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Knowing the position of the spool in a solenoid valve, without using costly position sensors, is of considerable interest in a lot of industrial applications. In this paper, the problem of position estimation based on state observers for fast-switching solenoids, with sole use of simple voltage and current measurements, is investigated. Due to the short spool traveling time in fast-switching valves, convergence of the observer errors has to be achieved very fast. Moreover, the observer has to be robust against modeling uncertainties and parameter variations. Therefore, different state observer approaches are investigated, and compared to each other regarding possible uncertainties. The investigation covers a High-Gain-Observer approach, a combined High-Gain Sliding-Mode-Observer approach, both based on extended linearization, and a nonlinear Sliding-Mode-Observer based on equivalent output injection. The results are discussed by means of numerical simulations for all approaches, and finally physical experiments on a valve-mock-up are thoroughly discussed for the nonlinear Sliding-Mode-Observer.
Motion safety for vessels
(2015)
The improvement of collision avoidance for vessels in close range encounter situations is an important topic for maritime traffic safety. Typical approaches generate evasive trajectories or optimise the trajectories of all involved vessels. The idea of this work is to validate these trajectories related to guaranteed motion safety, which means that it is not sufficient for a trajectory to be collision-free, but it must additionally ensure that an evasive manoeuvre is performable at any time. An approach using the distance and the evolution of the distance to the other vessels is proposed. The concept of Inevitable Collision States (ICS) is adopted to identify the states for which no evasive manoeuvre exist. Furthermore, it is implemented into a collision avoidance system for recreational crafts to demonstrate the performance.
The improvement of collision avoidance for vessels in close range encounter situations is an important topic for maritime traffic safety. Typical approaches generate evasive trajectories or optimise the trajectories of all involved vessels. Such a collision avoidance system has to produce evasive manoeuvres that do not confuse other navigators. To achieve this behaviour, a probabilistic obstacle handling based on information from a radar sensor with target tracking, that considers measurement and tracking uncertainties is proposed. A grid based path search algorithm, that takes the information from the probabilistic obstacle handling into account, is then used to generate evasive trajectories. The proposed algorithms have been tested and verified in a simulated environment for inland waters.
Stress is recognized as a factor of predominant disease and in the future the costs for treatment will increase. The presented approach tries to detect stress in a very basic and easy to implement way, so that the cost for the device and effort to wear it remain low. The user should benefit from the fact that the system offers an easy interface reporting the status of his body in real time. In parallel, the system provides interfaces to pass the obtained data forward for further processing and (professional) analyses, in case the user agrees. The system is designed to be used in every day’s activities and it is not restricted to laboratory use or environments. The implementation of the enhanced prototype shows that the detection of stress and the reporting can be managed using correlation plots and automatic pattern recognition even on a very light-weighted microcontroller platform.