MULTILEVEL CONTROL OF A TRANSPORT ROBOT NIKITIN, YURY; TURYGIN, ALEXANDR; STOLLMANN, VLADIMIR
MM Science Journal,
06/2022, Letnik:
2022, Številka:
2
Journal Article
Recenzirano
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The control systems of modern robots are multilevel. The upper level control of the transport robot by voice commands and simulation of its motion in the software product Microsoft Robotics Developer ...Studio are considered. Visual Programming Language for creating and debugging applications was used to simulate the motion of the transport robot. An Android tablet or mobile phone with an application is used to recognize voice commands and the robot can be controlled using the Bluetooth interface. A program has been developed that will allow a human to control the robot using speech. An example of simulation of the robot and its motion path using voice control is given. The developed control system allows the transport robot to follow from one target point to another using voice control. At a low level, optimal asynchronous motor based actuator control using a model oriented approach in SimInTech is considered.
The NADH:ubiquinone oxidoreductase (respiratory complex I) activity of inside-out pig brain submitochondrial particles is inhibited by endogenous or externally added free fatty acids in ...time-dependent fashion. The rate and degree of the inhibition is dramatically increased by Ca
2+
. The Ca
2+
-promoted, fatty acid-induced inhibition is pH dependent, this being particularly evident at pH > 8.0. The inhibition is completely reversed by either EGTA or by bovine serum albumin (BSA). BSA prevents previously described (Kotlyar, A. B., Sled, V. D., and Vinogradov, A. D. (1992)
Biochim. Biophys. Acta
,
1098
, 144–150) inhibitory effect of Ca
2+
and alkaline pH on the de-active-to-active form transition of complex I. A possible mechanism of synergetic inhibition on complex I by Ca
2+
and fatty acids is discussed.
The elemental and phase compositions and substructure changes in the surface layer of SiC ceramic irradiated by pulsed electron beams of variable intensity were investigated. The structure and phase ...state of the ceramic surface layer were shown to be controlled by the electron-beam parameters. The electron-beam irradiation regimes leading to nanostructure detection in the SiC-ceramic surface layer were determined.
This paper presents the results of experimental studies of the cavitation breakdown of liquids in a wide range of shock-wave loading. The free surface velocity of liquids and the velocity spectrum of ...the cloud of particles and jets were measured using a laser heterodyne interferometer (photon Doppler velocimetry), and their size was determined. The spall strength of distilled water was determined.
The results of experiments concerning the study of cavitational mechanism of liquid failure in a wide range of shock loading are presented in this paper. Free surface velocity of liquids and velocity ...spectrum of particles and jets were recorded using PDV method 1, their size was also determined. The value of spall strength of distilled water was defined.
In moving object environments, it is infeasible for the database tracking the movement of objects to store the exact locations of objects at all times. Typically, the location of an object is known ...with certainty only at the time of the update. The uncertainty in its location increases until the next update. In this environment, it is possible for queries to produce incorrect results based upon old data. However, if the degree of uncertainty is controlled, then the error of the answers to queries can be reduced. More generally, query answers can be augmented with probabilistic estimates of the validity of the answer. We study the execution of probabilistic range and nearest-neighbor queries. The imprecision in answers to queries is an inherent property of these applications due to uncertainty in data, unlike the techniques for approximate nearest-neighbor processing that trade accuracy for performance. Algorithms for computing these queries are presented for a generic object movement model and detailed solutions are discussed for two common models of uncertainty in moving object databases. We study the performance of these queries through extensive simulations.
Experimental results on the study of spallation and cavitation from solid (Cu and Pb) and liquefied Pb are presented. Pb ejecta transporting in air is also studied with a multi-probe laser ...interferometry method that is applied to detect and quantify the particle cloud velocity and surface fragmentation. The laser diagnostic is designed to probe ejecta velocity- and dispersion-profiles within ejecta fragment clouds, and spallation structures.
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