scholarly journals Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility

2021 ◽  
Vol 11 (23) ◽  
pp. 11356
Author(s):  
Radon Dhelika ◽  
Ali Fajar Hadi ◽  
Prasandhya Astagiri Yusuf
Keyword(s):  
Trajectory Planning ◽  
Pid Control ◽  
Constant Velocity ◽  
Average Error ◽  
Physical Injury ◽  
Control Performance ◽  
Dc Motors ◽  
Hospital Beds ◽  
Hospital Bed ◽  
Pushing And Pulling

In hospitals; transferring patients using hospital beds is time consuming and inefficient. Additionally; the task of frequently pushing and pulling beds poses physical injury risks to nurses and caregivers. Motorized hospital beds with holonomic mobility have been previously proposed. However; most such beds come with complex drivetrain which makes them costly and hinders larger-scale adoption in hospitals. In this study; a motorized hospital bed that utilizes a swerve drive mechanism is proposed. The design takes into account simplicity which would allow for minimum modification of the existing beds. Two DC motors for steering and propulsion are used for a single swerve drive module. The control of the propulsion motor is achieved by a combination of trajectory planning based on quintic polynomials and PID control. Further; the control performance of the proposed bed was evaluated; and the holonomic mobility of its prototype was successfully demonstrated. An average error of less than 3% was obtained for motion with a constant velocity; however; larger values in the range of 15% were observed for other conditions, such as accelerating and decelerating.

Novel indicator for the assessment of hospital bed occupancy

2011 ◽  
Vol 152 (20) ◽  
pp. 797-801 ◽  
Author(s):  
Miklós Gresz
Keyword(s):  
Patient Needs ◽  
Bed Occupancy ◽  
The Past ◽  
Hospital Beds ◽  
Hospital Bed ◽  
Bed Capacity ◽  
Statistical Indicators

In the past decades the bed occupancy of hospitals in Hungary has been calculated from the average of in-patient days and the number of beds during a given period of time. This is the only measure being currently looked at when evaluating the performance of hospitals and changing their bed capacity. The author outlines how limited is the use of this indicator and what other statistical indicators may characterize the occupancy of hospital beds. Since adjustment of capacity to patient needs becomes increasingly important, it is essential to find indicator(s) that can be easily applied in practice and can assist medical personal and funders who do not work with statistics. Author recommends the use of daily bed occupancy as a base for all these statistical indicators. Orv. Hetil., 2011, 152, 797–801.

Straight-Move Robot Control System with LabView-Based Proportional Integral Derivative (PID) Control

2019 ◽  
Vol 3 (2) ◽  
pp. 13-24
Author(s):  
Andrean George W
Keyword(s):  
Pid Control ◽  
Rotational Speed ◽  
Pid Controller ◽  
Dc Motor ◽  
Motor Speed ◽  
Labview Software ◽  
Dc Motors ◽  
Dc Motor Control ◽  
Process System ◽  
Interface Devices

Abstract - Control and monitoring of the rotational speed of a wheel (DC motor) in a process system is very important role in the implementation of the industry. PWM control and monitoring for wheel rotational speed on a pair of DC motors uses computer interface devices where in the industry this is needed to facilitate operators in controlling and monitoring motor speed. In order to obtain the best controller, tuning the Integral Derifative (PID) controller parameter is done. In this tuning we can know the value of proportional gain (Kp), integral time (Ti) and derivative time (Td). The PID controller will give action to the DC motor control based on the error obtained, the desired DC motor rotation value is called the set point. LabVIEW software is used as a PE monitor, motor speed control. Keyword : LabView, Motor DC, Arduino, LabView, PID.

scholarly journals Quadratic Model-Based Dynamically Updated PID Control of CSTR System with Varying Parameters

Algorithms ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 31
Author(s):  
Dushko Stavrov ◽  
Gorjan Nadzinski ◽  
Stojche Deskovski ◽  
Mile Stankovski
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Absolute Error ◽  
Error Model ◽  
Quadratic Model ◽  
Control Performance ◽  
Continuous Stirred Tank Reactor ◽  
Quadratic Error ◽  
Varying Parameters ◽  
Cstr System

In this paper, we discuss an improved version of the conventional PID (Proportional–Integral–Derivative) controller, the Dynamically Updated PID (DUPID) controller. The DUPID is a control solution which preserves the advantages of the PID controller and tends to improve them by introducing a quadratic error model in the PID control structure. The quadratic error model is constructed over a window of past error points. The objective is to use the model to give the conventional PID controller the awareness needed to battle the effects caused by the variation of the parameters. The quality of the predictions that the model is able to deliver depends on the appropriate selection of data used for its construction. In this regard, the paper discusses two algorithms, named 1D (one dimensional) and 2D (two dimensional) DUPID. Appropriate to their names, the former selects data based on one coordinate, whereas the latter selects the data based on two coordinates. Both these versions of the DUPID controller are compared to the conventional PID controller with respect to their capabilities of controlling a Continuous Stirred Tank Reactor (CSTR) system with varying parameters in three different scenarios. As a quantifying measure of the control performance, the integral of absolute error (IAE) metric is used. The results from the performed simulations indicated that the two versions of the DUPID controller improved the control performance of the conventional PID controller in all scenarios.

Robust Control Method Based on Machine Learning for Boiler Combustion System

2014 ◽  
Vol 685 ◽  
pp. 368-372 ◽  
Author(s):  
Hao Zhang ◽  
Ya Jie Zhang ◽  
Yan Gu Zhang
Keyword(s):  
Robust Control ◽  
Intelligent Control ◽  
Pid Control ◽  
Control Algorithm ◽  
Control Method ◽  
Support Vector ◽  
Control Performance ◽  
Fuzzy Pid Control ◽  
On Line ◽  
Control Output

In this study, we presented a boiler combustion robust control method under load changes based on the least squares support vector machine, PID parameters are on-line adjusted and identified by LSSVM, optimum control output is obtained. The simulation result shows control performance of the intelligent control algorithm is superior to traditional control algorithm and fuzzy PID control algorithm, the study provides a new control method for strong non-linear boiler combustion control system.

Excitation Liquid-Cooled Retarder Control System Design Based on MC9SXS128

2014 ◽  
Vol 525 ◽  
pp. 583-587
Author(s):  
Bing Tu ◽  
Wei Zhang ◽  
Teng Xi Zhan
Keyword(s):  
Control System ◽  
Pid Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Good Control ◽  
Control Performance ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Application Requirements

This paper presented a excitation liquid-cooled retarder control system based on a microprocessor MC9SXS128. In order to achieve the constant speed, It used PWM to adjust the output current of excitation liquid-cooled retarder. It analyzed and calculated the inductance value in PWM output circuit and also analyzed the excitation liquid-cooled retarder control systematical mathematical model . It divided the brake stalls based on the current flowing through the field coil. by adding the PID closed-loop control system, the retarder could quickly reach the set speed. It tested the PID control algorithm at the experiments in retarder drum test rig and the results show that the control algorithm has good control performance to meet the application requirements.

PID control performance assessment: The single-loop case

AIChE Journal ◽  
2004 ◽  
Vol 50 (6) ◽  
pp. 1211-1218 ◽  
Author(s):  
Byung-Su Ko ◽  
Thomas F. Edgar
Keyword(s):  
Performance Assessment ◽  
Pid Control ◽  
Control Performance ◽  
Single Loop ◽  
Control Performance Assessment

Fuzzy Adaptive Control of Airborne Electro-Optical Tracking Systems Based on Variable Universe

2011 ◽  
Vol 383-390 ◽  
pp. 5972-5977
Author(s):  
Song Gao ◽  
Xiao Xia Xu ◽  
Qin Kun Xiao ◽  
Quan Pan
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Dynamic Performance ◽  
Optical Tracking ◽  
Control Performance ◽  
Tracking Systems ◽  
Variable Universe ◽  
Fuzzy Control Algorithm ◽  
Fuzzy Adaptive

In order to improve the control performance of airborne EO tracking systems, we develop a proposed variable universe control algorithm based on fuzzy reasoning. The algorithm combines a new fuzzy control algorithm with classic PID control algorithm and greatly improves the dynamic performance of the airborne EO tracking systems. The simulation results indicate that the adaptive fuzzy controller can ensure the precision of the system with better adaptability and robustness.

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