Abstract
This paper describes the navigation of an automated Pioneer P3-DX wheeled robot between obstacles using particle swarm optimization (PSO) algorithm tuned feedforward neural network (FNN). ...This PSO algorithm minimizes the mean square error between the actual and predicted values of the FNN. In this work, 2 separate DC motors and 16 ultrasonic sensors have been used for making differential drive steering angle and for collecting the distance from obstacles, respectively. The proposed without tuned FNN and PSO-tuned FNN receives obstacle's distance as inputs form ultrasonic sensors and control the steering angle of a differential drive of automated Pioneer P3-DX wheeled robot as output. We have compared the results between without tuned FNN and PSO-tuned FNN, and it has been found that PSO-tuned FNN gives a better trajectory and takes less distance to reach the target. Virtual Robot Experimentation Platform software has been used to design the real-time simulation results. A comparative study between without tuned FNN and PSO-tuned FNN verifies the effectiveness of PSO-tuned FNN for automated Pioneer P3-DX wheeled robot navigation. Also, we have compared this winner PSO-tuned FNN to the previously developed PSO-optimized Fuzzy Logic Controller navigational technique to show the authenticity and real-time implementation of PSO-tuned FNN.
Graphical Abstract
Graphical Abstract
Hydraulic drive systems play an important role in the functioning and performance of Blasthole drilling machines (BHDM) that are utilized extensively in the mining industries for drilling rock ...formations of different strengths. The rotational velocity of the drill bit is repeatedly changed from the desired value when it moves from one layer to another. It causes a significant loss in the performance and efficiency of the machine. In this article, a model inversion-based control for the BHDM has been developed and implemented on a test setup to recover the speed of the hydraulic drive. The control challenge with BHDM arises due to highly nonlinear dynamics and repeated step loadings. To tackle this, an inverse model-based control technique has been proposed. The observability and controllability of the system are determined graphically using the Bond Graph technique, which is otherwise difficult to evaluate numerically due to the nonlinearity. Dynamic and control performance has been evaluated and compared to the PID control which happens to be a versatile and widely renowned approach. Unlike PID control (where the output parameter of the system is constantly matched with the reference value to determine the input), the input calculation through the proposed control becomes active after a significant change in the stored steady-state values of the speed is noticed. As a result, the proposed control approach achieves its objective without using the initial state of the system and allows the system to function as an open-loop system for most of the time. The controller is activated only when a significant change in the steady-state value of motion is observed and in such a case the system becomes a closed-loop system. Apart from the design of a control algorithm, input shaping is proposed for improving the transient response. The developed model provided satisfactory results resembling a BHDM in real time; hence, the proposed method (with necessary modifications) can be used for other nonlinear systems for similar applications.
This paper deals with the dynamic analysis and state of the art estimator design through system inversion of a pedagogical hydraulic system, comprising variable displacement axial piston pump, high ...speed low torque hydraulic motor, proportional direction control valve, loading pump (bent axis) and a pressure relief valve at loading circuit. The hydraulic system has been modeled for simulation study and both the transient and the steady state responses have been validated experimentally. The necessary and sufficient conditions for the system to be observable have been obtained with respect to the minimum number of sensors placement. Thereafter, an estimator adaptive to varying load condition has been designed to have a good estimate of all the states using minimum sensors. All the estimated states have been compared with the responses from the test bed.
The high work rate, quick reversibility, and step-less gear ratio are some key features for designing efficient hydraulic mobile equipment. In this article overall performances as well the losses ...associated with the hydro-motor under variable displacement conditions have been investigated. The performance analyses have been carried out over a wide range of speed and load demands. The effect of the displacement conditions of the motor is taken into account consideration for the performance evaluation of the motor in an in-house fabricated closed-circuit hydrostatic drive system. For the present study, a variable displacement bent axis hydro-motor of capacity 28 cc has been used. From the rigorous experimentation, data are recorded under different operating conditions and at different motor displacements. The effect of losses on hydro-motor performance is characterized. The results obtained in the present study are likely to be helpful in the preliminary selection of similar hydraulic components as well as in optimizing their performance working in underground mining operations under adverse working conditions.
In the last decay, various missions have conducted to explore the science behind the space phenomenon. An autonomous robot is essential for space exploration, such as Moon, Mars, and Saturn. This ...robot-like rover plays a vital role in collecting data and sample on the planet’s unplanned surface. This paper presents the necessary kinematic and dynamic stability of rocker-bogie on an uneven surface. The concept of a designed rocker-bogie robot ensures a new technique for optimum stability conditions of rocker-bogie and self-adaptability using a link mechanism during high-speed mode operation. It consists of a two-mode operations system with six wheels. The rocker-bogie wheels are aligned with the bar link mechanism. The two-mode operation system mechanism of rocker-bogie is simulated. Further on, the prototype of rocker-bogie is designed and fabricated by considering optimum fittest data from the simulation. The performance evaluation of the developed prototype and results is then compared with simulation aiming to strengthen vehicle stability. The newness of this present investigation are: - (i) the improvement of travel rate of rocker-bogie in case of planner surface by switching the front span from its original configure, (ii) dynamical suspension having two operational, (iii) expansion of supported polygon for increasing the travel rate in case of plane terrain, (iv) self-switching to its original configuration at low speed while it faces rough terrain.
Paralyzed people face a lot of challenges and difficulties in their regular activities. Even a simple task such as controlling electrical devices also very difficult for them. This study's primary ...purpose is to develop a cost-effective home automation system based on the human-centered design (HCD) that could reduce some people's difficulties. The proposed approach takes voice or gesture as input and performs necessary actions according to the information. The proposed system helps all paralyzed people except quadriplegia operate the room appliances without regular attention from a caretaker or nurse.
Speed Control of a Hydraulic Motor Hasan, Md Ehtesham; Ghoshal, Sanjoy K.; Dasgupta, K.
Applied Mechanics and Materials,
07/2014, Letnik:
592-594, Številka:
Dynamics of Machines and Mechanisms, Industrial Research
Journal Article
Recenzirano
In this article a negative feedback Proportional Integral (PI) control of pump displacement is presented to attain desired speed of hydromotor in the loading circuit of a pedagogical open loop ...Hydrostatic transmission system (HST) under varying load condition. By using the state equations derived from model, a novel system inversion procedure is proposed to obtain the required pump displacement. The control strategy through system inversion is validated through bond graph model simulation.
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