Abstract: The problem of finding control laws for underactuated
systems has attracted growing attention since these systems are
characterized by the fact that they have fewer actuators than the
degrees of freedom to be controlled. The acrobot, which is a planar
two-link robotic arm in the vertical plane with an actuator at the elbow
but no actuator at the shoulder, is a representative in underactuated
systems. In this paper, the dynamic model of the acrobot is
implemented using Mathworks’ Simscape. And the sliding mode
control is constructed using MATLAB and Simulink.
Abstract: This paper deals with the study of reflection and
transmission characteristics of acoustic waves at the interface of a
semiconductor half-space and elastic solid. The amplitude ratios
(reflection and transmission coefficients) of reflected and transmitted
waves to that of incident wave varying with the incident angles have
been examined for the case of quasi-longitudinal wave. The special
cases of normal and grazing incidence have also been derived with
the help of Gauss elimination method. The mathematical model
consisting of governing partial differential equations of motion and
charge carriers’ diffusion of n-type semiconductors and elastic solid
has been solved both analytically and numerically in the study. The
numerical computations of reflection and transmission coefficients
has been carried out by using MATLAB programming software for
silicon (Si) semiconductor and copper elastic solid. The computer
simulated results have been plotted graphically for Si
semiconductors. The study may be useful in semiconductors,
geology, and seismology in addition to surface acoustic wave (SAW)
devices.
Abstract: Waste load allocation (WLA) policies may use multiobjective
optimization methods to find the most appropriate and
sustainable solutions. These usually intend to simultaneously
minimize two criteria, total abatement costs (TC) and environmental
violations (EV). If other criteria, such as inequity, need for
minimization as well, it requires introducing more binary
optimizations through different scenarios. In order to reduce the
calculation steps, this study presents value index as an innovative
decision making approach. Since the value index contains both the
environmental violation and treatment costs, it can be maximized
simultaneously with the equity index. It implies that the definition of
different scenarios for environmental violations is no longer required.
Furthermore, the solution is not necessarily the point with minimized
total costs or environmental violations. This idea is testified for Haraz
River, in north of Iran. Here, the dissolved oxygen (DO) level of river
is simulated by Streeter-Phelps equation in MATLAB software. The
WLA is determined for fish farms using multi-objective particle
swarm optimization (MOPSO) in two scenarios. At first, the trade-off
curves of TC-EV and TC-Inequity are plotted separately as the
conventional approach. In the second, the Value-Equity curve is
derived. The comparative results show that the solutions are in a
similar range of inequity with lower total costs. This is due to the
freedom of environmental violation attained in value index. As a
result, the conventional approach can well be replaced by the value
index particularly for problems optimizing these objectives. This
reduces the process to achieve the best solutions and may find better
classification for scenario definition. It is also concluded that decision
makers are better to focus on value index and weighting its contents
to find the most sustainable alternatives based on their requirements.
Abstract: In this study, we proposed two techniques to track the
maximum power point (MPPT) of a photovoltaic system. The first is
an intelligent control technique, and the second is robust used for
variable structure system. In fact the characteristics I-V and P–V of
the photovoltaic generator depends on the solar irradiance and
temperature. These climate changes cause the fluctuation of
maximum power point; a maximum power point tracking technique
(MPPT) is required to maximize the output power. For this we have
adopted a control by fuzzy logic (FLC) famous for its stability and
robustness. And a Siding Mode Control (SMC) widely used for
variable structure system. The system comprises a photovoltaic panel
(PV), a DC-DC converter, which is considered as an adaptation stage
between the PV and the load. The modelling and simulation of the
system is developed using MATLAB/Simulink. SMC technique
provides a good tracking speed in fast changing irradiation and when
the irradiation changes slowly or it is constant the panel power of
FLC technique presents a much smoother signal with less
fluctuations.
Abstract: One of the key aspects of power quality improvement
in power system is the mitigation of voltage sags/swells and flicker.
Custom power devices have been known as the best tools for voltage
disturbances mitigation as well as reactive power compensation.
Dynamic Voltage Restorer (DVR) which is the most efficient and
effective modern custom power device can provide the most
commercial solution to solve several problems of power quality in
distribution networks. This paper deals with analysis and simulation
technique of DVR based on instantaneous power theory which is a
quick control to detect signals. The main purpose of this work is to
remove three important disturbances including voltage sags/swells
and flicker. Simulation of the proposed method was carried out on
two sample systems by using Matlab software environment and the
results of simulation show that the proposed method is able to
provide desirable power quality in the presence of wide range of
disturbances.
Abstract: Latin hypercube designs (LHDs) have been applied in
many computer experiments among the space-filling designs found in
the literature. A LHD can be randomly generated but a randomly
chosen LHD may have bad properties and thus act poorly in
estimation and prediction. There is a connection between Latin
squares and orthogonal arrays (OAs). A Latin square of order s
involves an arrangement of s symbols in s rows and s columns, such
that every symbol occurs once in each row and once in each column
and this exists for every non-negative integer s. In this paper, a
computer program was written to construct orthogonal array-based
Latin hypercube designs (OA-LHDs). Orthogonal arrays (OAs) were
constructed from Latin square of order s and the OAs constructed
were afterward used to construct the desired Latin hypercube designs
for three input variables for use in computer experiments. The LHDs
constructed have better space-filling properties and they can be used
in computer experiments that involve only three input factors.
MATLAB 2012a computer package (www.mathworks.com/) was
used for the development of the program that constructs the designs.
Abstract: The article deals with the tool in Matlab GUI form
that is designed to analyse a mechatronic system sensitivity and
tolerance. In the analysed mechatronic system, a torque is transferred
from the drive to the load through a coupling containing flexible
elements. Different methods of control system design are used. The
classic form of the feedback control is proposed using Naslin method,
modulus optimum criterion and inverse dynamics method. The
cascade form of the control is proposed based on combination of
modulus optimum criterion and symmetric optimum criterion. The
sensitivity is analysed on the basis of absolute and relative sensitivity
of system function to the change of chosen parameter value of the
mechatronic system, as well as the control subsystem. The tolerance
is analysed in the form of determining the range of allowed relative
changes of selected system parameters in the field of system stability.
The tool allows to analyse an influence of torsion stiffness, torsion
damping, inertia moments of the motor and the load and controller(s)
parameters. The sensitivity and tolerance are monitored in terms of
the impact of parameter change on the response in the form of system
step response and system frequency-response logarithmic
characteristics. The Symbolic Math Toolbox for expression of the
final shape of analysed system functions was used. The sensitivity
and tolerance are graphically represented as 2D graph of sensitivity
or tolerance of the system function and 3D/2D static/interactive graph
of step/frequency response.
Abstract: Flexible AC Transmission Systems (FACTS) is
granting a new group of advanced power electronic devices emerging
for enhancement of the power system performance. Unified Power
Flow Controller (UPFC) is a recent version of FACTS devices for
power system applications. The back-up energy supply system
incorporated with UPFC is providing a complete control of real and
reactive power at the same time and hence is competent to improve
the performance of an electrical power system. In this article, backup
energy supply unit such as superconducting magnetic energy storage
(SMES) is integrated with UPFC. In addition, comparative
exploration of UPFC–battery, UPFC–UC and UPFC–SMES
performance is evaluated through the vibrant simulation by using
MATLAB/Simulink software.
Abstract: In this paper, the problem of steady laminar boundary
layer flow and heat transfer over a permeable exponentially
stretching/shrinking sheet with generalized slip velocity is
considered. The similarity transformations are used to transform the
governing nonlinear partial differential equations to a system of
nonlinear ordinary differential equations. The transformed equations
are then solved numerically using the bvp4c function in MATLAB.
Dual solutions are found for a certain range of the suction and
stretching/shrinking parameters. The effects of the suction parameter,
stretching/shrinking parameter, velocity slip parameter, critical shear
rate and Prandtl number on the skin friction and heat transfer
coefficients as well as the velocity and temperature profiles are
presented and discussed.
Abstract: In this paper, a direct power control (DPC)
strategies have been investigated in order to control a high
power AC/DC converter with time variable load. This converter
is composed of a three level three phase neutral point clamped
(NPC) converter as rectifier and an H-bridge four quadrant
current control converter. In the high power application,
controller not only must adjust the desire outputs but also
decrease the level of distortions which are injected to the network
from the converter. Regarding to this reason and nonlinearity
of the power electronic converter, the conventional controllers
cannot achieve appropriate responses. In this research, the
precise mathematical analysis has been employed to design the
appropriate controller in order to control the time variable
load. A DPC controller has been proposed and simulated using
Matlab/ Simulink. In order to verify the simulation result, a real
time simulator- OPAL-RT- has been employed. In this paper,
the dynamic response and stability of the high power NPC
with variable load has been investigated and compared with
conventional types using a real time simulator. The results proved
that the DPC controller is more stable and has more precise
outputs in comparison with conventional controller.
Abstract: This paper proposes five level diode clamped Z source
Inverter. The existing PWM techniques used for ZSI are restricted for
two level. The two level Z Source Inverter have high harmonic
distortions which effects the performance of the grid connected PV
system. To improve the performance of the system the number of
voltage levels in the output waveform need to be increased. This
paper presents comparative analysis of a five level diode clamped Z
source Inverter with different carrier based Modified Pulse Width
Modulation techniques. The parameters considered for comparison
are output voltage, voltage gain, voltage stress across switch and total
harmonic distortion when powered by same DC supply. Analytical
results are verified using MATLAB.
Abstract: In this paper we present the efficient parallel
implementation of elastoplastic problems based on the TFETI (Total
Finite Element Tearing and Interconnecting) domain decomposition
method. This approach allow us to use parallel solution and compute
this nonlinear problem on the supercomputers and decrease the
solution time and compute problems with millions of DOFs. In
our approach we consider an associated elastoplastic model with
the von Mises plastic criterion and the combination of linear
isotropic-kinematic hardening law. This model is discretized by
the implicit Euler method in time and by the finite element
method in space. We consider the system of nonlinear equations
with a strongly semismooth and strongly monotone operator. The
semismooth Newton method is applied to solve this nonlinear
system. Corresponding linearized problems arising in the Newton
iterations are solved in parallel by the above mentioned TFETI. The
implementation of this problem is realized in our in-house MatSol
packages developed in MatLab.
Abstract: Robotic surgery is used to enhance minimally invasive
surgical procedure. It provides greater degree of freedom for surgical
tools but lacks of haptic feedback system to provide sense of touch to
the surgeon. Surgical robots work on master-slave operation, where
user is a master and robotic arms are the slaves. Current, surgical
robots provide precise control of the surgical tools, but heavily rely
on visual feedback, which sometimes cause damage to the inner
organs. The goal of this research was to design and develop a realtime
Simulink based robotic system to study force feedback
mechanism during instrument-object interaction. Setup includes three
VelmexXSlide assembly (XYZ Stage) for three dimensional
movement, an end effector assembly for forceps, electronic circuit for
four strain gages, two Novint Falcon 3D gaming controllers,
microcontroller board with linear actuators, MATLAB and Simulink
toolboxes. Strain gages were calibrated using Imada Digital Force
Gauge device and tested with a hard-core wire to measure
instrument-object interaction in the range of 0-35N. Designed
Simulink model successfully acquires 3D coordinates from two
Novint Falcon controllers and transfer coordinates to the XYZ stage
and forceps. Simulink model also reads strain gages signal through
10-bit analog to digital converter resolution of a microcontroller
assembly in real time, converts voltage into force and feedback the
output signals to the Novint Falcon controller for force feedback
mechanism. Experimental setup allows user to change forward
kinematics algorithms to achieve the best-desired movement of the
XYZ stage and forceps. This project combines haptic technology
with surgical robot to provide sense of touch to the user controlling
forceps through machine-computer interface.
Abstract: Electroencephalogram (EEG) is a noninvasive
technique that registers signals originating from the firing of neurons
in the brain. The Emotiv EEG Neuroheadset is a consumer product
comprised of 14 EEG channels and was used to record the reactions
of the neurons within the brain to two forms of stimuli in 10
participants. These stimuli consisted of auditory and visual formats
that provided directions of ‘right’ or ‘left.’ Participants were
instructed to raise their right or left arm in accordance with the
instruction given. A scenario in OpenViBE was generated to both
stimulate the participants while recording their data. In OpenViBE,
the Graz Motor BCI Stimulator algorithm was configured to govern
the duration and number of visual stimuli. Utilizing EEGLAB under
the cross platform MATLAB®, the electrodes most stimulated during
the study were defined. Data outputs from EEGLAB were analyzed
using IBM SPSS Statistics® Version 20. This aided in determining
the electrodes to use in the development of a brain-machine interface
(BMI) using real-time EEG signals from the Emotiv EEG
Neuroheadset. Signal processing and feature extraction were
accomplished via the Simulink® signal processing toolbox. An
Arduino™ Duemilanove microcontroller was used to link the Emotiv
EEG Neuroheadset and the right and left Mecha TE™ Hands.
Abstract: The performance and analysis of speech recognition
system is illustrated in this paper. An approach to recognize the
English word corresponding to digit (0-9) spoken by 2 different
speakers is captured in noise free environment. For feature extraction,
speech Mel frequency cepstral coefficients (MFCC) has been used
which gives a set of feature vectors from recorded speech samples.
Neural network model is used to enhance the recognition
performance. Feed forward neural network with back propagation
algorithm model is used. However other speech recognition
techniques such as HMM, DTW exist. All experiments are carried
out on Matlab.
Abstract: Operations, maintenance and reliability of wind
turbines have received much attention over the years due to the rapid
expansion of wind farms. This paper explores early fault diagnosis
technique for a 5MW wind turbine system subjected to multiple
faults, where genetic optimization algorithm is employed to make the
residual sensitive to the faults, but robust against disturbances. The
proposed technique has a potential to reduce the downtime mostly
caused by the breakdown of components and exploit the productivity
consistency by providing timely fault alarms. Simulation results show
the effectiveness of the robust fault detection methods used under
Matlab/Simulink/Gatool environment.
Abstract: The wear measuring and wear modelling are
fundamental issues in the industrial field, mainly correlated to the
economy and safety. Therefore, there is a need to study the wear
measurements and wear estimation. Pin-on-disc test is the most
common test which is used to study the wear behaviour. In this paper,
the pin-on-disc (AEROTECH UNIDEX 11) is used for the
investigation of the effects of normal load and hardness of material on
the wear under dry and sliding conditions. In the pin-on-disc rig, two
specimens were used; one, a pin is made of steel with a tip, positioned
perpendicular to the disc, where the disc is made of aluminium. The
pin wear and disc wear were measured by using the following
instruments: The Talysurf instrument, a digital microscope, and the
alicona instrument. The Talysurf profilometer was used to measure
the pin/disc wear scar depth, digital microscope was used to measure
the diameter and width of wear scar, and the alicona was used to
measure the pin wear and disc wear. After that, the Archard model,
American Society for Testing and Materials model (ASTM), and
neural network model were used for pin/disc wear modelling.
Simulation results were implemented by using the Matlab program.
This paper focuses on how the alicona can be used for wear
measurements and how the neural network can be used for wear
estimation.
Abstract: The aim of this paper is to perform experimental
modal analysis (EMA) of reinforced concrete (RC) square slabs.
EMA is the process of determining the modal parameters (Natural
Frequencies, damping factors, modal vectors) of a structure from a
set of frequency response functions FRFs (curve fitting). Although,
experimental modal analysis (or modal testing) has grown steadily in
popularity since the advent of the digital FFT spectrum analyzer in
the early 1970’s, studying all types of members and materials using
such method have not yet been well documented. Therefore, in this
work, experimental tests were conducted on RC square slab
specimens of dimensions 600mm x 600mmx 40mm. Experimental
analysis was based on freely supported boundary condition.
Moreover, impact testing as a fast and economical means of finding
the modes of vibration of a structure was used during the
experiments. In addition, Pico Scope 6 device and MATLAB
software were used to acquire data, analyze and plot Frequency
Response Function (FRF). The experimental natural frequencies
which were extracted from measurements exhibit good agreement
with analytical predictions. It is showed that EMA method can be
usefully employed to investigate the dynamic behavior of RC slabs.
Abstract: The emerging Cognitive Radio is combo of both the
technologies i.e. Radio dynamics and software technology. It involve
wireless system with efficient coding, designing, and making them
artificial intelligent to take the decision according to the surrounding
environment and adopt themselves accordingly, so as to deliver the
best QoS. This is the breakthrough from fixed hardware and fixed
utilization of the spectrum. This software-defined approach of
research is centralized at user-definition and application driven
model, various software method are used for the optimization of the
wireless communication. This paper focused on the Spectrum
allocation technique using genetic algorithm GA to evolve radio,
represented by chromosomes. The chromosomes gene represents the
adjustable parameters in given radio and by using GA, evolving over
the generations, the optimized set of parameters are evolved, as per
the requirement of user and availability of the spectrum, in our
prototype the gene consist of 6 different parameters, and the best set
of parameters are evolved according to the application need and
availability of the spectrum holes and thus maintaining best QoS for
user, simultaneously maintaining licensed user rights. The analyzing
tool Matlab is used for the performance of the prototype.
Abstract: This paper presents modeling of an Alternating
Current (AC) Photovoltaic (PV) module using Matlab/Simulink. The
proposed AC-PV module model is simple, realistic, and application
oriented. The model is derived on module level as compared to cell
level directly from the information provided by the manufacturer data
sheet. DC-PV module, MPPT control, BC, VSI and LC filter, all
were treated as a single unit. The model accounts for changes in
variations of both irradiance and temperature. The AC-PV module
proposed model is simulated and the results are compared with the
datasheet projected numbers to validate model’s accuracy and
effectiveness. Implementation and results demonstrate simplicity and
accuracy, as well as reliability of the model.