This paper demonstrates the assembly of a servo-controlled platform with two degrees of freedom, empirical methods and a developed closed-loop control found in the system mathematical model. This control aims to stabi...This paper demonstrates the assembly of a servo-controlled platform with two degrees of freedom, empirical methods and a developed closed-loop control found in the system mathematical model. This control aims to stabilize and hold small objects on the platform. We parsed the step response in X and Y axes, hence we found the first and second-order models for each one. We did some further analyses to decide which one would better represent the behavior of the system. The MATLAB software provided step response for the model empirically obtained and latter compared it to experimental data acquired in the trials. Accelerometers and gyro sensors from the MPU-6050 sensor measured the angular position of platform on X and Y axes. In order to improve measurements accuracy and eliminate noise effects, we implemented the complementary filter to the firmware system. We used Arduino to control servomotors through PWM pulses and perform data acquisition.展开更多
This paper studies a three tier ecological food chain model consisting of nutrient,autotroph,and herbivore populations.Regeneration of nutrient from dead autotroph and herbivore biomass bydecomposers present in the so...This paper studies a three tier ecological food chain model consisting of nutrient,autotroph,and herbivore populations.Regeneration of nutrient from dead autotroph and herbivore biomass bydecomposers present in the soil is included.The time required for maturation of the herbivore populationis incorporated as a distributed time delay.Next,the authors introduce the time lag requiredfor regeneration of nutrient from the dead herbivore as a discrete time delay.Stability and bifurcationbehavior of the one-and two-delay models are carried out and a comparative study of the significanceof these delays in controlling the system dynamics is performed.Numerical simulations are done tojustify analytical results.展开更多
文摘This paper demonstrates the assembly of a servo-controlled platform with two degrees of freedom, empirical methods and a developed closed-loop control found in the system mathematical model. This control aims to stabilize and hold small objects on the platform. We parsed the step response in X and Y axes, hence we found the first and second-order models for each one. We did some further analyses to decide which one would better represent the behavior of the system. The MATLAB software provided step response for the model empirically obtained and latter compared it to experimental data acquired in the trials. Accelerometers and gyro sensors from the MPU-6050 sensor measured the angular position of platform on X and Y axes. In order to improve measurements accuracy and eliminate noise effects, we implemented the complementary filter to the firmware system. We used Arduino to control servomotors through PWM pulses and perform data acquisition.
基金supported by the Department of Science and Technology, Ministry of Human Resource Development, Govt. of India under Grant No. SR/S4/MS:296/05
文摘This paper studies a three tier ecological food chain model consisting of nutrient,autotroph,and herbivore populations.Regeneration of nutrient from dead autotroph and herbivore biomass bydecomposers present in the soil is included.The time required for maturation of the herbivore populationis incorporated as a distributed time delay.Next,the authors introduce the time lag requiredfor regeneration of nutrient from the dead herbivore as a discrete time delay.Stability and bifurcationbehavior of the one-and two-delay models are carried out and a comparative study of the significanceof these delays in controlling the system dynamics is performed.Numerical simulations are done tojustify analytical results.
