Abstract: Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results.
Abstract: A two wheel inverted pendulum (TWIP) vehicle is built with two hub DC motors for motion control evaluation. Arduino Nano micro-processor is chosen as the control kernel for this electric test plant. Accelerometer and gyroscope sensors are built in to measure the tilt angle and angular velocity of the inverted pendulum vehicle. Since the TWIP has significantly hub motor dead zone and nonlinear system dynamics characteristics, the vehicle system is difficult to control by traditional model based controller. The intelligent model-free fuzzy sliding mode controller (FSMC) was employed as the main control algorithm. Then, intelligent controllers are designed for TWIP balance control, and two wheels synchronization control purposes.
Abstract: Result from the constant dwindle in natural resources,
the alternative way to reduce the costs in our daily life would be urgent
to be found in the near future. As the ancient technique based on the
theory of solar chimney since roman times, the double-skin façade are
simply composed of two large glass panels in purpose of daylighting
and also natural ventilation in the daytime. Double-skin façade is
generally installed on the exterior side of buildings as function as the
window, so there is always a huge amount of passive solar energy the
façade would receive to induce the airflow every sunny day. Therefore,
this article imposes a domestic double-skin window for residential
usage and attempts to improve the volume flow rate inside the cavity
between the panels by the frame geometry design, the installation of
outlet guide plate and the solar energy collection system. Note that the
numerical analyses are applied to investigate the characteristics of flow
field, and the boundary conditions in the simulation are totally based
on the practical experiment of the original prototype. Then we
redesign the prototype from the knowledge of the numerical results
and fluid dynamic theory, and later the experiments of modified
prototype will be conducted to verify the simulation results. The
velocities at the inlet of each case are increase by 5%, 45% and 15%
from the experimental data, and also the numerical simulation results
reported 20% improvement in volume flow rate both for the frame
geometry design and installation of outlet guide plate.