Abstract: In this paper, the problem of robust model predictive control (MPC) for discrete-time linear systems in linear fractional transformation form with structured uncertainty and norm-bounded disturbance is investigated. The problem of minimization of the cost function for MPC design is converted to minimization of the worst case of the cost function. Then, this problem is reduced to minimization of an upper bound of the cost function subject to a terminal inequality satisfying the l2-norm of the closed loop system. The characteristic of the linear fractional transformation system is taken into account, and by using some mathematical tools, the robust predictive controller design problem is turned into a linear matrix inequality minimization problem. Afterwards, a formulation which includes an integrator to improve the performance of the proposed robust model predictive controller in steady state condition is studied. The validity of the approaches is illustrated through a robust control benchmark problem.
Abstract: This paper presents work on the application of wiki based coursework for a fourth-year engineering module delivered as part of both a MEng and MSc programme in Chemical Engineering. The module was taught with an equivalent structure simultaneously on two separate campuses, one in the United Kingdom (UK) and one in Malaysia, and the subsequent results were compared. Student feedback was sought via questionnaires, with 45 respondents from the UK and 49 from Malaysia. Results include discussion on; perceived difficulty; student enjoyment and experiences; differences between MEng and MSc students; differences between cohorts on different campuses. The response of students to the use of wiki-based coursework was found to vary based on their experiences and background, with UK students being generally more positive on its application than those in Malaysia.
Abstract: The research examines the factors that affect customer churn (CC) in the Jordanian telecom industry. A total of 700 surveys were distributed. Cluster analysis revealed three main clusters. Results showed that CC and customer satisfaction (CS) were the key determinants in forming the three clusters. In two clusters, the center values of CC were high, indicating that the customers were loyal and SC was expensive and time- and energy-consuming. Still, the mobile service provider (MSP) should enhance its communication (COM), and value added services (VASs), as well as customer complaint management systems (CCMS). Finally, for the third cluster the center of the CC indicates a poor level of loyalty, which facilitates customers churn to another MSP. The results of this study provide valuable feedback for MSP decision makers regarding approaches to improving their performance and reducing CC.
Abstract: The wheelchair is the major means of transport for
physically disabled people. However, it cannot overcome architectural
barriers such as curbs and stairs. In this paper, the authors proposed
a method to avoid falling down of a wheeled inverted pendulum type
robotic wheelchair for climbing stairs. The problem of this system
is that the feedback gain of the wheels cannot be set high due to
modeling errors and gear backlash, which results in the movement
of wheels. Therefore, the wheels slide down the stairs or collide with
the side of the stairs, and finally the wheelchair falls down. To avoid
falling down, the authors proposed a slider control strategy based on
skyhook model in order to decrease the movement of wheels, and a
rotary link control strategy based on the staircase dimensions in order
to avoid collision or slide down. The effectiveness of the proposed
fall avoidance control strategy was validated by ODE simulations and
the prototype wheelchair.
Abstract: This paper presents a home-based robot-rehabilitation
instrument, called ”MAGNI Dynamics”, that utilized a vision-based
kinematic/dynamic module and an adaptive haptic feedback
controller. The system is expected to provide personalized
rehabilitation by adjusting its resistive and supportive behavior
according to a fuzzy intelligence controller that acts as an inference
system, which correlates the user’s performance to different stiffness
factors. The vision module uses the Kinect’s skeletal tracking to
monitor the user’s effort in an unobtrusive and safe way, by estimating
the torque that affects the user’s arm. The system’s torque estimations
are justified by capturing electromyographic data from primitive
hand motions (Shoulder Abduction and Shoulder Forward Flexion).
Moreover, we present and analyze how the Barrett WAM generates
a force-field with a haptic controller to support or challenge the
users. Experiments show that by shifting the proportional value,
that corresponds to different stiffness factors of the haptic path, can
potentially help the user to improve his/her motor skills. Finally,
potential areas for future research are discussed, that address how
a rehabilitation robotic framework may include multisensing data, to
improve the user’s recovery process.
Abstract: This paper presents a low-area and fully-reconfigurable Fast Fourier Transform (FFT) hardware design for 3GPP-LTE communication standard. It can fully support 32 different FFT sizes, up to 2048 FFT points. Besides, a special processing element is developed for making reconfigurable computing characteristics possible, while first-in first-out (FIFO) scheduling scheme design technique is proposed for hardware-friendly FIFO resource arranging. In a synthesis chip realization via TSMC 40 nm CMOS technology, the hardware circuit only occupies core area of 0.2325 mm2 and dissipates 233.5 mW at maximal operating frequency of 250 MHz.
Abstract: This paper considers an H∞ TS fuzzy state-derivative feedback controller for a class of nonlinear dynamical systems. A Takagi-Sugeno (TS) fuzzy model is used to approximate a class of nonlinear dynamical systems. Then, based on a linear matrix inequality (LMI) approach, we design an H∞ TS fuzzy state-derivative feedback control law which guarantees L2-gain of the mapping from the exogenous input noise to the regulated output to be less or equal to a prescribed value. We derive a sufficient condition such that the system with the fuzzy controller is asymptotically stable and H∞ performance is satisfied. Finally, we provide and simulate a numerical example is provided to illustrate the stability and the effectiveness of the proposed controller.
Abstract: There has been significant recent interest in on-line learning, as well as considerable work on developing technologies for virtual laboratories for engineering students. After reviewing the state-of-the-art of virtual laboratories, this paper steps back from the technology issues to look in more detail at the pedagogical issues surrounding virtual laboratories, and examines the role of gathering student feedback in the development of such laboratories. The main contribution of the paper is a set of student surveys before and after a prototype deployment of a simulation laboratory tool, and the resulting analysis which leads to some tentative guidelines for the design of virtual engineering laboratories.
Abstract: Wudu’ (Ablution) and Zikr are amongst some of the spiritual tools which may help an individual control his mind, emotion and attitude. These tools are deemed to be able to deliver a positive impact on an individual’s psychophysiology. The main objective of this research is to determine the effects of Wudu’ (Ablution) and Zikr therapy using the biofeedback emWave application and technology. For this research, 13 students were selected as samples from the students’ representative body at the University Tenaga National, Malaysia. The DASS (Depression Anxiety Stress Scale) questionnaire was used to help with the assessment and measurement of each student’s ability in controlling his or her emotions before and after the therapies. The biofeedback emWave technology was utilized to monitor the student’s psychophysiology level. In addition, the data obtained from the Heart rate variability (HRV) test have also been used to affirm that Wudu’ and Zikr had had significant impacts on the student’s success in controlling his or her emotional pressure.
Abstract: Metropolia University of Applied Sciences (MUAS) Information and Communication Technology (ICT) Degree Programme provides full-time Bachelor-level undergraduate studies. ICT Degree Programme has seven different major options; this paper focuses on Health Technology. In Health Technology, a significant curriculum change in 2014 enabled transition from fragmented curriculum including dozens of courses to a new integrated curriculum built around three 30 ECTS themes. This paper focuses especially on the second theme called Customer Oriented Software Applications. From students’ point of view, the goal of this theme is to get familiar with existing health related ICT solutions and systems, understand business around health technology, recognize social and healthcare operating principles and services, and identify customers and users and their special needs and perspectives. This also acts as a background for health related web application development. Built web application is tested, developed and evaluated with real users utilizing versatile user centred development methods. This paper presents experiences obtained from the first implementation of Customer Oriented Software Applications theme. Student feedback was gathered with two questionnaires, one in the middle of the theme and other at the end of the theme. Questionnaires had qualitative and quantitative parts. Similar questionnaire was implemented in the first theme; this paper evaluates how the theme-based integrated curriculum has progressed in Health Technology major by comparing results between theme 1 and 2. In general, students were satisfied for the implementation, timing and synchronization of the courses, and the amount of work. However there is still room for development. Student feedback and teachers’ observations have been and will be used to develop the content and operating principles of the themes and whole curriculum.
Abstract: To be sure about the effective and less effective/ineffective approaches to course instruction, we hold the opinion that the faculty members need regular feedback from their students in order to be aware of how well or unwell their teaching styles have worked when instructing the courses. It can be confirmed without a slightest hesitation that undergraduate students’ motivated-ness can be sustained when continually improving the quality of teaching and properly sequencing the academic courses both, in the curricula and timetables. At Estonian Aviation Academy, four different forms of feedback are used: Lecture monitoring, questionnaires for all students, study information system subject monitoring and direct feedback received by the lecturer. Questionnaires for all students are arranged once during a study year and separately for the first year and senior students. The results are discussed in academic departments together with student representatives, analyzed with the teaching staff and, if needed, improvements are suggested. In addition, a monitoring system is planned where a lecturer acts in both roles – as an observer and as the lecturer. This will foster better exchange of experience and through this help to make the whole study process more interesting.
Abstract: This paper presents a kind of analog circuit based
temperature control system, which is mainly composed by threshold
control signal circuit, synchronization signal circuit and trigger
pulse circuit. Firstly, the temperature feedback signal function is
realized by temperature sensor TS503F3950E. Secondly, the main
control circuit forms the cycle controlled pulse signal to control
the thyristor switching model. Finally two reverse paralleled
thyristors regulate the output power by their switching state. In
the consequence, this is a modernized and energy-saving domestic
electric heating system.
Abstract: Due to the economic downturn and the deterioration of the living environment, the development of residential buildings as high energy consuming building is gradually changing from “extensive” to green building in China. So, the evaluation system of green building is continuously improved, but the current evaluation work has the following problems: (1) There are differences in the cost of the actual investment and the purchasing power of residents, also construction target of green residential building is single and lacks multi-objective performance development. (2) Green building evaluation lacks regional characteristics and cannot reflect the different regional residents demand. (3) In the process of determining the criteria weight, the experts’ judgment matrix is difficult to meet the requirement of consistency. Therefore, to solve those problems, questionnaires which are about the green residential building for Ningxia area are distributed, and the results of questionnaires can feedback the purchasing power of residents and the acceptance of the green building cost. Secondly, combined with the geographical features of Ningxia minority areas, the evaluation criteria system of green residential building is constructed. Finally, using the improved group AHP method and the grey clustering method, the criteria weight is determined, and a real case is evaluated, which is located in Xing Qing district, Ningxia. A conclusion can be obtained that the professional evaluation for this project and good social recognition is basically the same.
Abstract: Two consensus problems are considered in this
paper. One is the consensus of linear multi-agent systems with
weakly connected directed communication topology. The other
is the consensus of nonlinear multi-agent systems with strongly
connected directed communication topology. For the first problem,
a simplified consensus protocol is designed: Each child agent can
only communicate with one of its neighbors. That is, the real
communication topology is a directed spanning tree of the original
communication topology and without any cycles. Then, the necessary
and sufficient condition is put forward to the multi-agent systems can
be reached consensus. It is worth noting that the given conditions do
not need any eigenvalue of the corresponding Laplacian matrix of the
original directed communication network. For the second problem,
the feedback gain is designed in the nonlinear consensus protocol.
Then, the sufficient condition is proposed such that the systems can
be achieved consensus. Besides, the consensus interval is introduced
and analyzed to solve the consensus problem. Finally, two numerical
simulations are included to verify the theoretical analysis.
Abstract: Rapid population growth and urbanization is creating pressure throughout the world. This has a dramatic effect on a lot of elements which include water, food, transportation, energy, infrastructure etc. as few of the key services. Built environment sector is growing concurrently to meet the needs of urbanization. Due to such large scale development of buildings, there is a need for them to be monitored and managed efficiently. Along with appropriate management, climate adaptation is highly crucial as well because buildings are one of the major sources of greenhouse gas emission in their operation phase. Buildings to be adaptive need to provide a triple bottom approach to sustainability i.e., being socially, environmentally and economically sustainable. Hence, in order to deliver these sustainability outcomes, there is a growing understanding and thrive towards switching to green buildings or renovating new ones as per green standards wherever possible. Academic institutions in particular have been following this trend globally. This is highly significant as universities usually have high occupancy rates because they manage a large building portfolio. Also, as universities accommodate the future generation of architects, policy makers etc., they have the potential of setting themselves as a best industry practice model for research and innovation for the rest to follow. Hence their climate adaptation, sustainable growth and performance management becomes highly crucial in order to provide the best services to users. With the objective of evaluating appropriate management mechanisms within academic institutions, a feasibility study was carried out in a recent 5-Star Green Star rated university building (housing the School of Construction) in Victoria (south-eastern state of Australia). The key aim was to understand the behavioral and social aspect of the building users, management and the impact of their relationship on overall building sustainability. A survey was used to understand the building occupant’s response and reactions in terms of their work environment and management. A report was generated based on the survey results complemented with utility and performance data which were then used to evaluate the management structure of the university. Followed by the report, interviews were scheduled with the facility and asset managers in order to understand the approach they use to manage the different buildings in their university campuses (old, new, refurbished), respective building and parameters incorporated in maintaining the Green Star performance. The results aimed at closing the communication and feedback loop within the respective institutions and assist the facility managers to deliver appropriate stakeholder engagement. For the wider design community, analysis of the data highlights the applicability and significance of prioritizing key stakeholders, integrating desired engagement policies within an institution’s management structures and frameworks and their effect on building performance
Abstract: Serious games constitute actually a recent and attractive
way supposed to replace the classical boring courses. However,
the choice of the adapted serious game to a specific learning
environment remains a challenging task that makes teachers unwilling
to adopt this concept. To fill this gap, we present, in this paper,
a multi-agent-based simulator allowing to predict the impact of a
serious game integration in a learning environment given several
game and players characteristics. As results, the presented tool
gives intensities of several emotional aspects characterizing learners
reactions to the serious game adoption. The presented simulator
is tested to predict the effect of basing a coding course on the
serious game ”CodeCombat”. The obtained results are compared with
feedbacks of using the same serious game in a real learning process.
Abstract: In this paper, the possibility of children studying by using an interactive learning technology called Pedagogic Conversational Agent is presented. The main benefit is that the agent is able to adapt the dialogue to each student and to provide automatic feedback. Moreover, according to Math teachers, in many cases students are unable to solve the problems even knowing the procedure to solve them, because they do not understand what they have to do. The hypothesis is that if students are helped to understand what they have to solve, they will be able to do it. Taken that into account, we have started the development of Dr. Roland, an agent to help students understand Math problems following a User-Centered Design methodology. The use of this methodology is proposed, for the first time, to design pedagogic agents to teach any subject from Secondary down to Pre-Primary education. The reason behind proposing a methodology is that while working on this project, we noticed the lack of literature to design and evaluate agents. To cover this gap, we describe how User-Centered Design can be applied, and which usability techniques can be applied to evaluate the agent.
Abstract: This paper presents an optimal state feedback controller based on Linear Quadratic Regulator (LQR) for a two-rotor aero-dynamical system (TRAS). TRAS is a highly nonlinear multi-input multi-output (MIMO) system with two degrees of freedom and cross coupling. There are two parameters that define the behavior of LQR controller: state weighting matrix and control weighting matrix. The two parameters influence the performance of LQR. Particle Swarm Optimization (PSO) is proposed to optimally tune weighting matrices of LQR. The major concern of using LQR controller is to stabilize the TRAS by making the beam move quickly and accurately for tracking a trajectory or to reach a desired altitude. The simulation results were carried out in MATLAB/Simulink. The system is decoupled into two single-input single-output (SISO) systems. Comparing the performance of the optimized proportional, integral and derivative (PID) controller provided by INTECO, results depict that LQR controller gives a better performance in terms of both transient and steady state responses when PSO is performed.
Abstract: This paper presents verification of a modeling and simulation for a Spacecraft (SC) attitude and orbit control system. Detailed formulation of coupled SC orbital and attitude equations of motion is performed in order to achieve accepted accuracy to meet the requirements of multitargets tracking and orbit correction complex modes. Correction of the target parameter based on the estimated state vector during shooting time to enhance pointing accuracy is considered. Time-optimal nonlinear feedback control technique was used in order to take full advantage of the maximum torques that the controller can deliver. This simulation provides options for visualizing SC trajectory and attitude in a 3D environment by including an interface with V-Realm Builder and VR Sink in Simulink/MATLAB. Verification data confirms the simulation results, ensuring that the model and the proposed control law can be used successfully for large and fast tracking and is robust enough to keep the pointing accuracy within the desired limits with considerable uncertainty in inertia and control torque.
Abstract: Recently, feedback control systems using random dither
quantizers have been proposed for linear discrete-time systems.
However, the constraints imposed on state and control variables
have not yet been taken into account for the design of feedback
control systems with random dither quantization. Model predictive
control is a kind of optimal feedback control in which control
performance over a finite future is optimized with a performance
index that has a moving initial and terminal time. An important
advantage of model predictive control is its ability to handle
constraints imposed on state and control variables. Based on the
model predictive control approach, the objective of this paper is to
present a control method that satisfies probabilistic state constraints
for linear discrete-time feedback control systems with random dither
quantization. In other words, this paper provides a method for
solving the optimal control problems subject to probabilistic state
constraints for linear discrete-time feedback control systems with
random dither quantization.