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One of strategically important issues of energy security of Ukraine and the countries of Europe today is to reduce the consumption of natural gas. This task is particularly relevant in winter, when a significant amount of natural gas is consumed for heating premises. Therefore, one can predict that in the nearest future, in Ukraine and European countries, premises will be heated more frequently by electrical energy.
A massive transition to electric heating of premises under conditions of the implementation of national objective in Ukraine and the countries of Europe related to a significant reduction in energy consumption necessitates to rethink the process of control over electric heating of premises. It is required that the algorithms that control power supply to premises should include mechanisms for planning the amount of electric energy consumed by an individual. This is especially true of such energy-intensive processes like heating the premises.
Therefore, it is an important task for Ukraine and the countries of Europe to work out an approach for creating systems to control electric heating of premises in a house or apartment that would take into consideration not only information about the desired temperature regime, but also information on the desired amount of electricity needed for heating.
It is expected that ongoing digitalisation will drive the merger between the manufacturing world and the internet world, possibly leading to a next industrial revolution, currently called “Industry 4.0”. The driving forces behind this development are new business opportunities and competition advantages arising from mass production customisation as well as rapid individual product development and manufacturing. Key factors of the development towards Industry 4.0 are discussed. Threats and opportunities arising from these developments for future production are discussed. Actual examples from real-time customized manufacturing of consumer products are given. As mechatronic systems and industrial robots are widely used in manufacturing and in particular in assembly, it is discussed how they can be connected to and used in digitalised industrial systems. Different examples of remote controlled systems are presented, like remote controlled KUKA robot for handling and quality control, PLC-controlled equipment, drive systems, FESTO handling system and others. The architecture of an assembly cell is presented, where industrial robots are set-up for batch-one production or can directly receive control / production information on-line and in real-time over the factory network. Methods for remote maintenance and monitoring of systems over the internet and production operator support over the internet are presented as well.
Purpose: To develop a method for synthesizing a fuzzy automatic control system for a shearer drum in terms of coal seam hypsometry basing on the information criterion of the beginning of rock cutting-off by the drum to reduce ash content of the extracted coal.
Methodology: Taking into consideration peculiarities of determining a distinct information criterion of the beginning of rock cutting-off by the drum and regularities of its variations during the shearer operation, a fuzzy inference algorithm is developed for a system of fuzzy automatic drum control in terms of seam hypsometry. In this context, rules of fuzzy productions, parameters of the membership functions of terms of the output linguistic variable system, and fuzzy operations are substantiated according to the recommendations of a classic Mamdani fuzzy inference algorithm. Studies are carried out to analyze the effi¬ciency of the proposed fuzzy inference algorithm basing on the introduced relative parameter of the number of effective control actions formed by the fuzzy control system. Simulation modeling makes it possible to perform comparative analysis of the efficiency of the drum control.
Findings: In the course of research, an algorithm of fuzzy control of the shearer’s upper drum in terms of coal seam hypsometry has been developed basing on the determination of direct and inverse transfer from coal breaking near the seam roof by the shearer drum to rock breaking with the help of statistical analysis of the stator power of a cutting drive motor.
Originality: For the first time, a method of synthesis of fuzzy automatic control of the drum in terms of seam hypsometry has been proposed.
Practical value: The proposed method is the theoretical basis to solve important scientific and applied problem of the automation of the coal shearer drum in terms of seam hypsometry to reduce ash content of the produced coal.
Noch sind Elektrofahrzeuge die Ausnahme auf deutschen Straßen – im Gegensatz beispielsweise zu Innenstadträumen in China. Lediglich Fahrräder mit elektrischer Antriebsunterstützung haben inzwischen auch in Deutschland eine größere Verbreitung gefunden. Nach wie vor ist jedoch die breite Erfahrung im alltäglichen Einsatz von elektrisch betriebenen Fahrzeugen relativ gering. An der Hochschule Reutlingen steht eine Flotte von 10 Elektrozweirädern, bestehend aus 5 Elektrofahrrädern (Pedelecs) und 5 Elektrorollern (E-Scooter) zur Verfügung. Hiermit werden mehrere Ziele verfolgt: Zum einen soll jedes Mitglied der Hochschule die Möglichkeit haben, Elektrofahrzeuge auszuprobieren und erste Erfahrungen zu sammeln. Andererseits stellen die Fahrzeuge eine Plattform für Forschungs- und Entwicklungsarbeiten dar. So ist ein Internet-basiertes Reservierungs- und Flottenmanagementsystem entstanden, das auch statistische Auswertungen zulässt. Eine weitere Entwicklung befasst sich mit genauen Reichweitenvorhersagesystemen, mit dem Ziel, die bislang recht ungenaue Batterie-Ladestandsanzeige zu verbessern oder zu ersetzen.
Purpose: Mobile robots are used in many areas of industry and commerce. This paper describes research on and development of a mobile platform, which is based on the concept of a ball-on-ball balancer, with two electrical drives at an angle of 90° providing a velocity vector in any direction in the horizontal plane. The purpose is to implement an originally novel principle for an omnidirectional mobile platform of very high agility, which is able at any given situation to move immediately in any direction without additional steering movements or steering mechanism.
Methodology: In advance of the design and implementation of the control strategy for the mobile device, the method of theoretical modelling of the vehicle’s properties and behaviour was applied. The developed theoretical and numerical dynamic models take into account all the control parameters which allow for the determination of the critical value of angular acceleration of the driving wheel. This is needed to prevent any slippage of the ball as this would result in the loss of accuracy of positioning. The equations of motion were implemented in the platform controller and tested. The mobile platform consists of a ball of 0.2 m radius driven in the X-Y plane by two wheels that are attached to servo motors. The mobile platform is controlled by a CAN PLC controller interfacing with the motor drives, accelerometers and a laser sensor for feedback. Wireless communication provides the interface with the station controller via Wi-Fi and XBee Series 2 modules.
Findings: The experimentally obtained results show that the mobile platform can be reliably controlled using the ball-onball balancer principle with the developed control algorithm. Additional application of a sensor for guiding the mobile platform along obstacles or guiding lines improves the accuracy of the movement.
Originality: The originality of the control strategy for a mobile platform with an omnidirectional drive, proposed at the paper, is the avoiding slippage by limiting the platform acceleration to below the critical value by means of monitoring and limiting the lead values of the feedback control loop of the driving wheels.
Practical value: Development of control strategy for the mobile robot, which is based on the concept of a ball-on-ball balancer with two electrical drives at an angle of 90° providing a velocity vector in any direction in the horizontal plane.