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Found 6319 publications

Possible Control Methods for Skid-Steer Mobile Robot Platforms

Áron Ballagi Csaba Hajdu Rudolf Krecht

Publication Name: Gpmc 2020 2nd IEEE International Conference on Gridding and Polytope Based Modeling and Control Proceedings

Publication Date: 2020-11-19

Volume: Unknown

Issue: Unknown

Page Range: 31-34

Description:

The aim of this paper is to collect and analyze the possible low-level control methods for skid-steer mobile robot platforms. Most low-level control methods for mobile robots rely on the kinematic or dynamic model of the controlled robot platform. However, in case of skid-steer mobile robots, a precise kinematic or dynamic model might be too costly to be implemented for a control method. Thus, it has an outstanding importance to find a control method which can be precise enough even with a simplified kinematic or dynamic model. The overall control scheme of skid-steer robots is also discussed, along with issues regarding the kinematic and dynamic modelling of the mentioned platforms.

Open Access: Yes

DOI: 10.1109/GPMC50267.2020.9333814

TP Transformation of the Inverted Pendulum

Miklós Kuczmann Andrea Weber

Publication Name: Gpmc 2020 2nd IEEE International Conference on Gridding and Polytope Based Modeling and Control Proceedings

Publication Date: 2020-11-19

Volume: Unknown

Issue: Unknown

Page Range: 13-18

Description:

This paper describes a Tensor Product (TP) based model via the inverted pendulum. Base of the controller designing is used the Linear Matrix Inequality (LMI) in order to stabilize the nonlinear system. This case shows the quasi-Linear Parameter-Varying (qLPV) modeling and the Higher-Order Singular Value Decomposition (HOSVD) based TP transformation.

Open Access: Yes

DOI: 10.1109/GPMC50267.2020.9333815

A virtual environment for testing and evaluation of control algorithms for a line follower robot

Miklós Kuczmann Tamás Budai

Publication Name: Gpmc 2020 2nd IEEE International Conference on Gridding and Polytope Based Modeling and Control Proceedings

Publication Date: 2020-11-19

Volume: Unknown

Issue: Unknown

Page Range: 53-54

Description:

In this paper we introduce a new virtual test environment realized in MaxWhere which can be used to model and compare different control algorithms for a line follower robot.

Open Access: Yes

DOI: 10.1109/GPMC50267.2020.9333822

Feedback Linearization Based Induction Machine Control

Miklós Kuczmann

Publication Name: Gpmc 2020 2nd IEEE International Conference on Gridding and Polytope Based Modeling and Control Proceedings

Publication Date: 2020-11-19

Volume: Unknown

Issue: Unknown

Page Range: 9-12

Description:

The paper presents the feedback linearization based control of induction machines, both the speed control and the torque control. The nonlinear state space model is decoupled into two linear subsystems, and these systems have been stabilized independently by the pole placement technique, finally speed and torque control have been realized by integral control. The block diagram is presented, and some tests have been performed to show the control system behavior.

Open Access: Yes

DOI: 10.1109/GPMC50267.2020.9333810

Controller design of DC/DC buck converter based on feedback linearization with integrator

Miklós Kuczmann Miklos CSIZMADIA

Publication Name: Gpmc 2020 2nd IEEE International Conference on Gridding and Polytope Based Modeling and Control Proceedings

Publication Date: 2020-11-19

Volume: Unknown

Issue: Unknown

Page Range: 35-38

Description:

The paper presents the feedback linearization technique of voltage mode DC/DC buck converter. The nonlinear state-space model is presented and has been stabilized by pole placement technique and finally the voltage control of output has been realized by integral control. The designed controller has been simulated by MATLAB. Results are shown that the developed controller has good dynamic and static behavior.

Open Access: Yes

DOI: 10.1109/GPMC50267.2020.9333821

Model Identification Based on Sparse or Non-Uniform Datasets using Tensor Product Function Manipulations

Adam B. Csapo

Publication Name: Gpmc 2020 2nd IEEE International Conference on Gridding and Polytope Based Modeling and Control Proceedings

Publication Date: 2020-11-19

Volume: Unknown

Issue: Unknown

Page Range: 49-52

Description:

This paper presents an approach for creating tensor product (TP) models based on sparse or non-uniform samples representing arbitrary datasets, and for manipulating the resulting TP structure to further identify the models behind the datasets. Given the usefulness of TP models in merging together closed algebraic formulae and tensor representations, it is argued that the proposed approach can be applied towards understanding the underlying complexity of a given dataset, while iteratively arriving at a model for the process that generated it. The key idea behind the approach is demonstrated using a dataset on sound pressure levels generated by different-sized airfoils in a wind tunnel.

Open Access: Yes

DOI: 10.1109/GPMC50267.2020.9333816

Economical Mobile Robot Design Prototype and Simulation for Industry 4.0 Applications

Claudiu Radu Pozna Áron Ballagi Csaba Hajdu János Hollósi Rudolf Krecht

Publication Name: Cando EPE 2020 Proceedings IEEE 3rd International Conference and Workshop in Obuda on Electrical and Power Engineering

Publication Date: 2020-11-18

Volume: Unknown

Issue: Unknown

Page Range: 155-160

Description:

Autonomous mobile robots received a rising research interest, with the appearance of complex cyber-physical system applications, like Industry 4.0. Related scenarios require not only some degree of autonomous capabilities of the control software but also tight interaction between humans as well. In this paper, a prototype autonomous mobile robot of such functionalities is presented with additionally aiming cost-effective construction. The robot is currently capable of performing basic tasks, like traversing to a goal configuration, mapping the environment, and detecting and avoiding obstacles. To allow the versatile extension with additional cyber-physical software, the control software interfaces the Robot Operating System (ROS), a popular framework in robotic research. During the development of software and hardware, simulation has been heavily utilized. This allowed an iterative development and the use of verification in the early development phases.

Open Access: Yes

DOI: 10.1109/CANDO-EPE51100.2020.9337786

Measurement and analysis of vibration levels in stacked small package shipments in delivery vans as a function of free movement space

Péter Böröcz Bence Molnar

Publication Name: Applied Sciences Switzerland

Publication Date: 2020-11-01

Volume: 10

Issue: 21

Page Range: 1-13

Description:

In recent years there has been a very significant increase in parcel delivery shipments all over the world. Moreover, this mode of delivery, in some cases, is facing a very intensive flow of goods, such as in annual festive seasons or, for instance, in situations like COVID-19 when personal purchase of goods is strictly limited in malls. This often means that delivery vehicles operate at almost full capacity, and many same or different kinds of packages are therefore stacked in small delivery vehicles. In this study, we measured and analyzed the vibration levels that occur in smaller stacks of packages in parcel delivery shipments, paying particular attention to those circumstances such as stacking layers and free movement spaces that can affect the vibration in different layers of packages. The goal of this paper was to provide information about the vibration levels that occur in smaller stacks of packages that are not unitized and fixed, as is common in parcel transportation. The recorded vibration events were analyzed in terms of power spectral densities (PSDs) and supplied with statistical data of acceleration events to provide an understanding of the variability of intensity. Based on the results of this study, PSD spectra were developed for various free movement conditions, as well as spectra for each layer in the stacked parcel package shipment. The results showed that the vibration level increases in the stacked load upwards and with an increase of free space of possible movement. The results of this study can be used to simulate the measured vibration conditions in laboratory tests conducted on courier express parcel shipments.

Open Access: Yes

DOI: 10.3390/app10217821

Green manufacturing practices and sustainable performance among Ghanaian manufacturing SMEs: the explanatory link of green supply chain integration

Lawrence Yaw Kusi Yaw Agyabeng-Mensah Ebenezer Afum Joseph Amponsah Owusu Victoria Yaa Osei-Ahenkan Joseph Ankomah

Publication Name: Management of Environmental Quality an International Journal

Publication Date: 2020-10-16

Volume: 31

Issue: 6

Page Range: 1457-1475

Description:

Purpose: The aim of this study is to examine the explanatory link of green supply chain integration (GSCI) between green manufacturing practices (GMPs) and sustainable performance (economic [EP], environmental [EnP] and social [SP] performances) by using data from an emerging country. Design/methodology/approach: An explanatory research design was employed for the study. Structured questionnaires were used to collect data from 178 Ghanaian manufacturing small and medium-sized enterprises (SMEs). Hypotheses were formulated and tested using partial least square structural equation modeling (PLS-SEM). Findings: The results indicate that GMPs have a significant positive effect on sustainable performance (EP, EnP and SP). Again, GMPs have a significant positive effect on GSCI. Additionally, GSCI plays a mediating role between green manufacturing practices and sustainable performance. Research limitations/implications: In this study, GSCI was compositely measured despite having three dimensions. Generalizing the findings is also not guaranteed since the sample constitutes Ghanaian manufacturing SMEs. Practical implications: The results provide significant ramifications for managers of manufacturing SMEs within Ghana and those in other sub-Saharan African context. Based on the results, managers of manufacturing firms will have stronger backing to invest in GMPs, while at the same time establish strong ties with eco-oriented supply chain partners so as to achieve their sustainable performance goals. Originality/value: This study adds to the literature in the area of sustainability and triple bottom line by providing evidence from a fast growing industrialized and emerging country.

Open Access: Yes

DOI: 10.1108/MEQ-01-2020-0019