechanism to integrate new components.
We introduce a novel distributed control architecture for disturbances attenuation in heterogeneous platoons of linear and time-invariant autonomous agents that inherits the performance achievable by the leader-follow...
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We introduce a novel distributed control architecture for disturbances attenuation in heterogeneous platoons of linear and time-invariant autonomous agents that inherits the performance achievable by the leader-follower control policies. We provide a Youla-like parameterization for the class of all distributed controllers such that the sparsity constraints are imposed on the controllers' left coprime factors, outlining a new concept of structural constraints in distributed control. The proposed scheme lends itself to optimal controller design via norm based costs, it guarantees string stability and completely eliminates the accordion effect from the behavior of the platoon. The distributed controller is proven to attain global optimality for heterogeneous platoons and ℋ 2 costs and can easily reconfigure such as to remain optimal during formation merging/exiting maneuvers. The scheme is amenable to a GPS time base synchronization mechanism, allowing for the exact compensation of the time delays induced by the wireless communications.
作者：
M PłaczekM MaćkowskiP NowakSilesian University of Technology
Faculty of Mechanical Engineering Institute of Engineering Processes Automation and Integrated Manufacturing Systems Konarskiego 18A 44-100 Gliwice Poland Silesian University of Technology
Faculty of Automatic Control Electronics and Computer Science Institute of Informatics Akademicka 16 44-100 Gliwice Poland
The goal of presented work was to build an electronic device in order to test the effectiveness of different EMC-improving solutions. Three EMC tests were done in order to check the created device compliance with the ...
The goal of presented work was to build an electronic device in order to test the effectiveness of different EMC-improving solutions. Three EMC tests were done in order to check the created device compliance with the electromagnetic compatibility directive. Each of them was conducted for both industrial and non-industrial parameters (voltage and field strength), according to IEC PN-EN 61000 standards. Three tests were done: conductive immunity test in EM clamp, radiated immunity test in GTEM chamber, radiated emission test in GTEM chamber. Firstly, the device's conductive immunity was examined. The set of possible solutions was created by examining existing designs, papers, books and producers' recommendations. In result, different component configurations were chosen to determine the most EMC-effective one. Next, electromagnetic compatibility of proposed device configurations was tested in the GTEM chamber (radiated immunity and radiated emission). Tests results are presented on charts and analysed in order to verify if designed device face requirements of the electromagnetic compatibility directive. It was verify which of proposed electromagnetic compatibility improving solutions can solve problems with electromagnetic compatibility.
The paper deals with the methodology of creation of sequential control system programs in the language of function block diagrams (FBD). After analyzing basic blocks of the sequential functions chart (SFC) language, t...
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The paper deals with the methodology of creation of sequential control system programs in the language of function block diagrams (FBD). After analyzing basic blocks of the sequential functions chart (SFC) language, the form of state block and implementation of branching or connecting paths of sequences are formulated using the FBD language. It is a simplification of the application of the SFC language. Our method of creating the sequential system ensures a compact form of the final program and is particularly useful for small PLC controllers. The method is illustrated by example of the simple sequential control system.
The paper deals with an analysis of automaticcontrol system with continuous and discrete PID controllers. A method of tuning the parameters of the continuous controller is presented, which is optimal according to the...
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The paper deals with an analysis of automaticcontrol system with continuous and discrete PID controllers. A method of tuning the parameters of the continuous controller is presented, which is optimal according to the ITAE criterion. The behavior of control systems with discrete controllers whose parameters were tuned using the mentioned method are described. The impact of changes in the sampling period of controlled signal on the control quality is shown. Changes of the values of optimal parameters of discrete PID controllers in relation to changes of the sampling rate of controlled signal are characterized.
The paper presents the results obtained by the authors during the research done on the efficient usage of photovoltaic panels and proposes performant numerical methods for the estimation of the maximum power point (MP...
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The paper presents the results obtained by the authors during the research done on the efficient usage of photovoltaic panels and proposes performant numerical methods for the estimation of the maximum power point (MPP). The P(U) and P(I,U) models are computed for the BGSP - P225 solar panel model. For the first model, P(U), the paper proposes a polynomial interpolation search algorithm and for the P(I,U) model an optimal gradient algorithm, respectively. The performances obtained with these methods are evaluated and the main results are commented. The implementation of the search algorithms for the maximum power point is important for the computation of the set point given to the control systems, which control the photovoltaic panel, in order to obtain optimal photovoltaic generated power.
The main effects of atmospheric turbulence on the laser beams propagation are scintillation, beam wandering, and phase front distortion. The first two can be compensated simply by using aperture averaging, whereas the...
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ISBN:
(纸本)9781509025275
The main effects of atmospheric turbulence on the laser beams propagation are scintillation, beam wandering, and phase front distortion. The first two can be compensated simply by using aperture averaging, whereas the later, which is of high importance in high data rates free space optics communications, is much more complex. This paper gives a review of principal analytical methods used to simulate and characterize the optical beam propagation through the turbulence channel focussing on phase front distortion. The paper presents simple models suitable for computer simulations of beam wandering and scintillation. This is followed by more complex theoretical approaches in analysing the turbulence induced phase front distortion and the calculation of the mutual coherence function of partially coherent beams propagating through an inhomogeneous medium. The theoretical analysis of beam coherence and phase front distortion due to turbulence represents the first step for elaboration of the mitigation methods.
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