Pub Date : 2024-07-25DOI: 10.1177/00202940241235752
Ensieh Khorramian, Mohsen Rostamy-Malkhalifeh, A. Shahvarani
Mathematics is one of the important subjects of a student at various stages. From the past to present, hearing the name of mathematics has been accompanied by fear and anxiety for a significant group of students. Quality of mathematics education is a complex and multifaceted concept, and various authors with different viewpoints have proposed methods regarding the quality. Decision making in the selection of the teaching method is one of the pillars of a teacher and applying proper methods which are appropriate to the educational environment has an effective role in the success of education and reduction of students’ anxiety. In this research, with the help of Network Data Envelopment Analysis (NDEA) and Sexton’s method, we are going to rank several different teaching methods to reduce the math anxiety of second year elementary school students. Several methods were implemented in the classrooms and after that the results were evaluated using the above method and it was found that the game method has the highest rank and based on this research, it will be tried to implement this method in the classroom. Lessons should be used to reduce students’ math anxiety. In this article, we delve into the study of practical scenarios and conditions that may make the utilization of these methods more effective in mathematics education. Additionally, we offer recommendations to teachers and individuals involved in math instruction to maximize the benefits of mathematical education and reduce math anxiety.
{"title":"Investigating math education in reducing math anxiety with the help of Data Envelopment Analysis","authors":"Ensieh Khorramian, Mohsen Rostamy-Malkhalifeh, A. Shahvarani","doi":"10.1177/00202940241235752","DOIUrl":"https://doi.org/10.1177/00202940241235752","url":null,"abstract":"Mathematics is one of the important subjects of a student at various stages. From the past to present, hearing the name of mathematics has been accompanied by fear and anxiety for a significant group of students. Quality of mathematics education is a complex and multifaceted concept, and various authors with different viewpoints have proposed methods regarding the quality. Decision making in the selection of the teaching method is one of the pillars of a teacher and applying proper methods which are appropriate to the educational environment has an effective role in the success of education and reduction of students’ anxiety. In this research, with the help of Network Data Envelopment Analysis (NDEA) and Sexton’s method, we are going to rank several different teaching methods to reduce the math anxiety of second year elementary school students. Several methods were implemented in the classrooms and after that the results were evaluated using the above method and it was found that the game method has the highest rank and based on this research, it will be tried to implement this method in the classroom. Lessons should be used to reduce students’ math anxiety. In this article, we delve into the study of practical scenarios and conditions that may make the utilization of these methods more effective in mathematics education. Additionally, we offer recommendations to teachers and individuals involved in math instruction to maximize the benefits of mathematical education and reduce math anxiety.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"58 17","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141804971","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-24DOI: 10.1177/00202940241259907
Achille Germain Feumo, Jean Francois Wounba, André Talla, Gervis Roméo Tueguem S
The objective of this study was to develop an optimal control approach by numerical calculus to predict how to reduce the overall uncertainty of survey instruments unable to directly measure inaccessible points. To reach our goal, two approaches were used to attain the objective. The first was inspired by mathematical models related to three methods appropriately selected and contained in Zhuo’s work proposed in 2012. These were Remote Elevation Measurement (REM), Remote Elevation Dual Measurement (REDM), and Front-to-Back Measurement (FBM) methods whose uncertainties on the measurements of points were deduced using error propagation equations. Optimal control technique helps us to show that for the REM, the height h of the prism contributed more than 70% compared to the global uncertainty for ranges [Formula: see text] from the prism. For the REDM, when the distance between two consecutive stations increases, the weight of the contribution of the two zenith angles [Formula: see text] and [Formula: see text] tends to 50% each for [Formula: see text] close to [Formula: see text], which is to be avoided. For the FBM, the weight of the contribution during the front measurement process before is negligible. The second approach used the Swedish regulation of SIS-TS 21143:2009 which classified total stations according to types of uncertainty to compare the results given by the total station of class T3 unable to directly measure inaccessible points with the more sophisticated class T1 station with direct measurements. Thus, for small spans at the rear measurements [Formula: see text], the height [Formula: see text] of the front prism has the greatest relative contribution more than 90% for zenithal differences [Formula: see text]. This results of our analysis were convincing and provided designers with the data to minimize the overall uncertainties essential in the conception of total stations.
本研究的目的是通过数值微积分开发一种优化控制方法，以预测如何减少无法直接测量无法进入点的测量仪器的总体不确定性。为实现目标，我们采用了两种方法。第一种方法的灵感来自于与三种方法相关的数学模型，这三种方法被适当地选择并包含在卓文君于 2012 年提出的工作中。这三种方法分别是远程高程测量法（REM）、远程高程双测量法（REDM）和前后测量法（FBM），其点测量的不确定性是通过误差传播方程推导出来的。优化控制技术帮助我们表明，对于 REM，棱镜高度 h 对棱镜测距[公式：见正文]的全局不确定性的影响超过 70%。对于 REDM，当两个连续站点之间的距离增加时，两个天顶角[公式：见正文]和[公式：见正文]的贡献权重在[公式：见正文]接近[公式：见正文]时趋于各占 50%，这是需要避免的。对于 FBM 来说，前方测量过程中的贡献权重可以忽略不计。第二种方法采用瑞典 SIS-TS 21143:2009 法规，该法规根据不确定性类型对全站仪进行分类，将无法直接测量无法进入点的 T3 级全站仪的结果与可直接测量的更复杂的 T1 级全站仪的结果进行比较。因此，对于后方测量的小跨度[计算公式：见正文]，前棱镜高度[计算公式：见正文]对天顶差[计算公式：见正文]的相对贡献最大，超过 90%。我们的分析结果令人信服，并为设计人员提供了数据，以最大限度地减少全站仪概念中必不可少的总体不确定性。
{"title":"Optimal control technique applied to the minimization of uncertainty measurements in surveying instruments","authors":"Achille Germain Feumo, Jean Francois Wounba, André Talla, Gervis Roméo Tueguem S","doi":"10.1177/00202940241259907","DOIUrl":"https://doi.org/10.1177/00202940241259907","url":null,"abstract":"The objective of this study was to develop an optimal control approach by numerical calculus to predict how to reduce the overall uncertainty of survey instruments unable to directly measure inaccessible points. To reach our goal, two approaches were used to attain the objective. The first was inspired by mathematical models related to three methods appropriately selected and contained in Zhuo’s work proposed in 2012. These were Remote Elevation Measurement (REM), Remote Elevation Dual Measurement (REDM), and Front-to-Back Measurement (FBM) methods whose uncertainties on the measurements of points were deduced using error propagation equations. Optimal control technique helps us to show that for the REM, the height h of the prism contributed more than 70% compared to the global uncertainty for ranges [Formula: see text] from the prism. For the REDM, when the distance between two consecutive stations increases, the weight of the contribution of the two zenith angles [Formula: see text] and [Formula: see text] tends to 50% each for [Formula: see text] close to [Formula: see text], which is to be avoided. For the FBM, the weight of the contribution during the front measurement process before is negligible. The second approach used the Swedish regulation of SIS-TS 21143:2009 which classified total stations according to types of uncertainty to compare the results given by the total station of class T3 unable to directly measure inaccessible points with the more sophisticated class T1 station with direct measurements. Thus, for small spans at the rear measurements [Formula: see text], the height [Formula: see text] of the front prism has the greatest relative contribution more than 90% for zenithal differences [Formula: see text]. This results of our analysis were convincing and provided designers with the data to minimize the overall uncertainties essential in the conception of total stations.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"22 23","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141806076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-24DOI: 10.1177/00202940241259903
Xueyuan Song, Xuan Liang, Huaidong Zhou
With the continuous development of robotics and computer vision technology, mobile robots have been widely applied in various fields. In this process, semantic maps for robots have attracted considerable attention because they provide a comprehensive and anthropomorphic representation of the environment. On the one hand, semantic maps are a tool for robots to depict the environment, which can enhance the robot’s cognitive expression of space and build the communication bond between robots and humans. On the other hand, semantic maps contain spatial location and semantic properties of entities, which helps robots realize intelligent decision-making in human-centered indoor environments. In this paper, we review the primary approaches of semantic mapping proposed over the last few decades, and group them according to the type of information used to extract semantics. First, we give a formal definition of semantic map and describe the techniques of semantic extraction. Then, the characteristics of different solutions are comprehensively analyzed from different perspectives. Finally, the open issues and future trends regarding semantic maps are discussed in detail. We wish this review provides a comprehensive reference for researchers to drive future research in related field.
{"title":"Semantic mapping techniques for indoor mobile robots: Review and prospect","authors":"Xueyuan Song, Xuan Liang, Huaidong Zhou","doi":"10.1177/00202940241259903","DOIUrl":"https://doi.org/10.1177/00202940241259903","url":null,"abstract":"With the continuous development of robotics and computer vision technology, mobile robots have been widely applied in various fields. In this process, semantic maps for robots have attracted considerable attention because they provide a comprehensive and anthropomorphic representation of the environment. On the one hand, semantic maps are a tool for robots to depict the environment, which can enhance the robot’s cognitive expression of space and build the communication bond between robots and humans. On the other hand, semantic maps contain spatial location and semantic properties of entities, which helps robots realize intelligent decision-making in human-centered indoor environments. In this paper, we review the primary approaches of semantic mapping proposed over the last few decades, and group them according to the type of information used to extract semantics. First, we give a formal definition of semantic map and describe the techniques of semantic extraction. Then, the characteristics of different solutions are comprehensively analyzed from different perspectives. Finally, the open issues and future trends regarding semantic maps are discussed in detail. We wish this review provides a comprehensive reference for researchers to drive future research in related field.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"18 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141809225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The motion control library is a standard set of functional blocks integrated in a programmable integration environment, which is of great significance for the rapid development of reconfigurable Programmable Automation Controllers (PAC). However, due to the encapsulation and concealment of function blocks and the incompatibility between software and hardware, the development efficiency of function blocks is low, which is not conducive to the development of autonomous, controllable PAC. Aiming at the above problems, the methods of function block opening and key technology are studied, and a kind of motion control function library architecture and rapid development method based on the PLCopen specification are proposed. A series of motion control function libraries are developed on domestic PLC software. An experimental platform based on domestic hardware and software was designed to verify the typical motion control function library. Experimental results show that this method can effectively shorten the development cycle and that the developed motion control module can meet the actual control needs.
{"title":"Development of motion control function library based on PLCopen specification","authors":"Jichun Wu, Yongda Yang, Wenliang Zhu, Mubang Xiao, Lianchao Zhang, Dapeng Fan","doi":"10.1177/00202940241256835","DOIUrl":"https://doi.org/10.1177/00202940241256835","url":null,"abstract":"The motion control library is a standard set of functional blocks integrated in a programmable integration environment, which is of great significance for the rapid development of reconfigurable Programmable Automation Controllers (PAC). However, due to the encapsulation and concealment of function blocks and the incompatibility between software and hardware, the development efficiency of function blocks is low, which is not conducive to the development of autonomous, controllable PAC. Aiming at the above problems, the methods of function block opening and key technology are studied, and a kind of motion control function library architecture and rapid development method based on the PLCopen specification are proposed. A series of motion control function libraries are developed on domestic PLC software. An experimental platform based on domestic hardware and software was designed to verify the typical motion control function library. Experimental results show that this method can effectively shorten the development cycle and that the developed motion control module can meet the actual control needs.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"20 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141808898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-24DOI: 10.1177/00202940241263454
Kai Hu, Wenyi Zhang, Bin Qi, Yao Ji
The tillage depth (TD) serves as a pivotal criterion for assessing the operational excellence of rotary tillers, yet the current TD control methods are plagued by a myriad of issues including subpar precision and sluggish responsiveness. The present study aimed to develop a high-precision TD monitoring model that incorporates the tilting attitude of the tractor, and investigate the impact of tractor attitude inclination and lifting hydraulic cylinder stroke on TD. The TD stability control system based on electro-hydraulic control was developed, and the model identification method was adopted to derive the accurate control function. The fuzzy adaptive PID (FAPID) method was adopted to effectively improve the response speed and resisting disturbance capacity of the electro-hydraulic system. Then the co-simulation model of the electro-hydraulic control system was constructed. Under the excitation of step and sine functions, the FAPID control algorithm can reduce the rise time by more than 50%, and the displacement tracking error is also effectively reduced. To verify its effectiveness, the experimental platform was constructed, and then field test trials of TD were conducted. The test results indicate that, under various operational conditions, the developed TD control device can effectively reduce the standard deviation of TD by 0.302–0.464 and decrease the variation coefficient of TD by 2.47%–2.92%. The online monitoring and precise control device of TD investigated in this paper can effectively improve the quality of tillage machinery.
{"title":"Tillage depth dynamic monitoring and precise control system","authors":"Kai Hu, Wenyi Zhang, Bin Qi, Yao Ji","doi":"10.1177/00202940241263454","DOIUrl":"https://doi.org/10.1177/00202940241263454","url":null,"abstract":"The tillage depth (TD) serves as a pivotal criterion for assessing the operational excellence of rotary tillers, yet the current TD control methods are plagued by a myriad of issues including subpar precision and sluggish responsiveness. The present study aimed to develop a high-precision TD monitoring model that incorporates the tilting attitude of the tractor, and investigate the impact of tractor attitude inclination and lifting hydraulic cylinder stroke on TD. The TD stability control system based on electro-hydraulic control was developed, and the model identification method was adopted to derive the accurate control function. The fuzzy adaptive PID (FAPID) method was adopted to effectively improve the response speed and resisting disturbance capacity of the electro-hydraulic system. Then the co-simulation model of the electro-hydraulic control system was constructed. Under the excitation of step and sine functions, the FAPID control algorithm can reduce the rise time by more than 50%, and the displacement tracking error is also effectively reduced. To verify its effectiveness, the experimental platform was constructed, and then field test trials of TD were conducted. The test results indicate that, under various operational conditions, the developed TD control device can effectively reduce the standard deviation of TD by 0.302–0.464 and decrease the variation coefficient of TD by 2.47%–2.92%. The online monitoring and precise control device of TD investigated in this paper can effectively improve the quality of tillage machinery.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"10 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141809008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-24DOI: 10.1177/00202940241245035
Yuchen Zhu
Due to the significant characteristics of decentralization and tamper resistance of blockchain technology, it helps to solve the problems of timeliness and slow permission control in traditional information sharing. However, most researchers are committed to exploring how to improve the efficiency, reliability, and privacy security of digital twin data. There is a lack of research on issues such as blockchain participants free-riding and not actively participating in information sharing, and how to promote information sharing through incentives. Therefore, this paper designs a distance grouping based practical byzantine fault tolerance consensus algorithm to address the credibility issue of transmitted data, thereby improving the efficiency of negotiation. The feasibility of the algorithm is verified through cases analysis. In addition, for the problem of low subjective willingness of information sharing, this paper designs an information sharing incentive strategy based on blockchain intelligent contracts, establishes digital twin data sharing evolutionary game models with reputation incentives and non-reputation incentives, so as to explore the impact of reputation incentive on evolutionary stability strategies. Finally, simulation analysis is conducted on the evolutionary game model of digital twin data sharing. The impact of several key indicators such as data complementarity, trust, positive incentive coefficient, and data sharing cost on the evolution process of information sharing are considered, and corresponding management insights are obtained.
{"title":"Research on evolutionary game of digital twin data information sharing based on blockchain technology","authors":"Yuchen Zhu","doi":"10.1177/00202940241245035","DOIUrl":"https://doi.org/10.1177/00202940241245035","url":null,"abstract":"Due to the significant characteristics of decentralization and tamper resistance of blockchain technology, it helps to solve the problems of timeliness and slow permission control in traditional information sharing. However, most researchers are committed to exploring how to improve the efficiency, reliability, and privacy security of digital twin data. There is a lack of research on issues such as blockchain participants free-riding and not actively participating in information sharing, and how to promote information sharing through incentives. Therefore, this paper designs a distance grouping based practical byzantine fault tolerance consensus algorithm to address the credibility issue of transmitted data, thereby improving the efficiency of negotiation. The feasibility of the algorithm is verified through cases analysis. In addition, for the problem of low subjective willingness of information sharing, this paper designs an information sharing incentive strategy based on blockchain intelligent contracts, establishes digital twin data sharing evolutionary game models with reputation incentives and non-reputation incentives, so as to explore the impact of reputation incentive on evolutionary stability strategies. Finally, simulation analysis is conducted on the evolutionary game model of digital twin data sharing. The impact of several key indicators such as data complementarity, trust, positive incentive coefficient, and data sharing cost on the evolution process of information sharing are considered, and corresponding management insights are obtained.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"54 20","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140664649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-23DOI: 10.1177/00202940241247657
Xiaobo Cui, Pan Xu, Hui Gu, Liang Wang, Xiaohe Xiong, Houzhang Tan
Gas turbines play a core role in clean energy supply and construction of comprehensive energy system, and the control performance of primary frequency modulation (PFM) of gas turbine has a great impact on the frequency control of the power grid. However, there are some control difficulties in the PFM control of gas turbines, such as the coupling effect of fuel control loop and speed control loop, slow tracking speed and large variation of operating conditions. To relieve the above difficulties, a control strategy based on the fuzzy-modified active disturbance rejection control (F-MADRC) proposed in this paper. Based on the analyses of the parameter stability region for active disturbance rejection control (ADRC), fuzzy tuning rules of parameters for F-MADRC are designed. Finally, the proposed F-MADRC is applied to the PFM system of MS6001B heavy-duty gas turbine. The simulation results show that the gas turbine unit with the proposed method can obtain the best control performance of the PFM with strong ability to deal with system uncertainties. The proposed method shows good engineering application potential.
{"title":"The primary frequency modulation control strategy based on fuzzy active disturbance rejection control for gas turbines","authors":"Xiaobo Cui, Pan Xu, Hui Gu, Liang Wang, Xiaohe Xiong, Houzhang Tan","doi":"10.1177/00202940241247657","DOIUrl":"https://doi.org/10.1177/00202940241247657","url":null,"abstract":"Gas turbines play a core role in clean energy supply and construction of comprehensive energy system, and the control performance of primary frequency modulation (PFM) of gas turbine has a great impact on the frequency control of the power grid. However, there are some control difficulties in the PFM control of gas turbines, such as the coupling effect of fuel control loop and speed control loop, slow tracking speed and large variation of operating conditions. To relieve the above difficulties, a control strategy based on the fuzzy-modified active disturbance rejection control (F-MADRC) proposed in this paper. Based on the analyses of the parameter stability region for active disturbance rejection control (ADRC), fuzzy tuning rules of parameters for F-MADRC are designed. Finally, the proposed F-MADRC is applied to the PFM system of MS6001B heavy-duty gas turbine. The simulation results show that the gas turbine unit with the proposed method can obtain the best control performance of the PFM with strong ability to deal with system uncertainties. The proposed method shows good engineering application potential.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"25 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140671143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-23DOI: 10.1177/00202940241238918
Zhenyu Qian, Yuanshuai Dong, Yun-Xuan Hou, Hong Zhang, Shuangwen Fan, Hang Zhong
This paper proposes a new geometric control method for homography-based visual servo control of Underactuated UAVs. In order to solve the application difficulties of geometric control in HBVS and explore a visual servo control technology that can be applied to aerial detection operations, this paper integrates the geometric control into the visual servoing framework and design a new homography-based geometric visual servoing controller. The outer loop is used as feedback information using the virtual homography matrix between the two images. The inner loop controls the orientation of the UAVs through geometric control. The stability of the proposed controller is proved based on Lyapunov’s theory. The proposed method has better transient performance and dynamic performance than the conventional visual servo method. The excellent performance of the controller has been proven by a large number of experiments. In addition, the application of the controller on an unmanned aerial manipulator is demonstrated.
{"title":"A geometric approach for homography-based visual servo control of underactuated UAVs","authors":"Zhenyu Qian, Yuanshuai Dong, Yun-Xuan Hou, Hong Zhang, Shuangwen Fan, Hang Zhong","doi":"10.1177/00202940241238918","DOIUrl":"https://doi.org/10.1177/00202940241238918","url":null,"abstract":"This paper proposes a new geometric control method for homography-based visual servo control of Underactuated UAVs. In order to solve the application difficulties of geometric control in HBVS and explore a visual servo control technology that can be applied to aerial detection operations, this paper integrates the geometric control into the visual servoing framework and design a new homography-based geometric visual servoing controller. The outer loop is used as feedback information using the virtual homography matrix between the two images. The inner loop controls the orientation of the UAVs through geometric control. The stability of the proposed controller is proved based on Lyapunov’s theory. The proposed method has better transient performance and dynamic performance than the conventional visual servo method. The excellent performance of the controller has been proven by a large number of experiments. In addition, the application of the controller on an unmanned aerial manipulator is demonstrated.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"17 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140666240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-22DOI: 10.1177/00202940241229303
Asghar Ashrafifar, Mohsen Fathi Jegarkandi
The probability of actuator lock, control surface damage, and thermal insulation failure on supersonic aircraft due to high speed and temperature is significant. Additionally, foldable fins are often used in missiles to increase the number of missiles that can be loaded onto a launcher and facilitate transportation, but this design presents the potential for malfunction and failure to open during flight. This study focuses on scenarios where control surfaces do not open or are partially damaged, leading to asymmetries and changes in the vehicle’s dynamics and aerodynamic model. The aim is to detect such failures and design a control system that can withstand these issues. To achieve this, the paper proposes an equivalent aerodynamic model representing the vehicle’s dynamics. The health of each fin is monitored using a nonlinear filter to estimate a parameter. Using separation theory, the dynamic system is divided into fast and slow subsystems, and a control signal for the faulty dynamics is designed based on back-stepping theory principles. Furthermore, the control allocation method is modified to accommodate the condition of the fins and generate the desired control moment. The proposed technique can quickly detect and isolate fin failures within seconds, while the designed controller effectively compensates for these failures.
{"title":"Fin failure tolerant control of agile air vehicle using feedback linearization","authors":"Asghar Ashrafifar, Mohsen Fathi Jegarkandi","doi":"10.1177/00202940241229303","DOIUrl":"https://doi.org/10.1177/00202940241229303","url":null,"abstract":"The probability of actuator lock, control surface damage, and thermal insulation failure on supersonic aircraft due to high speed and temperature is significant. Additionally, foldable fins are often used in missiles to increase the number of missiles that can be loaded onto a launcher and facilitate transportation, but this design presents the potential for malfunction and failure to open during flight. This study focuses on scenarios where control surfaces do not open or are partially damaged, leading to asymmetries and changes in the vehicle’s dynamics and aerodynamic model. The aim is to detect such failures and design a control system that can withstand these issues. To achieve this, the paper proposes an equivalent aerodynamic model representing the vehicle’s dynamics. The health of each fin is monitored using a nonlinear filter to estimate a parameter. Using separation theory, the dynamic system is divided into fast and slow subsystems, and a control signal for the faulty dynamics is designed based on back-stepping theory principles. Furthermore, the control allocation method is modified to accommodate the condition of the fins and generate the desired control moment. The proposed technique can quickly detect and isolate fin failures within seconds, while the designed controller effectively compensates for these failures.","PeriodicalId":510299,"journal":{"name":"Measurement and Control","volume":"16 18","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140674774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-22DOI: 10.1177/00202940241241407
Min Jiang, Xinjiang Lu, Hongyun Wu, Binzheng Chen
Efficient mineral hydraulic collection is a key issue in the mining of deep-sea minerals, where the collection efficiency is related to the lifted fluid velocity and the mineral particle velocity. In this paper, a robust control contraction metric (RCCM)-based tube model predictive control (Tube-MPC) for efficient mineral hydraulic collection is proposed. Firstly, a simplified control model is designed with empirical formula of hydrodynamic forces to avoid the computational burden in solution of the fluid equations. Secondly, a nonlinear programing problem (NLP) for efficiency optimization is formulated to calculate the nominal control law and the optimal state. To address external disturbance and model mismatch from the simplified model, a robust control contraction metric is utilized to calculate the feedback control law to track the optimal state. Finally, numerical simulations and experiments are conducted to verify the mineral hydraulic collection performance of the control strategy.
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