Abstract: An adaptive neural network controller for
autonomous underwater vehicles (AUVs) is presented in this paper.
The AUV model is highly nonlinear because of many factors, such as
hydrodynamic drag, damping, and lift forces, Coriolis and centripetal
forces, gravity and buoyancy forces, as well as forces from thruster.
In this regards, a nonlinear neural network is used to approximate the
nonlinear uncertainties of AUV dynamics, thus overcoming some
limitations of conventional controllers and ensure good performance.
The uniform ultimate boundedness of AUV tracking errors and the
stability of the proposed control system are guaranteed based on
Lyapunov theory. Numerical simulation studies for motion control of
an AUV are performed to demonstrate the effectiveness of the
proposed controller.
Abstract: Programmable logic controllers are the main controllers in the today's industries; they are used for several applications in industrial control systems and there are lots of examples exist from the PLC applications in industries especially in big companies and plants such as refineries, power plants, petrochemical companies, steel companies, and food and production companies. In the PLCs there are some functions in the function library in software that can be used in PLC programs as basic program elements. The aim of this project are introducing and implementing a new function block of a neural network to the function library of PLC. This block can be applied for some control applications or nonlinear functions calculations after it has been trained for these applications. The implemented neural network is a Perceptron neural network with three layers, three input nodes and one output node. The block can be used in manual or automatic mode. In this paper the structure of the implemented function block, the parameters and the training method of the network are presented by considering the especial method of PLC programming and its complexities. Finally the application of the new block is compared with a classic simulated block and the results are presented.
Abstract: Rotational Smart Lighting Control System can supply
the quantity of lighting which is required to run plants by rotating few
LED and Fluorescent instead of that are used in the existing plant
factories.The initial installation of the existing plants factory is
expensive, so in order to solve the problem with smart lighting control
system was developed.
The beam required intensity for the growth of crops, Photosynthetic
Photon Flux Density(PPFD)is calculated; and the number of LED, are
installed on the blades, set; using the Lighting Simulation
Program.Relux, it is able to confirm that the difference of the beam
intensity between the center and the outer of lighting system when the
lighting device is rotating.
Abstract: Development of intelligent assembly cell conception includes new solution kind of how to create structures of automated and flexible assembly system. The current trend of the final product quality increasing is affected by time analysis of the entire manufacturing process. The primary requirement of manufacturing is to produce as many products as soon as possible, at the lowest possible cost, but of course with the highest quality. Such requirements may be satisfied only if all the elements entering and affecting the production cycle are in a fully functional condition. These elements consist of sensory equipment and intelligent control elements that are essential for building intelligent manufacturing systems. Intelligent behavior of the system as the control system will repose on monitoring of important parameters of the system in the real time. Intelligent manufacturing system itself should be a system that can flexibly respond to changes in entering and exiting the process in interaction with the surroundings.
Abstract: This paper proposes an alternative control mechanism
for an interactive Pan/Tilt/Zoom (PTZ) camera control system.
Instead of using a mouse or a joystick, the proposed mechanism
utilizes a Nintendo Wii remote and infrared (IR) sensor bar. The Wii
remote has buttons that allows the user to control the movement of a
PTZ camera through Bluetooth connectivity. In addition, the Wii
remote has a built-in motion sensor that allows the user to give
control signals to the PTZ camera through pitch and roll movement.
A stationary IR sensor bar, placed at some distance away opposite the
Wii remote, enables the detection of yaw movement. In addition, the
Wii remote-s built-in IR camera has the ability to detect its spatial
position, and thus generates a control signal when the user moves the
Wii remote. Some experiments are carried out and their performances
are compared with an industry-standard PTZ joystick.
Abstract: The advantage of solving the complex nonlinear
problems by utilizing fuzzy logic methodologies is that the
experience or expert-s knowledge described as a fuzzy rule base can
be directly embedded into the systems for dealing with the problems.
The current limitation of appropriate and automated designing of
fuzzy controllers are focused in this paper. The structure discovery
and parameter adjustment of the Branched T-S fuzzy model is
addressed by a hybrid technique of type constrained sparse tree
algorithms. The simulation result for different system model is
evaluated and the identification error is observed to be minimum.
Abstract: A semi-active control strategy for suspension
systems of passenger cars is presented employing
Magnetorheological (MR) dampers. The vehicle is modeled with
seven DOFs including the, roll pitch and bounce of car body, and
the vertical motion of the four tires. In order to design an optimal
controller based on the actuator constraints, a Linear-Quadratic
Regulator (LQR) is designed. The design procedure of the LQR
consists of selecting two weighting matrices to minimize the energy
of the control system. This paper presents a hybrid optimization
procedure which is a combination of gradient-based and
evolutionary algorithms to choose the weighting matrices with
regards to the actuator constraint. The optimization algorithm is
defined based on maximum comfort and actuator constraints. It is
noted that utilizing the present control algorithm may significantly
reduce the vibration response of the passenger car, thus, providing
a comfortable ride.
Abstract: This paper describes the process used in the
automation of the Maritime UAV commands using the Kinect sensor.
The AR Drone is a Quadrocopter manufactured by Parrot [1] to be
controlled using the Apple operating systems such as iPhones and
Ipads. However, this project uses the Microsoft Kinect SDK and
Microsoft Visual Studio C# (C sharp) software, which are compatible
with Windows Operating System for the automation of the navigation
and control of the AR drone.
The navigation and control software for the Quadrocopter runs on
a windows 7 computer. The project is divided into two sections; the
Quadrocopter control system and the Kinect sensor control system.
The Kinect sensor is connected to the computer using a USB cable
from which commands can be sent to and from the Kinect sensors.
The AR drone has Wi-Fi capabilities from which it can be connected
to the computer to enable transfer of commands to and from the
Quadrocopter.
The project was implemented in C#, a programming language that
is commonly used in the automation systems. The language was
chosen because there are more libraries already established in C# for
both the AR drone and the Kinect sensor.
The study will contribute toward research in automation of
systems using the Quadrocopter and the Kinect sensor for navigation
involving a human operator in the loop. The prototype created has
numerous applications among which include the inspection of vessels
such as ship, airplanes and areas that are not accessible by human
operators.
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: The Proton Exchange Membrane Fuel Cell (PEMFC)
control system has an important effect on operation of cell.
Traditional controllers couldn-t lead to acceptable responses because
of time- change, long- hysteresis, uncertainty, strong- coupling and
nonlinear characteristics of PEMFCs, so an intelligent or adaptive
controller is needed. In this paper a neural network predictive
controller have been designed to control the voltage of at the
presence of fluctuations of temperature. The results of
implementation of this designed NN Predictive controller on a
dynamic electrochemical model of a small size 5 KW, PEM fuel cell
have been simulated by MATLAB/SIMULINK.
Abstract: This paper presents an inexpensive and effective temperature-controlled chamber for temperature environment tests of Organic Light Emitting Diode (OLED) panels. The proposed chamber is a compact warmer and cooler with an exact temperature control system. In the temperature-controlled space of the chamber, thermoelectric modules (TEMs) are utilized to cool or to heat OLED panels, novel fixtures are designed to flexibly clamp the OLED panels of different size, and special connectors for wiring between the OLED panels and the test instrument are supplied. The proposed chamber has the following features. (1) The TEMs are solid semi-conductive devices, so they operate without noise and without pollution. (2) The volume of the temperature-controlled space of the chamber about 160mm*160mm*120mm, so the chamber are compact and easy to move. (3) The range of the controlled temperatures is from -10 oC to +80 oC, and the precision is ?0.5 oC. (4) The test instrument can conveniently and easily measure the OLED panels via the novel fixtures and special connectors. In addition to a constant temperature being maintained in the chamber, a temperature shock experiments can run for a long time. Therefore, the chamber will be convenient and useful for temperature environment tests of OLED panels.
Abstract: Physiological control of a left ventricle assist device (LVAD) is generally a complicated task due to diverse operating environments and patient variability. In this work, a tracking control algorithm based on sliding mode and feed forward control for a class of discrete-time single input single output (SISO) nonlinear uncertain systems is presented. The controller was developed to track the reference trajectory to a set operating point without inducing suction in the ventricle. The controller regulates the estimated mean pulsatile flow Qp and mean pulsatility index of pump rotational speed PIω that was generated from a model of the assist device. We recall the principle of the sliding mode control theory then we combine the feed-forward control design with the sliding mode control technique to follow the reference trajectory. The uncertainty is replaced by its upper and lower boundary. The controller was tested in a computer simulation covering two scenarios (preload and ventricular contractility). The simulation results prove the effectiveness and the robustness of the proposed controller
Abstract: In the closed quantum system, if the control system is
strongly regular and all other eigenstates are directly coupled to the
target state, the control system can be asymptotically stabilized at the
target eigenstate by the Lyapunov control based on the state error.
However, if the control system is not strongly regular or as long as
there is one eigenstate not directly coupled to the target state, the
situations will become complicated. In this paper, we propose an
implicit Lyapunov control method based on the state error to solve the
convergence problems for these two degenerate cases. And at the same
time, we expand the target state from the eigenstate to the arbitrary
pure state. Especially, the proposed method is also applicable in the
control system with multi-control Hamiltonians. On this basis, the
convergence of the control systems is analyzed using the LaSalle
invariance principle. Furthermore, the relation between the implicit
Lyapunov functions of the state distance and the state error is
investigated. Finally, numerical simulations are carried out to verify
the effectiveness of the proposed implicit Lyapunov control method.
The comparisons of the control effect using the implicit Lyapunov
control method based on the state distance with that of the state error
are given.
Abstract: This paper describes the implementation and testing
of a multichannel active noise control system (ANCS) based on the
filtered-inverse LMS (FILMS) algorithm. The FILMS algorithm is
derived from the well-known filtered-x LMS (FXLMS) algorithm
with the aim to improve the rate of convergence of the multichannel
FXLMS algorithm and to reduce its computational load. Laboratory
setup and techniques used to implement this system efficiently are
described in this paper. Experiments performed in order to test the
performance of the FILMS algorithm are discussed and the obtained
results presented.
Abstract: Fractional-order controller was proven to perform better than the integer-order controller. However, the absence of a pole at origin produced marginal error in fractional-order control system. This study demonstrated the enhancement of the fractionalorder PI over the integer-order PI in a steam temperature control. The fractional-order controller was cascaded with an error compensator comprised of a very small zero and a pole at origin to produce a zero steady-state error for the closed-loop system. Some modification on the error compensator was suggested for different order fractional integrator that can improve the overall phase margin.
Abstract: This article is based on the technique which is called
Discrete Parameter Tracking (DPT). First introduced by A. A. Azab
[8] which is applicable for less order reference model. The order of
the reference model is (n-l) and n is the number of the adjustable
parameters in the physical plant.
The technique utilizes a modified gradient method [9] where the
knowledge of the exact order of the nonadaptive system is not
required, so, as to eliminate the identification problem. The
applicability of the mentioned technique (DPT) was examined
through the solution of several problems.
This article introduces the solution of a third order system with
three adjustable parameters, controlled according to second order
reference model. The adjustable parameters have great initial error
which represent condition.
Computer simulations for the solution and analysis are provided
to demonstrate the simplicity and feasibility of the technique.
Abstract: A Ground Control System (GCS), which controls Unmanned Aerial Vehicles (UAVs) and monitors their missionrelated data, is one of the major components of UAVs. In fact, some traditional GCSs were built on an expensive, complicated hardware infrastructure with workstations and PCs. In contrast, a GCS on a portable device – such as an Android phone or tablet – takes advantage of its light-weight hardware and the rich User Interface supported by the Android Operating System. We implemented that kind of GCS and called it Ground System Software (GSS) in this paper. In operation, our GSS communicates with UAVs or other GSS via TCP/IP connection to get mission-related data, visualizes it on the device-s screen, and saves the data in its own database. Our study showed that this kind of system will become a potential instrument in UAV-related systems and this kind of topic will appear in many research studies in the near future.
Abstract: This paper presents a design and prototype
implementation of new home automation system that uses WiFi
technology as a network infrastructure connecting its parts. The
proposed system consists of two main components; the first part is
the server (web server), which presents system core that manages,
controls, and monitors users- home. Users and system administrator
can locally (LAN) or remotely (internet) manage and control system
code. Second part is hardware interface module, which provides
appropriate interface to sensors and actuator of home automation
system. Unlike most of available home automation system in the
market the proposed system is scalable that one server can manage
many hardware interface modules as long as it exists on WiFi
network coverage. System supports a wide range of home
automation devices like power management components, and
security components. The proposed system is better from the
scalability and flexibility point of view than the commercially
available home automation systems.
Abstract: In this paper multivariable predictive PID controller has
been implemented on a multi-inputs multi-outputs control problem
i.e., quadruple tank system, in comparison with a simple multiloop
PI controller. One of the salient feature of this system is an
adjustable transmission zero which can be adjust to operate in both
minimum and non-minimum phase configuration, through the flow
distribution to upper and lower tanks in quadruple tank system.
Stability and performance analysis has also been carried out for this
highly interactive two input two output system, both in minimum
and non-minimum phases. Simulations of control system revealed
that better performance are obtained in predictive PID design.
Abstract: In this paper, we propose a novel adaptive voltage control strategy for boost converter via Inverse LQ Servo-Control. Our presented strategy is based on an analytical formula of Inverse Linear Quadratic (ILQ) design method, which is not necessary to solve Riccati’s equation directly. The optimal and adaptive controller of the voltage control system is designed. The stability and the robust control are analyzed. Whereas, we can get the analytical solution for the optimal and robust voltage control is achieved through the natural angular velocity within a single parameter and we can change the responses easily via the ILQ control theory. Our method provides effective results as the stable responses and the response times are not drifted even if the condition is changed widely.