A PID Tuning Approach for Inertial Systems Performance Optimization

In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented two approaches for synthesis the proportional-integral-derivative controller to the models of objects with inertia, that offer the procedure of system performance optimization based on maximum stability degree criterion. The proposed algorithms of system performance optimization were elaborated for model of objects with inertia second and third order and offer simple analytical expressions for tuning the PID controller. Validation and verification are conducted through computer simulations using MATLAB, demonstrating successful performance optimization and showcasing the effectiveness PID controllers’ tuning. The proposed approaches contribute insights to the field of control, offering a pathway for optimizing the performance of second and third-order inertial systems through robust controller synthesis.

Analysis of Dynamics Fields in Noninertial Systems

In this paper, I present evidence that there exists an unstructured area in the present general assumptions of classical mechanics, especially in case of rigid bodies exposed to simultaneous noncoaxial rotations. To address this, I propose dynamics hypotheses that lead to interesting results and numerous noteworthy scientific and technological applications. I constructed a new mathematical model in rotational field dynamics, and through this model, results based on a rational interpretation of the superposition of motions caused by torques were obtained. For this purpose, I analyze velocity and acceleration fields that are generated in an object with intrinsic angular momentum, and assessed new criteria for coupling velocities. In this context, I will discuss reactions and inertial fields that cannot be explained by classical mechanics. The experiments have been analyzed and explained in a video accompanying this text. I am not aware of any concurrent study on the subject and conclusions evidenced in this paper, preventing us from making additional theoretical com- parisons or indicate to the reader other sources to compare criteria.

A Fast Small-Sample Modeling Method for Precision Inertial Systems Fault Prediction and Quantitative Anomaly Measurement

Inertial system platforms are a kind of important precision devices,which have the characteristics of difficult acquisition for state data and small sample scale.Focusing on the model optimization for data-driven fault state prediction and quantitative degreemeasurement,a fast small-sample supersphere one-class SVMmodelingmethod using support vectors pre-selection is systematically studied in this paper.By theorem-proving the irrelevance between themodel’s learning result and the non-support vectors(NSVs),the distribution characters of the support vectors are analyzed.On this basis,a modeling method with selected samples having specific geometry character fromthe training sets is also proposed.The method can remarkably eliminate theNSVs and improve the algorithm’s efficiency.The experimental results testify that the scale of training samples and the modeling time consumption both give a sharply decrease using the support vectors pre-selection method.The experimental results on inertial devices also show good fault prediction capability and effectiveness of quantitative anomaly measurement.

Introduction to the Theory of Relativity of Non-Inertial Systems and Mechanics of the Universe

The physical nature of inertia is explored. Authors, based on Mach’s principle, offer hypothesis of the induction nature of inertia and theory, which allows extend the principle of relativity to the non-inertial reference systems. The system of differential equations, which eliminates the shortcomings of Newtonian mechanics and Special Theory of Relativity (STR) was composed according to this theory. Row of concrete calculations and explanations are made using the theory. Reason of constancy orbital velocities of galaxies is found out and way of its calculations is shown. Existence of dark matter and the new particles (neutralinos, axons, space vacuum etc.) is prejudiced. Axial deviation of the ray of light in gravitational field is explained and calculated. An example of calculation of the Mercury’s orbital motion is made and complex planets’ trajectories are explained by the action of new field with induction nature. Flat rotation of celestial bodies and shaping of planets’ rings (like the Saturn’s rings) are explained. Indistinguishability of Doppler and Einstein’s effects for terrestrial observer is shown.

Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.

Design of MC9 Test Equipment for Inertial Reference System

Inertial reference system is one of the airborne equipment.According to the requirements of SAE ARP4754A Guidelines for Development of Civil Aircraft and Systems,MC9 equipment qualification test is needed to verify that the inertial reference system can perform reservation function under specified service conditions.That is,the inertial reference system shall pass certain environmental tests specified in DO⁃160G.Some tests are faced with the problem that the test equipment should have the function requirements of isolation protection and load simulation.Therefore,a kind of test equipment which can provide isolation protection and simulate load function in the test is designed.

Closed-Loop System Identification Approach of the Inertial Models

The mathematical model that approximates the dynamics of the industrial process is essential for the efficient synthesis of control algorithms in industrial applications. The model of the process can be obtained according to the identification procedures in the open-loop, or in the closed-loop. In the open-loop, the identification methods are well known and offer good process approximation, which is not valid for the closed-loop identification, when the system provides the feedback output and doesn’t permit it to be identified in the open-loop. This paper offers an approach for experimental identification in the closed-loop, which supposes the approximation of the process with inertial models, with or without time delay and astatism. The coefficients are calculated based on the values of the critical transfer coefficient and period of the underdamped response of the closed-loop system with P controller, when system achieves the limit of stability. Finally, the closed-loop identification was verified by the computer simulation and the obtained results demonstrated, that the identification procedure in the closed-loop offers good results in process of estimation of the model of the process.

Nondestructive and active interrogation system for special nuclear material:proof of principle and initial results

Herein,we employ the threshold energy neutron analysis(TENA)technique to introduce the world's first active interrogation system to detect special nuclear materials(SNMs),including U-235 and Pu-239.The system utilizes a DD neutron generator based on inertial electrostatic confinement(IEC)to interrogate suspicious objects.To detect secondary neutrons produced during fission reactions induced in SNMs,a tensioned metastable fluid detector(TMFD)is employed.The current status of the system's development is reported in this paper,accompanied by the results from experiments conducted to detect 10 g of highly enriched uranium(HEU).Notably,the experimental findings demonstrate a distinct difference in the count rates of measurements with and without HEU.This difference in count rates surpasses two times the standard deviation,indicating a confidence level of more than 96% for identifying the presence of HEU.The paper presents and extensively discusses the proof-of-principle experimental results,along with the system's planned trajectory.

STRONGLY CONVERGENT INERTIAL FORWARD-BACKWARD-FORWARD ALGORITHM WITHOUT ON-LINE RULE FOR VARIATIONAL INEQUALITIES

This paper studies a strongly convergent inertial forward-backward-forward algorithm for the variational inequality problem in Hilbert spaces.In our convergence analysis,we do not assume the on-line rule of the inertial parameters and the iterates,which have been assumed by several authors whenever a strongly convergent algorithm with an inertial extrapolation step is proposed for a variational inequality problem.Consequently,our proof arguments are different from what is obtainable in the relevant literature.Finally,we give numerical tests to confirm the theoretical analysis and show that our proposed algorithm is superior to related ones in the literature.

Design and Performance Analysis of HMDV Dynamic Inertial Suspension Based on Active Disturbance Rejection Control

This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driven Vehicle(HMDV).A dynamic inertial suspension based on Active Disturbance Rejection Control(ADRC)is proposed,combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC,which distinguishes between internal and external disturbances and arranges the transition process.Firstly,a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity.A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then constructed.Subsequently,the passive suspension model is studied under different grades of road excitation,and the impact mechanism of suspension performance at speeds of 0–20 m/s is analyzed.Next,the three main components within the ADRC controller are designed for the second-order controlled system,and optimization algorithms are used to optimize its internal parameters.Finally,the performance of the traditional passive suspension,the PID-based controllable dynamic inertial suspension,and the ADRC-based controllable dynamic inertial suspension are analyzed under different road inputs.Simulation results show that,under sinusoidal road input,the ADRC-based controllable dynamic inertial suspension exhibits a 52.3%reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension,with significant performance optimization in the high-frequency range.Under random road input,the ADRC-based controllable dynamic inertial suspension achieves a 29.53%reduction in the root mean square value of vehicle body acceleration and a 14.87%reduction in dynamic tire load.This indicates that the designed controllable dynamic inertial suspension possesses excellent vibration isolation performance.

Free-walking:Pedestrian inertial navigation based on dual foot-mounted IMU

The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.

A Novel Fall Detection Framework Using Skip-DSCGAN Based on Inertial Sensor Data

With the widespread use of Internet of Things(IoT)technology in daily life and the considerable safety risks of falls for elderly individuals,research on IoT-based fall detection systems has gainedmuch attention.This paper proposes an IoT-based spatiotemporal data processing framework based on a depthwise separable convolution generative adversarial network using skip-connection(Skip-DSCGAN)for fall detection.The method uses spatiotemporal data from accelerometers and gyroscopes in inertial sensors as input data.A semisupervised learning approach is adopted to train the model using only activities of daily living(ADL)data,which can avoid data imbalance problems.Furthermore,a quantile-based approach is employed to determine the fall threshold,which makes the fall detection frameworkmore robust.This proposed fall detection framework is evaluated against four other generative adversarial network(GAN)models with superior anomaly detection performance using two fall public datasets(SisFall&MobiAct).The test results show that the proposed method achieves better results,reaching 96.93% and 92.75% accuracy on the above two test datasets,respectively.At the same time,the proposed method also achieves satisfactory results in terms ofmodel size and inference delay time,making it suitable for deployment on wearable devices with limited resources.In addition,this paper also compares GAN-based semisupervised learning methods with supervised learning methods commonly used in fall detection.It clarifies the advantages of GAN-based semisupervised learning methods in fall detection.

Linear and Non-Linear Dynamics of Inertial Waves in a Rotating Cylinder with Antiparallel Inclined Ends

This work is devoted to the experimental study of inertial wave regimes in a non-uniform rotating cylinder with antiparallel inclined ends.In this setting,the cross-section of the cylinder is divided into two regions where the fluid depth increases or decreases with radius.Three different regimes are found:inertial wave attractor,global oscillations(the cavity’s resonant modes)and regime of symmetric reflection of wave beams.In linear wave regimes,a steady single vortex elongated along the rotation axis is generated.The location of the wave’s interaction with the sloping ends determines the vortex position and the vorticity sign.In non-linear regimes several pairs of the triadic resonance subharmonics are detected simultaneously.The instability of triadic resonance is accompanied by the periodic generation of mean vortices drifting in the azimuthal direction.Moreover,the appearance frequency of the vortices is consistent with the low-frequency subharmonic of the triadic resonance.The experimental results shed light on the mechanisms of the inertial wave interaction with zonal flow and may be useful for the development of new methods of mixing.

Ladder Time Stepwise Inertia Coordinated Control Method of Multiple Wind Farms to Suppress System Frequency Secondary Drop

Currently,both regulated and deregulated power trading exist in China’s power system,which has caused imbalanced funds in the electricity market.In this paper,a simulation analysis of the electricity market with wind energy resources is conducted,and the calculation methods of unbalanced funds are investigated systematically.In detail,the calculation formulas of unbalanced funds are illustrated based on their definition,and a two-track electricity market clearing model is established.Firstly,the concept of the dual-track system is explained,and the specific calculation formulas of various types of unbalanced funds are provided.Next,considering the renewable energy consumption,the market clearing model based on DC power flow is constructed and solved;by combining fitting methods of mid-and long-term curves,the unbalanced funds are calculated based on clearing results and formulas.

Weak and Strong Convergence of Self Adaptive Inertial Subgradient Extragradient Algorithms for Solving Variational Inequality Problems

Many solutions of variational inequalities have been proposed,among which the subgradient extragradient method has obvious advantages.Two different algorithms are given for solving variational inequality problem in this paper.The problem we study is defined in a real Hilbert space and has L-Lipschitz and pseudomonotone condition.Two new algorithms adopt inertial technology and non-monotonic step size rule,and their convergence can still be proved when the value of L is not given in advance.Finally,some numerical results are designed to demonstrate the computational efficiency of our two new algorithms.

A Temporary Frequency Response Strategy Using a Voltage Source-Based PermanentMagnet Synchronous Generator and Energy Storage Systems

Energy storage systems(ESS)and permanent magnet synchronous generators(PMSG)are speculated to be able to exhibit frequency regulation capabilities by adding differential and proportional control loops with different control objectives.The available PMSG kinetic energy and charging/discharging capacities of the ESS were restricted.To improve the inertia response and frequency control capability,we propose a short-term frequency support strategy for the ESS and PMSG.To this end,the weights were embedded in the control loops to adjust the participation of the differential and proportional controls based on the system frequency excursion.The effectiveness of the proposed control strategy was verified using PSCAD/EMTDC.The simulations revealed that the proposed strategy could improve the maximum rate of change of the frequency nadir and maximum frequency excursion.Therefore,it provides a promising solution of ancillary services for frequency regulation of PMSG and ESS.

Comparison study on measurement of rail weld joint between inertial reference method and multi-point chord reference method

Purpose – Straightness measurement of rail weld joint is of essential importance to railway maintenance. Dueto the lack of efficient measurement equipment, there has been limited in-depth research on rail weld joint with a5-m wavelength range, leaving a significant knowledge gap in this field.Design/methodology/approach – In this study, the authors used the well-established inertial referencemethod (IR-method), and the state-of-the-art multi-point chord reference method (MCR-method). Two methodshave been applied in different types of rail straightness measurement trollies, respectively. These instrumentswere tested in a high-speed rail section within a certain region of China. The test results were ultimatelyvalidated through using traditional straightedge and feeler gauge methods as reference data to evaluate the railweld joint straightness within the 5-m wavelength range.Findings – The research reveals that IR-method and MCR-method produce reasonably similar measurementresults for wavelengths below 1 m. However, MCR-method outperforms IR-method in terms of accuracy forwavelengths exceeding 3 m. Furthermore, it was observed that IR-method, while operating at a slower speed,carries the risk of derailing and is incapable of detecting rail weld joints and low joints within the track.Originality/value – The research compare two methods’ measurement effects in a longer wavelength rangeand demonstrate the superiority of MCR-method.

About the Thermodynamics and Aging of Self-Organizing Systems

We know that the total daily energy dissipation increases in complex organisms like the humans. It’s very probable that this increase in total energy dissipation is related to the progressive increase in mass. But we also know that day by day the dissipation of energy per unit mass decreases in these organisms. We intend to verify if this decrease is only an expression of the second law of thermodynamics, or if it is related to the increase in mass that occurs in these organisms. For this, we set ourselves the following objectives: verify the correlation between total energy dissipation and the evolution of body mass, and verify the correlation between the dissipation of energy per unit of mass and the evolution of body mass. As a result of the data analysis, we found a high degree of correlation between total energy dissipation and the evolution of body mass. And we also found a high correlation between the energy dissipated per unit of mass and the evolution of body mass. We can conclude that self-organization produces not only an increase in mass, but also a decline in energy dissipation per unit mass beyond what is expected by the second law of thermodynamics.

A fast and accurate initial alignment method for strapdown inertial navigation system on stationary base

In this work,a fast and accurate stationary alignment method for strapdown inertial navigation system （SINS） is proposed. It has been demonstrated that the stationary alignment of SINS can be improved by employing the multiposition technique,but the alignment time of the azimuth error is relatively longer. Over here, the two-position alignment principle is presented. On the basis of this SINS error model, a fast estimation algorithm of the azimuth error for the initial alignment of SINS on stationary base is derived fully from the horizontal velocity outputs and the output rates, and the novel azimuth error estimation algorithm is used for the two-position alignment. Consequently, the speed and accuracy of the SINS＇ s initial alignment is enhanced greatly. The computer simulation results illustrate the efficiency of this alignment method.

Transfer alignment of shipborne inertial-guided weapon systems

The transfer alignment problem of the shipborne weapon inertial navigation system （INS） is addressed. Specifically, two transfer alignment algorithms subjected to the ship motions induced by the waves are discussed. To consider the limited maneuver level performed by the ship, a new filter algorithm for transfer alignment methods using velocity and angular rate matching is first derived. And then an improved method using integrated velocity and integrated angular rate matching is introduced to reduce the effect of the ship body flexure. The simulation results show the feasibility and validity of the proposed transfer alignment algorithms.