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Volume 3, Issue 4, 2024
Open Access
Research article
Automatic Leveling Algorithm for a Three-Degree-of-Freedom Air-Floating Platform with Uncertain Inertia
qingtao hou ,
xuexu yuan ,
junwei zhao ,
yuanyuan zhang ,
hanyu gao ,
xiaowei fu
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Available online: 12-23-2024

Abstract

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A three-degree-of-freedom air-floating simulation platform is commonly used for attitude maneuver simulation and control system design. To reduce the impact of gravity on the air-floating platform, adjustments must be made to the platform's center of mass so that it coincides as closely as possible with the center of rotation (CR). For larger three-degree-of-freedom platforms, it is often different to easily obtain the moment of inertia, which presents challenges for automatic leveling. In response to this issue, an automatic leveling method was proposed in this study. This method utilizes attitude and angular velocity information, and during the leveling process, only a linear motion mechanism is required to drive a mass block for adjustment. An analysis of the uncertainties present in the model was conducted, and the uncertainties in the system were processed separately. Adaptive control techniques were then applied to design the control method. The stability of the system was demonstrated through the Lyapunov stability theorem. Finally, the algorithm was tested on a three-degree-of-freedom air-floating platform. The experimental results showed that the proposed method can achieve rapid and effective leveling of the platform.

Abstract

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A novel approach for road crack detection and segmentation was proposed, incorporating Einstein operators within an Adaptive Neuro-Fuzzy Inference System (ANFIS). This methodology leverages advanced fuzzy aggregation techniques and adaptive mechanisms, combined with dynamic Einstein sum and product operators, to enhance the identification of cracks. The model was designed to effectively manage varying crack intensities, geometries, and noise levels, thereby ensuring high sensitivity and accuracy in real-world road conditions. In the preprocessing stage, robust fuzzification was applied using Gaussian membership functions alongside Einstein operators, which significantly improved feature extraction. The segmentation framework based on ANFIS ensured precise detection and delineation of cracks. The performance of the proposed model was demonstrated through a comparative analysis, showing superior accuracy (95.2%), precision (94.1%), recall (96.4%), and F1-score (95.2%) when compared to state-of-the-art models. Statistical validation was conducted, with p-values < 0.01 for all performance metrics, confirming the reliability and statistical significance of the results. Advanced post-processing techniques, including fuzzy morphological refinement and adjacency matrix-based connectivity analysis, were employed to accurately identify even faint or disconnected cracks. The proposed method exhibits exceptional resilience to environmental variations, offering a reliable and adaptive solution for road maintenance and monitoring. This work highlights the potential of fuzzy logic, statistical validation, and adaptive mechanisms in addressing real-world challenges in road crack detection.

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