Comparison of Spider-Robot Information Models

The paper deduces a mathematical model of a spider-robot with six three-link limbs. Many limbs with a multi-link structure greatly complicate the process of synthesizing a model, since in total the robot has twenty-four degrees of freedom, i.e., three coordinates of the center of mass of the body in space, three angles of rotation of the body relative to its center of mass and three degrees of freedom for each limb, to describe the position of the links. The derived mathematical model is based on the Lagrange equations with a further transformation of the equations to the Cauchy normal form in a matrix form. To test the resulting model in a SimInTech environment, an information model is synthesized and two simple experiments ar carried out to simulate the behavior of real spiders: moving forward in a straight line and turning in place at a given angle. The experimental results demonstrate that the synthesized information model can well cope with the tasks and the mathematical model underlying it can be used for further research

A review of constraints and adjustable parameters in microgrids for cost and carbon dioxide emission reduction

In a world grappling with escalating energy demand and pressing environmental concerns, microgrids have risen as a promising solution to bolster energy efficiency, alleviate costs, and mitigate carbon emissions. This article delves into the dynamic realm of microgrids, emphasizing their indispensable role in addressing today's energy needs while navigating the hazards of pollution. Microgrid operations are intricately shaped by a web of constraints, categorized into two essential domains: those inherent to the microgrid itself and those dictated by the external environment. These constraints, stemming from component limitations, environmental factors, and grid connections, exert substantial influence over the microgrid's operational capabilities. Of particular significance is the three-tiered control framework, encompassing primary, secondary, and energy management controls. This framework guarantees the microgrid's optimal function, regulating power quality, frequency, and voltage within predefined parameters. Central to these operations is the energy management control, the third tier, which warrants in-depth exploration. This facet unveils the art of fine-tuning parameters within the microgrid's components, seamlessly connecting them with their surroundings to streamline energy flow and safeguard uninterrupted operation. In essence, this article scrutinizes the intricate interplay between microgrid constraints and energy management parameters, illuminating how the nuanced adjustment of these parameters is instrumental in achieving the dual objectives of cost reduction and Carbon Dioxide emission minimization, thereby shaping a more sustainable and eco-conscious energy landscape. This study investigates microgrid dynamics, focusing on the nuanced interplay between constraints and energy management for cost reduction and Carbon Dioxide minimization. We employ a three-tiered control framework—primary, secondary, and energy management controls—to regulate microgrid function, exploring fine-tuned parameter adjustments for optimal performance

The Mathematical Models of the Operation Process for Critical Production Facilities Using Advanced Technologies

The paper presents data on the problems of monitoring and diagnosing the technical conditions of critical production facilities, such as torpedo ladle cars, steel ladles. The accidents with critical production facilities, such as torpedo ladle cars, lead to losses and different types of damages in the metallurgical industry. The paper substantiates the need for a mathematical study of the operation process of the noted critical production facilities. A Markovian graph has been built that describes the states of torpedo ladle cars during their operation. A mathematical model is presented that allows determining the optimal frequency of diagnostics of torpedo ladle cars, which, in contrast to the existing approaches, take into account the procedures for preventive diagnostics of torpedo ladle cars, without taking them out of service. Dependence of the utilization coefficient on the period of diagnostics of PM350t torpedo ladle cars was developed. The results (of determining the optimal period of diagnostics for PM350t torpedo ladle cars) are demonstrated. The system for automated monitoring and diagnosing the technical conditions of torpedo ladle cars, without taking them out of service, has been developed and described

Mathematical Model of a Robot-spider for Group Control Synthesis: Derivation and Validation

A six-legged spider robot is a complex object from the point of view of the problem of synthesizing a system for controlling its movement. To synthesize an advanced control system for such a robot, which must solve non-trivial problems of overcoming obstacles, functioning under conditions of external disturbances, etc., we first solve the problem of synthesizing an information model of the object, on the basis of which its control system will subsequently be built.The paper compares two methods for synthesizing the information model of a six-legged spider-robot. In the first method, an information model is automatically synthesized from a CAD model of a spider-robot in a MATLAB-based graphical programming environment Simulink. In the second method, the information model is synthesized in the environment of dynamic modeling of technical systems SimInTech on the basis of a system of differential equations in the Cauchy form. Control loops and external influences are added to the information models synthesized in each of the modeling environments. The study showed that each of the resulting models has both its own individual advantages and disadvantages. They are mainly related to taking into account the mutual influence of various blocks of models on each other. It is shown that, in the end, the two models complement each other and make it possible to obtain an advanced basis for further synthesis of the motion control system.The results obtained in this work make it possible to use information models as a basis for the development of a control system for a physical model of a six-legged spider-robot, printed on a 3D printer and assembled on the basis of the Arduino hardware platform

Nonsingular Integral-Type Dynamic Finite-Time Synchronization for Hyper-Chaotic Systems

In this study, the synchronization problem of chaotic systems using integral-type sliding mode control for a category of hyper-chaotic systems is considered. The proposed control method can be used for an extensive range of identical/non-identical master-slave structures. Then, an integral-type dynamic sliding mode control scheme is planned to synchronize the hyper-chaotic systems. Using the Lyapunov stability theorem, the recommended control procedure guarantees that the master-slave hyper-chaotic systems are synchronized in the existence of uncertainty as quickly as possible. Next, in order to prove the new proposed controller, the master-slave synchronization goal is addressed by using a new six-dimensional hyper-chaotic system. It is exposed that the synchronization errors are completely compensated for by the new control scheme which has a better response compared to a similar controller. The analog electronic circuit of the new hyper-chaotic system using MultiSIM is provided. Finally, all simulation results are provided using MATLAB/Simulink software to confirm the success of the planned control method

Nonsingular Integral-Type Dynamic Finite-Time Synchronization for Hyper-Chaotic Systems

In this study, the synchronization problem of chaotic systems using integral-type sliding mode control for a category of hyper-chaotic systems is considered. The proposed control method can be used for an extensive range of identical/non-identical master-slave structures. Then, an integral-type dynamic sliding mode control scheme is planned to synchronize the hyper-chaotic systems. Using the Lyapunov stability theorem, the recommended control procedure guarantees that the master-slave hyper-chaotic systems are synchronized in the existence of uncertainty as quickly as possible. Next, in order to prove the new proposed controller, the master-slave synchronization goal is addressed by using a new six-dimensional hyper-chaotic system. It is exposed that the synchronization errors are completely compensated for by the new control scheme which has a better response compared to a similar controller. The analog electronic circuit of the new hyper-chaotic system using MultiSIM is provided. Finally, all simulation results are provided using MATLAB/Simulink software to confirm the success of the planned control method

Influence of Melt Treatment Parameters on the Characteristics of Modified Cast Iron in the Metallurgical Industry Using Intellectual Analysis Methods

A study of the effect of holding the cast iron melt at temperatures of 1,300, 1,450 and 1,600 °C for 20, 55 and 90 minutes on the structure and properties of cast iron in a liquid state and after crystallization was carried out. The studies were carried out on samples with a diameter of 30 mm; cast iron containing 3.61–3.75 % carbon, 1.9–2.4 % silicon, 0.03 % manganese, 0.081–0.084 % phosphorus, 0.031–0.039 % sulfur was poured into green-sand molds. The samples were cast from the original cast iron (unmodified), modified with ferrosilicon 75 GOST 1415-93 (FS75), rare-earth metals (REM) and together with the REM+FS75 complex. The structure of cast iron was investigated by optical metallography, electron microscopy and X-ray structural analysis. An increase in the holding temperature and time of the cast iron melt leads to an increase in its hardness. An increase in temperature at a short holding time leads to an increase in strength in the entire investigated temperature range (1,300–1,600 °С). Holding for 90 minutes at a temperature of 1,450 °C corresponds to an extremum, after which, with a further increase in temperature, a sharp drop in strength is observed. The change in the toughness of cast iron is characterized in a similar wa

Generalized Type-2 Fuzzy Control for Type-I Diabetes: Analytical Robust System

The insulin injection rate in type-I diabetic patients is a complex control problem. The mathematical dynamics for the insulin/glucose metabolism can be different for various patients who undertake different activities, have different lifestyles, and have other illnesses. In this study, a robust regulation system on the basis of generalized type-2 (GT2) fuzzy-logic systems (FLSs) is designed for the regulation of the blood glucose level. Unlike previous studies, the dynamics of glucose–insulin are unknown under high levels of uncertainty. The insulin-glucose metabolism has been identified online by GT2-FLSs, considering the stability criteria. The learning scheme was designed based on the Lyapunov approach. In other words, the GT2-FLSs are learned using adaptation rules that are concluded from the stability theorem. The effect of the dynamic estimation error and other perturbations, such as patient activeness, were eliminated through the designed adaptive fuzzy compensator. The adaptation laws for control parameters, GT2-FLS rule parameters, and the designed compensator were obtained by using the Lyapunov stability theorem. The feasibility and accuracy of the designed control scheme was examined on a modified Bergman model of some patients under different conditions. The simulation results confirm that the suggested controller has excellent performance under various conditions

Nonsingular Terminal Sliding Mode Control Based on Adaptive Barrier Function for <i>n</i>^th-Order Perturbed Nonlinear Systems

In this study, an adaptive nonsingular finite time control technique based on a barrier function terminal sliding mode controller is proposed for the robust stability of nth-order nonlinear dynamic systems with external disturbances. The barrier function adaptive terminal sliding mode control makes the convergence of tracking errors to a region near zero in the finite time. Moreover, the suggested method does not need the information of upper bounds of perturbations which are commonly applied to the sliding mode control procedure. The Lyapunov stability analysis proves that the errors converge to the determined region. Last of all, simulations and experimental results on a complex new chaotic system with a high Kaplan–Yorke dimension are provided to confirm the efficacy of the planned method. The results demonstrate that the suggested controller has a stronger tracking than the adaptive controller and the results are satisfactory with the application of the controller based on chaotic synchronization on the chaotic system

Position Control of Cable-Driven Robotic Soft Arm Based on Deep Reinforcement Learning

The cable-driven soft arm is mostly made of soft material; it is difficult to control because of the material characteristics, so the traditional robot arm modeling and control methods cannot be directly applied to the soft robot arm. In this paper, we combine the data-driven modeling method with the reinforcement learning control method to realize the position control task of robotic soft arm, the method of control strategy based on deep Q learning. In order to solve slow convergence and unstable effect in the process of simulation and migration when deep reinforcement learning is applied to the actual robot control task, a control strategy learning method is designed, which is based on the experimental data, to establish a simulation environment for control strategy training, and then applied to the real environment. Finally, it is proved by experiment that the method can effectively complete the control of the soft robot arm, which has better robustness than the traditional method