Abstract: The vibrations, caused by the irregularities of the road surface, are to be suppressed via suspension systems. In this paper, sliding mode control for a half bus model with air suspension system is presented. The bus is modelled as five degrees of freedom (DoF) system. The mathematical model of the half bus is developed using Lagrange Equations. For time domain analysis, the bus model is assumed to travel at certain speed over the bump road. The numerical results of the analysis indicate that the sliding mode controllers can be effectively used to suppress the vibrations and to improve the ride comfort of the busses.
Abstract: Systems for detection of damages in railway pantographs effectively reduce the cost of maintenance and improve time scheduling. In this paper, we present an approach to design a monitoring tool fitting strong customer requirements such as portability and ease of use. Pantograph has been modeled to estimate its dynamical properties, since no data are available. With the aim to focus on suspensions health, a two Degrees of Freedom (DOF) scheme has been adopted. Parameters have been calculated by means of analytical dynamics. A Finite Element Method (FEM) modal analysis verified the former model with an acceptable error. The detection strategy seeks phase-plots topology alteration, induced by defects. In order to test the suitability of the method, leakage in the dashpot was simulated on the lumped model. Results are interesting because changes in phase plots are more appreciable than frequency-shift. Further calculations as well as experimental tests will support future developments of this smart strategy.
Abstract: For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.
Abstract: A repetitive training movement is an efficient method
to improve the ability and movement performance of stroke survivors
and help them to recover their lost motor function and acquire new
skills. The ETS-MARSE is seven degrees of freedom (DOF)
exoskeleton robot developed to be worn on the lateral side of the
right upper-extremity to assist and rehabilitate the patients with
upper-extremity dysfunction resulting from stroke. Practically,
rehabilitation activities are repetitive tasks, which make the
assistive/robotic systems to suffer from repetitive/periodic
uncertainties and external perturbations induced by the high-order
dynamic model (seven DOF) and interaction with human muscle
which impact on the tracking performance and even on the stability
of the exoskeleton. To ensure the robustness and the stability of the
robot, a new nonlinear backstepping control was implemented with
designed tests performed by healthy subjects. In order to limit and to
reject the periodic/repetitive disturbances, an iterative estimator was
integrated into the control of the system. The estimator does not need
the precise dynamic model of the exoskeleton. Experimental results
confirm the robustness and accuracy of the controller performance to
deal with the external perturbation, and the effectiveness of the
iterative estimator to reject the repetitive/periodic disturbances.
Abstract: This paper presents the trajectory tracking control of a
spatial redundant hybrid manipulator. This manipulator consists of
two parallel manipulators which are a variable geometry truss (VGT)
module. In fact, each VGT module with 3-degress of freedom (DOF)
is a planar parallel manipulator and their operational planes of these
VGT modules are arranged to be orthogonal to each other. Also, the
manipulator contains a twist motion part attached to the top of the
second VGT module to supply the missing orientation of the endeffector.
These three modules constitute totally 7-DOF hybrid
(parallel-parallel) redundant spatial manipulator. The forward
kinematics equations of this manipulator are obtained, then,
according to these equations, the inverse kinematics is solved based
on an optimization with the joint limit avoidance. The dynamic
equations are formed by using virtual work method. In order to test
the performance of the redundant manipulator and the controllers
presented, two different desired trajectories are followed by using the
computed force control method and a switching control method. The
switching control method is combined with the computed force
control method and genetic algorithm. In the switching control
method, the genetic algorithm is only used for fine tuning in the
compensation of the trajectory tracking errors.
Abstract: Electrical impedance tomography is a non-invasive medical imaging technique suitable for medical applications. This paper describes an electrical impedance tomography device with the ability to navigate a robotic arm to manipulate a target object. The design of the device includes various hardware and software sections to perform medical imaging and control the robotic arm. In its hardware section an image is formed by 16 electrodes which are located around a container. This image is used to navigate a 3DOF robotic arm to reach the exact location of the target object. The data set to form the impedance imaging is obtained by having repeated current injections and voltage measurements between all electrode pairs. After performing the necessary calculations to obtain the impedance, information is transmitted to the computer. This data is fed and then executed in MATLAB which is interfaced with EIDORS (Electrical Impedance Tomography Reconstruction Software) to reconstruct the image based on the acquired data. In the next step, the coordinates of the center of the target object are calculated by image processing toolbox of MATLAB (IPT). Finally, these coordinates are used to calculate the angles of each joint of the robotic arm. The robotic arm moves to the desired tissue with the user command.
Abstract: Routing in adhoc networks is a challenge as nodes are
mobile, and links are constantly created and broken. Present ondemand
adhoc routing algorithms initiate route discovery after a path
breaks, incurring significant cost to detect disconnection and
establish a new route. Specifically, when a path is about to be broken,
the source is warned of the likelihood of a disconnection. The source
then initiates path discovery early, avoiding disconnection totally. A
path is considered about to break when link availability decreases.
This study modifies Adhoc On-demand Multipath Distance Vector
routing (AOMDV) so that route handoff occurs through link
availability estimation.
Abstract: This article proposes a hybrid algorithm for spectrum
allocation in cognitive radio networks based on the algorithms
Analytical Hierarchical Process (AHP) and Technique for Order of
Preference by Similarity to Ideal Solution (TOPSIS) to improve the
performance of the spectrum mobility of secondary users in cognitive
radio networks. To calculate the level of performance of the proposed algorithm a
comparative analysis between the proposed AHP-TOPSIS, Grey
Relational Analysis (GRA) and Multiplicative Exponent Weighting
(MEW) algorithm is performed. Four evaluation metrics are used.
These metrics are accumulative average of failed handoffs,
accumulative average of handoffs performed, accumulative average
of transmission bandwidth, and accumulative average of the
transmission delay. The results of the comparison show that AHP-TOPSIS Algorithm
provides 2.4 times better performance compared to a GRA Algorithm
and, 1.5 times better than the MEW Algorithm.
Abstract: An analytical 4-DOF nonlinear model of a de Laval
rotor-stator system based on Energy Principles has been used
theoretically and experimentally to investigate fault symptoms in a
rotating system. The faults, namely rotor-stator-rub, crack and
unbalance are modeled as excitations on the rotor shaft. Mayes
steering function is used to simulate the breathing behaviour of the
crack. The fault analysis technique is based on waveform signal,
orbits and Fast Fourier Transform (FFT) derived from simulated and
real measured signals. Simulated and experimental results manifest
considerable mutual resemblance of elliptic-shaped orbits and FFT
for a same range of test data.
Abstract: Groundwater is vital to the livelihoods and health of the majority of the people, since it provides almost the entire water resource for domestic, agricultural and industrial uses. Groundwater quality comprises the physical, chemical and bacteriological qualities. The present investigation was carried out to determine the physicochemical and bacteriological quality of the ground water sources in the residential areas of Karakulam Grama Panchayath in Thiruvananthapuram district, Kerala state in India. Karakulam is located in the eastern suburbs of Thiruvananthapuram city. The major drinking water source of the residents in the study area is wells. The present study aims to assess the portability and irrigational suitability of groundwater in the study area. The water samples were collected from randomly selected dug wells and bore wells in the study area during post monsoon and pre monsoon seasons of the year 2014 after a preliminary field survey. The physical, chemical and bacteriological parameters of the water samples were analyzed following standard procedures. The concentration of heavy metals (Cd, Pb and Mn) in the acid digested water samples were determined by using an Atomic Absorption Spectrophotometer. The results showed that the pH of well water samples ranged from acidic to alkaline level. In majority of well water samples (>54 %) the iron and magnesium content were found high in both the seasons studied, and the values were above the permissible limits of WHO drinking water quality standards. Bacteriological analyses showed that 63% of the wells were contaminated with total coliforms in both the seasons studied. Irrigational suitability of groundwater was assessed by determining the chemical indices like Sodium Percentage (%Na), Sodium Adsorption Ratio (SAR), Residual Sodium Carbonate (RSC), Permeability Index (PI), and the results indicate that the well water in the study area are good for irrigation purposes. Therefore, the study reveals the degradation of drinking water quality groundwater sources in Karakulam Grama Panchayath in Thiruvananthapuram District, Keralain terms of its chemical and bacteriological characteristics, and is not potable without proper treatment. In the study, more than 1/3rdof the well water samples tested were positive for total coliforms, and the bacterial contamination may pose threat to public health. The study recommends the need for periodic well water quality monitoring in the study area and to conduct awareness programs among the residents.
Abstract: Nine Degrees of Freedom (9 DOF) systems are
already in development in many areas. In this paper, an integrated
pressure sensor is proposed that will make use of an already existing
monolithic 9 DOF inertial MEMS platform. Capacitive pressure
sensors can suffer from limited sensitivity for a given size of
membrane. This novel pressure sensor design increases the sensitivity
by over 5 times compared to a traditional array of square diaphragms
while still fitting within a 2 mm x 2 mm chip and maintaining a fixed
static capacitance. The improved design uses one large diaphragm
supported by pillars with fixed electrodes placed above the areas of
maximum deflection. The design optimization increases the
sensitivity from 0.22 fF/kPa to 1.16 fF/kPa. Temperature sensitivity
was also examined through simulation.
Abstract: In order to avoid self-collision of space manipulators
during operation process, a real-time detection method is proposed in
this paper. The manipulator is fitted into a cylinder-enveloping
surface, and then, a kind of detection algorithm of collision between
cylinders is analyzed. The collision model of space manipulator
self-links can be detected by using this algorithm in real-time detection
during the operation process. To ensure security of the operation, a
safety threshold is designed. The simulation and experiment results
verify the effectiveness of the proposed algorithm for a 7-DOF space
manipulator.
Abstract: This paper shows in detail the mathematical model of
direct and inverse kinematics for a robot manipulator (welding type)
with four degrees of freedom. Using the D-H parameters, screw
theory, numerical, geometric and interpolation methods, the
theoretical and practical values of the position of robot were
determined using an optimized algorithm for inverse kinematics
obtaining the values of the particular joints in order to determine the
virtual paths in a relatively short time.
Abstract: In this paper, a numerical simulation of a finned store
separating from a wing-pylon configuration has been studied and
validated. A dynamic unstructured tetrahedral mesh approach is
accomplished by using three grid sizes to numerically solving the
discretized three dimensional, inviscid and compressible Euler
equations. The method used for computations of separation of an
external store assuming quasi-steady flow condition. Computations of
quasi-steady flow have been directly coupled to a six degree-offreedom
(6DOF) rigid-body motion code to generate store
trajectories. The pressure coefficients at four different angular cuts
and time histories of various trajectory parameters and wing pressure
distribution during the store separation are compared for every grid
size with published experimental data.
Abstract: Predicting the collapse potential of a structure during
earthquakes is an important issue in earthquake engineering. Many
researchers proposed different methods to assess the collapse
potential of structures under the effect of strong ground motions.
However most of them did not consider degradation and softening
effect in hysteretic behavior. In this study, collapse potential of
SDOF systems caused by dynamic instability with stiffness and
strength degradation has been investigated. An equation was
proposed for the estimation of collapse period of SDOF system which
is a limit value of period for dynamic instability. If period of the
considered SDOF system is shorter than the collapse period then the
relevant system exhibits dynamic instability and collapse occurs.
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: The wide use of the Internet-based applications bring many challenges to the researchers to guarantee the continuity of the connections needed by the mobile hosts and provide reliable Internet access for them. One of proposed solutions by Internet Engineering Task Force (IETF) is to connect the local, multi-hop, and infrastructure-less Mobile Ad hoc Network (MANET) with Internet structure. This connection is done through multi-interface devices known as Internet Gateways. Many issues are related to this connection like gateway discovery, handoff, address auto-configuration and selecting the optimum gateway when multiple gateways exist. Many studies were done proposing gateway selection schemes with a single selection criterion or weighted multiple criteria. In this research, a review of some of these schemes is done showing the differences, the features, the challenges and the drawbacks of each of them.
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: In this paper, a new trend for improvement in semianalytical
method based on scale boundaries in order to solve the 2D
elastodynamic problems is provided. In this regard, only the
boundaries of the problem domain discretization are by specific subparametric
elements. Mapping functions are uses as a class of higherorder
Lagrange polynomials, special shape functions, Gauss-Lobatto-
Legendre numerical integration, and the integral form of the weighted
residual method, the matrix is diagonal coefficients in the equations
of elastodynamic issues. Differences between study conducted and
prior research in this paper is in geometry production procedure of
the interpolation function and integration of the different is selected.
Validity and accuracy of the present method are fully demonstrated
through two benchmark problems which are successfully modeled
using a few numbers of DOFs. The numerical results agree very well
with the analytical solutions and the results from other numerical
methods.
Abstract: This paper provides a comparative study on the
performances of standard PID and adaptive PID controllers tested on
travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top
helicopter. Quanser, a well-known manufacturer of educational
bench-top helicopter has developed Proportional Integration
Derivative (PID) controller with Linear Quadratic Regulator (LQR)
for all travel, pitch and yaw angle of the bench-top helicopter. The
performance of the PID controller is relatively good; however, its
performance could also be improved if the controller is combined
with adaptive element. The objective of this research is to design
adaptive PID controller and then compare the performances of the
adaptive PID with the standard PID. The controller design and test is
focused on travel angle control only. Adaptive method used in this
project is self-tuning controller, which controller’s parameters are
updated online. Two adaptive algorithms those are pole-placement
and deadbeat have been chosen as the method to achieve optimal
controller’s parameters. Performance comparisons have shown that
the adaptive (deadbeat) PID controller has produced more desirable
performance compared to standard PID and adaptive (poleplacement).
The adaptive (deadbeat) PID controller attained very fast
settling time (5 seconds) and very small percentage of overshoot (5%
to 7.5%) for 10° to 30° step change of travel angle.