Abstract: The Combination of path planning and path following is the main purpose of this paper. This paper describes the developed practical approach to motion control of the MRL small size robots. An intelligent controller is applied to control omni-directional robots motion in simulation and real environment respectively. The Brain Emotional Learning Based Intelligent Controller (BELBIC), based on LQR control is adopted for the omni-directional robots. The contribution of BELBIC in improving the control system performance is shown as application of the emotional learning in a real world problem. Optimizing of the control effort can be achieved in this method too. Next the implicit communication method is used to determine the high level strategies and coordination of the robots. Some simple rules besides using the environment as a memory to improve the coordination between agents make the robots' decision making system. With this simple algorithm our team manifests a desirable cooperation.
Abstract: This paper presents the averaging model of a buck
converter derived from the generalized state-space averaging method.
The sliding mode control is used to regulate the output voltage of the
converter and taken into account in the model. The proposed model
requires the fast computational time compared with those of the full
topology model. The intensive time-domain simulations via the exact
topology model are used as the comparable model. The results show
that a good agreement between the proposed model and the switching
model is achieved in both transient and steady-state responses. The
reported model is suitable for the optimal controller design by using
the artificial intelligence techniques.
Abstract: This paper presents an efficient method of obtaining a straight-line motion in the tool configuration space using an articulated robot between two specified points. The simulation results & the implementation results show the effectiveness of the method.
Abstract: Facility location problem involves locating a facility
to optimize some performance measures. Location of a public facility
to serve the community, such as a fire station, significantly affects its
service quality. Main objective in locating a fire station is to
minimize the response time, which is the time duration between
receiving a call and reaching the place of incident. In metropolitan
areas, fire vehicles need to cross highways and other traffic obstacles
through some obstacle-overcoming points which delay the response
time. In this paper, fire station location problem is analyzed.
Simulation models are developed for the location problems which
involve obstacles. Particular case problems are analyzed and the
results are presented.
Abstract: One of the essential requirements of a realistic
surgical simulator is to reproduce haptic sensations due to the
interactions in the virtual environment. However, the interaction need
to be performed in real-time, since a delay between the user action
and the system reaction reduces the immersion sensation. In this
paper, a prototype of a coronary stent implant simulator is present;
this system allows real-time interactions with an artery by means of a
specific haptic device. To improve the realism of the simulation, the
building of the virtual environment is based on real patients- images
and a Web Portal is used to search in the geographically remote
medical centres a virtual environment with specific features in terms
of pathology or anatomy. The functional architecture of the system
defines several Medical Centres in which virtual environments built
from the real patients- images and related metadata with specific
features in terms of pathology or anatomy are stored. The searched
data are downloaded from the Medical Centre to the Training Centre
provided with a specific haptic device and with the software
necessary both to manage the interaction in the virtual environment.
After the integration of the virtual environment in the simulation
system it is possible to perform training on the specific surgical
procedure.
Abstract: In the last two decades radiofrequency ablation (RFA)
has been considered a promising medical procedure for the treatment
of primary and secondary malignancies. However, the needle-based
electrodes so far developed for this kind of treatment are not suitable
for the thermal ablation of tumors located in hollow organs like
esophagus, colon or bile duct. In this work a tubular electrode
solution is presented. Numerical and experimental analyses were
performed to characterize the volume of the lesion induced. Results
show that this kind of electrode is a feasible solution and numerical
simulation might provide a tool for planning RFA procedure with
some accuracy.
Abstract: Modeling transfer phenomena in several chemical
engineering operations leads to the resolution of partial differential
equations systems. According to the complexity of the operations
mechanisms, the equations present a nonlinear form and analytical
solution became difficult, we have then to use numerical methods
which are based on approximations in order to transform a
differential system to an algebraic one.Finite element method is one
of numerical methods which can be used to obtain an accurate
solution in many complex cases of chemical engineering.The packed
columns find a large application like contactor for liquid-liquid
systems such solvent extraction. In the literature, the modeling of this
type of equipment received less attention in comparison with the
plate columns.A mathematical bidimensionnal model with radial and
axial dispersion, simulating packed tower extraction behavior was
developed and a partial differential equation was solved using the
finite element method by adopting the Galerkine model. We
developed a Mathcad program, which can be used for a similar
equations and concentration profiles are obtained along the column.
The influence of radial dispersion was prooved and it can-t be
neglected, the results were compared with experimental concentration
at the top of the column in the extraction system:
acetone/toluene/water.
Abstract: The aim of this paper is description of the notion of
the death for prisoners and the ways of deal with. They express
indifference, coldness, inability to accept the blame, they have no
shame and no empathy. Is it enough to perform acts verging on the
death. In this paper we described mechanisms and regularities of selfdestructive
behaviour in the view of the relevant literature? The
explanation of the phenomenon is of a biological and sociopsychological
nature. It must be clearly stated that all forms of selfdestructive
behaviour result from various impulses, conflicts and
deficits. That is why they should be treated differently in terms of
motivation and functions which they perform in a given group of
people. Behind self-destruction there seems to be a motivational
mechanism which forces prisoners to rebel and fight against the hated
law and penitentiary systems. The imprisoned believe that pain and
suffering inflicted on them by themselves are better than passive
acceptance of repression. The variety of self-destruction acts is wide,
and some of them take strange forms. We assume that a life-death
barrier is a kind of game for them. If they cannot change the
degrading situation, their life loses sense.
Abstract: Crosstalk is the major limiting issue in very high bit-rate digital subscriber line (VDSL) systems in terms of bit-rate or service coverage. At the central office side, joint signal processing accompanied by appropriate power allocation enables complex multiuser processors to provide near capacity rates. Unfortunately complexity grows with the square of the number of lines within a binder, so by taking into account that there are only a few dominant crosstalkers who contribute to main part of crosstalk power, the canceller structure can be simplified which resulted in a much lower run-time complexity. In this paper, a multiuser power control scheme, namely iterative waterfilling, is combined with previously proposed partial crosstalk cancellation approaches to demonstrate the best ever achieved performance which is verified by simulation results.
Abstract: As a part of the development of a numerical method of
close capture exhausts systems for machining devices, a test rig
recreating a situation similar to a grinding operation, but in a
perfectly controlled environment, is used. The properties of the
obtained spray of solid particles are initially characterized using
particle tracking velocimetry (PTV), in order to obtain input and
validation parameters for numerical simulations. The dispersion of a
tracer gas (SF6) emitted simultaneously with the particle jet is then
studied experimentally, as the dispersion of such a gas is
representative of that of finer particles, whose aerodynamic response
time is negligible. Finally, complete modeling of the test rig is
achieved to allow comparison with experimental results and thus to
progress towards validation of the models used to describe a twophase
flow generated by machining operation.
Abstract: This study comprehensively simulate the use of k-ε
model for predicting flow and heat transfer with measured flow field
data in a stationary duct with elucidates on the detailed physics
encountered in the fully developed flow region, and the sharp 180°
bend region. Among the major flow features predicted with accuracy
are flow transition at the entrance of the duct, the distribution of
mean and turbulent quantities in the developing, fully developed, and
sharp 180° bend, the development of secondary flows in the duct
cross-section and the sharp 180° bend, and heat transfer
augmentation. Turbulence intensities in the sharp 180° bend are
found to reach high values and local heat transfer comparisons show
that the heat transfer augmentation shifts towards the wall and along
the duct. Therefore, understanding of the unsteady heat transfer in
sharp 180° bends is important. The design and simulation are related
to concept of fluid mechanics, heat transfer and thermodynamics.
Simulation study has been conducted on the response of turbulent
flow in a rectangular duct in order to evaluate the heat transfer rate
along the small scale multiple rectangular duct
Abstract: In this paper, we consider Wiener nonlinear model for solid oxide fuel cell (SOFC). The Wiener model of the SOFC consists of a linear dynamic block and a static output non-linearity followed by the block, in which linear part is approximated by state-space model and the nonlinear part is identified by a polynomial form. To control the SOFC system, we have to consider various view points such as operating conditions, another constraint conditions, change of load current and so on. A change of load current is the significant one of these for good performance of the SOFC system. In order to keep the constant stack terminal voltage by changing load current, the nonlinear model predictive control (MPC) is proposed in this paper. After primary control method is designed to guarantee the fuel utilization as a proper constant, a nonlinear model predictive control based on the Wiener model is developed to control the stack terminal voltage of the SOFC system. Simulation results verify the possibility of the proposed Wiener model and MPC method to control of SOFC system.
Abstract: In this study, a 3D combustion chamber was simulated
using FLUENT 6.32. Aims to obtain accurate information about the
profile of the combustion in the furnace and also check the effect of
oxygen enrichment on the combustion process. Oxygen enrichment is
an effective way to reduce combustion pollutant. The flow rate of air
to fuel ratio is varied as 1.3, 3.2 and 5.1 and the oxygen enriched
flow rates are 28, 54 and 68 lit/min. Combustion simulations
typically involve the solution of the turbulent flows with heat
transfer, species transport and chemical reactions. It is common to
use the Reynolds-averaged form of the governing equation in
conjunction with a suitable turbulence model. The 3D Reynolds
Averaged Navier Stokes (RANS) equations with standard k-ε
turbulence model are solved together by Fluent 6.3 software. First
order upwind scheme is used to model governing equations and the
SIMPLE algorithm is used as pressure velocity coupling. Species
mass fractions at the wall are assumed to have zero normal
gradients.Results show that minimum mole fraction of CO2 happens
when the flow rate ratio of air to fuel is 5.1. Additionally, in a fixed
oxygen enrichment condition, increasing the air to fuel ratio will
increase the temperature peak. As a result, oxygen-enrichment can
reduce the CO2 emission at this kind of furnace in high air to fuel
rates.
Abstract: This paper examines the problem of designing robust H controllers for for HIV/AIDS infection system with dual drug dosages described by a Takagi-Sugeno (S) fuzzy model. Based on a linear matrix inequality (LMI) approach, we develop an H controller which guarantees the L2-gain of the mapping from the exogenous input noise to the regulated output to be less than some prescribed value for the system. A sufficient condition of the controller for this system is given in term of Linear Matrix Inequalities (LMIs). The effectiveness of the proposed controller design methodology is finally demonstrated through simulation results. It has been shown that the anti-HIV vaccines are critically important in reducing the infected cells.
Abstract: A closed-loop controlled wireless power transmission circuit block for implantable biomedical applications is described in this paper. The circuit consists of one front-end rectifier, power management sub-block including bandgap reference and low drop-out regulators (LDOs) as well as transmission power detection / feedback circuits. Simulation result shows that the front-end rectifier achieves 80% power efficiency with 750-mV single-end peak-to-peak input voltage and 1.28-V output voltage under load current of 4 mA. The power management block can supply 1.8mA average load current under 1V consuming only 12μW power, which is equivalent to 99.3% power efficiency. The wireless power transmission block described in this paper achieves a maximum power efficiency of 80%. The wireless power transmission circuit block is designed and implemented using UMC 65-nm CMOS/RF process. It occupies 1 mm × 1.2 mm silicon area.
Abstract: The main aim of this work is to develop a model of hydrogen sulfide (H2S) separation from natural gas by using membrane separation technology. The model is developed by incorporating three diffusion mechanisms which are Knudsen, viscous and surface diffusion towards membrane selectivity and permeability. The findings from the simulation result shows that the permeability of the gas is dependent toward the pore size of the membrane, operating pressure, operating temperature as well as feed composition. The permeability of methane has the highest value for Poly (1-trimethylsilyl-1-propyne ) PTMSP membrane at pore size of 0.1nm and decreasing toward a minimum peak at pore range 1 to 1.5 nm as pore size increased before it increase again for pore size is greater than 1.5 nm. On the other hand, the permeability of hydrogen sulfide is found to increase almost proportionally with the increase of membrane pore size. Generally, the increase of pressure will increase the permeability of gas since more driving force is provided to the system while increasing of temperature would decrease the permeability due to the surface diffusion drop off effect. A corroboration of the simulation result also showed a good agreement with the experimental data.
Abstract: In order to improve the simulation effects of space cold
black environment, this paper described a rectangular channel plate
heat sink. By using fluid mechanics theory and finite element method,
the internal fluid flow and heat transfer in heat sink was numerically
simulated to analyze the impact of channel structural on fluid flow and
heat transfer. The result showed that heat sink temperature uniformity
is well, and the impact of channel structural on the heat sink
temperature uniformity is not significant. The channel depth and
spacing are important factors which affect the fluid flow and heat
transfer in the heat sink. The two factors of heat transfer and resistance
need to be considered comprehensively to determine the optimal flow
structure parameters.
Abstract: Economic dispatch problem is an optimization problem where objective function is highly non linear, non-convex, non-differentiable and may have multiple local minima. Therefore, classical optimization methods may not converge or get trapped to any local minima. This paper presents a comparative study of four different evolutionary algorithms i.e. genetic algorithm, bacteria foraging optimization, ant colony optimization and particle swarm optimization for solving the economic dispatch problem. All the methods are tested on IEEE 30 bus test system. Simulation results are presented to show the comparative performance of these methods.
Abstract: Real-time object tracking is a problem which involves extraction of critical information from complex and uncertain imagedata. In this paper, we present a comprehensive methodology to design an artificial neural network (ANN) for a real-time object tracking application. The object, which is tracked for the purpose of demonstration, is a specific airplane. However, the proposed ANN can be trained to track any other object of interest. The ANN has been simulated and tested on the training and testing datasets, as well as on a real-time streaming video. The tracking error is analyzed with post-regression analysis tool, which finds the correlation among the calculated coordinates and the correct coordinates of the object in the image. The encouraging results from the computer simulation and analysis show that the proposed ANN architecture is a good candidate solution to a real-time object tracking problem.
Abstract: This paper presents a model for the evaluation of
energy performance and aerodynamic forces acting on a small
straight-bladed Darrieus-type vertical axis wind turbine depending on
blade geometrical section. It consists of an analytical code coupled to
a solid modeling software, capable of generating the desired blade
geometry based on the desired blade design geometric parameters.
Such module is then linked to a finite volume commercial CFD code
for the calculation of rotor performance by integration of the
aerodynamic forces along the perimeter of each blade for a full period
of revolution.After describing and validating the computational
model with experimental data, the results of numerical simulations
are proposed on the bases of two candidate airfoil sections, that is a
classical symmetrical NACA 0021 blade profile and the recently
developed DU 06-W-200 non-symmetric and laminar blade
profile.Through a full CFD campaign of analysis, the effects of blade
geometrical section on angle of attack are first investigated and then
the overall rotor torque and power are analyzed as a function of blade
azimuthal position, achieving a numerical quantification of the
influence of airfoil geometry on overall rotor performance.