Development of a location-aware speech control and audio feedback system

Ergonomics improvement in a harsh environment using an audio feedback system

In our society, blind people consist a wide number of individuals. In order to improve the quality of life of a blind person, the smart cane was therefore created. This project aims to develop a smart cane for the blind with an ultrasonic sensor and an audio feedback system. This embedded system will mainly have two parts; the system of mobility and feedback. It was been fitted with an ultrasonic sensor for the mobility system, while the vibrating motor and audio input will provide input from the ultrasonic and the vibrating module. An Ultrasonic sensor was used to send the signal to the vibrating motor as soon as an obstacle is detected, which in turn triggers it. With audio feedback alerting the user of the presence of the obstacle, the vibrating motor vibrates with various strengths according to the distance of the obstacle. One major component incorporated into this embedded system is an ATmega328 single-chip microcontroller which was programed in the c language of which the original programing was written with Matlab. It involves the use of a convolution neural network which was trained on the CIFAR 10 dataset. This dataset was chosen because of its composition of images of objects likely to be found as obstacles on a blind man's path. A 93.8% accuracy was obtained from an unsupervised learning on the data set, after which the C Matlab coder was used to translate the source code into C language for effective embedding into the ATmega328 microcontroller.

Multiple DSP system for real time parallel processing and feedback control on fusion experiments

In this paper, the collaboration of CPG networks with the feedback control system which are composed with the maximum hopping height detector and the Proportional Integral (PI) controller as an engineering application for the CPG network is proposed with the developed control systems. By adding the feedback loop through the feedback controller, the developed quadruped hopping robot not only can generate the continuous hopping performances but also can control the desired hopping height. As the result, the effectiveness of CPG networks to keep the stability of the developed quadruped hopping robot besides of confirming the validity of using reference height control system to generate hopping capability at different reference height, respectively.

In this paper, we explore human-centered interaction design aspects that determine the realisation and appreciation of musical works (installations, composition and performance), interfaces for sound design and musical expression, augmented instruments, sonic aspects of virtual environments and interactive audiovisual performances. In this first work, with the human at the centre of the design, we started sketching modes of interaction with sound that could result direct, engaging, natural and embodied in a collaborative, interactive, inclusive and diverse music environment. We define this as Human-Sound Interaction (HSI). To facilitate the exploration of HSIs, we prototyped SoundSculpt, a cross-modal audio, holographic projection and mid-air haptic feedback system. During an informal half-day workshop, we observed that HSIs through SoundSculpt have the potential to foster new ways of interaction with sound and to make them accessible to diverse musicians, sound artists and audience.

BACKGROUNDIn recent decades, artificial neural network (ANN) has been shown to be a robust and promising tool in monitoring and controlling bioprocess systems. In a previous study, the authors designed a highly accurate and precise recurrent neural network (RNN) for predicting the biomass amount of recombinant Pichia pastoris Mut+ producing intracellular hepatitis B surface antigen (HBsAg) during fed‐batch methanol fermentation. In the current work, the aim was to compare the production efficiency of HBsAg between conventional predefined μ‐stat methanol feeding control (open‐loop control) – already established in large‐scale production – and methanol feeding based on a μ‐stat feedback control system using RNN. For this purpose, for each methanol feeding strategy, bench‐scale, fed‐batch fermentation processes were carried out twice.RESULTSAccording to the results, in contrast to the established μ‐stat predefined feeding strategy (open‐loop), the deviation of specific growth rate and biomass in μ‐stat feedback control based on RNN was negligible. Also, in the suggested methanol feeding control strategy, the HBsAg titer, specific productivity and yield between the performed fed‐batch fermentations – unlike the conventional method – were approximately identical, with average values of 110.8 μg mL−1, 1.52 μg g−1 dry biomass and 0.34 μg g−1 MeOH respectively.CONCLUSIONComparing the biomass growth pattern and HBsAg production efficiency with the conventional μ‐stat predefined feeding in open‐loop control, the new proposed feeding control system illustrated significantly high process efficiency. This reliable control system based on ANN can have many applications in the biopharmaceutical industry for the control of process key parameters as well as for enhancing process efficiency. © 2019 Society of Chemical Industry

Introductory programming is challenging for many students, requiring them to engage with a deep approach to learning concepts in order to succeed. These challenges compound for online students who do not have direct face-to-face interactions with teaching staff. With the growing demand for online education, we need to examine approaches that assist in building supportive learning environments for these students. A growing body of work from other education disciplines indicates that audio feedback provides an opportunity for developing stronger relationships with students. Further studies recommend an integrated implementation of audio recording into the virtual learning environment. To evaluate audio feedback for use in programming education, we developed an integrated, cross-browser audio feedback feature into the open-source Doubtfire learning management system. Doubtfire is used to support and scale a task-oriented teaching and learning system built upon the principles of constructive alignment and has been shown to help students engage with programming concepts in campus-only units. Our findings from experimental and observational activities indicate that programming tutors can use a blended approach of audio and text feedback via the learning management system to better support student learning. The blended approach provides more nuanced feedback, conveying personality and feelings of connectedness to students, while retaining the benefits of specificity for code-specific issues.

The temperature control performance of a developed temperature feedback control system was experimentally investigated. The control system was based on a real-time temperature control of a cooling fluid. In particular, this study focused on the temperature control performance of a built-in motor spindle that used the developed temperature fedback control system. The built-in motor used in the study had water cooling jackets. The temperature of the built-in motor spindle was measured and feedback into the developed temperature feedback control system. Temperature control accuracy of the built-in motor spindle under steady state was then assessed. Furthermore, the effects of the time-variant changes in spindle rotation and ambient temperature on the performance of the temperature control system was investigated. The results of the experiments show that the temperature control accuracy of the built-in motor spindle under steady state condition was ±0.03°C. The temperature control performance of the built-in motor spindle under changes in the rotational speed of the spindle was examined. The experimental results show that the temperature change of the spindle could be suppressed to a maximum of approximately 0.3°C under transient state during sudden change in spindle speed. In addition, the effects of the changes in ambient and cooling water temperatures, which simulated actual environmental operating conditions, on the spindle temperature were investigated. The results show that the change in the spindle temperature could be suppressed by approximately less than ±0.1°C. These experimental results indicate that the developed temperature feedback control system achieved high temperature control accuracy and high response for the built-in motor spindle. In particular, the developed control system successfully controlled the time-variant change in the generated heat, thereby improving the thermal stability of the machine tool spindle.

In this paper, we describe the development of a sensorless control system that suppresses vibration of overhead crane loads. In general, loads carried by overhead cranes tend to vibrate and skillful and expert operation is required to avoid such vibration. This has led to considerable research into feedback control via a vibration sensor. However, the vibration sensor is initially very costly and requires a lot of maintenance work. This is why we began developing a sensorless control system. In this paper, we describe the outline and modeling of the overhead crane, then introduce a control design based on a simulation called IDCS (Inverse Dynamics Compensation via Simulation of feedback control systems). Subsequently, a DMM (Dual Model Matching) control method accreting features of feedforward and feedback controls, adopted when designing IDCS controller, is explained. The simulation result by discretizing controller and the controlling system design of actual overhead cranes also are described, whereupon the experimental result showing application to actual overhead cranes are shown.

In the last few decades, the stabilization in stationary states has emerged as a new auspicious campaigner in chaos theory and found a celebrated place through various control techniques such as predictive control, delayed feedback control, constant proportional feedback control and oscillating feedback control system. Generally, it is accepted that the superiority of control systems is not only to quash the irregular distribution of stationary states, but also to illustrate its basin of attractions as large as possible depending on the numerical as well as analytical observance. In this article, the universal stabilization in unstable stationary states is studied through superior fixed point feedback control system for a family of one-dimensional maps. Further, it is interesting to know that the novel system provides freedom in the control parameter γ due to which the stabilization increases more rapidly for the lager range of parameter γ in [0,1]. The analytical as well as numerical simulations are demonstrated to examine the behavior of parameter γ for which the unstable stationary state admits universal stability.

This work is concerned with the existence of asymptotically stable 2-D (2-dimensional) systems by means of a feedback control model represented by the system of partial difference equations and their Lagrange solutions. Thus, the goal is to establish a controller that provides a feedback control system with state variables depending solely on its Lagrange solution in the sense that the solution to the variable state is not a linear combination of other Lagrange solutions. Roughly speaking, the results showed that, to achieve such a control system, the controller has to diagonalize the block matrices of the matrices composing the system description model. Finally, a numerical example is presented to show how the controller is designed in order to generate a stable feedback control with given Lagrange solutions.

The article describes a structural and functional model of a self-driving car control system, which generates a wide class of mathematical problems. Currently, control systems for self-driving cars are considered at several levels of abstraction and implementation: Mechanics, electronics, perception, scene recognition, control, security, integration of all subsystems into a solid system. Modern research often considers particular problems to be solved for each of the levels separately. In this paper, a parameterized model of the integration of individual components into a complex control system for a self-driving car is considered. Such a model simplifies the design and development of self-driving control systems with configurable automation tools, taking into account the specifics of the solving problem. The parameterized model can be used for CAD design in the field of self-driving car development. A full cycle of development of a control system for a self-driving truck was implemented, which was rub in the “Robocross 2021” competition. The software solution was tested on more than 40 launches of a self-driving truck. Parameterization made it possible to speed up the development of the control system, expressed in man-hours, by 1.5 times compared to the experience of the authors of the article who participated in the same competition in 2018 and 2019. The proposed parameterization was used in the development of individual CAD elements described in this article. Additionally, the implementation of specific modules and functions is a field for experimental research.

Feedback control has become a crucial tool in the research on magnetic confinement of plasmas for achieving controlled nuclear fusion. This thesis presents a novel plasma feedback control system that, for the first time, employs a Graphics Processing Unit (GPU) for microsecond-latency, real-time control computations. This novel application area for GPU computing is opened up by a new system architecture that is optimized for low-latency computations on less than kilobyte sized data samples as they occur in typical plasma control algorithms. In contrast to traditional GPU computing approaches that target complex, high-throughput computations with massive amounts of data, the architecture presented in this thesis uses the GPU as the primary processing unit rather than as an auxiliary of the CPU, and data is transferred from A-D/D-A converters directly into GPU memory using peer-to-peer PCI Express transfers. The described design has been implemented in a new, GPU-based control system for the High-Beta Tokamak – Extended Pulse (HBT-EP) device. The system is built from commodity hardware and uses an NVIDIA GeForce GPU and D-TACQ A-D/D-A converters providing a total of 96 input and 64 output channels. The system is able to run with sampling periods down to 4 μs and latencies down to 8 μs. The GPU provides a total processing power of 1.5 x 1012 floating point operations per second. To illustrate the performance and versatility of both the general architecture and concrete implementation, a new control algorithm has been developed. The algorithm is designed for the control of multiple rotating magnetic perturbations in situations where the plasma equilibrium is not known exactly and features an adaptive system model: instead of requiring the rotation frequencies and growth rates embedded in the system model to be set a priori, the adaptive algorithm derives these parameters from the evolution of the perturbation amplitudes themselves. This results in non-linear control computations with high computational demands, but is handled easily by the GPU based system. Both digital processing latency and an arbitrary multi-pole response of amplifiers and control coils is fully taken into account for the generation of control signals. To separate sensor signals into perturbed and equilibrium components without knowledge of the equilibrium fields, a new separation method based on biorthogonal decomposition is introduced and used to derive a filter that performs the separation in real-time. The control algorithm has been implemented and tested on the new, GPU-based feedback control system of the HBT-EP tokamak. In this instance, the algorithm was set up to control four rotating n = 1 perturbations at different poloidal angles. The perturbations were treated as coupled in frequency but independent in amplitude and phase, so that the system effectively controls a helical n = 1 perturbation with unknown poloidal spectrum. Depending on the plasma's edge safety factor and rotation frequency, the control system is shown to be able to suppress the amplitude of the dominant 8 kHz mode by up to 60% or amplify the saturated amplitude by a factor of up to two. Intermediate feedback phases combine suppression and amplification with a speed up or slow down of the mode rotation frequency. Increasing feedback gain results in the excitation of an additional, slowly rotating 1.4 kHz mode without further effects on the 8 kHz mode. The feedback performance is found to exceed previous results obtained with an FPGA- and Kalman-filter based control system without requiring any tuning of system model parameters. Experimental results are compared with simulations based on a combination of the Boozer surface current model and the Fitzpatrick-Aydemir model. Within the subset of phenomena that can be represented by the model as well as determined experimentally, qualitative agreement is found.

Robust tracking control for vehicle electronic throttle using adaptive dynamic sliding mode and extended state observer

This paper presents a unifying perspective on communication, estimation, and control.A feedback communication system over a Gaussian channel is reformulated as an estimation system (i.e. a Kalman filter) and also as a feedback control system.Therefore, a fundamental limitation applicable in one system can be translated into a fundamental limitation applicable in another system and vice versa.Specifically, the achievable rate in the communication system is equal to half the Cramer-Rao bound decay rate or minimum mean-square error decay rate in the estimation system, and also equal to the Bode integral in the control system.Furthermore, the optimal trade-offs for each of the following three pairs of quantities are equal: first, the pair of power and rate in communication, second, the pair of the (causal) prediction performance and (anticausal) smoothing performance in estimation, and third, the pair of the output regulation performance and disturbance rejection measure in control.All these trade-offs can be interpreted as the tradeoff between causality and anti-causality.Extensions to more general channels are briefly discussed.