Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force

This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.

Optimization of depreciation subsidy policy strategies for electric two-wheelers for improving traffic safety

To improve the traffic safety of electric two-wheelers(ETW),China has promulgated ETW standardization policies.This policy requires local governments to take measures to guide the illegal ETWs out of use.Governments have implemented a depreciation subsidy scheme to encourage users to scrap illegal ETWs early.When designing the subsidy scheme,effectively improving the ETWs’traffic safety at the road network level while saving government expenses is essential for the sustainable implementation of the policy.This study proposes an optimization method for depreciation subsidy design incorporating traffic safety evaluation.Based on the policy scheme,this study formulates a risk assessment model for the ETW traffic network to characterize the effect of the subsidy on improving safety.Then,we use the bi-level programming approach to model the subsidy strategy design problem.The upper-level problem reflects the goal of policymakers to maximize safety improvement and minimize government expenses.The lower-level problem describes the route choices of ETW users.The optimal subsidy design under different safety-expense trade-offs is analysed based on the Nguyen and Dupuis network and a real network extracted from Changsha City in China.The results show that specific subsidy schemes effectively improve road safety without a large government spending.When themarket price or service life of ETWs increases,the government spending on the same safety goal increases.The government should comprehensively consider the safety effect of financial expense and the situation of the local ETW market before selecting reasonable subsidy strategies.

Key technology and application of AB_(2) hydrogen storage alloy in fuel cell hydrogen supply system

At present,there is limited research on the application of fuel cell power generation system technology using solid hydrogen storage materials,especially in hydrogen-assisted two-wheelers.Considering the disadvantages of low hydrogen storage capacity and poor kinetics of hydrogen storage materials,our primary focus is to achieve smooth hydrogen ab-/desorption over a wide temperature range to meet the requirements of fuel cells and their integrated power generation systems.In this paper,the Ti_(0.9)Zr_(0.1)Mn_(1.45)V_(0.4)Fe_(0.15) hydrogen storage alloy was successfully prepared by arc melting.The maximum hydrogen storage capacity reaches 1.89 wt% at 318 K.The alloy has the capability to absorb 90% of hydrogen storage capacity within 50 s at 7 MPa and release 90% of hydrogen within 220 s.Comsol Multiphysics 6.0 software was used to simulate the hydrogen ab-/desorption processes of the tank.The flow rate of cooling water during hydrogen absorption varied in a gradient of(0.02 t x)m s^(-1)(x=0,0.02,0.04,0.06,0.08,0.1,0.12).Cooling water flow rate is positively correlated with the hydrogen absorption rate but negatively correlated with the cost.When the cooling rate is 0.06 m s^(-1),both simulation and experimentation have shown that the hydrogen storage tank is capable of steady hydrogen desorption for over 6 h at a flow rate of 2 L min^(-1).Based on the above conclusions,we have successfully developed a hydrogen-assisted two-wheeler with a range of 80 km and achieved regional demonstration operations in Changzhou and Shaoguan.This paper highlights the achievements of our team in the technological development of fuel cell power generation systems using solid hydrogen storage materials as hydrogen storage carriers and their application in twowheelers in recent years.

Development of City Transport System and Two-wheel Vehicles

Based on the study on the city transport systems of some typical cities worldwide,this paper put forward that each city transport system has its own development mode,which is influenced by the city development plan,economic development level,traveling vehicle composition etc..When some problems occur,such as the congestions caused by contradiction between the road capacity and vehicle composition,the city transport system may come into temporary maturity period.If the improvement for road system is limited meanwhile,optimized structure of vehicle composition should be an effective solution in this case.With the development of economy-internationalization,the development speed of city transport modernization is rapid.When traveling easiness is conflicting with efficiency,the advantages of public transport system become more obvious.Correspondingly,the superiority of two-wheel vehicles will reappear.Though the important function of two-wheel vehicles for alleviating city traffic problems is obvious,however,their development strategy must be reasonably proposed,and operation regulations must be performed accordingly.

Jointly Build the Belt and Road Initiative with a Two-Wheel Drive——International Work of The Amity Foundation

With the development of economy and society,China’s comprehensive national strength has been continuously enhanced and its international influence has been increasing.China is shouldering more international responsibilities and obligations to make greater contributions to building a community of shared future for mankind by“always being a builder of world peace,a contributor to global development,and a defender of the international order”.In March 2015,President Xi Jinping put forward the concept of the Belt and Road Initiative,which not only pointed out the way for Chinese social organizations to participate in international affairs,but also opened up unprecedented opportunities for Chinese social organizations to further participate in global governance.

Motor Learning Based on the Cooperation of Cerebellum and Basal Ganglia for a Self-Balancing Two-Wheeled Robot

A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.

Prediction of Repair and Maintenance Costs of Two-wheel Drive Tractors in Iran

Predicting of repair and maintenance （R＆M） costs of tractors in any mechanized farm is necessary for owners and managers to obtain information on overall costs and to control financial balance and production economy. In this context a study was conducted to predict accumulated R＆M costs （Y） of two-wheel drive （2WD） tractors based on accumulated usage hours （X） in Misagh-e-Sabz Agribusiness Company in Iran. Recorded data of the company were used to determine regression models for predicting accumulated R＆M costs （as percentage of initial purchase price） based on accumulated usage hours. The statistical results of the study indicated that in order to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or less the power regression model Y=0.013 （X/100）1.677 with R2=0.976, and to predict accumulated R＆M costs of 2WD tractors with accumulated usage hours of 2260 h or more the polynomial regression model Y=0.004 （X/100）2-0.181 （X/1 00）＋4.373 with R2=0.998 can be strongly suggested.

Techno-economic and environmental impact analysis of electric two-wheeler batteries in India

This paper presents a comprehensive techno-economic and environmental impact analysis of electric two-wheeler batteries in India.The technical comparison reveals that sodium-ion(Na-ion)and lithium-ion(Li-ion)batteries outperform lead-acid batteries in various parameters,with Na-ion and Li-ion batteries exhibiting higher energy densities,higher power densities,longer cycle lives,faster charge rates,better compactness,lighter weight and lower self-discharge rates.In economic comparison,Na-ion batteries were found to be~12-14%more expensive than Li-ion batteries.However,the longer lifespans and higher energy densities of Na-ion and Li-ion batteries can offset their higher costs through improved performance and long-term savings.Lead-acid batteries have the highest environmental impact,while Li-ion batteries demonstrate better environmental performance and potential for recycling.Na-ion batteries offer promising environmental advantages with their abundance,lower cost and lower toxic and hazardous material content.Efficient recycling processes can further enhance the environmental benefits of Na-ion batteries.Overall,this research examines the potential of Na-ion batteries as a cheaper alternative to Li-ion batteries,considering India’s abundant sodium resources in regions such as Rajasthan,Chhattisgarh,Jharkhand and others.

Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink?. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.

Bionic autonomous learning control of a two-wheeled self-balancing flexible robot

This paper presents an OCPA （operant conditioning probabilistic automaton） bionic autonomous learning system based on Skinner＇s operant conditioning theory for solving the balance control problem of a two-wheeled flexible robot. The OCPA learning system consists of two stages： in the first stage, an operant action is selected stochastically from a set of operant actions and then used as the input of the control system; in the second stage, the learning system gathers the orientation information of the system and uses it for optimization until achieves control target. At the same time, the size of the operant action set can be automatically reduced during the learning process for avoiding little probability event. Theory analysis is made for the designed OCPA learning system in the paper, which theoretically proves the convergence of operant conditioning learning mechanism in OCPA learning system, namely the operant action entropy will converge to minimum with the learning process. And then OCPA learning system is applied to posture balanced control of two-wheeled flexible self-balanced robots. Robot does not have posutre balanced skill in initial state and the selecting probability of each operant in operant sets is equal. With the learning proceeding, the selected probabilities of optimal operant gradually tend to one and the operant action entropy gradually tends to minimum, and so robot gradually learned the posture balanced skill.

Sensorimotor Self-Learning Model Based on Operant Conditioning for Two-Wheeled Robot

Traditional control methods of two-wheeled robot are usually model-based and require the robot’s precise mathematic model which is hard to get. A sensorimotor self-learning model named SMM TWR is presented in this paper to handle these problems. The model consists of seven elements: the discrete learning time set, the sensory state set, the motion set, the sensorimotor mapping, the state orientation unit, the learning mechanism and the model’s entropy. The learning mechanism for SMM TWR is designed based on the theory of operant conditioning (OC), and it adjusts the sensorimotor mapping at every learning step. This helps the robot to choose motions. The leaning direction of the mechanism is decided by the state orientation unit. Simulation results show that with the sensorimotor model designed, the robot is endowed the abilities of self-learning and self-organizing, and it can learn the skills to keep itself balance through interacting with the environment. © 2017, Shanghai Jiaotong University and Springer-Verlag Berlin Heidelberg.

Control System of Two-Wheel Self-Balancing Vehicle

This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.

Furrow design for improving crop establishment of two-wheel tractor operated strip tillage planters in loam and clay loam soils

Conservation agriculture(CA)based production systems may help in achieving more sustainable intensification of cropping systems that use less labour and energy and have higher profit margins,in addition to soil conservation and environmental impact mitigation advantages.But these objectives can only be achieved when the right mechanization options,including appropriate crop establishment equipment,are in place to assist in timely field operations.An urgent need exists,therefore,to fine tune and re-adjust the existing two-wheel tractor(2WT)operated seed drills,with specific reference to the design of blade and furrow openers,while at the same time considering performance in different soil types and environments.To this end,experiments were conducted during 2013-2014 and 2014-2015 at two BARI Regional Agricultural Research Stations in Jamalpur and Barisal,Bangladesh,on a loam and clay loam soil,respectively,to evaluate five types of furrow opener for strip tillage.Shoe and modified shoe-type furrow openers were tested and compared with three inverted-T furrow openers with rake angles of 75°,65°and 55°.The newly designed inverted-T furrow openers were narrower than the shoe-type openers;they also had a longer,hollow shanks and provided better options for adjustment to achieve the desired seeding depth and line spacing.Compared to shoe-type openers,better seeding depth,uniformity and higher degree of seed coverage were recorded with use of the inverted-T furrow opener with a 65°rake angle.This resulted in better seed coverage in the furrow,a higher emergence rate index,and the highest emergence percentage of maize and mung bean.Our research findings can be generalized to smallholder production systems on loam and clay loam soils where farmers utilize 2WT operated seed drills for crop establishment in both traditional and conservation agriculture-based planting systems.

Safety ranking definition for infrastructures with high PTW flow

Powered two-wheelers （PTWs） provide a suitable mode for a large portion of population in many cities due to rider＇s personal convenience and the vehicle supposed easiness of manoeuvring. At the same time PTWs present serious safety issues compared to other motorized vehicles. This paper reports the main outcome of study carried out in Rome, where this mode is very popular and assesses the economic efforts to make infrastructure safer for PTWs. The methodology, extensively described in the paper, includes three steps： the accident analysis, the development of economic indicators of accidents costs, the maintenance priority. In the first step the location of the PTWs local accidents are iden- tified, then the accidents are analyzed by means of the suitable indicators and, among these the safety potential （SAPO）. Lastly, according to the results of the analyzed indicators the need of infrastructure maintenance will be defined. Usually SAPO is applied to rural areas, but here it has been adapted to describe the phenomena of the urban area in hand. As a result, the estimation of the saving potential to improve the infrastructure safety levels, thus reducing the amount of accidents, is presented, along with recommendations on how to upscale the SAPO at city level.

Synergetic Management Theory for Coal-Based Energy Engineering and the Engineering Practice of Shenhua

To deal with problems in synergetic development of coal-based energy engineering,this paper,guided by the philosophy of engineering,proposes the synergetic management philosophy of "factors coordination,systems synergy,dynamic optimization and three-dimension planning." The paper also establishes the synergetic management system characterized by systems factor synergy,resource-environment synergy and systems boundary extension and supported by the "two-wheel driven"management innovation and technological innovation.In addition,the paper presents a multi-objective dynamic optimization model for energy engineering,designed based on Shenhua's own engineering practice,to analyze Pareto optimal solution in three scenarios:best resource allocation,minimal environmental impact and maximal value creation.This provides important reference to synergetic development strategies and decision-making in engineering management.