Identification of Dynamics of Movement of the Differential Mobile Robotic Platform Controlled by Fuzzy Controller

Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the peripheral velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R2. The equations for calculating peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model

Experimental Measurement of a UAV Propeller\u27s Thrust

At present, there are several types of propellers in the field of the use of Unmanned Aerial Vehicles (UAVs) with unknown parameters, where it is necessary to provide information about their thrust, current consumption and maximal rotational speed (RPM). Commonly used methods for measurement of a propeller\u27s thrust are mostly based on the usage of a single purpose system, on short measurements without data storage or on inaccurate sensors. The goal of this article is to develop a universal experimental measuring system for more accurate measurement of propeller\u27s parameters (thrust, current consumption, maximal RPM). For more accurate measurement, the battery voltage, temperature and humidity of the environment were also measured. To acquire, measure and store the data safely on a micro SD card, a processing circuit based on an ATmega2560 microcontroller was developed. This innovative approach allowed to analyse the behaviour of the propeller and to measure the dependencies of the RPM on pulse width, of the current on RPM and of the thrust on RPM at different input conditions. The measurements have shown that the dependencies can be approximated by cubic functions. The mathematical description allows predicting the behaviour of the propeller in unmeasurable conditions

Growth Response of Norway Spruce (<i>Picea abies</i> [L.] Karst.) in Central Bohemia (Czech Republic) to Climate Change

Norway spruce (Picea abies (L.) Karst.) is a significant conifer tree species in Europe that holds significant economic and ecological value. However, it remains one of the most sensitive to climate change. This study describes the climate–growth relationship, focusing on dendroecology in hilly spruce forests (319–425 m a.s.l.) located in Bohemia, the Czech Republic, during 1950–2018. The results confirmed that the highest radial increment was obtained in locations with higher precipitation (Kostelec), while the lowest growth was observed in locations with lower precipitation (Karlstejn). Tree-ring growth shows very low increments for the years 1964 and 1976 for all plots, and the years with the least growth were confirmed by the negative pointer year analysis. This study confirmed precipitation as the main factor that affects the growth of spruce at lower altitudes. The radial growth for all study sites shows a statistically significant positive correlation with precipitation during the growing season, while no statistically significant values between radial growth and temperature were obtained. This study demonstrates that Norway spruce is affected more by precipitation than temperature, and the results indicate that this conifer is seriously affected by the lack of precipitation at lower altitudes in the Czech Republic, where the species is not native

Delta Cell Hyperplasia in Adult Goto-Kakizaki (GK/MolTac) Diabetic Rats

Reduced beta cell mass in pancreatic islets (PI) of Goto-Kakizaki (GK) rats is frequently observed in this diabetic model, but knowledge on delta cells is scarce. Aiming to compare delta cell physiology/pathology of GK to Wistar rats, we found that delta cell number increased over time as did somatostatin mRNA and delta cells distribution in PI is different in GK rats. Subtle changes in 6-week-old GK rats were found. With maturation and aging of GK rats, disturbed cytoarchitecture occurred with irregular beta cells accompanied by delta cell hyperplasia and loss of pancreatic polypeptide (PPY) positivity. Unlike the constant glucose-stimulation index for insulin PI release in Wistar rats, this index declined with GK age, whereas for somatostatin it increased with age. A decrease of GK rat PPY serum levels was found. GK rat body weight decreased with increasing hyperglycemia. Somatostatin analog octreotide completely blocked insulin secretion, impaired proliferation at low autocrine insulin, and decreased PPY secretion and mitochondrial DNA in INS-1E cells. In conclusion, in GK rats PI, significant local delta cell hyperplasia and suspected paracrine effect of somatostatin diminish beta cell viability and contribute to the deterioration of beta cell mass. Altered PPY-secreting cells distribution amends another component of GK PI’s pathophysiology