ABSTRACT
The Body Weight (BW) of sheep is an important indicator for producers. Genetic management, nutrition, and health activities can benefit from weight monitoring. This article presents a polynomial model with an adjustable degree for estimating the weight of sheep from the biometric parameters of the animal. Computer vision tools were used to measure these parameters, obtaining a margin of error of less than 5%. A polynomial model is proposed after the parameters were obtained, where a coefficient and an unknown exponent go with each biometric variable. Two metaheuristic algorithms determine the values of these constants. The first is the most extended algorithm, the Genetic Algorithm (GA). Subsequently, the Cuckoo Search Algorithm (CSA) has a similar performance to the GA, which indicates that the value obtained by the GA is not a local optimum due to the poor parameter selection in the GA. The results show a Root-Mean-Squared Error (RMSE) of 7.68% for the GA and an RMSE of 7.55% for the CSA, proving the feasibility of the mathematical model for estimating the weight from biometric parameters. The proposed mathematical model, as well as the estimation of the biometric parameters can be easily adapted to an embedded microsystem.
ABSTRACT
Linear actuators are widely used in all kinds of industrial applications due to being devices that convert the rotation motion of motors into linear or straight traction/thrust motion. These actuators are ideal for all types of applications where inclination, lifting, traction, or thrust is required under heavy loads, such as wheelchairs, medical beds, and lifting tables. Due to the remarkable ability to exert forces and good precision, they are used classic control systems and controls of high-order. Still, they present difficulties in changing their dynamics and are designed for a range of disturbances. Therefore, in this paper, we present the study of an electric linear actuator. We analyze the positioning in real-time and attack the sudden changes of loads and limitation range by the control. It uses a general-purpose control with self-tuning gains, which can deal with the essential uncertainties of the actuator and suppress disturbances, as they can change their weights to interact with changing systems. The neural network combined with PID control compensates the simplicity of this type of control with artificial intelligence, making it robust to drastic changes in its parameters. Unlike other similar works, this research proposes an online training network with an advantage over typical neural self-adjustment systems. All of this can also be dispensed with the engine model for its operation. The results obtained show a decrease of 42% in the root mean square error (RMSE) during trajectory tracking and saving in energy consumption by 25%. The results were obtained both in simulation and in real tests.
ABSTRACT
The present research develops the parametric estimation of a second-order transfer function in its standard form, employing metaheuristic algorithms. For the estimation, the step response with a known amplitude is used. The main contribution of this research is a general method for obtaining a second-order transfer function for any order stable systems via metaheuristic algorithms. Additionally, the Final Value Theorem is used as a restriction to improve the velocity search. The tests show three advantages in using the method proposed in this work concerning similar research and the exact estimation method. The first advantage is that using the Final Value Theorem accelerates the convergence of the metaheuristic algorithms, reducing the error by up to 10 times in the first iterations. The second advantage is that, unlike the analytical method, it is unnecessary to estimate the type of damping that the system has. Finally, the proposed method is adapted to systems of different orders, managing to calculate second-order transfer functions equivalent to higher and lower orders. Response signals to the step of systems of an electrical, mechanical and electromechanical nature were used. In addition, tests were carried out with simulated signals and real signals to observe the behavior of the proposed method. In all cases, transfer functions were obtained to estimate the behavior of the system in a precise way before changes in the input. In all tests, it was shown that the use of the Final Value Theorem presents advantages compared to the use of algorithms without restrictions. Finally, it was revealed that the Gray Wolf Algorithm has a better performance for parametric estimation compared to the Jaya algorithm with an error up to 50% lower.
