Research on the shared control technology for robotic wheelchairs based on topological map

2019 ◽  
Vol 47 (6) ◽  
pp. 825-835
Author(s):  
Fei Wang ◽  
Yuqiang Liu ◽  
Yahui Zhang ◽  
Yu Gao ◽  
Ling Xiao ◽  
...  
Keyword(s):  
Control System ◽  
Shared Control ◽  
Topological Map ◽  
Content Type ◽  
Application Range ◽  
Map Construction ◽  
Scope Of Application ◽  
Interactive Navigation ◽  
Robotic Wheelchairs ◽  
Robotic Wheelchair

Purpose A robotic wheelchair system was designed to assist disabled people with disabilities to walk. Design/methodology/approach An anticipated sharing control strategy based on topological map is proposed in this paper, which is used to assist robotic wheelchairs to realize interactive navigation. Then, a robotic wheelchair navigation control system based on the brain-computer interface and topological map was designed and implemented. Findings In the field of robotic wheelchairs, the problems of poor use, narrow application range and low humanization are still not improved. Originality/value In the system, the topological map construction is not restricted by the environment structure, which helps to expand the scope of application; the shared control system can predict the users’ intention and replace the users’ decision to realize human-machine interactive navigation, which has higher security, robustness and comfort.

Take-off control and characteristics of FanWing

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Lin Meng ◽  
Yang Gao ◽  
Yangyang Liu ◽  
Shengfang Lu
Keyword(s):  
Control System ◽  
Control Systems ◽  
Design Methodology ◽  
Control System Design ◽  
Control Methods ◽  
Force Analysis ◽  
Close Attention ◽  
Content Type ◽  
Vehicle Load ◽  
Practical Implications

Purpose As a short take-off and landing aircraft, FanWing has the capability of being driven under power a short distance from a parking space to the take-off area. The purpose of this paper is to design the take-off control system of FanWing and study the factors that influence the short take-off performance under control. Design/methodology/approach The force analysis of FanWing is studied in the take-off phase. Two take-off control methods are researched, and several factors that influence the short take-off performance are studied under control. Findings The elevator and fan wing control systems are designed. Although the vehicle load increases under the fan wing control, the fan wing control is not a recommended practice in the take-off phase for its sensitivity to the pitch angle command. The additional pitch-down moment has a significant influence on the control system and the short take-off performance that the barycenter variation of FanWing should be considered carefully. Practical implications The presented efforts provide a reference for the location of the center of gravity in designing FanWing. The traditional elevator control is more recommended than the fan wing control in the take-off phase. Originality/value This paper offers a valuable reference on the control system design of FanWing. It also proves that there is an additional pith-down moment that needs to be paid close attention to. Four factors that influence the short take-off performance are compared under control.

Energy consumption optimization for AC drives position control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Branislav Ftorek ◽  
Milan Saga ◽  
Pavol Orsansky ◽  
Jan Vittek ◽  
Peter Butko
Keyword(s):  
Control System ◽  
Energy Saving ◽  
Energy Savings ◽  
Position Control ◽  
Control Strategies ◽  
Content Type ◽  
Ac Drives ◽  
Energy Demands ◽  
Wide Range ◽  
Energy Consumption Optimization

Purpose The main purpose of this paper is to evaluate the two energy saving position control strategies for AC drives valid for a wide range of boundary conditions including an analysis of their energy expenses. Design/methodology/approach For energy demands analysis, the optimal energy control based on mechanical and electrical losses minimization is compared with the near-optimal one based on symmetrical trapezoidal speed profile. Both control strategies respect prescribed maneuver time and define acceleration profile for preplanned rest-to-rest maneuver. Findings Presented simulations confirm lower total energy expenditures of energy optimal control if compared with near-optimal one, but the differences are only small due to the fact that two energy saving strategies are compared. Research limitations/implications Developed overall control system consisting of energy saving profile generator, pre-compensator and position control system respecting principles of field-oriented control is capable to track precomputed state variables precisely. Practical implications Energy demands of both control strategies are verified and compared to simulations and preliminary experiments. The possibilities of energy savings were confirmed for both control strategies. Originality/value Experimental verification of designed control structure is sufficiently promising and confirmed assumed energy savings.

Multi-objective particle swarm optimisation approach for production-inventory control systems

2018 ◽  
Vol 13 (4) ◽  
pp. 1037-1056 ◽  
Author(s):  
Huthaifa AL-Khazraji ◽  
Colin Cole ◽  
William Guo
Keyword(s):  
Control System ◽  
Control Systems ◽  
Inventory Control ◽  
Dynamic Performance ◽  
Particle Swarm ◽  
Particle Swarm Optimisation ◽  
Inventory Level ◽  
Content Type ◽  
Multi Objective ◽  
Production Inventory

Purpose This paper aims to optimise the dynamic performance of production–inventory control systems in terms of minimisation variance ratio between the order rate and the consumption, and minimisation the integral of absolute error between the actual and the target level of inventory by incorporating the Pareto optimality into particle swarm optimisation (PSO). Design/method/approach The production–inventory control system is modelled and optimised via control theory and simulations. The dynamics of a production–inventory control system are modelled through continuous time differential equations and Laplace transformations. The simulation design is conducted by using the state–space model of the system. The results of multi-objective particle swarm optimisation (MOPSO) are compared with published results obtained from weighted genetic algorithm (WGA) optimisation. Findings The results obtained from the MOPSO optimisation process ensure that the performance is systematically better than the WGA in terms of reducing the order variability (bullwhip effect) and improving the inventory responsiveness (customer service level) under the same operational conditions. Research limitations/implications This research is limited to optimising the dynamics of a single product, single-retailer single-manufacturer process with zero desired inventory level. Originality/value PSO is widely used and popular in many industrial applications. This research shows a unique application of PSO in optimising the dynamic performance of production–inventory control systems.

Less-skilled pilot decision support

2019 ◽  
Vol 91 (5) ◽  
pp. 790-802
Author(s):  
Jozsef Rohacs ◽  
Istvan Jankovics ◽  
Daniel Rohacs
Keyword(s):  
Control System ◽  
Decision Support ◽  
Total System ◽  
Workload Management ◽  
Content Type ◽  
Subjective Analysis ◽  
Supporting System ◽  
Safety Aspects ◽  
Concept Validation ◽  
Small Aircraft

PurposeThe purpose of this paper is to overview the systems and their elements developing for supporting the less-skilled pi-lots.Design/methodology/approachSeveral European (like EPATS, SAT-Rdmp, Pplane, Esposa, Clean Sky2) and national projects (NASA SATS, Hungarian SafeFly) develop the personal/small aircraft and personal/small aircraft transportation systems. The projects had analysed the safety aspects, too, and they underlined the aircraft will be controlled by so-called less-skilled pilots (owners, renters), having less experiences. The paper defines the cross-connected controls, introduces the methods of subjective analysis in pilot decision processes, improves the pilot workload model, defines the possible workload management and describes the developing pilot decision support system.FindingsAnalysing the personal/small aircraft safety aspects, a unique and important safety problem induced by less-skilled pilots has been identified. The considerable simplification of the air-craft control system, supporting the pilot subjective decisions and introducing the pilot work-load management, may eliminate this problem.Research limitations/implicationsOnly the system elements have been used in concept validation tests.Practical implicationsThe developing pilot supporting system in its general form has on - board and ground sub-systems, too, except a series of elements integrated into the pilot cockpit environment and control system. Several system elements (sensors, integrated controls, etc.) might be implement now, but the total system need further studies. The subjective decision process needs further development of the methodology and concept validation.Social implicationsThe system may catalyse the society acceptance of the personal aircraft and their safer piloting, applicability.Originality/valueThe paper introduces an original supporting system for less-skilled pilots.

Real-time modeling of retractable self-launching glider using spreadsheets

2017 ◽  
Vol 89 (6) ◽  
pp. 791-796
Author(s):  
Yasser A. Nogoud ◽  
Attie Jonker ◽  
Shuhaimi Mansor ◽  
A.A.A. Abuelnuor
Keyword(s):  
Control System ◽  
High Performance ◽  
Cost Effective ◽  
Visual Presentation ◽  
Content Type ◽  
Spreadsheet Model ◽  
Time Modeling ◽  
Model Complex ◽  
Effective Development ◽  
And Control

Purpose This paper aims to propose a spreadsheet method for modeling and simulation of a retraction system mechanism for the retractable self-launching system for a high-performance glider. Design/methodology/approach More precisely, the method is based on parametric link design using Excel spreadsheets. Findings This method can be used for kinematic and dynamic analysis, graphical plotting and allows simulation of control kinematics with the ability to make quick and easy parametric changes to a design. It also has the ability to calculate the loads imposed on each component in the control system as a function of input loads and position. Practical implications This paper shows that it is possible to model complex control systems quickly and easily using spreadsheet programs already owned by most small companies. The spreadsheet model is a parametric model, and it gives a simple visual presentation of the control system with interactive movement and control by the user. Originality/value This spreadsheet model in conjunction with a simple CAD program enables the rapid and cost-effective development of control system components.

scholarly journals Real-time shared control system for space telerobotics

1995 ◽  
Vol 13 (3) ◽  
pp. 247-262 ◽  
Author(s):  
Alexander Douglas ◽  
Yangsheng Xu
Keyword(s):  
Control System ◽  
Real Time ◽  
Shared Control

Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair

2018 ◽  
Author(s):  
Taylor E. Baum ◽  
Kelilah L. Wolkowicz ◽  
Joseph P. Chobot ◽  
Sean N. Brennan
Keyword(s):  
Time Algorithm ◽  
Detection Algorithm ◽  
Obstacle Detection ◽  
Detection Accuracy ◽  
Time Varying ◽  
Wheelchair Users ◽  
Development Platform ◽  
Robotic Wheelchairs ◽  
Robotic Wheelchair ◽  
Negative Obstacle

The objective of this work is to develop a negative obstacle detection algorithm for a robotic wheelchair. Negative obstacles — depressions in the surrounding terrain including descending stairwells, and curb drop-offs — present highly dangerous navigation scenarios because they exhibit wide characteristic variability, are perceptible only at close distances, and are difficult to detect at normal operating speeds. Negative obstacle detection on robotic wheelchairs could greatly increase the safety of the devices. The approach presented in this paper uses measurements from a single-scan laser range-finder and a microprocessor to detect negative obstacles. A real-time algorithm was developed that monitors time-varying changes in the measured distances and functions through the assumption that sharp increases in this monitored value represented a detected negative obstacle. It was found that LiDAR sensors with slight beam divergence and significant error produced impressive obstacle detection accuracy, detecting controlled examples of negative obstacles with 88% accuracy for 6 cm obstacles and above on a robotic development platform and 90% accuracy for 7.5 cm obstacles and above on a robotic wheelchair. The implementation of this algorithm could prevent life-changing injuries to robotic wheelchair users caused by negative obstacles.

scholarly journals Context-Based Filtering for Assisted Brain-Actuated Wheelchair Driving

2007 ◽  
Vol 2007 ◽  
pp. 1-12 ◽  
Author(s):  
Gerolf Vanacker ◽  
José del R. Millán ◽  
Eileen Lew ◽  
Pierre W. Ferrez ◽  
Ferran Galán Moles ◽  
...  
Keyword(s):  
Control System ◽  
Shared Control ◽  
Eeg Signals ◽  
Intelligent Processing ◽  
Intelligent Wheelchair ◽  
Brain Signals ◽  
Brain Interface ◽  
The Subject ◽  
Electroencephalogram Eeg ◽  
The Brain

Controlling a robotic device by using human brain signals is an interesting and challenging task. The device may be complicated to control and the nonstationary nature of the brain signals provides for a rather unstable input. With the use of intelligent processing algorithms adapted to the task at hand, however, the performance can be increased. This paper introduces a shared control system that helps the subject in driving an intelligent wheelchair with a noninvasive brain interface. The subject's steering intentions are estimated from electroencephalogram (EEG) signals and passed through to the shared control system before being sent to the wheelchair motors. Experimental results show a possibility for significant improvement in the overall driving performance when using the shared control system compared to driving without it. These results have been obtained with 2 healthy subjects during their first day of training with the brain-actuated wheelchair.

Cascade control for heterogeneous multirotor UAS

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ayaz Ahmed Hoshu ◽  
Liuping Wang ◽  
Alex Fisher ◽  
Abdul Sattar
Keyword(s):  
Control System ◽  
Disturbance Rejection ◽  
Unmanned Aircraft ◽  
Cascade Control ◽  
Underactuated System ◽  
Content Type ◽  
Control Approach ◽  
Robust Control System ◽  
And Control ◽  
Stable Control

PurposeDespite of the numerous characteristics of the multirotor unmanned aircraft systems (UASs), they have been termed as less energy-efficient compared to fixed-wing and helicopter counterparts. The purpose of this paper is to explore a more efficient multirotor configuration and to provide the robust and stable control system for it.Design/methodology/approachA heterogeneous multirotor configuration is explored in this paper, which employs a large rotor at the centre to provide majority of lift and three small tilted booms rotors to provide the control. Design provides the combined characteristics of both quadcopters and helicopters in a single UAS configuration, providing endurance of helicopters keeping the manoeuvrability, simplicity and control of quadcopters. In this paper, rotational as well as translational dynamics of the multirotor are explored. Cascade control system is designed to provide an effective solution to control the attitude, altitude and position of the rotorcraft.FindingsOne of the challenging tasks towards successful flight of such a configuration is to design a stable and robust control system as it is an underactuated system possessing complex non-linearities and coupled dynamics. Cascaded proportional integral (PI) control approach has provided an efficient solution with stable control performance. A novel motor control loop is implemented to ensure enhanced disturbance rejection, which is also validated through Dryden turbulence model and 1-cosine gust model.Originality/valueRobustness and stability of the proposed control structure for such a dynamically complex UAS configuration is demonstrated with stable attitude and position performance, reference tracking and enhanced disturbance rejection.

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