Cart Movement Research Articles

Sensor Based Shopping using Eye-Blink and IoT Technology

The proposed research is an innovative system designed to enhance the shopping experience for physically challenged individuals. The system makes use of relay motors, LCD displays, and Arduino-based eye-blink sensors to provide a user-friendly interface that enables people with physical limitations to explore and engage with shopping environments. Additionally, IoT is used for user interaction. The main functionality of the system is based on eye-blink technology. By detecting eye blinks, the sensors interpret user commands, enabling individuals to control shopping cart movement, and select items from shelves.

MM-181 CARTITUDE-1: Two-Year Post Last Patient in (LPI) Results From the Phase 1b/2 Study of Ciltacabtagene Autoleucel (Cilta-Cel), a B-Cell Maturation Antigen (BCMA)-Directed Chimeric Antigen Receptor T (CAR-T) Cell Therapy, in Patients With Relapsed/Refractory Multiple Myeloma (RRMM)

Cilta-cel, a CAR-T cell therapy with 2 BCMA-targeting single-domain antibodies, led to early, deep, and durable responses in heavily pretreated patients with RRMM in the phase 1b/2 CARTITUDE-1 study (NCT03548207). To report updated results from CARTITUDE-1. Data 2-years post LPI (~30-month median follow-up [MFU]) will be presented; here we report results at 21.7-month MFU. Eligible patients with RRMM had ≥3 prior lines of therapy (LOT) or were refractory to a proteasome inhibitor (PI) and immunomodulatory drug (IMiD) and had received a PI, IMiD, and anti-CD38 antibody. After apheresis, bridging therapy was allowed. A single infusion of cilta-cel (target dose 0.75×106 CAR+ viable T cells/kg) was administered 5-7 days after lymphodepletion. Cilta-cel safety and efficacy were the primary objectives. Assessments included response (per IMWG criteria by independent review committee) and minimal residual disease (MRD) negativity (at 10-5 by next-generation sequencing). As of July 22, 2021, 97 patients (59% male; median age 61 years; median 6 [range 3-18] prior LOT) received cilta-cel. Overall response rate was 97.9% (94.9% very good partial response; 82.5% stringent complete response). Median times to first response, best response, and ≥complete response were 1.0, 2.6, and 2.9 months, respectively. Median duration of response was not reached. Among 61 MRD-evaluable patients, 92% were MRD negative (10-5), sustained for ≥6 months in 44% and ≥12 months in 18%. Progression-free survival (PFS) at 2 years was 60.5%. Median PFS and overall survival were not reached. PFS rates at 2 years in patients with MRD negativity sustained for ≥6 months and ≥12 months were 91% and 100%, respectively. No new safety signals, new events of CAR-T cell neurotoxicity, movement and neurocognitive treatment-emergent adverse events, or treatment-related deaths have occurred since 1-year MFU. Over ~2 years MFU, 15 second, primary malignancies were reported in 11 patients. At ~2 years MFU, a single infusion of cilta-cel resulted in deepening and durable responses and manageable safety in heavily pretreated patients with RRMM. Additional research is ongoing to evaluate cilta-cel in earlier LOT and outpatient settings across the CARTITUDE program (NCT04133636, NCT04181827, NCT04923893).

PSO-Based Integral Sliding Mode Controller for Optimal Swing-Up and Stabilization of the Cart-Inverted Pendulum System

An integral sliding mode controller (ISMC) which employs particle swarm optimization (PSO) algorithm to search for optimal values of the parameters of the integral sliding manifold as well as the gains of the controller is proposed in this work. We considered the swing-up and stabilization of the cart-inverted pendulum system which is assumed to be affected by uncertainties. First, we determined the swing-up and stabilization conditions of the control system by using the internal dynamics of the cart-inverted pendulum system and sliding mode dynamics. A PSO algorithm is then used to search for the optimal values of the ISMC design parameters that satisfy the stabilization condition with the aim of improving the transient performance of the control system. To mitigate the chattering phenomenon, a saturation function of the integral sliding variable was used in the discontinuous control law. Simulation results on swing-up and stabilization of the cart-inverted pendulum system revealed improvement in transient behaviour by reducing settling time (by 52.61%), overshoots (by 45.56%) and required track length for cart movement (by 68.34%).

The study of the motion of the truck vibration motors by the oscillating of a pendulum of variable length

The article provides a solution to the problem, according to the condition of which there is a body - a cart, which must be brought into directional motion by means of a swinging elastic pendulum of variable length, pivotally mounted on it. A variant of creating the initial momentum of the trolley movement due to the movement of the pendulum, made in the form of a spring-loaded load with the possibility of movement along a straight guide when it rotates relative to the pendulum suspension point, is proposed and justified. The mode of movement of the cart-pendulum system is studied when the individual components of the system are gradually released from the connections to provide the initial impulse of the cart movement. The full-turn shape of the trajectory of a spring-loaded pendulum pivotally mounted on a cart is shown. We use numerical analysis methods (numerical integration of systems of nonlinear differential equations) with modeling by means of the Mathcad package.

WITHDRAWN: Robokart for visually impaired people

Abstract This paper proposes a system that can be installed on a shopping cart that be used to assist visually impaired people. This method uses the concept of ROI, text localization and recognition by optical character recognition software and a webcam controlled by Raspberry Pi. Two micro controllers are used to program both the shopping cart movement and OCR. The user is required to give a voice input of the required product and the ROBOKART guides the user to that product.

Improving Odometric Accuracy for an Autonomous Electric Cart.

In this paper, a study of the odometric system for the autonomous cart Verdino, which is an electric vehicle based on a golf cart, is presented. A mathematical model of the odometric system is derived from cart movement equations, and is used to compute the vehicle position and orientation. The inputs of the system are the odometry encoders, and the model uses the wheels diameter and distance between wheels as parameters. With this model, a least square minimization is made in order to get the nominal best parameters. This model is updated, including a real time wheel diameter measurement improving the accuracy of the results. A neural network model is used in order to learn the odometric model from data. Tests are made using this neural network in several configurations and the results are compared to the mathematical model, showing that the neural network can outperform the first proposed model.

Real-Time Swing-up and Stabilization Control of a Cart-Pendulum System with Constrained Cart Movement

Abstract The cart-pendulum system is a typical benchmark problem in the control field. It is a fully underactuated system having one control input for two degrees-of-freedom (DOFs) system. It has highly nonlinear structure, which can be used to validate different nonlinear and linear controllers and has wide range of real-time (realistic) applications like rockets propeller, tank missile launcher, self-balancing robot, stabilization of ships, design of earthquake resistant buildings, etc. In this work, modeling, simulation and real-time control of a cart-pendulum system is performed. The mathematical model of the system is developed using Euler-Lagrange approach. In order to achieve a more realistic model, the actuator dynamics is considered in the mathematical model. The main aim of this work is to investigate the performance of two different control strategies- first to swing-up the pendulum to near unstable equilibrium region and second to stabilize the pendulum at unstable equilibrium point. The swing-up problem is addressed by using energy controller in which cart is accelerated by providing a force to the cart with a AC servo motor with the help of timing pulley arrangement. The initial velocity of the cart is taken into account to confirm swing-up in the restricted track length. The cart displacement in the restricted track length is verified by simulation and experimental test-run. The regulation problem of stabilization of pendulum is addressed by developing the controller using Pole Placement Controller (PPC) and LQR Controller (LQRC). Both the control strategies are performed analytically and experimentally using the Googoltech Linear Inverted Pendulum (GLIP) setup. The analytical results, simulated in MATLAB and SIMULINK environment, are found in close agreement with the experimental results. In order to demonstrate the effect of both the stabilizing controllers on the performance of the system, comparison of the experimental results is reported in this work. It is demonstrated experimentally that LQR controller outperforms the Pole Placement controller, in terms of reduction in the oscillations of the inverted pendulum (56 %), as well as the magnitude of maximum control input (66.7 %). Further, robustness of the closed-loop system is investigated by providing external disturbances.

Real-Time Estimation of Distance Traveled by Cart Using Smartphones

In this letter, we propose a new method for the real-time estimation of distance traveled based on double integral of acceleration. In smartphone pedestrian dead reckoning systems, locomotion models have been widely applied to estimate the traveled distance. However, for the cart movement, these models cannot be used. In this letter, a direct double integration-based method using a smartphone is presented for the estimation of cart movement. The experimental results show the proposed method outperforms other referenced methods in terms of efficiency.

Electric Multi-Module Catapult Dynamics

Electric catapults can be used for automatic information storage in radioactive environment. Dynamics of a transport system with the potential of route flexibility was investigated. This system is made up of stand-alone modules, therefore further expansion is possible. Modules consist of mechanical part (rails for the cart), electrical part (inductor of a linear induction motor (LIM) and electromagnetic brake) and electronic part (thyristor commutator). Cargo cart is mounted on the LIM’s secondary unit that can be catapulted from any station (module) to another. First LIM’s inductor starts the secondary, ejects it out of primary’s range. Inertia of the cart allows it to reach the next station which in turn can either accelerate it or stop it. Position detectors (Hall effect sensors) are used for estimating cart movement. Electromagnetic brakes are used as dynamic braking is not effective in this case. A computer model was designed and various operating modes are simulated (upon non-zero initial conditions).

An enhanced coupling nonlinear control method for bridge cranes

The present study suggests an enhanced coupling non-linear control approach for both cart positioning and load swing elimination control of underactuated bridge cranes. The significant feature of the proposed method is its superior control performance as well as its strong robustness over different/uncertain cable lengths that are the major factor influencing load swing. Owing to the underactuated nature, the load swing can merely be damped out by the cart motion. Inspired by this inherent mechanism and also motivated by the desire to achieve an improved control performance, we enhance the coupling behaviour between the cart movement and the load swing by introducing a new composite signal, and on this basis, propose a non-linear control law. Lyapunov-based mathematical analysis is implemented to support the theoretical derivations. To verify its control performance, both numerical simulation and hardware experiment results are included to illustrate that the proposed method can achieve superior control results and admit strong robustness with respect to different/uncertain cable lengths and external disturbances.

Foodies Remaking Cities

Drawing examples from the North American food cart movement and restaurant scenes in gentrifying neighborhoods, sociologists Amy Hanser and Zachary Hyde explore the role of food in transforming urban spaces.

Deflection Control of Two-Floors Structure Against Northridge Earthquake by Using PI Controlled Active Mass Damping

This paper presents an experimental investigation for deflection control of two degree of freedom building-like structure system against scaled Northridge Earthquake by using PI (Proportional-Integral) controlled active mass damping. Proposed structure consist of two floors with a cart mounted on the second floor such as active mass damping (AMD) and which is used to suppress horizontal deflections. Moreover a shake table under the structure is used to create the acceleration effect of scaled earthquake. Kp and Ki gain parameters of PI controller is determined by observing passive mode behaviour of the structure against Northridge and it is used to control cart movement according to pre-determined deflection criterias of the floors. Deflection and acceleration results of the floors are obtained separately for passive and active mode responses of the system in the form of graphics.

RFID 데이터를 이용한 고객 쇼핑 동선 패턴 분석

As the retail industry has been challenged by stiff competition, the retailer becomes more interested in better understanding consumers' in-store behavior to gain and sustain competitive advantage. Consumers' shopping paths provide valuable clues to understanding customers' in-store behavior, which has been a long standing research issue in business. This study is to explore the shopping path patterns in a grocery using RFID technology and clustering method. To this end, we designed the RFID systems, affixing active RFID tags to the bottom of grocery carts. The tag emit signal that is received by receptors installed at various location throughout the store. The RFID systems provide the time and location of the cart while consumers shop around the store. The point of sale data are matched with the cart movement records to provide a complete picture of each shopping path. To find the distinctive patterns of consumers' shopping paths, we proposed the distance-index matrix using dijkstra method and normalization method to conduct the clustering in order to handle the problem in measuring the similarity among shopping paths, which is raised by the spatial nature of consumer movement in a grocery. After analyzing the RFID data obtained in one of the groceries in a major Korean retailer, we could successfully identify several distinctive patterns of shopping paths, which prove to provide the valuable implications for store management.

Comparative Study of Input Shaping with Different Polarities and Modes Selection in Hybrid Control Schemes of a DPTOC System

This paper presents a comparative assessment on input shaping techniques with different polarities and sways frequency modes in hybrid control schemes of a double-pendulum-type overhead crane (DPTOC) system. The hybrid control schemes consist of cart position trajectory tracking and sway control of a DPTOC system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate positive and negative input shaping schemes for both hook and load sway angle suppression. Both positive and negative input shaping with different modes selection is designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented.

Handle height and expectation of cart movement affect the control of trunk motion at movement onset in cart pushing

As unexpected sudden unloading of the trunk may cause low-back injury, the objective of the present study was to investigate whether handle height and the expectation of cart movement in pushing affect trunk control at movement onset. Eleven healthy male participants pushed a 200-kg cart with handles at shoulder and hip heights. The cart would suddenly move when externally released (externally triggered condition) or when static friction was overcome (self-initiated condition). Before self-initiated cart movement, trunk stiffness and muscle activity were significantly higher than before an externally triggered onset at comparable pushing force. Lower muscle activity and trunk stiffness at shoulder height compared with the hip height before the onset resulted in higher trunk inclination after the onset. In conclusion, higher preparatory activation of trunk muscles serves to increase trunk stiffness in anticipation of cart movement and may reduce the impact of the perturbation associated with the onset of cart movement. Statement of Relevance: Sudden cart movement in pushing causes an unexpected unloading perturbation to the trunk. This perturbation was shown to cause uncontrolled trunk movement, which may explain how pushing tasks can be associated with low-back injury. Effects of handle height and awareness of the subjects of the possible cart movement suggest directions for prevention.

The Investigations of Command Shaping and Non-Collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System

This paper presents investigations into the development of hybrid control schemes for trajectory tracking and sway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate input shaping and non-collocated parallel proportional-integral-derivative (PID) schemes for both hook and load sway angle suppression. The positive input shapers with the derivative effects are designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented.

Compensating inherent linear move water application errors using a variable rate irrigation system

Continuous move irrigation systems such as linear move and center pivot irrigate unevenly when applying conventional uniform water rates due to the towers/motors stop/advance pattern. The effect of the gear drive/cart movement pattern on linear move water application is larger on the first two spans, which introduces errors on site-specific irrigation. Therefore, the objectives of this study were to model the linear move irrigation system cart movement and to develop an algorithm to compensate for unintended variable irrigation (application errors). The cart advance/movement modeling considered terrain attributes, average nozzle travel speed, and high frequency DGPS (differential global positioning system) cart positioning readings. This paper describes the use of an irrigation monitoring and control system, DGPS, GIS, and statistical analysis utilized in the modeling and compensation processes. The irrigation monitoring and control system was composed of a single board computer, a relay board controller, DGPS, electric solenoid valves, wireless ethernet bridge units, high frequency spread spectrum radios, as well as in-line and in-field sensor networks. This technology allowed for continuous, real-time data acquisition and irrigation system management through the internet. This study has shown that irrigation application errors were reduced from over 20% to around 5%, in the subsequent irrigation event.

A control energy approach for the stabilization of the rigid beam balanced by the cart

AbstractIn this paper we present a control strategy for the stabilization of a rigid beam balanced by a cart. The control problem consists of horizontally balancing the beam by moving the cart backwards and forwards along the beam. The cart movement is restricted to always remain over the beam. The control strategy is based on the interconnection and damping assignment passivity based controller. The stability analysis is carried out using LaSalles's theorem. Copyright © 2008 John Wiley & Sons, Ltd.

Introduction to Experimental Nonlinear Dynamics

Of the several archetypal equations such as those of Lorenz, H�non, R�ssler etc, it is the so-called Duffing equation, and especially its double-well form, that constitutes the backbone of this book. L N Virgin presents basic linear behaviour and useful concepts that are necessary for studying nonlinear behaviour (e.g. Poincar� sections, spectral analysis). Then the paradigm of the Duffing equation is introduced within the framework of nonlinear structural dynamics. An analogy is developed between the dynamics of a continuous beam and the behaviour of a point mass sliding on a curve. This latter system is carefully described from a mathematical point of view so that the theoretical bases for construction of experiments and a primary analysis of results are posed. Several experimental models and devices are derived from previous systems (cart movement, Scotch-Yorke forcing, `impact' experiments with cart). Worthwhile numerical values are given that correspond to the dimensions and properties of materials in experimental settings. Theoretical and experimental frameworks are generally clearly explained. The author can provide analytical and/or numerical results together with experimental results. The pleasant presentation of the field of nonlinear oscillations and chaos is continually reinforced by the good agreement that is obtained and shown between numerical and experimental results, even for global dynamics with chaos (e.g. attractors via Poincar� maps, basins of attraction). This book will surely be of great interest to students, engineers and researchers involved in the field of nonlinear dynamics. To conclude, let us say that the main disadvantage of this book is that experimental devices are not sold with it! Fortunately, so that one can neglect this `defect', a website address is available: readers can see movies of the most significant experiments that illustrate the theoretical purpose of this most interesting book. C-H Lamarque

Intelligent Control of Single Inverted Pendulum

The paper deals with neuro-fuzzy tools for non-linear system control. Inverted pendulum was chosen as a typical non-linear model for control. The control task was defined as lifting inverted pendulum from up-side-down position into standing position by a cart movement and keep this position of the pendulum stable. Two different controllers were observed, ANFIS (Adaptive Neural Inference System) and NARA (Neural Approximate Reasoning Approach). Finally a simple neuro-controller based on feed-forward neural network with classical back-propagation adaptation was studied. Results show that ANFIS seems to be a powerful tool for this kind of task. In the paper an extensive report about experiments with pendulum control is presented.