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.

Adaptive Method’s Application for the Identification Systems in Dynamic Weighing

In this work,the possibility of adaptive algorithm in WIM(weight-in-motion)systems,in which fibre optic sensors are used,is shown.Appointment of dynamic weighing device consists in determining the weight and type of vehicle.In this work an algorithm for processing the input data and fiber optic sensor to create the database used in the algorithm is presented.The results of the algorithm for the identification of vehicles are given.The conclusions are made and options of increasing the accuracy of the identification algorithm are considered.

Robust Tracking Control for Self-balancing Mobile Robots Using Disturbance Observer

In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.

Adjusting precipitation measurements from the TRwS204 automatic weighing gauge in the Qilian Mountains, China

With the popularity of the automatic precipitation gauges in national weather stations,testing their performance and adjusting their measurements are top priorities. Additionally,because different climatic conditions may have different effects on the performance of the precipitation gauges, it is also necessary to test the gauges in different areas. This study mainly analyzed precipitation measurements from the single-Altershielded TRwS204 automatic weighing gauge(TRwS_(SA)) relative to the adjusted manual measurements(reference precipitation) from the Chinese standard precipitation gauge in a doublefence wind shield(CSPG_(DF)) in the Hulu watershed in the Qilian Mountains, China. The measurements were compared over the period from August 2014 to July2017, and the transfer function derived from the work by Kochendorfer et al.(2017 a) for correcting windinduced losses was applied to the TRwS_(SA) measurements. The results show that the average loss of TRwS_(SA) measurements relative to the reference precipitation decreased from 0.55 mm(10.7%) to 0.51 mm(9.9%) for rainfall events, from 0.35 mm(8.5%)to 0.22 mm(5.3%) for sleet events, and from 0.49 mm(18.9%) to 0.33 mm(12.7%) for snowfall events after adjustment. The uncorrected large biases of TRwS_(SA) measurements are considered to be mainly caused by specific errors of TRwS_(SA), different gauge orifice area and random errors. These types of errors must be considered when comparing precipitation measurements for different gauge types, especially in the mountains.

Credibility and Security of Weighing System for Large Structure Object

The weighing system designed for large structure object is mainly composed of three parts. The part of hydraulic system is made up of hydraulic cylinders, high pressure hydraulic hoses and electric pumps; the part of computer controlling system comprises pressure sensors, displacement sensors, data acquisitions, RS 485 network and the computer controlling model; the part of loading system is composed of the fulcrum structure and the concrete girder. The measurement principle and composition of the weighing system are discussed in this paper. Credibility and security of the weighing system are fully considered during the design phase. The hydraulic system is controlled by pilot operated check valves in case of the sudden loss of system pressure. The states of all gauges and RS485 network are monitored by computer controlling system functioning in different modules. When the system is running incorrectly, it will be switched to manual mode and give alarm. The finite element method is employed to analyze fulcrum structure so that the system has enough intensity to be lifted. Hence the reliability of the whole system is enhanced.

Adjustment of precipitation measurements using Total Rain weighing Sensor(TRwS)gauges in the cryospheric hydrometeorology observation(CHOICE)system of the Qilian Mountains,Northwest China

Precipitation is one of the most important indicators of climate data,but there are many errors in precipitation measurements due to the influence of climatic conditions,especially those of solid precipitation in alpine mountains and at high latitude areas.The measured amount of precipitation in those areas is frequently less than the actual amount of precipitation.To understand the impact of climatic conditions on precipitation measurements in the mountainous areas of Northwest China and the applicability of different gauges in alpine mountains,we established a cryospheric hydrometeorology observation(CHOICE)system in 2008 in the Qilian Mountains,which consists of six automated observation stations located between 2960 and 4800 m a.s.l.Total Rain weighing Sensor(TRwS)gauges tested in the World Meteorological Organization-Solid Precipitation Intercomparison Experiment(WMO-SPICE)were used at observation stations with the CHOICE system.To study the influence of climatic conditions on different types of precipitation measured by the TRwS gauges,we conducted an intercomparison experiment of precipitation at Hulu-1 station that was one of the stations in the CHOICE system.Moreover,we tested the application of transfer functions recommended by the WMO-SPICE at this station using the measurement data from a TRwS gauge from August 2016 to December 2020 and computed new coefficients for the same transfer functions that were more appropriate for the dataset from Hulu-1 station.The new coefficients were used to correct the precipitation measurements of other stations in the CHOICE system.Results showed that the new parameters fitted to the local dataset had better correction results than the original parameters.The environmental conditions of Hulu-1 station were very different from those of observation stations that provided datasets to create the transfer functions.Thus,root-mean-square error(RMSE)of solid and mixed precipitation corrected by the original parameters increased significantly by the averages of 0.135(353%)and 0.072 mm(111%),respectively.RMSE values of liquid,solid and mixed precipitation measurements corrected by the new parameters decreased by 6%,20% and 13%,respectively.In addition,the new parameters were suitable for correcting precipitation at other five stations in the CHOICE system.The relative precipitation(RP)increment of different types of precipitation increased with rising altitude.The average RP increment value of snowfall at six stations was the highest,reaching 7%,while that of rainfall was the lowest,covering 3%.Our results confirmed that the new parameters could be used to correct precipitation measurements of the CHOICE system.

The Development of Self-Balancing Controller for One-Wheeled Vehicles

The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a tilt and a gyro, for sensing the angle and angular velocity of the body slope, are used to realize self-balancing controls. OWV, a kind of unicycle robot, can be dealt with as a mobile-inverted-pendulum system for its instability. However, for its possible applications in mobile carriers or robots, it is worth being further developed. In this study, first, the OWV system model will be derived. Next, through the simulations based on the mathematical model, the analysis of system stability and controllability can be evaluated. Last, a concise and realizable method, through system pole-placement and linear quadratic regulator (LQR), will be proposed to design the SBC. The effectiveness, reliability, and feasibility of the proposal will be con- firmed through simulation studies and experimenting on a physical OWV.

A New Correction Method of Electronic-weighing System for Blast Furnace

In the injection of pulverized coal into a blast furnace, there are some factors which affect the readout of electronic weighing system. Through analyzing the measuring errors, it is found that the main reasons are pressure fluctuations of storage tank and puffing tank. According to the interaction of pressures, a neural network based method combined with fuzzy logic is adopted to enhance the precision. Experimental results show this method is satisfactory.

Some Construction Methods of A-Optimum Chemical Balance Weighing Designs

Some new construction methods of the optimum chemical balance weighing designs and pairwise efficiency and variance balanced designs are proposed, which are based on the incidence matrices of the known symmetric balanced incomplete block designs. Also the conditions under which the constructed chemical balance weighing designs become A-optimal are also been given.

Research on Self-balancing Two Wheels Mobile Robot Control System Analysis

The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to carry the sensitive things without failing in a long span period.The main objective of this study is to focus on the mathematical modelling of mobile robot from laboratory scale to real world applications.The numerical expression with mathematical modelling is very important to control the mobile robot system with linearization.The fundamental concepts of dynamic system stability were utilized for maintaining the stability of the constructed mobile robot system.The controller design is also important for checking the stability and the appropriate controller design is proportional,integral,and derivative-PID controller and Linear Quadratic Regulator(LQR).The steady state error could be reduced by using such kind of PID controller.The simulation of numerical expression on mathematical modeling was conducted in MATLAB environments.The confirmation results from the simulation techniques were applied to construct the hardware design of mobile robot system for practical study.The results from simulation approaches and experimental approaches are matched in various kinds of analyses.The constructed mobile robot system was designed and analyzed in the control system design laboratory of Yangon Technological University(YTU).

Some Construction Methods of Optimum Chemical Balance Weighing Designs III

Methods of constructing the optimum chemical balance weighing designs from symmetric balanced incomplete block designs are proposed with illustration. As a by-product pairwise efficiency and variance balanced designs are also obtained.

A Comparison of Weighing Methods Prior to Fusion Preparing Iron Samples for XRF Analysis

Sample preparation by fusion for XRF analysis is all about knowing the exact weights of the sample and the flux (sample-to-flux ratio). The whole analytical chain, including the weighing step in sample preparation prior to fusion, is of crucial importance to get precise and accurate x-ray fluorescence (XRF) results. Consequently, the weighing method will affect the quality of the analytical results given by the spectrometer. In this study, the effects of different weighing methods on the precision (RSD) of the obtained XRF results are compared to determine the best weighing method for sample preparation by fusion in terms of comparable precisions in the XRF results.

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.

Weighing axle weight of moving vehicle based on empirical mode decomposition

Dynanfic forces are the main factor that influences the axle weight measurement accuracy of moving vehicle. Empirical mode decomposition （EMD） is presented to separate the dynamic forces contained in the axle weight signal. The concept and algorithm of EMD are introduced. The characteristic of the axle weight signal is analyzed. The method of judging pseudo intrinsic mode function （pseudo-IMF） is presented to improve the weighing accuracy. Numerical simulation and field experiments are conducted to evaluate the performance of EMD. The result shows effectiveness of the proposed method. Maximum weighing errors of the front axle, the rear axle and the gross weight at the speed of 15 km/h or lower are 2.22%, 6.26% and 4.11% respectively.

有机盐weigh3钻井液抗高温稳定性研究

有机盐weigh3是碱金属多元有机酸盐、有机酸铵、有机酸季铵的复合盐,该有机盐能有效提高钻井液处理剂的抗高温能力。钻井液处理剂在有机盐weigh3溶液中的热降解温度,随其浓度的增加而显著增高。实验结果表明:低粘聚阴离子纤维素(PAC-LV)在密度为1.40 g/cm3的有机盐中抗温能力可达到190℃,比清水中提高近50℃;XC在密度为1.40 g/cm3的有机盐溶液中抗温能力可达到180℃,同样比清水中提高近50℃。

S13Cr110马氏体不锈钢油管在高温高压Weigh4完井液中的应力腐蚀开裂性能

采用C环试验,研究了S13Cr110马氏体不锈钢油管在高温高压Weigh4完井液中的应力腐蚀开裂(SCC)性能。结果表明:S13Cr110油管在高pH的Weigh4完井液中存在一定的SCC风险,少量泥浆的存在会增强S13Cr110油管的应力腐蚀敏感性。在含O2且混有少量泥浆的Weigh4完井液中,S13CR110油管会发生应力腐蚀开裂。

An attribute recognition model based on entropy weight for evaluating the quality of groundwater sources

In our study, entropy weight coefficients, based on Shannon entropy, were determined for an attribute recognition model to model the quality of groundwater sources. The model follows the theory previously proposed by Chen Q S. In the model, firstly, the author establishes the attribute space matrix and determines the weight based on Shannon entropy theory; secondly, calculates attribute measure; thirdly, evaluates that with confidence criterion and score criterion; finally, an application example is given. The results show that the water quality of the groundwater sources for the city comes up to the grade II or III standard. There is no pollution that obviously exceeds the standard and the water can meet people’s needs .The results from an evaluation of this model are in basic agreement with the observed situation and with a set pair analysis (SPA) model.

Conversion factor analysis of self-balanced loading test of cast-in-situ piles based on analogue test method

Based on the characteristics of pile-soil interaction and the Mohr-Coulomb strength theory,a new method of determining the side friction at a pile-soil interaction is proposed.Combined with the actual engineering cases,the effectiveness of the analogue test method is verified by comparing it with the traditional anchor pile method and self-balanced method.Taking the self-balanced test of the bridge pile foundation in the Songhua River as an example,the conversion factor of sandy soil and weathered mudstone are confirmed by the analogue test method.The results show that the conversion factor of sandy soil and weathered mudstone in the Songhua River area should consider the geological conditions and the construction technology,etc.The standard values are relatively conservative.It is suggested that the engineering application should be properly revised.The recommended range of the conversion factor of sandy soil in this area is 0.65 to 0.85,and that of weathered mudstone is 1.0.

ASYMPTOTICS FOR POSITIVE SOLUTIONS OF THE WEIGHTED LAPLACE EQUATIONS INVOLVINGCRITICAL GROWTH

A general weighted second order elliptic equation involving critical growth is considered on bounded smooth. domain in n-dimension space. There is the singular point for the weighted coefficients in the domain. With generalized blow up method, some results are obtained for asymptotic behavior of positive solutions. This problem includes Laplacian operators as special cases.

Multi-slots Wideband Cooperative Spectrum Sensing Based on Weighed Data Fusion in Cognitive Radio

In order to avoid the interference to the primary user(PU), in this paper Cognitive Radio (CR) periodically senses the presence of PU, and during one period, CR can sense all the sub-channels based on weighed data fusion and then use all the idle channels decided by the coordinator. The local sensing time of CR is divided into multi-slots in which CR can sense any sub-channel. Through reasonably allocating the sensing slots and users by mathematic optimization, the proposed algorithm can improve the total throughput of CR. The optimization problem of the proposed scheme which seeks to maximize the throughput subject to the constraint of the detected performance of each sub-channel is proposed in order to choose the optimum local sense time and the number of the cooperative CRs. The simulation results indicate that the proposed scheme can obtain higher throughput than the conventional single-channel sense, and there are the optimum local sense time and the number of cooperative CRs to make the throughput reach maximum.