Abstract: In this present work, the development of an avionics
system for flight data collection of a Raptor 30 V2 is carried out. For the data acquisition both onground and onboard avionics systems are developed for testing of a small-scale Unmanned Aerial Vehicle
(UAV) helicopter. The onboard avionics record the helicopter state
outputs namely accelerations, angular rates and Euler angles, in real time, and the on ground avionics system record the inputs given to
the radio controlled helicopter through a transmitter, in real time. The avionic systems are designed and developed taking into consideration
low weight, small size, anti-vibration, low power consumption, and easy interfacing. To mitigate the medium frequency vibrations
embedded on the UAV helicopter during flight, a damper is designed
and its performance is evaluated. A number of flight tests are carried
out and the data obtained is then analyzed for accuracy and repeatability and conclusions are inferred.
Abstract: Heating systems are a necessity for regions which
brace extreme cold weather throughout the year. To maintain a comfortable temperature inside a given place, heating systems
making use of- Hydronic boilers- are used. The principle of a single
pipe system serves as a base for their working. It is mandatory for these heating systems to control the room temperature, thus
maintaining a warm environment. In this paper, the concept of regulation of the room temperature over a wide range is established
by using an Adaptive Fuzzy Controller (AFC). This fuzzy controller automatically detects the changes in the outside temperatures and
correspondingly maintains the inside temperature to a palatial value. Two separate AFC's are put to use to carry out this function: one to
determine the quantity of heat needed to reach the prospective temperature required and to set the desired temperature; the other to control the position of the valve, which is directly proportional to the
error between the present room temperature and the user desired temperature. The fuzzy logic controls the position of the valve as per
the requirement of the heat. The amount by which the valve opens or closes is controlled by 5 knob positions, which vary from minimum to maximum, thereby regulating the amount of heat flowing through the valve. For the given test system data, different de-fuzzifier
methods have been implemented and the results are compared. In order to validate the effectiveness of the proposed approach, a fuzzy controller has been designed by obtaining a test data from a real time
system. The simulations are performed in MATLAB and are verified with standard system data. The proposed approach can be implemented for real time applications.
Abstract: This paper features the proposed modeling and design
of a Robust Decentralized Periodic Output Feedback (RDPOF)
control technique for the active vibration control of smart flexible
multimodel Euler-Bernoulli cantilever beams for a multivariable
(MIMO) case by retaining the first 6 vibratory modes. The beam
structure is modeled in state space form using the concept of
piezoelectric theory, the Euler-Bernoulli beam theory and the Finite
Element Method (FEM) technique by dividing the beam into 4 finite
elements and placing the piezoelectric sensor / actuator at two finite
element locations (positions 2 and 4) as collocated pairs, i.e., as
surface mounted sensor / actuator, thus giving rise to a multivariable
model of the smart structure plant with two inputs and two outputs.
Five such multivariable models are obtained by varying the
dimensions (aspect ratios) of the aluminum beam, thus giving rise to
a multimodel of the smart structure system. Using model order
reduction technique, the reduced order model of the higher order
system is obtained based on dominant eigen value retention and the
method of Davison. RDPOF controllers are designed for the above 5
multivariable-multimodel plant. The closed loop responses with the
RDPOF feedback gain and the magnitudes of the control input are
observed and the performance of the proposed multimodel smart
structure system with the controller is evaluated for vibration control.
Abstract: Case-Based Reasoning (CBR) is one of machine
learning algorithms for problem solving and learning that caught a lot
of attention over the last few years. In general, CBR is composed of
four main phases: retrieve the most similar case or cases, reuse the
case to solve the problem, revise or adapt the proposed solution, and
retain the learned cases before returning them to the case base for
learning purpose. Unfortunately, in many cases, this retain process
causes the uncontrolled case base growth. The problem affects
competence and performance of CBR systems. This paper proposes
competence-based maintenance method based on deletion policy
strategy for CBR. There are three main steps in this method. Step 1,
formulate problems. Step 2, determine coverage and reachability set
based on coverage value. Step 3, reduce case base size. The results
obtained show that this proposed method performs better than the
existing methods currently discussed in literature.
Abstract: Quantitative methods of economic decision-making as
the methodological base of the so called operational research
represent an important set of tools for managing complex economic
systems,both at the microeconomic level and on the macroeconomic
scale. Mathematical models of controlled and controlling processes
allow, by means of artificial experiments, obtaining information
foroptimalor optimum approaching managerial decision-making.The
quantitative methods of economic decision-making usually include a
methodology known as structural analysis -an analysisof
interdisciplinary production-consumption relations.
Abstract: This paper provides a flexible way of controlling
Variable-Bit-Rate (VBR) of compressed digital video, applicable to
the new H264 video compression standard. The entire video
sequence is assessed in advance and the quantisation level is then set
such that bit rate (and thus the frame rate) remains within
predetermined limits compatible with the bandwidth of the
transmission system and the capabilities of the remote end, while at
the same time providing constant quality similar to VBR encoding.
A process for avoiding buffer starvation by selectively eliminating
frames from the encoded output at times when the frame rate is slow
(large number of bits per frame) will be also described. Finally, the
problem of buffer overflow will be solved by selectively eliminating
frames from the received input to the decoder. The decoder detects
the omission of the frames and resynchronizes the transmission by
monitoring time stamps and repeating frames if necessary.
Abstract: This paper proposes the analysis and design of robust
fuzzy control to Stochastic Parametrics Uncertaint Linear systems.
This system type to be controlled is partitioned into several linear
sub-models, in terms of transfer function, forming a convex polytope,
similar to LPV (Linear Parameters Varying) system. Once defined the
linear sub-models of the plant, these are organized into fuzzy Takagi-
Sugeno (TS) structure. From the Parallel Distributed Compensation
(PDC) strategy, a mathematical formulation is defined in the frequency
domain, based on the gain and phase margins specifications,
to obtain robust PI sub-controllers in accordance to the Takagi-
Sugeno fuzzy model of the plant. The main results of the paper are
based on the robust stability conditions with the proposal of one
Axiom and two Theorems.
Abstract: Renewable energy resources are inexhaustible, clean as compared with conventional resources. Also, it is used to supply regions with no grid, no telephone lines, and often with difficult accessibility by common transport. Satellite earth stations which located in remote areas are the most important application of renewable energy. Neural control is a branch of the general field of intelligent control, which is based on the concept of artificial intelligence. This paper presents the mathematical modeling of satellite earth station power system which is required for simulating the system.Aswan is selected to be the site under consideration because it is a rich region with solar energy. The complete power system is simulated using MATLAB–SIMULINK.An artificial neural network (ANN) based model has been developed for the optimum operation of earth station power system. An ANN is trained using a back propagation with Levenberg–Marquardt algorithm. The best validation performance is obtained for minimum mean square error. The regression between the network output and the corresponding target is equal to 96% which means a high accuracy. Neural network controller architecture gives satisfactory results with small number of neurons, hence better in terms of memory and time are required for NNC implementation. The results indicate that the proposed control unit using ANN can be successfully used for controlling the satellite earth station power system.
Abstract: Proprietary sensor network systems are typically expensive, rigid and difficult to incorporate technologies from other vendors. When using competing and incompatible technologies, a non-proprietary system is complex to create because it requires significant technical expertise and effort, which can be more expensive than a proprietary product. This paper presents the Sensor Abstraction Layer (SAL) that provides middleware architectures with a consistent and uniform view of heterogeneous sensor networks, regardless of the technologies involved. SAL abstracts and hides the hardware disparities and specificities related to accessing, controlling, probing and piloting heterogeneous sensors. SAL is a single software library containing a stable hardware-independent interface with consistent access and control functions to remotely manage the network. The end-user has near-real-time access to the collected data via the network, which results in a cost-effective, flexible and simplified system suitable for novice users. SAL has been used for successfully implementing several low-cost sensor network systems.
Abstract: Modeling and vibration of a flexible link manipulator
with tow flexible links and rigid joints are investigated which can
include an arbitrary number of flexible links. Hamilton principle and
finite element approach is proposed to model the dynamics of
flexible manipulators. The links are assumed to be deflection due to
bending. The association between elastic displacements of links is
investigated, took into account the coupling effects of elastic motion
and rigid motion. Flexible links are treated as Euler-Bernoulli beams
and the shear deformation is thus abandoned. The dynamic behavior
due to flexibility of links is well demonstrated through numerical
simulation. The rigid-body motion and elastic deformations are
separated by linearizing the equations of motion around the rigid
body reference path. Simulation results are shown on for both
position and force trajectory tracking tasks in the presence of varying
parameters and unknown dynamics remarkably well. The proposed
method can be used in both dynamic simulation and controller
design.
Abstract: Humic acids (HAs) have been shown to activate some
ion uptakes along with stimulating the lateral roots at effective
concentration of micronutrients. However, the effects of HA on ion
adsorption by plant roots are not easily explainable due to the
varieties of HAs that differ from origins. Therefore, this study was
aimed to investigate the effect of various concentrations of HA
obtained from the compost derived from mix manures and some
agricultural wastes on the growth of eggplant seedlings (Solanum
melongena L. cv. Chao Praya) in tissue cultures at low nutrient level.
Egg plant seeds were surfaced sterilized and germinated in ½
Murashige and Skoog medium (MS) without HA added or in ¼ MS
supplemented with 0, 25, 50, 75 and 100 ppm of HAs. Then, they
were cultured for 4 weeks under the controlled environment. The
results showed that seedlings grown on ¼MS supplemented with
HAs at the concentration of 25 and 50 ppm had the average plant
heights (2.49 and 2.28 cm, respectively) higher than the other
treatments. Both treatments also significantly showed the maximum
average fresh and dry weights (p
Abstract: Markov games are a generalization of Markov
decision process to a multi-agent setting. Two-player zero-sum
Markov game framework offers an effective platform for designing
robust controllers. This paper presents two novel controller design
algorithms that use ideas from game-theory literature to produce
reliable controllers that are able to maintain performance in presence
of noise and parameter variations. A more widely used approach for
controller design is the H∞ optimal control, which suffers from high
computational demand and at times, may be infeasible. Our approach
generates an optimal control policy for the agent (controller) via a
simple Linear Program enabling the controller to learn about the
unknown environment. The controller is facing an unknown
environment, and in our formulation this environment corresponds to
the behavior rules of the noise modeled as the opponent. Proposed
controller architectures attempt to improve controller reliability by a
gradual mixing of algorithmic approaches drawn from the game
theory literature and the Minimax-Q Markov game solution
approach, in a reinforcement-learning framework. We test the
proposed algorithms on a simulated Inverted Pendulum Swing-up
task and compare its performance against standard Q learning.
Abstract: This paper proposes the novel model order
formulation scheme to design a discrete PID controller for higher
order linear time invariant discrete systems. Modified PSO (MPSO)
based model order formulation technique has used to obtain the
successful formulated second order system. PID controller is tuned to
meet the desired performance specification by using pole-zero
cancellation and proposed design procedures. Proposed PID
controller is attached with both higher order system and formulated
second order system. System specifications are tabulated and closed
loop response is observed for stabilization process. The proposed
method is illustrated through numerical examples from literature.
Abstract: The purpose of this work is to establish the theoretical
foundations for calculating and designing the sublimationcondensation
processes in chemical apparatuses which are intended
for production of ultrafine powders of crystalline and amorphous
materials with controlled fractional composition. Theoretic analysis
of the primary processes of nucleation and growth kinetics of the
clusters according to the degree of super-saturation and the
homogeneous or heterogeneous nature of nucleation has been carried
out. The engineering design procedures of desublimation processes
have been offered and tested for modification of the Claus process.
Abstract: Fuzzy controllers are potential candidates for the
control of nonlinear, time variant and also complicated systems. Anti
lock brake system (ABS) which is a nonlinear system, may not be
easily controlled by classical control methods. An intelligent Fuzzy
control method is very useful for this kind of nonlinear system. A
typical antilock brake system (ABS) by sensing the wheel lockup,
releases the brakes for a short period of time, and then reapplies again
the brakes when the wheel spins up. In this paper, an intelligent fuzzy
ABS controller is designed to adjust slipping performance for variety
of roads. There are tow major sections in the proposing control
system. First section consists of tow Fuzzy-Logic Controllers (FLC)
providing optimal brake torque for both front and rear wheels.
Second section which is also a FLC provides required amount of slip
and torque references properties for different kind of roads.
Simulation results of our proposed intelligent ABS for three different
kinds of road show more reliable and better performance in compare
with two other break systems.
Abstract: The iron loss is a source of detuning in vector controlled
induction motor drives if the classical rotor vector controller is used for
decoupling. In fact, the field orientation will not be satisfied and the
output torque will not truck the reference torque mostly used by Loss
Model Controllers (LMCs). In addition, this component of loss, among
others, may be excessive if the vector controlled induction motor is
driving light loads. In this paper, the series iron loss model is used to
develop a vector controller immune to iron loss effect and then an LMC
to minimize the total power loss using the torque generated by the speed
controller.
Abstract: This paper will first describe predictor controllers
when the proportional-integral-derivative (PID) controllers are
inactive for procedures that have large delay time (LDT) in transfer
stage. Therefore in those states, the predictor controllers are better
than the PID controllers, then compares three types of predictor
controllers. The value of these controller-s parameters are obtained
by trial and error method, so here an effort has been made to obtain
these parameters by Ziegler-Nichols method. Eventually in this paper
Ziegler-Nichols method has been described and finally, a PIP
controller has been designed for a thermal system, which circulates
hot air to keep the temperature of a chamber constant.
Abstract: In this research, we study a control method of a multivehicle
system while considering the limitation of communication
range for each vehicles. When we control networked vehicles with
limitation of communication range, it is important to control the
communication network structure of a multi-vehicle system in order
to keep the network-s connectivity. From this, we especially aim to
control the network structure to the target structure. We formulate
the networked multi-vehicle system with some disturbance and the
communication constraints as a hybrid dynamical system, and then
we study the optimal control problems of the system. It is shown
that the system converge to the objective network structure in finite
time when the system is controlled by the receding horizon method.
Additionally, the optimal control probrems are convertible into the
mixed integer problems and these problems are solvable by some
branch and bound algorithm.
Abstract: The present paper represent the efforts undertaken for
the development of an semi-automatic robot that may be used for
various post-disaster rescue operation planning and their subsequent
execution using one-way communication of video and data from the
robot to the controller and controller to the robot respectively.
Wireless communication has been used for the purpose so that the
robot may access the unapproachable places easily without any
difficulties. It is expected that the information obtained from the
robot would be of definite help to the rescue team for better planning
and execution of their operations.
Abstract: All over the world, including the Middle and East
European countries, sustainable tillage and sowing technologies are
applied increasingly broadly with a view to optimising soil resources,
mitigating soil degradation processes, saving energy resources,
preserving biological diversity, etc. As a result, altered conditions of
tillage and sowing technological processes are faced inevitably. The
purpose of this study is to determine the seedbed topsoil hardness
when using a combined sowing coulter in different sustainable tillage
technologies. The research involved a combined coulter consisting
of two dissected blade discs and a shoe coulter. In order to determine
soil hardness at the seedbed area, a multipenetrometer was used. It
was found by experimental studies that in loosened soil, a combined
sowing coulter equally suppresses the furrow bottom, walls and soil
near the furrow; therefore, here, soil hardness was similar at all
researched depths and no significant differences were established. In
loosened and compacted (double-rolled) soil, the impact of a
combined coulter on the hardness of seedbed soil surface was more
considerable at a depth of 2 mm. Soil hardness at the furrow bottom
and walls to a distance of up to 26 mm was 1.1 MPa. At a depth of 10
mm, the greatest hardness was established at the furrow bottom. In
loosened and heavily compacted (rolled for 6 times) soil, at a depth
of 2 and 10 mm a combined coulter most of all compacted the furrow
bottom, which has a hardness of 1.8 MPa. At a depth of 20 mm, soil
hardness within the whole investigated area varied insignificantly and
fluctuated by around 2.0 MPa. The hardness of furrow walls and soil
near the furrow was by approximately 1.0 MPa lower than that at the
furrow bottom