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According to the doctrine of the indwelling of the Holy Spirit, one of the basic functions of the Holy Spirit is to transform people into a new creation, which is necessary for salvation. On the other hand, man is an independent being who has the right to choose between happiness and misery. The serious issue is how a free man is placed in the course of divine inner guidance. In this study, Alston's sharing model can reasonably defend the position of authority. Based on this model, the Christian believer, in indwelling the Holy Spirit within himself, gets knowledge and awareness of what is good and feels that he wants to show a proper and appropriate reaction. This model plays an important role in all transformations of the Holy Spirit and simultaneously permits human free will.
 

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To achieve a reasonable level of precision in tractor-based field operations, a tractor operator has to guide accurately, monitor and control both the tractor and the attached implement. Since guidance is the most time consuming task among the others, researchers have attempted to automate the guidance task. However, the use of automatic guidance and control in agricultural applications is not always appropriate. Transportation of the vehicle on a public road is an example of this. Some researchers, therefore have focused on Vision-Aided methods to give some guidance aid to the driver rather than on eliminat-ing the driver. To investigate the accuracy of such methods, a Vision-Aided tractor guid-ance belt-type simulator was developed. An experimental prototype of the simulator was constructed. To evaluate the prototype, a completely randomized factorial experiment was conducted with forward speed, heading angle, and camera tilt angle being the major factors under investigation. The simulator performed satisfactorily at 5 and 7km/h and mean deviations of 1.14 and 2.31cm were obtained respectively.

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Conventionally flight path in airplanes and unmanned air vehicles is determined with waypoints. Waypoints are points on the surface of the earth with specific latitude and longitude. For accurate crossing the waypoints at a specific time, definition of accurate guidance error parameters is essential. Guidance algorithm based on these parameters can make appropriate commands. In this article two parameters, guidance latitude and guidance longitude, based on spherical trigonometry, are defined. Indeed these parameters show guidance error in horizontal channel and longitudinal channel respect to great circles between waypoints. These parameters can be calculated in a closed form and solution of complicated integrals, which is in geodetics on an ellipsoid, do not required. Also guidance algorithms in two channel based on these parameters are designed. In horizontal channel, a PD controller and in longitudinal channel a proportional controller on the difference between desired and real velocity, are designed as guidance algorithms. Also performance of these algorithms is shown with simulation results in comparison with plane simulation.    

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In this paper, control and guidance system of a spinning flight vehicle with a single plane of dithering canard control fins are investigated. Decreasing the number of actuators, lowering the vehicle weight, and reducing the final cost are outcomes of applying two canard controls; however, the control system will become complicated due to guidance system interaction. Producing asymmetric force and torque in yaw direction is the result of this interaction. Dithering canard is proposed for proper control of this spinning vehicle. Dithering canard adjusts its deflection with respect to the roll attitude of the flight vehicle. In this paper, a method is proposed for control and guidance of this spinning vehicle with dithering canard. This method is investigated in a six DOF flight simulation in presence of IR seeker, autopilot, gyro, actuators. Appropriate simulation results in various flight situations verify the proper performance of this new control method.

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In this paper, an explicit optimal line-of-sight guidance law for second-order binomial control systems is derived in closed-loop without acceleration limit. The problem geometry is assumed in one dimension and the final time and final position are fixed. The formulation is normalized in three forms to give more insight into the design and performance analysis of the guidance law. The computational burdun of the guidance law is reasonable for now-a-day microprocessors; however curve fitting or look-up table may be used for the implementation of the second-order optimal guidance law. The performance of the second-order optimal guidance law is compared in normalized forms with zero-lag and first-order optimal guidance laws using third-, fourth-, and sixth-order binomial control systems with/without acceleration limit. Moreover, the effect of the final time, the equivalent time constant of the vehicle control system, the vehicle-to-target line-of-sight weighting factor in cost function, and acceleration limit are investigated. Normalized miss distance analysis shows that the miss distance of the second-order guidance law is smaller than the two mentioned schemes for small total flight times, especially with large maneuvering capability.

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Due to the importance of autopilot systems in Micro Aerial Vehicles (MAVs), in this paper first, parametric guidance and control systems are designed, and then they are implemented on a simulated nonlinear six-DOF MAV. The control system is fuzzy-supervisory which its gains are optimized using genetic algorithm. For designing the guidance system, first, two-dimensional (constant height) path following algorithms of vector field and carrot-chasing are developed to 3D algorithms. Then, an optimized 3D fuzzy carrot-chasing guidance system is presented using a combination of the carrot-chasing geometric algorithm, fuzzy logic, and genetic algorithm. Augmentation of the fuzzy logic to the carrot-chasing algorithm, improves its performance significantly. In any autonomous flight maneuver, guidance and control systems affect the performance of the aircraft, simultaneously. So, using a similar control system, the performance of the 3D carrot-chasing algorithm, 3D vector field method, and the proposed 3D fuzzy carrot chasing algorithms are compared with and without applying the wind external disturbance. Results have shown significant superiority of the proposed 3D fuzzy carrot-chasing approach in the horizontal plane of motion and the 3D vector field method in the vertical plane of motion.

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In this paper, an explicit formulation of optimal line-of-sight strategy is derived in closed-loop for integrated guidance and control (IGC) system without consideration of fin deflection limit. The airframe dynamics is modeled by a second-order nonminimum phase transfer function, describing short period approximation. In the derivation of our optimal control problem, the actuator is assumed to be perfect and without limitation on fin deflection, whereas fin deflection limit is applied for the performance analysis of the presented optimal IGC solution. The problem geometry is assumed in one dimension and the final position and final time are fixed. The formulation is obtained in four different normalized forms to give more insight into the design and performance analysis of the optimal IGC strategy. In addition, guidance gains are obtained analytically in explicit form for steady-state solution. In overall, the performance of IGC is better than that of IGC with steady-state gains, but have more computational burden; however, it is reasonable for now-a-day microprocessors. Curve fitting or look-up table may be used instead for an implementation of optimal IGC strategy. Moreover, parametric study of nondimensional IGC parameters is carried out, such as weighing factor, dc gain, and short period frequency. Finally, the performance of the both IGC strategies is evaluated with airframe model uncertainties.

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In this paper, online manual guidance of industrial robots using impedance control with singularity avoidance is studied. In this method, operator enters the robot workspace, physically holds the end-effector equipped with force sensor and manually guides the robot. In doing so, the operator generates the desired trajectory for applications like welding or painting. Robot singular configuration is possible during the process which makes it unsafe due to unexpected high velocity robot joints and the physical human-robot interaction. Therefore, real-time identification of singularity position and orientation must be evaluated during trajectory generation. The use of manipulability ellipsoid is suggested as a simple method for the singularity identification. By combining the manipulability ellipsoid and impedance control, a simple and new approach is proposed to warn operator before reaching singularity. Based on the proposed approach, effect of opposite force is exerted on the human hand in the predefined distance to singularity. Real-time implementation is the main advantage of the proposed approach because it keeps robot away from reaching singularity. Real-time experiments are performed using a SCARA robot. In the first experiment, the operator stops the trajectory generation process when an opposite force is produced. In the second experiment, the operator insists on entering the singular points. Experimental results show the effectiveness of the proposed approach in dealing with singularity problem during the trajectory generation by an operator for industrial robots.

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This paper studies path generation using manual guidance procedure for industrial robots by considering real-time singularity avoidance. Main feature of the proposed approach is singularity avoidance by variating impedance control parameters in preset distance from singularity in order to warn operator. Robot end-effector is equipped with a force sensor which operator grasps it and produces desired path. The desired end-effector path is generated by operator’s manual guidance for applications such as welding and spray painting and is recorded by robot controller. Robot singular configuration is possible during the manual guidance. So real-time detection of singularity position and orientation have to be considered during path generation because it can lead to unexpected high robot joints velocity. This problem is not safe due to physical human-robot interaction. Manipulability ellipsoid method is utilized so as to singularity identification. The method can be utilized in on-line due to its simple and low calculation process. On the other hand, the end-effector velocity is saturated in a specific value in the approach considering safety issues. Two main advantages of the proposed approach are real-time application and high safety because of the singularity avoidance. Experiments are applied on a SCARA robot to study the effectiveness of the proposed approach. Experimental results show the ability of proposed approach in dealing with singularity problem during the manual guidance.

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Cooperation and autonomy are among the most important aspects of unmanned systems through which greater use of these system is possible. Most applications in civil market is related to government organizations requiring surveillance and inspection, such as coast guards, border patrol, emergency services and police. A cooperation algorithm is developed and simulated in this research for autonomous UAVs to track a dynamic target in an adversarial environment. First, a mathematical formulation is developed to represent the area of operation that contains various types of threats in a single framework. Then a search point guidance algorithm is developed by using a rule-based approach to guide every UAV to the way points created by the cooperation algorithm, with the requirements of completing mission, avoiding restricted areas, minimizing threat exposure level, considering the dynamic constraints of the UAVs and avoiding collision. The cooperation algorithm is designed based on a variable formation which depends on a cost function. The efficiency of the team is improved in the terms of increasing the area of coverage of the sensors, flexibility of the UAVs to search for better trajectories in terms of restricted area avoidance and threat exposure minimization, and improving the estimation. Finally, the performance of the algorithm is evaluated in a MATLAB environment, which includes the dynamics of vehicles, the models of sensor measurement and data communication and the discrete execution of the algorithms. The simulation results demonstrate that the proposed algorithms successfully generated the trajectories that satisfy the given mission objectives.

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Guidance of an underwater vehicle in the wake of target due to the complexity of guidance in water and also sensor limitations, is still the most important homing guidance method. Disadvantages of wake guidance can be mentioned as zigzag motion for rediscovering the wake in its path which according to the decreasing linear speed of approaching the target, sometime it doesn't reach the target and collision fails. Therefore various ideas, with both positive and negative aspects, have been introduced to improve movement in the wake path. According to complexity of the wake model and also its instability in order to extract its parameters, makes it a very nonlinear phenomenon and guidance in it is a problematic in underwater vehicle. Since the wake detection area by the sensor is not enough widespread, wake is just discovered in the near of itself. Hence the real wake path is not detectable and therefore advanced guidance method is not available. For this reason, it is suggested to use a method of unknown path tracking for the wake guidance. This guidance law consists of two parts of path estimation and nonlinear guidance. The estimation method is performed using particle filter that has the ability to estimate nonlinear paths. The stability proof of nonlinear guidance method is done by Lyapunov.

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In this paper, a novel closed loop guidance method is provided for sub-orbital systems. The proposed method can be used in the first phase of a flying vehicle system that flies in atmosphere. In this method, sub-optimal integrated solution of control and guidance in closed-loop is developed. This Sub-optimal guidance technique has been named Model Predictive Static Programming (MPSP) that based on nonlinear optimal control theory and derived from combined philosophies of Model Predictive Control and Approximate Dynamic Programming solves a class of finite horizon optimal control problems with terminal constraints. Also because sensitivity matrices that are necessary for obtaining this solution can be computed recursively, this technique is computationally efficient and is appropriate for online implementation. In this paper, the system’s dynamic equations are modeled in the presence of aerodynamic forces and moment and the dynamic servo-mechanism effect is also assumed in the equations. Furthermore, by simultaneously considering the guidance and control loops, an integrated solution of the guidance and control system is proposed by three-degree of freedom spherical earth simulation model. Result show that proposed closed-loop guidance is able to remove modeling errors by flight data update and guide flying vehicle to the desired point.