Journal articles: 'Payload estimation'

1

P., Amritha, and Anoj Madathil. "Payload Estimation in Universal Steganalysis." Defence Science Journal 60, no. 4 (May 25, 2010): 412–14. http://dx.doi.org/10.14429/dsj.60.499.

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Zhang, Na Na, Jia Fa Mao, Jing Yin, and Xiao Fang Yang. "Digital Watermarking Payload Estimation Based on Human Visual System." Advanced Materials Research 798-799 (September 2013): 785–89. http://dx.doi.org/10.4028/www.scientific.net/amr.798-799.785.

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This paper proposes the estimation method for the maximum payload on spatial domain, concentrates on digital watermarking payload in the spatial domain image, on the constraint of perceptual invisibility research, the influence under the factors in Human Visual System. The maximum payload is influenced by the factors which include the size of image, the brightness masking, contrast masking and texture masking of the image. with such as noise visibility function visual model, gets the just noticeable different value to calculate the payload of the image, finally we get the watermarking payload, test and verify it with Matlab simulation experiments.

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Ma, Sai, Xianfeng Zhao, Qingxiao Guan, Zhoujun Xu, and Yi Ma. "A Priori knowledge based secure payload estimation." Multimedia Tools and Applications 77, no. 14 (July 4, 2017): 17889–911. http://dx.doi.org/10.1007/s11042-017-4955-8.

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Renner, Anton, Hannes Wind, and Oliver Sawodny. "Online payload estimation for hydraulically actuated manipulators." Mechatronics 66 (April 2020): 102322. http://dx.doi.org/10.1016/j.mechatronics.2020.102322.

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Beyhan, Selami, Farnaz Eghbal Sarabi, Zsófia Lendek, and Robert Babuška. "Takagi–Sugeno Fuzzy Payload Estimation and Adaptive Control." IFAC-PapersOnLine 50, no. 1 (July 2017): 844–49. http://dx.doi.org/10.1016/j.ifacol.2017.08.150.

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Leahy, M. B., M. A. Johnson, and S. K. Rogers. "Neural network payload estimation for adaptive robot control." IEEE Transactions on Neural Networks 2, no. 1 (1991): 93–100. http://dx.doi.org/10.1109/72.80294.

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Quach, Tu-Thach. "Optimal Cover Estimation Methods and Steganographic Payload Location." IEEE Transactions on Information Forensics and Security 6, no. 4 (December 2011): 1214–22. http://dx.doi.org/10.1109/tifs.2011.2160855.

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Battle, Gregory. "Numerical Estimation of Munitions Payload using Random Distributions." Journal of Parametrics 24, no. 1 (July 2004): 1–19. http://dx.doi.org/10.1080/10157891.2004.10462265.

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Márton, Lörinc, and Béla Lantos. "Sliding Mode Robot Control with Friction and Payload Estimation." Journal of Advanced Computational Intelligence and Intelligent Informatics 8, no. 5 (September 20, 2004): 553–61. http://dx.doi.org/10.20965/jaciii.2004.p0553.

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The paper deals with robust motion control of robotic systems with unknown friction parameters and payload mass. The parameters of the robot arm were considered known with a given precision. To solve the control of the robot with unknown payload mass and friction parameters, sliding mode control algorithm was proposed combined with robust parameter adaptation techniques. Using Lyapunov method it was shown that the resulting controller achieves a guaranteed final tracking accuracy. Simulation results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme.

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Kobayashi, Yoshitake, and Kazuo Yamafuji. "Load Estimation and Compensation Control of a Vertical Two-Link Robot." Journal of Robotics and Mechatronics 2, no. 2 (April 20, 1990): 107–13. http://dx.doi.org/10.20965/jrm.1990.p0107.

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It is widely recognized that the industrial robots used in production lines or in other engineering fields are installed with comparatively higher rated actuators and have higher rigidity than required, whereas they have too small payload capacity. To achieve high speed drive and accurate positioning under a high payload is indispensable for an advanced industrial robot. In order to increase payload/deadweight ratio without losing high speed driving and accurate control of robots, the nonlinear terms in the equations of motion relating to their load and attitude must be well compensated. The authors have developed and examined two kinds of load estimation and compensation control methods for a vertical-type manipulating robot, which are based on gravity estimation-compensation and fuzzy-set theory. It is confirmed experimentally that although both compensating methods are useful, the fuzzy theory is much better than the gravity compensation method.

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Ni, Zhiyu, Shunan Wu, Yewei Zhang, and Zhigang Wu. "Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation." International Journal of Aerospace Engineering 2020 (February 5, 2020): 1–17. http://dx.doi.org/10.1155/2020/5142925.

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Manipulator systems are widely used in payload capture and movement in the ground/space operation due to their dexterous manipulation capability. In this study, a method for identifying the payload parameters of a flexible space manipulator using the estimated system of complex eigenvalue matrix is proposed. The original nonlinear dynamic model of the manipulator is linearized at a selected working point. Subsequently, the system state-space model and corresponding complex eigenvalue parameters are determined by the observer/Kalman filter identification algorithm using the torque input signal of the motor and the vibration output signals of the link. Therefore, the inertia parameters of the payload, that is, the mass and the moment of inertia, can be derived from the identified complex eigenvalue system and mode shapes by solving a least-squares problem. In numerical simulations, the proposed parameter identification method is implemented and compared with the classical recursive least-squares and affine projection sign algorithms. Numerical results demonstrate that the proposed method can effectively estimate the payload parameters with satisfactory accuracy.

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Wang, Jie, Chunfang Yang, Ping Wang, Xiaofeng Song, and Jicang Lu. "Payload location for JPEG image steganography based on co-frequency sub-image filtering." International Journal of Distributed Sensor Networks 16, no. 1 (January 2020): 155014771989956. http://dx.doi.org/10.1177/1550147719899569.

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In digital steganography, due to difficulties estimating the JPEG cover image, it is still very hard to accurately locate the hidden message embedded in a JPEG image. Therefore, this study proposes a payload location method for a category of pseudo-random scrambled JPEG image steganography. In order to estimate the quantized discrete cosine transform coefficients in the cover JPEG image, a cover JPEG image estimation method is proposed based on co-frequency sub-image filtering. The proposed payload location method defines a general residual, uses the estimated cover JPEG image to compute the residuals, and then employs the mean residuals of multiple stego images embedded along the same path to distinguish the stego positions. The proposed cover JPEG image estimation method constructs 64 co-frequency sub-images, and then filters the sub-image to estimate the cover JPEG image. Finally, using these methods, payload location algorithms are designed for two common JPEG image steganography algorithms: JSteg and F5. Experimental results show that the proposed location algorithms can effectively locate the stego positions in both JSteg and F5 steganography when the investigator possesses multiple stego images embedded along the same path. In addition, the location results can also be used to recover the steganography key to extract the embedded secret messages.

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Oshman, Y., and M. Isakow. "Mini-UAV altitude estimation using an inertially stabilized payload." IEEE Transactions on Aerospace and Electronic Systems 35, no. 4 (1999): 1191–203. http://dx.doi.org/10.1109/7.805437.

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Yang, Juntang, Yogesh Khedar, Mohamed Khalil Ben-Larbi, Jan Backhaus, Astrid Lampert, Ulf Bestmann, and Enrico Stoll. "Concept and Feasibility Evaluation of Distributed Sensor-Based Measurement Systems Using Formation Flying Multicopters." Atmosphere 12, no. 7 (July 6, 2021): 874. http://dx.doi.org/10.3390/atmos12070874.

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Unmanned aerial vehicles (UAVs) have been used for increasing research applications in atmospheric measurements. However, most current solutions for these applications are based on a single UAV with limited payload capacity. In order to address the limitations of the single UAV-based approach, this paper proposes a new concept of measurements using tandem flying multicopters as a distributed sensor platform. Key challenges of the proposed concept are identified including the relative position estimation and control in wind-perturbed outdoor environment and the precise alignment of payloads. In the proposed concept, sliding mode control is chosen as the relative position controller and a gimbal stabilization system is introduced to achieve fine payload alignment. The characterization of the position estimation sensors (including global navigation satellite system and real-time kinematics) and flight controller is carried out using different UAVs (a DJI Matrice M600 Pro Hexacopter and Tarot X4 frame based Quadcopter) under different wind levels. Based on the experimental data, the performance of the sliding mode controller and the performance of the gimbal stabilization system are evaluated in a hardware-in-the-loop simulation environment (called ELISSA). Preliminary achievable control accuracies of the relative position and attitude of subsystems in the proposed concept are estimated based on experimental results.

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Hwang, Myeong-hwan, Hyun-Rok Cha, and Sung Yong Jung. "Practical Endurance Estimation for Minimizing Energy Consumption of Multirotor Unmanned Aerial Vehicles." Energies 11, no. 9 (August 24, 2018): 2221. http://dx.doi.org/10.3390/en11092221.

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The practically applicable endurance estimation method for multirotor unmanned aerial vehicles (UAVs) using a battery as a power source is proposed. The method considers both hovering and steady-level flights. The endurance, thrust, efficiency, and battery discharge are determined with generally available data from the manufacturer. The effects of the drag coefficient related to vehicle shape and payload weight are examined at various forward flight speeds. As the drag coefficient increases, the optimum speed at the minimum required power and the maximum endurance are reduced. However, the payload weight causes an opposite effect, and the optimal flying speed increases with an increase in the payload weight. For more practical applications for common users, the value of S × Cd is determined from a preliminary flight test. Given this value, the endurance is numerically estimated and validated with the measured flight time. The proposed method can successfully estimate the flight time with an average error of 2.3%. This method would be useful for designers who plan various missions and select UAVs.

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Valenzuela G., Matias, and M. Anibal Valenzuela. "Payload Estimation in AC Electric Mining Shovels Using Drive Signals." IEEE Transactions on Industry Applications 52, no. 5 (September 2016): 4470–79. http://dx.doi.org/10.1109/tia.2016.2574775.

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Lu, Yu-Sheng, and Hua-Hsu Chiu. "Online payload estimation for the control of underactuated mechanical systems." Journal of Mechanical Science and Technology 28, no. 7 (July 2014): 2869–77. http://dx.doi.org/10.1007/s12206-014-0527-2.

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Falezza, Fabio, Federico Vesentini, Alessandro Di Flumeri, Luca Leopardi, Gianni Fiori, Gianfrancesco Mistrorigo, and Riccardo Muradore. "Gray-Box Model Identification and Payload Estimation for Delta Robots." IFAC-PapersOnLine 53, no. 2 (2020): 8771–76. http://dx.doi.org/10.1016/j.ifacol.2020.12.1378.

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Governale, G., J. Rimani, N. Viola, and V. Fernandez Villace. "A trade-off methodology for micro-launchers." Aerospace Systems 4, no. 3 (May 27, 2021): 209–26. http://dx.doi.org/10.1007/s42401-021-00095-w.

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AbstractThe trend of cost-effective access to space and satellite technologies’ evolution is increasing the small satellite market. However, small payloads usually ride as piggyback, being a secondary passenger of a space vector, with very low flexibility in target orbit and launch schedule. The micro-launchers are designed to answer the needs of the small satellite missions, with a payload capacity up to 350 kg to Low Earth Orbit, aiming to low turn-over time and competitive prices. This paper explains the work performed by Politecnico di Torino in support of the ESA–ESTEC activities on micro-launchers. The aim is to provide preliminary guidelines for choosing and evaluating new innovative micro-launcher flight vehicle engineering processes. A trade-off methodology is proposed and defined based on the Analytically Hierarchical Process (AHP). This methodology considers, among other features, the flight profile, maximum payload, and physical characteristics. To support the trade-off analysis, a software tool is built for the automatic generation of the aerodynamics and propulsion parameters needed for the completion of the preliminary designs, enabling the performance estimation. The launcher’s performance models, with an analysis of the take-off sites and target orbits, are also produced. This allows the definition of performance maps where the maximum payload is graphed as a function of the orbit altitude and inclination. A set of innovative micro-launchers exploiting different technologies is also assessed as a case study.

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Dong, Yunfei, Tianyu Ren, Ken Chen, and Dan Wu. "An efficient robot payload identification method for industrial application." Industrial Robot: An International Journal 45, no. 4 (June 18, 2018): 505–15. http://dx.doi.org/10.1108/ir-03-2018-0037.

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Purpose This paper aims to improve the accuracy of robot payload identification and decrease the complexity in its industrial application by developing a new method based on the actuator current. Design/methodology/approach Instead of previous general robot dynamic modeling of the actuators, links, together with payload inertial parameters, the paper discovers that the difference of the actuator torque between the robot moving along the same trajectory with and without carrying payload can be described as a function of the payload inertial parameters directly. Then a direct dynamic identification model of payload is built, a set of specialized novel exciting trajectories are designed for accurate identification and the least square method is applied for the estimation of the load parameters. Findings The experiments confirm the effectiveness of the proposed method in robot payload identification. The identification accuracy is greatly improved compared with that of existing methods based on the actuator current and is close to the accuracy of the methods that direct use the wrist-mounted force-torque sensor. Practical implications As the provided experiments indicate, the proposed method expands the application range and greatly improves the accuracy, hence making payload identification fully operational in the industrial application. Originality/value The novelty of such an identification method is that it does not require the rotor inertias and inertial parameters of links as a prior knowledge, and the specially designed trajectories provide completed decoupling of the load parameters.

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Parks, T. R., and H. A. Pak. "Effect of Payload on the Dynamics of a Flexible Manipulator—Modeling for Control." Journal of Dynamic Systems, Measurement, and Control 113, no. 3 (September 1, 1991): 409–18. http://dx.doi.org/10.1115/1.2896425.

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The “exact” and pole/zero transfer functions are developed for a flexible beam-like single link arm with actuator on one end and payload on the other. This model represents a broader class of actuator hub and payload mass properties than is found in prior literature. The dependence of dynamics on the hub and payload inertia characteristics are studied and graphs are provided to facilitate estimation of poles and zeroes for any similar plant. It is shown that a 10:1 reduction in fundamental frequency and substantial change in the zeroes results from variations in payload through a practical range. Payload rotary inertia is shown to cause a qualitative change in the arm tip zeroes resulting in loss of observability/controllability in some cases. Results provide insight into the two-link problem and it is shown that complex values zeroes may result if the second arm is allowed to “fold back.” Implications to plant modeling and control design are discussed including sensor placement and model order reduction issues. Analytical results are compared to those measured on an experimental arm and show very good agreement in modal frequency and shape.

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Kumar, A., S. C. Sati, and A. K. Ghosh. "Design, Testing, and Realisation of a Medium Size Aerostat Envelope." Defence Science Journal 66, no. 2 (March 23, 2016): 93. http://dx.doi.org/10.14429/dsj.66.9291.

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<p>The design, testing and realisation aspects during the development of a medium size aerostat envelope in the present work. The payload capacity of this aerostat is 300 kg at 1 km above mean sea level. The aerostat envelope is the aerodynamically shaped fabric enclosure part of the aerostat which generally uses helium for lifting useful payloads to a specified height. The envelope volume estimation technique is discussed which provides the basis for sizing. The design, material selection, testing and realisation aspects of this aerostat envelope are also discussed. The empirical formulas and finite element analysis are used to estimate the aerodynamic, structural and other design related parameters of the aerostat. Equilibrium studies are then explained for balancing forces and moments in static conditions. The tether profile estimation technique is discussed to estimate blow by distance and tether length. A comparison of estimated and measured performance parameters during trials has also been discussed.</p>

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Ma, Sai, Xianfeng Zhao, Qingxiao Guan, and Chengduo Zhao. "The A Priori Knowledge Based Secure Payload Estimation for Additive Model." Electronic Imaging 2017, no. 7 (January 29, 2017): 16–21. http://dx.doi.org/10.2352/issn.2470-1173.2017.7.mwsf-320.

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Guevara, Javier, Tito Arevalo-Ramirez, Francisco Yandun, M. Torres-Torriti, and Fernando Auat Cheein. "Point cloud-based estimation of effective payload volume for earthmoving loaders." Automation in Construction 117 (September 2020): 103207. http://dx.doi.org/10.1016/j.autcon.2020.103207.

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Vahidi, Vahid, and Ebrahim Saberinia. "OFDM for payload communications of UAS: channel estimation and ICI mitigation." IET Communications 11, no. 15 (October 19, 2017): 2350–56. http://dx.doi.org/10.1049/iet-com.2017.0358.

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Chandana, Pawan Kumar, Shashi Bhushan Tiwari, and Kishore Nath Vukkadala. "Numerical Estimation of Sound Transmission Loss in Launch Vehicle Payload Fairing." Journal of The Institution of Engineers (India): Series C 98, no. 4 (June 17, 2016): 471–78. http://dx.doi.org/10.1007/s40032-016-0317-y.

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Spaeth, Utz, Heiko Fechtner, Michele Weisbach, and Benedikt Schmuelling. "Potential of Pressure Sensor Based Mass Estimation Methods for Electric Buses." Electronics 9, no. 5 (April 26, 2020): 711. http://dx.doi.org/10.3390/electronics9050711.

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One approach to improve the economic efficiency of trolleybuses in the so-called BOB Project in the German town of Solingen is to use them as mobile energy storages in a smart grid. To achieve this, reliable information on available energy is essential, which in turn needs to be derived from a precise range calculator. As shown in this article, vehicle mass is a strong influencing factor, especially in urban traffic. Depending on passenger volume, the total mass and range of the bus varies by about 30 percent. The currently available mass on the bus fluctuates by more than 2 tons for constant payloads, and there is no proven solution for a more accurate mass estimation for buses in public passenger transportation. Therefore, this article presents a viable methodology to detect changes in payload, using high precision pressure sensors on the bus’s tires and air suspensions. These mass inducted pressure changes are extracted from the measurement data, using a filter to be later converted back into the corresponding masses. As the article will show, both approaches have their respective advantages and disadvantages, but have high potential and should therefore be investigated further.

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Shang, Yong Feng. "Study on Aircraft Lift Estimation." Advanced Materials Research 785-786 (September 2013): 1185–88. http://dx.doi.org/10.4028/www.scientific.net/amr.785-786.1185.

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This chapter describes how lift can be derived from a known aircraft geometry and conversely, how the selection of aircraft layout influences the generation of lift. As the fuselage shape is predetermined by the payload requirements, the nacelle geometry by the engine size, and the tail surfaces by stability considerations, the wing parameters are the principal variables to be considered in respect to lift aspects. To this end, guidance is given on the selection of wing section profile and platform geometry to provide specified performance requirements. A lift estimation method covering all the aircraft components is also provided. Such methods are suitable for use in the conceptual design phase and provide an introduction to more detailed estimation procedures.

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ChiangLung Liu, and HsingHan Liu. "Estimation of Payload of Histogram Shift-Based Steganography Using Two-Stage Steganalysis." International Journal of Digital Content Technology and its Applications 7, no. 10 (June 30, 2013): 53–61. http://dx.doi.org/10.4156/jdcta.vol7.issue10.6.

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Sabeti, Vajiheh, Shadrokh Samavi, Mojtaba Mahdavi, and Shahram Shirani. "Steganalysis and payload estimation of embedding in pixel differences using neural networks." Pattern Recognition 43, no. 1 (January 2010): 405–15. http://dx.doi.org/10.1016/j.patcog.2009.06.006.

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Nho, H. C., and P. Meckl. "Intelligent feedforward control and payload estimation for a two-link robotic manipulator." IEEE/ASME Transactions on Mechatronics 8, no. 2 (June 2003): 277–83. http://dx.doi.org/10.1109/tmech.2003.812847.

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Perig, Alexander V., Alexander N. Stadnik, and Alexander I. Deriglazov. "Spherical Pendulum Small Oscillations for Slewing Crane Motion." Scientific World Journal 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/451804.

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The present paper focuses on the Lagrange mechanics-based description of small oscillations of a spherical pendulum with a uniformly rotating suspension center. The analytical solution of the natural frequencies’ problem has been derived for the case of uniform rotation of a crane boom. The payload paths have been found in the inertial reference frame fixed on earth and in the noninertial reference frame, which is connected with the rotating crane boom. The numerical amplitude-frequency characteristics of the relative payload motion have been found. The mechanical interpretation of the terms in Lagrange equations has been outlined. The analytical expression and numerical estimation for cable tension force have been proposed. The numerical computational results, which correlate very accurately with the experimental observations, have been shown.

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Zhang Na Na, Mao Jia Fa, Yin Jing, and Yang Xiao Fang. "Research of Image Watermarking Payload Estimation Based on HVS in the Spatial Domain." International Journal of Advancements in Computing Technology 5, no. 9 (May 31, 2013): 818–25. http://dx.doi.org/10.4156/ijact.vol5.issue9.97.

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Hu, Jinfei, Chen Li, Zheng Chen, and Bin Yao. "Precision Motion Control of a 6-DoFs Industrial Robot With Accurate Payload Estimation." IEEE/ASME Transactions on Mechatronics 25, no. 4 (August 2020): 1821–29. http://dx.doi.org/10.1109/tmech.2020.2994231.

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Thapa, Sandesh, Ryan V. Self, Rushikesh Kamalapurkar, and He Bai. "Cooperative Manipulation of an Unknown Payload With Concurrent Mass and Drag Force Estimation." IEEE Control Systems Letters 3, no. 4 (October 2019): 907–12. http://dx.doi.org/10.1109/lcsys.2019.2919841.

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Joo, Hee-jin, Ho-yon Hwang, Byung-woon Park, and Dongwook Lim. "Aircraft Emission and Fuel Burn Estimation Due to Changes of Payload and Range." Journal of Korea Navigation Institute 19, no. 4 (August 30, 2015): 278–87. http://dx.doi.org/10.12673/jant.2015.19.4.278.

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He, Jun, Minzhou Luo, Xinglong Zhang, Marco Ceccarelli, Jian Fang, and Jianghai Zhao. "Adaptive fuzzy sliding mode control for redundant manipulators with varying payload." Industrial Robot: An International Journal 43, no. 6 (October 17, 2016): 665–76. http://dx.doi.org/10.1108/ir-02-2016-0066.

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Purpose This paper aims to present an adaptive fuzzy sliding mode controller with nonlinear observer (AFSMCO) for the redundant robotic manipulator handling a varying payload to achieve a precise trajectory tracking in the task space. This approach could be applied to solve the problems caused by the dynamic effect of the varying payload to robotic system caused by model uncertainties. Design/methodology/approach First, a suitable observer using the recursive algorithm is presented for an accurate estimation of external disturbances caused by a variable payload. Second, the adaptive fuzzy logic is designed to approximate the parameters of the sliding mode controller combined with nonlinear observer (SMCO) to avoid chattering in real time. Moreover, Lyapunov theory is applied to guarantee the stability of the proposed closed-loop robotic system. Finally, the effectiveness of the proposed control approach and theoretical discussion are proved by simulation results on a seven-link robot and demonstrated by a humanoid robot platform. Findings The varying payload leads to large variations in the dynamics of the manipulator and the tracking error. To achieve high-precision position tracking, nonlinear observer was introduced to feed into the sliding mode control (SMC) which had improved the ability to resist the external disturbance. In addition, the chattering caused by the SMC was eliminated by recursively approximating the switching gain with the usage of adaptive fuzzy logic. Therefore, a distributed control strategy solves the problems of an SMC implementation in improving its tracking performance and eliminating the chattering of the system control. Originality/value The AFSMCO is proposed for the first time and used to control the redundant robotic manipulator that handles the varying payload. The proposed control algorithm possesses better robustness and higher precision for the trajectory tracking than classical SMC.

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Palomba, Ilaria, Dario Richiedei, Alberto Trevisani, Emilio Sanjurjo, Alberto Luaces, and Javier Cuadrado. "Estimation of the digging and payload forces in excavators by means of state observers." Mechanical Systems and Signal Processing 134 (December 2019): 106356. http://dx.doi.org/10.1016/j.ymssp.2019.106356.

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Geetha, S., and N. Kamaraj. "MBNS Steganogram Detection and Payload Capacity Estimation Exploiting the Statistical Moments of Entropy Measure." Information Security Journal: A Global Perspective 20, no. 2 (April 14, 2011): 78–90. http://dx.doi.org/10.1080/19393555.2011.560922.

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Guo, Dejun, and Kam K. Leang. "Image-Based Estimation, Planning, and Control of a Cable-Suspended Payload for Package Delivery." IEEE Robotics and Automation Letters 5, no. 2 (April 2020): 2698–705. http://dx.doi.org/10.1109/lra.2020.2972855.

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Le Nguyen, Vinh, and Ryan James Caverly. "Cable-Driven Parallel Robot Pose Estimation Using Extended Kalman Filtering With Inertial Payload Measurements." IEEE Robotics and Automation Letters 6, no. 2 (April 2021): 3615–22. http://dx.doi.org/10.1109/lra.2021.3064502.

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PRASAD, G. "Performance estimation of Twin Propeller in Unmanned Aerial Vehicle." INCAS BULLETIN 12, no. 2 (June 5, 2020): 143–49. http://dx.doi.org/10.13111/2066-8201.2020.12.2.12.

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The article deals with the experimental investigation of the thrust performance of a twin propeller used in a typical Unmanned Aerial Vehicle. The propeller is fabricated and tested using low speed subsonic wind tunnel to study the performance characteristics. The results obtained show better performance compared to conventional propellers. The presence of twin propeller has increased the stall characteristics at low Reynolds number. The results indicate a substantial increase in thrust generation of up to 25 percent. The payload carrying capacity and handling quality will improve using this technique during pandemic to spray disinfectants. The results obtained provide an alternate design for future propellers applications. Further it is observed that the endurance of the Unmanned Aerial Vehicle can be reduced considerably, by few alternate solution.

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Dahms, Julius, and Andreas Bardenhagen. "Propulsion model for (hybrid) unmanned aircraft systems (UAS)." Aircraft Engineering and Aerospace Technology 91, no. 2 (February 4, 2019): 373–80. http://dx.doi.org/10.1108/aeat-01-2018-0033.

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Purpose This paper deals with the estimation of the necessary masses of propulsion components for multirotor UAS. Originally, within the design process of multirotors, this is an iterative problem, as the propulsion masses contribute to the total takeoff mass. Hence, they influence themselves and cannot be directly calculated. The paper aims to estimate the needed propulsion masses with respect to the requested thrust because of payload, airframe weight and drag forces and with respect to the requested flight time. Design/methodology/approach Analogue to the well-established design synthesis of airplanes, statistical data of existing electrical motors, propellers and rechargeable batteries are evaluated and analyzed. Applying Rankine and Froude’s momentum theory and a generic model for electro motor efficiency factors on the statistical performance data provides correlations between requested performance and, therefore, needed propulsion masses. These correlations are evaluated and analyzed in the scope of buoyant-vertical-thrusted hybrid UAS. Findings This paper provides a generic mathematical propulsion model. For given payloads, airframe structure weights and a requested flight time, appropriate motor, propeller and battery masses can be modelled that will provide appropriate thrust to lift payload, airframe and the propulsion unit itself over a requested flight time. Research limitations/implications The model takes into account a number of motors of four and is valid for the category of nano and small UAS. Practical implications The presented propulsion model enables a full numerical design process for vertical thrusted UAS. Hence, it is the precondition for design optimization and more efficient UAS. Originality/value The propulsion model is unique and it is valid for pure multirotor as well as for hybrid UAS too.

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Shao, Chao, Junki Togashi, Kazuhisa Mitobe, and Genci Capi. "Utilizing the Nonlinearity of Tendon Elasticity for Compensation of Unknown Gravity of Payload." Journal of Robotics and Mechatronics 30, no. 6 (December 20, 2018): 873–79. http://dx.doi.org/10.20965/jrm.2018.p0873.

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This paper discusses the positioning control of an elastic tendon-driven robot arm under gravity. The robot is driven by rubber string tendons and winding drums attached on the outside frames. Low-cost rubber strings that are available commercially are used as tendons. The goal is to utilize the nonlinear nature of the rubber materials to control a low-cost and soft robot arm. Theoretically, a mathematical model with accurate parameters and accurate measurement of the payload weight is necessary for rigorous gravity compensation. However, the necessity for the information of the robot parameters is hindering easy adaptability, versatility, and cost-efficiency. This paper presents an iterative estimation and compensation method for unknown payloads based on the steady-state position error and the nominal stiffness coefficient. Owing to the nonlinearity of the actual rubber strings, the position error remains after a single operation of the gravity compensation. However, experiments indicate that the error reduces by a simple iteration of the same compensation operation. Considering the nonlinearity in rubber strings, the mechanism of the error reduction is analyzed theoretically. Although the iterative process is time consuming, the method requires less prior information. In addition, it is cost effective because a sophisticated force sensor is not required. As the mechanism of error reduction applies to typical rubber string materials, it is useful for significant cost-reduction and reconfigurable robotics.

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Yeshmukhametov, Azamat Nurlanovich, Koichi Koganezawa, Zholdas Buribayev, Yedilkhan Amirgaliyev, and Yoshio Yamamoto. "Study on multi-section continuum robot wire-tension feedback control and load manipulability." Industrial Robot: the international journal of robotics research and application 47, no. 6 (May 8, 2020): 837–45. http://dx.doi.org/10.1108/ir-03-2020-0054.

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Purpose The purpose of this paper is to present a novel hybrid pre-tension mechanism for continuum manipulators to prevent wire slack and improve continuum robot payload capacity, as well as to present a new method to control continuum manipulators’ shape. Design/methodology/approach This research explains the hardware design of a hybrid pre-tension mechanism device and proposes a mathematic formulation wire-tension based on robot design. Also, the wire-tension control method and payload estimation model would be discussed. Findings Wire-tension is directly related to the continuum manipulators’ rigidity and accuracy. However, in the case of robot motion, wires lose their tension and such an issue leads to the inaccuracy and twist deformation. Therefore, the proposed design assists in preventing any wire slack and derailing the problem of the wires. Originality/value The novelty of this research is proposed pre-tension mechanism device design and control schematics. Proposed pre-tension mechanism designed to maintain up to eight wires simultaneously.

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Islam, Muhammad R. U., and Shaoping Bai. "Payload estimation using forcemyography sensors for control of upper-body exoskeleton in load carrying assistance." Modeling, Identification and Control: A Norwegian Research Bulletin 40, no. 4 (2019): 189–98. http://dx.doi.org/10.4173/mic.2019.4.1.

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de Wit, C. Canudas, and E. Van den Bossche. "Adaptive Control of a Flexible ARM with Explicit Estimation of the Payload Mass and Friction." IFAC Proceedings Volumes 19, no. 14 (December 1986): 277–82. http://dx.doi.org/10.1016/s1474-6670(17)59491-4.

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Tirupachuri, Yeshasvi, Prashanth Ramadoss, Lorenzo Rapetti, Claudia Latella, Kourosh Darvish, Silvio Traversaro, and Daniele Pucci. "Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment." IEEE Access 9 (2021): 123260–79. http://dx.doi.org/10.1109/access.2021.3109238.

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Milford, R. I., and S. F. Asokanthan. "Experimental On-Line Frequency Domain Identification and Adaptive Control of a Flexible Slewing Beam." Journal of Dynamic Systems, Measurement, and Control 118, no. 1 (March 1, 1996): 58–65. http://dx.doi.org/10.1115/1.2801151.

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This paper presents experimental results for the real-time adaptive identification and control of a flexible, slewing beam. A frequency domain identification algorithm incorporating non-parametric transfer function estimation and least squares parametric estimation is used to reconstruct an accurate parametric model of the system, capable of accurately tracking changing plant dynamics in real time. This model is subsequently used to produce an LQG compensator which actively damps beam vibration caused by rapid slewing manoeuvres with large payload changes. Non-persistent excitation is addressed in the context of identification during nominal motion. It is shown that after a short duration learning period, the proposed identification scheme will yield a model which is sufficiently accurate for controller synthesis.

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da Cás, Pedro L. K., Carlos A. G. Veras, Olexiy Shynkarenko, and Rodrigo Leonardi. "A Brazilian Space Launch System for the Small Satellite Market." Aerospace 6, no. 11 (November 12, 2019): 123. http://dx.doi.org/10.3390/aerospace6110123.

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At present, most small satellites are delivered as hosted payloads on large launch vehicles. Considering the current technological development, constellations of small satellites can provide a broad range of services operating at designated orbits. To achieve that, small satellite customers are seeking cost-effective launch services for dedicated missions. This paper deals with performance and cost assessments of a set of launch vehicle concepts based on a solid propellant rocket engine (S-50) under development by the Institute of Aeronautics and Space (Brazil) with support from the Brazilian Space Agency. Cost estimation analysis, based on the TRANSCOST model, was carried out taking into account the costs of launch system development, vehicle fabrication, direct and indirect operation cost. A cost-competitive expendable launch system was identified by using three S-50 solid rocket motors for the first stage, one S-50 engine for the second stage and a flight-proven cluster of pressure-fed liquid engines for the third stage. This launch system, operating from the Alcantara Launch Center, located at 2 ∘ 20’ S, would deliver satellites from the 500 kg class in typical polar missions with a specific transportation cost of about US$39,000 per kilogram of payload at a rate of 12 launches per year, in dedicated missions. At a low inclined orbit, vehicle payload capacity increased, decreasing the specific transportation cost to about 32,000 US$/kg. Cost analysis also showed that vehicle development effort would claim 781 work year, or less than 80 million dollars. Vehicle fabrication accounted for 174 work year representing less than 23 million dollars per unit. The launch system based on the best concept would, therefore, deploy small satellite constellations in cost-effective dedicated launches, 224 work year per flight, from the Alcantara Launch Center in Brazil.

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Journal articles on the topic 'Payload estimation'

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