Semi-automatic Control System Research Articles

ПЛАНИРОВАНИЕ ОПТИМАЛЬНЫХ ПРОГРАММНЫХ ДВИЖЕНИЙ ГРУЗОЗАХВАТНОГО ОРГАНА АВТОМАТИЗИРОВАННОГО ПОГРУЗЧИКА

Currently, loaders with a semi-automatic control system are widely used in automated production when working with cylindrical piece loads. When performing such a technological process, it is necessary that the cargo handling body makes optimal movements from the cargo to the place of laying. Therefore, it is proposed to consider and calculate the positioning of the lifting body of the loading unit. The calculation of the inverse problem of moving the gripper is carried out. The synthesis of trajectories of movement of the output link of the lifting body in space is considered.

Real-Time Human Detection in a Restricted Area for Safety in Truck Dumper Control System Using Deep Learning

A process to receive raw materials from suppliers in an animal feed industry utilizes both automatic and semi-automatic machine control systems. The process called “truck dumper system” is the procedure that the suppliers provide raw materials carried by trucks; then, their tailgates open, and the raw materials are discharged by raising front end part of a truck to gather raw materials in a collection area. In general, the truck dumper system has been controlled manually by staff in a control room, not by a truck driver. However, serious accidents may occur during the process because when the dumper lifts up, the staff's vision has been blocked by the raised part of a truck. Therefore, if the staff controls the dumper to lift down by lacking safety awareness, people in the restricted area can be endangered. In this study, we proposed a framework of automatic human detection to prevent any accident that may occur from the truck dumper in the restricted area. The human detection model was developed to detect humans possibly in different blind corners that are difficult for staff in a control room to monitor these unseen areas for safety-awareness. The main technology of the proposed framework was the real-time human detection with fully convolutional neural network architecture called You Only Look Once, or YOLO. The framework has been designed to send a signal to terminate the truck dumper system immediately after the model detects people in the restricted area. In experiments, we discovered that the model could detect a human in all blind corners, including the corners that the staff's sight was completely bloacked by some barriers. The overall efficiency of this framework in an aspect of speed was high. The average time to process per image was 397 milliseconds by using CPUs and only 52 milliseconds by using GPUs. The results also showed that the model was effectively applicable to detect human in real-time due to its high-speed process.

Preliminary design and test of a water spray solar panel cleaning system

Solar panels are susceptible to dust accumulation on their surface for long term operation. Scheduled cleaning work is thus important to maintain the efficiency and reliability of the solar panel for producing electricity. The paper presents a preliminary design of the cleaning mechanism for the solar panel surface using a semiautomatic wiper control system. A DC motor is utilized to power the wiper. The amount of water is sprayed over the solar panel surface, while the wiper is moving back and forth. The manual switch buttons are used to control the rotation direction of the DC motor. The experimental tests are conducted to obtain the solar panel performance, namely output voltage, output current, output power, and panel efficiency under clean and dusty conditions. The comparison of both conditions has been made to determine the cleaning effectiveness of the proposed prototype. The test results show that the wiper swept repetition of 10, 20, and 30 times delivers 57.0 percent, 79.1 percent, and 86.7 percent of the performance of the initial clean surface condition, respectively.

Design and Simulation of Biotechnical Multidimensional Motion Control Systems of a Robot Manipulator

The design of multidimensional velocity, position and force control algorithms for a semi-automatic motion control system of a robot-manipulator has been performed. Mathematical and computer models of a motion control system with reconfigurable structure have been developed for a 3-link robot performing standard operations set by a human operator with a 3-degree-of-freedom handle. Simulation of dynamic processes in a system with different control algorithms has been performed and their precision characteristics have been evaluated. The achieved results may be of interest for designers who develop training simulators for human supervisors of robot motion control systems.

Complex of computer models for studying semi-automatic control systems of robot-manipulators

Complex of computer models for studying semi-automatic control systems of robot-manipulators

Research and development of semi-automatic circulation control system for cardiopulmonary bypass

Research and development of semi-automatic circulation control system for cardiopulmonary bypass

Live reconstruction of global loads on a powerboat using local strain FBG measurements

Ships often operate under challenging conditions, considering that marine environment can cause failures of the structure related to overloads, fatigue, corrosion and erosion. As a consequence, advanced methods and procedures are under development for the evaluation of the on-site structural performance for both traditionally and newly designed ships. One of the main challenges in this field is the live monitoring of the loads acting on the ship hull; the load data processing can lead, through suited algorithms, to a real-time control of ship trim and, as a consequence, to the development of automatic or semi-automatic trim control systems. The presented procedure for load reconstruction requires a well-suited sensing network. In this kind of application, a high resolution, large sampling frequencies and low sensibility to possible noise factors such as moisture, electromagnetic fields or vibrations are required. These requirements lead to the choice of Fiber Bragg Grating sensors. In this paper, an experimental methodology is proposed to reconstruct the characteristics of loads acting on a fast ship, starting from a finite number of local strain data obtained with FBG sensors. Sensors positions have been defined considering the ship hull as a beam subjected to a set of standard loads acting on a fast ship and taking into account the maximum strain positions. The development of the FE model of the ship hull, obtained from a three-dimensional CAD of a real powerboat obtained with a 3D scan, allows the calculation of the strain field related to a set of standard loads applied on the ship. The above-mentioned data are used as input for a fast-computational algorithm, in which standard and actual strain fields - provided by a network of FBG sensors - are compared to reach the reconstruction of global loads acting on the structure. The algorithm has been effectively applied in sailing condition to the powerboat, detecting the acting loads on the hull in real time.

Synthesis and Simulation of Biotechnical Position-Force Control System of a Robot Manipulator with Reconfigurable Structure

The synthesis of open-loop and closed-loop position and force control algorithms for a semiautomatic control system of a robot-manipulator has been performed. Computer models have been developed for a position-force control system with reconfigurable structure for a robot performing standard operations set by a human operator with a 3-degree-of-freedom handle. Animated computer simulation of dynamic processes in a system with different control algorithms has been performed and their precision characteristics have been evaluated. Some practical recommendations are given on the application of the achieved results for the development of training simulators for human supervisors of robot control systems.

Active-Passive System of Safe Nap-of-the-Earth Piloting

The problem of the synthesis, analysis, and information support of a semiautomatic aircraft control system during a nap-of-the-earth (NOE) flight is solved. It is assumed that laser-ranging (LR), television (TV), and thermal imaging (TI) methods are used to remotely sense the underlying surface (US). The algorithm for integrated information processing and displaying images is proposed. The control system is synthesized, the parameters are optimized, and the real-time simulation is carried out using the full-scale registration of LR and TV images of industrial-urban scenes with forestpark zones. It is proved that the system can ensure safe piloting at an altitude of less than 10 m over a difficult terrain at flight velocities of 200 to 400 km/h.

Redesign 3 R Machine as a Refrigerant Waste Treatment Alternative in Environmental Rescue

Cooling machine technologies really affect nowadays’ modern life, not only limited in enhancement of life quality and comfort, but it has also reached the essential things of humans’ life supporter (Arora, 2001). Cooling machine technologies have direct contribution toward environmental damage such as depletion of ozone layer and global warming through synthetic refrigerant waste and leakage (CFC and HFC) to environment. The refrigerant release to the environment is 60% of the service sector. Destructive characteristics of ozone possessed by CFC were first proposed by Rowland and Molina which were then supported by yard measurement. It is estimated that ozone layer damage occurs for about 3% every decade. The ozone layer located in the stratosphere is functioned to prevent ultraviolet-B ray from entering into earth surface. This Ultraviolet-B is suspected to be the cause of health problem for humans and disorder for plants on earth. As for the purpose of this research is to obtain a product design of refrigerant waste processing system (recovery and recycle refrigerant) as well as to acknowledge the work method (COP) of cooling machines that use CFC refrigerant (R-12) as the result of recovery and recycle compared to CFC refrigerant (R-12)/pure R134a. One method that can be used is by redesigning existing equipment namely 3R machine that cannot be used anymore thus it can be reused. This research will be conducted through modifying the existing 3R machine therefore it can be reused and be easily operated as well as doing the maintenance, after that the refrigerant as the result of recovery will be tried on a refrigeration system and a test of refrigeration system work method will be conducted by using the refrigerant recycle product which is obtained and compared with the work method of the one with pure refrigeration.The result has been achieved that the redesign product of refrigerant waste processing equipment can be reused and able to perform the recovery, recycle and richarging process, although using semi-automatic control system. So the use of car air conditioning refrigerant can be more efficient. With the functioning of 3R mesi is expected wastes refrigerant is not wasted which is one of the efforts to save the environment.

Semiautomatic High Frequency Ultrasonic Testing System for Welded Plastic Pipes

The present paper proves the feasibility of a semi-automatic control system of high frequency ultrasound for welded plastic pipes, by ultrasonic methods. The paper presents the main existing types of plastic materials, the technological joining possibilities, the problems that may occur in welding and control and the reasoning of the chosen examination method. The theoretical size of the reference ultrasonic parameters for the propagation of ultrasounds through the flawless juncture. The samples were welded using electro fusion (EF) under different working conditions. The samples were assessed circumferentially, every 10 degrees, on different working frequencies. A semi-automatic control system was designed and developed. For the optimal working frequency, a set of 10 measurements was done, in similar working conditions, on the automatic control stand, in order to test the systems’ capability and the results’ repeatability. The measured values were compared with the limits considered to be admissible using Shewhart statistic control charts.

Immersive virtual environments, understanding the impact of design features and occupant choice upon lighting for building performance

Studies have shown that occupant behavior has a significant impact on a building's overall performance and energy consumption. The objective of this study is to understand occupants' lighting-use behavior by investigating the influence of manual and semi-automatic control systems on lighting-use in a single-occupancy office space. 114 participants were randomly assigned to one of the four conditions that varied in available lighting control options in an immersive virtual environment. They were asked to adjust the room's lighting by choosing one of the following lighting control options: (1) manual control system for artificial lights and interior shades; (2) same options as condition 1 and a semi-automatic control system for the shades; (3) same options as condition 1 and a semi-automatic control system for the artificial lights; and (4) same options as condition 1 and semi-automatic control systems for both the artificial lights and shades. The results of the experiment demonstrate that the participants were significantly more likely to use natural light if there was only a semi-automatic control system to control the shades. However, they were not more likely to use natural light if they were given semi-automatic control options for both the artificial lights and shades.

Development of semi-active hydraulic damper as active interaction control device to withstand external excitation

Semi-automatic control systems have the characteristics of being adaptable and requiring low energy. The objective of this research was to study the performance of an improved DSHD (Displacement Semi-Active Hydraulic Damper) by converting it to AIC (Active Interaction Control Device) with the addition of an accumulator. The prototype was tested using full-scale elements for examining the structural displacement, and typical responses of the interacting interface element developed in this research, the pressure variation of the pressure storage device, and the energy dissipation hysteresis loop when the structure installed with these elements is subjected to external force of various magnitude. The laboratory results confirm that the device developed in this research is capable of applying the energy dissipation characteristics of DSHD so that these elements are appropriate for developing the proposed AIC. The mutual interaction between the subordinate structure and the main structure to be protected is capable of transforming the quake energy applied to the main structure to the subordinate structure so that the objective of minimizing the deformation of main structural can be achieved.

Design and Simulation of Rinsing Equipment of Cable Rolling Wire Rope

Removal of wire rope surface sludge is a labor-intensive and time-consuming process. Currently, the work has not been solved. In this paper, we study the development of a wire rope surface sludge removing equipment, a water jet semi-automatic control system. In this paper, we analyze the characteristics of wire rope surface sludge and study the injection pressure of water. Moreover, we design two schemes and perform simulation tests by FLUENT to find out the best injection conditions, such as the injection pressure, injection angle, injection distance and the type of spray nozzle. Finally, we get injection pressure 2.0, injection angle 70, injection distance 50mm and fan-shaped spray nozzle.

Development of the electric wheelchair hands-free semi-automatic control system using the surface-electromyogram of facial muscles

The goal of Human---Computer Interface (or called Human---Robot interface) research is to provide humans with a new communication channel that allows translating people's intention states via a computer into performing specific actions. This paper presents a novel hands-free control system for controlling the electric wheelchair, which is based on Bio-signals just as surface electromyogram signals. The Bioelectric signals are picked up from facial muscles, then the Bio-signals are passed through an amplifier and a high pass filter. Motion control commands (Forward, Left, Right, Forward to the Right, Forward to the left and Stop) are classified by simple rule, and these commands are used for controlling the electric wheelchair. However, it is difficult to realize safety control and fine control using the biological signal only. In addition, we introduce the semi-automatic control system using the laser range scanner. In this paper, we report the introduction of our proposal systems and our experimental results.

Petri Nets and Ladder Logic for Fully-Automating and Programmable Logic Control of Semi-Automatic Machines and Systems

Problem statement: Automating semi-automatic dynamic machines and complex systems, where some functionalities are already automated bu t the machine doesn't run fully in automatic mode, represents another challenge to automating dy namic and manual complex systems. This study deals with a special case of this general problem, where the system's semi-automatic and automatic functionalities run separately in a sequence with e ither automatic and/or semi-automatic functionality running at any point of time, but not both. Approach: Petri-nets can successfully represent the operations of both the semi-automated and fully-au tomated functionalities of such dynamic systems. Three roles for the programmable logic controllers were suggested: (a) Ignoring the presence of the semi-automatic part, (b) simulating the semi-automa tic part and recognizing discrepancies and(c) simulating the semi-automatic functionalities and s upporting it, where the last choice was most costl y and most reliable. Results: This study presents a case study for a PVC mixing dynamic process to illustrate the three suggested controller design po ssibilities, where a Petri net model and related l adder logic program were developed to show these three controller design options. In this respect, the semi- automatic functionality is an intermediate step bet ween the two automated functionalities, within whic h an important decision should be made to end the pre vious automatic step and to begin the next automati c step. Conclusion/Recommendations: The automation method that was introduced in this s tudy is applicable to a large number of machines within ind ustrial and mechanical systems that were built usin g older semi-automatic control systems. Various decis ion analyses {DA1, DA2, DA3} were shown to produce basic choices for such types of application s. Petri-nets and ladder logic in this respect can successfully represent the operations of both the s emi-automated and fully-automated functionalities, where a Petri net model and the consequent ladder logic program, used to program the utilized programmable logic controller, are developed to sho w three possible controller designs, where the choi ce between three designs depend on the designers obje ctive of cost, reliability and fault tolerance.

Kylančių oro srautų lokalizavimas ir maksimalios kilimo zonos nustatymo, panaudojant dirbtinių neuronų tinklus, modeliavimo aspektai

Thermal localization and their strongest zone centering by artificial neural networks (ANN), and it are used by the automatic or semiautomatic control system of unmanned aerial vehicles (UAV). Artificial neural network take input data from aircraft avionics. Actual thermal model of space and its value’s correlation with other factors are researched as well. Article in Lithuanian. Kylančių oro srautų lokalizavimas ir maksimalios  kilimo zonos nustatymo, panaudojant dirbtinių  neuronų tinklus, modeliavimo aspektai Santrauka. Nagrinėtas kylančių oro srautų lokalizavimas ir maksimalaus kilimo zonos centro nustatymas, pasitelkus dirbtinius neuroninius tinklus, skirtas nepilotuojamų orlaivių automatinėms bei pusiau automatinėms valdymo sistemoms. Dirbtinis neuroninis tinklas gauna įėjimo duomenis iš orlaivio elektronikos prietaisų ir sumodeliuoja galimą kylančio oro srauto struktūrą. Taip pat nagrinėtas aktualus modeliuojamų parametrų zonos dydis ir šio dydžio sąveika su kitais veiksniais. Reikšminiai žodžiai: kylantys oro srautai, dirbtinių neuronų tinklai, prognostika, orlaivis.

1P1-E36 翼車輪ビークルの水中3次元移動制御

A high maneuverability rescue robot vehicle for water disaster is proposed. A prototype underwater vehicle with variable configuration segmented wheels (VCSW) has been tested successfully. The six segments of a VCSW are deployed and retrieved periodically according to the wheel rotation. This motion under water produces a thrust force to propel the vehicle. The newly designed semiautomatic control system is enables depth and inclination control automatically by feedback of pressure information and inclination information, and other control items are controlled manually by joysticks. The experimental results revealed that the vehicle is capable of various motions under water.

Development of road stripe removing equipment using high-pressure water jet

Removal of road stripes is a labor-intensive and time-consuming process. Currently, the work is manual and is accomplished using grinding equipment. During this process, traffic jams and accidents lead to dangerous road conditions for workers. Furthermore, the current grinding methods used cause unacceptable air pollution, as well as the risk of explosive accidents by using propane gas. In this paper, we study the development of a road stripe removing equipment that uses a high-pressure water jet system and a semi-automatic control system. The water jet system consists of an intensifier and nozzles to focus a high-pressure water injection on the stripes. The semi-automatic control system is composed of rotary actuator using a DC-geared motor controlled by a lever. In this paper, we analyze the characteristics of road stripes and investigate current removing methods in the field. Moreover, we discuss the development of automatic removing equipment, and perform a basic experiment to find out the optimal injection conditions such as the injection distance, injection angle and injection pressure. Finally, in order to examine the performance of the equipment, the whole system is evaluated, and the economic efficiency and marketability are also analyzed.

Semi-automatic control system for hydraulic shovel

A semi-automatic control system for a hydraulic shovel has been developed. Using this system, unskilled operators can operate a hydraulic shovel easily and accurately. A mathematical control model of a hydraulic shovel with a controller was constructed and a control algorithm was developed by simulation. This algorithm was applied to a hydraulic shovel and its effectiveness was evaluated. High control accuracy and high-stability performance were achieved by feedback plus feedforward control, nonlinear compensation, state feedback and gain scheduling according to the attitude.