Browsing by Author "Zhmud, Vadim"
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- ItemAdvantages and Problems of Developing Unmanned One-Wheel Balancing Robots(Institute of Electrical and Electronics Engineers Inc., 2019) Zhmud, Vadim; Ivoilov, Andrei; Dimitrov, Lubomir; Roth, Hubert; Nosek, Jaroslav; Hardt, Wolfram; Trubin, Vitaly G.Currently, there is an intensive development of various variants of balancing robots, one-wheeled and two-wheeled ones. Two classes of two-wheeled robots can be distinguished: a) as on a Segway; b) as on a bicycle and a motorcycle. Both of these options are structurally unstable systems. Such structures without the use of an effective system of maintaining balance are fundamentally unstable, in the de-energized state they overturn. The equilibrium can be provided by a system with negative feedback. The development of a one-wheeled balancing robot in the version with an existing pilot has already been decided in practice, but driving such a vehicle requires a pilot with certain skills to ride it. In the unmanned version, all actions performed by the pilot must be replaced by an electromechanical system, which, firstly, provides an imbalance in order to set the direction and speed of movement through the system, which maintains this balance due to the rotation of the wheel, secondly, ensures the maintenance of equilibrium in the direction of the axis of this single wheel; thirdly, it forms the necessary effects for turning. Electromechanical propulsion can be a flywheel, a pendulum; one can also use a fan. At high speeds, it is also possible to use aerodynamic forces, for example, wings, but such a solution at the present stage of the development of technology should rather be considered exotic. However, a robot that is almost an aircraft due to lift from fans, wings or an air cushion may be the ideal solution for high-speed movements on a relatively flat surface. In this case, a purely symbolic touch of the ground, perhaps even interrupted when overcoming too deep and (or) short recesses, allows the robot to be classified as a ground-based (or jumping) device, which frees it from the formalities necessary for the legal use of flying unmanned aerial vehicles, formally such device is not flying mean. Accordingly, the movement of such a robot should be tied to the landmarks and possibilities of the route, its functions are also associated with ground objects, and the possibility of a short-term flight is only an additional bonus. These considerations make it relevant to consider such a way to resolve the issue of stabilizing the equilibrium of a one-wheeled robot, such as the use of lifting force of fans. However, the presence of the wheel creates other possibilities for the load-carrying capacity of the device, and so on; short-term hover by inertia requires completely different energy costs than continuous flight. The purpose of this study is to develop a set of technical proposals for the implementation of high-speed unmanned robot for informational purposes: information gathering (video, audio, electrometer, etc.), as well as for the removal and delivery of small loads. The objectives of the study are to analyze the existing technical solutions and a motivated proposal for the basic principles of the design of the specified balancing robot. A key feature of such robots should be steady motion in an unmanned version along a predetermined trajectory over rough terrain, including the slope of the terrain both in the direction of motion and in the direction orthogonal to the direction of motion.
- ItemComparison of the Effectiveness of Various Structures of Regulators for Controlling an Object of the Sixth Order(Institute of Electrical and Electronics Engineers Inc., 2019) Zhmud, Vadim; Dimitrov, Lubomir; Nosek, Jaroslav; Roth, HubertObject control requires the calculation of a regulator. One of the most effective methods for calculating the regulator is the method of numerical optimization of the regulator. This paper discusses the solution of the problem of controlling a linear object of the sixth order, the parameters of which are such that this high order significantly and negatively affects the possibilities of successfully managing this object. Using the traditional approach to the design problem of the controller (regulator) allows us to formally solve the problem; however, the result of this solution is not satisfactory. The use of additional derivation does not give any noticeable improvement. A solution to this problem is proposed by using pseudo-local feedback, moreover, this connection is supposedly most effective if it covers one of two identical links in the object model. This allows for a smoother attenuation of the frequency response of the object in the region where the action of these two links begins to affect. For pseudo-local communication, an additional PID controller is used, the coefficients of which are also determined by the method of numerical optimization. The optimization result allows us to conclude that the presence of an integral element in this controller is optional. The calculation result of such a composite controller meets the most stringent requirements for the quality of control, since in such a system the speed is increased at least twice, the oscillations, which were about 10% in amplitude, are completely eliminated, the robustness of the system is ensured, which is verified by changing all the controller coefficients by 5% up and down, and also by changing the time constant of the element of the pseudolocal loop by 10% up and down, changes in the transition process of the system in this case remain are acceptable.
- ItemThe Concept of a Smart Home: Security, Additional Features and Augmented Reality(Institute of Electrical and Electronics Engineers Inc., 2019) Zhmud, Vadim; Roth, Hubert; Liapidevskiy, Aleksandr; Nosek, JaroslavThe concept of a smart home and a smart city recently has often become used as a fashionable and new direction. However, this combination is almost not specified, the various opinions about what does it mean are very different. Sometimes equipping an apartment building with an Internet network, video monitoring or separate waste bins are understood as the implementation of the Smart Home concept. Sometimes energy saving, alternative energy sources, environmental technologies are added here. Although such innovations are useful, they are not identical to the new approach that is expected with the introduction of such terminology, such as the Smart Home. In this paper, the critical features are given, according to the totality of which at home can be classified as smart, also given the classification of technologies used and planned for use. The concept of the Smart Home and Smart City fits into the state program 'Digital Economy of Russia', so it is advisable to consider it in conjunction with the developed technologies of this State Program. Equipping a dwelling with separate useful technical solutions based on digital technologies provides only a quantitative accumulation of amenities. A qualitative breakthrough towards a Smart Home can be made on the basis of the transfer to the control systems of a determining number of functions without loss of reliability, manageability, and individuality of the home. The paper examines technologies that allow providing the full range of tasks in close connection with digital technologies and their sub-technologies, in particular, these related to virtual and augmented reality.
- ItemThe Parameter Optimization of the PID and PIDD Controller for a Discrete Object(Institute of Electrical and Electronics Engineers Inc., 2019) Zhmud, Vadim; Stukach, Oleg; Nosek, Jaroslav; Hardt, Wolfram; Dimitrov, LubomirDevelopment of the theoretical and numerical methods in the theory of automatic control expands the class of control objects for which effective regulators have been found. Every time researchers find a solution to class of problems, the area of problems that have solutions is expanded. In contrast, the area of problems without solution is reduced. Unfortunately, nobody save a careful record of solved problems sometimes leads to duplication of research. It is wasting time and money. Therefore, before solving of a certain class problem every researcher must carefully study all the methods for solving problems for this class. There is not scientific result if the proposed solution is less effective than the existing one. Even if the proposed solution effectiveness is equal to existing well-known methods, the new solution is not essential for the development of science, unless a class of problems is found for which the proposed solution is more effective than others. This paper discusses solution of design a discrete controller for a discrete object. The object model is taken from paper where calculations were carried out according to the Ziegler-Nichols method. The insufficient efficiency of this method is shown, and the exceptional efficiency of the numerical optimization method with modified target functions is demonstrated. Also we consider a complicated example of the object for which the effective regulator has been found. Some recommendations for the proposed method using to the such objects are given.