Abstract: The fractional–order proportional integral (FOPI) controller tuning rules based on the fractional calculus for the cascade control system are systematically proposed in this paper. Accordingly, the ideal controller is obtained by using internal model control (IMC) approach for both the inner and outer loops, which gives the desired closed-loop responses. On the basis of the fractional calculus, the analytical tuning rules of FOPI controller for the inner loop can be established in the frequency domain. Besides, the outer loop is tuned by using any integer PI/PID controller tuning rules in the literature. The simulation study is considered for the stable process model and the results demonstrate the simplicity, flexibility, and effectiveness of the proposed method for the cascade control system in compared with the other methods.
Abstract: In this paper, the analytical tuning rules of IMC-PID controller are presented for the multivariable Smith predictor that involved the ideal decoupling. Accordingly, the decoupler is first introduced into the multivariable Smith predictor control system by a well-known approach of ideal decoupling, which is compactly extended for general nxn multivariable processes and the multivariable Smith predictor controller is then obtained in terms of the multiple single-loop Smith predictor controllers. The tuning rules of PID controller in series with filter are found by using Maclaurin approximation. Many multivariable industrial processes are employed to demonstrate the simplicity and effectiveness of the presented method. The simulation results show the superior performances of presented method in compared with the other methods.
Abstract: A methodology based on wavelets is proposed for the automatic location and delimitation of defects in limestone plates. Natural defects include dark colored spots, crystal zones trapped in the stone, areas of abnormal contrast colors, cracks or fracture lines, and fossil patterns. Although some of these may or may not be considered as defects according to the intended use of the plate, the goal is to pair each stone with a map of defects that can be overlaid on a computer display. These layers of defects constitute a database that will allow the preliminary selection of matching tiles of a particular variety, with specific dimensions, for a requirement of N square meters, to be done on a desktop computer rather than by a two-hour search in the storage park, with human operators manipulating stone plates as large as 3 m x 2 m, weighing about one ton. Accident risks and work times are reduced, with a consequent increase in productivity. The base for the algorithm is wavelet decomposition executed in two instances of the original image, to detect both hypotheses – dark and clear defects. The existence and/or size of these defects are the gauge to classify the quality grade of the stone products. The tuning of parameters that are possible in the framework of the wavelets corresponds to different levels of accuracy in the drawing of the contours and selection of the defects size, which allows for the use of the map of defects to cut a selected stone into tiles with minimum waste, according the dimension of defects allowed.
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: This paper presents a compact dual-band bandpass filter that involves using the quarter wavelength stepped impedance resonators (SIRs) for achieving simultaneously compact circuit size and good dual-band performance. The filter is designed at 2.4 / 3.5 GHz and constructed by two pairs of quarter wavelength SIRs and source-load lines. By properly tuning the impedance ratio, length ratio and radius of via hole of the SIRs, dual-passbands performance can be easily determined. To improve the passband selectivity, the use of source-load lines is to increase coupling energy between the resonators. The filter is showing simple configuration, effective design method and small circuit size. The measured results are in good agreement with the simulation results.
Abstract: The formula project of Kinki University has been involved in the student Formula SAE of Japan (JSAE) since the second year the competition was held. The vehicle developed in the project uses a ZX-6R engine, which has been manufactured by Kawasaki Heavy Industries for the JSAE competition for the eighth time. The limited performance of the concept vehicle was improved through the development of a power train. The supercharger loading, engine dry sump, and engine cooling management of the vehicle were also enhanced. The supercharger loading enabled the vehicle to achieve a maximum output of 59.6 kW (80.6 PS)/9000 rpm and a maximum torque of 70.6 Nm (7.2 kgf m)/8000 rpm. We successfully achieved 90% of the engine’s torque band (4000–10000 rpm) with 50% of the revolutions in regular engine use (2000–12000 rpm). Using a dry sump system, we periodically managed hydraulic pressure during engine operation. A system that controls engine stoppage when hydraulic pressure falls was also constructed. Using the dry sump system at 80 mm reduced the required engine load and the vehicle’s center of gravity. Even when engine motion was suspended by the electromotive force exerted by the water pump, the circulation of cooling water was still possible. These findings enabled us to create a cooling system in accordance with the requirements of the competition.
Abstract: Most of self-tuning fuzzy systems, which are
automatically constructed from learning data, are based on the
steepest descent method (SDM). However, this approach often
requires a large convergence time and gets stuck into a shallow
local minimum. One of its solutions is to use fuzzy rule modules
with a small number of inputs such as DIRMs (Double-Input Rule
Modules) and SIRMs (Single-Input Rule Modules). In this paper,
we consider a (generalized) DIRMs model composed of double
and single-input rule modules. Further, in order to reduce the
redundant modules for the (generalized) DIRMs model, pruning and
generative learning algorithms for the model are suggested. In order
to show the effectiveness of them, numerical simulations for function
approximation, Box-Jenkins and obstacle avoidance problems are
performed.
Abstract: Rough set theory is used to handle uncertainty and incomplete information by applying two accurate sets, Lower approximation and Upper approximation. In this paper, the rough clustering algorithms are improved by adopting the Similarity, Dissimilarity–Similarity and Entropy based initial centroids selection method on three different clustering algorithms namely Entropy based Rough K-Means (ERKM), Similarity based Rough K-Means (SRKM) and Dissimilarity-Similarity based Rough K-Means (DSRKM) were developed and executed by yeast dataset. The rough clustering algorithms are validated by cluster validity indexes namely Rand and Adjusted Rand indexes. An experimental result shows that the ERKM clustering algorithm perform effectively and delivers better results than other clustering methods. Outlier detection is an important task in data mining and very much different from the rest of the objects in the clusters. Entropy based Rough Outlier Factor (EROF) method is seemly to detect outlier effectively for yeast dataset. In rough K-Means method, by tuning the epsilon (ᶓ) value from 0.8 to 1.08 can detect outliers on boundary region and the RKM algorithm delivers better results, when choosing the value of epsilon (ᶓ) in the specified range. An experimental result shows that the EROF method on clustering algorithm performed very well and suitable for detecting outlier effectively for all datasets. Further, experimental readings show that the ERKM clustering method outperformed the other methods.
Abstract: As DNA microarray data contain relatively small
sample size compared to the number of genes, high dimensional
models are often employed. In high dimensional models, the selection
of tuning parameter (or, penalty parameter) is often one of the crucial
parts of the modeling. Cross-validation is one of the most common
methods for the tuning parameter selection, which selects a parameter
value with the smallest cross-validated score. However, selecting a
single value as an ‘optimal’ value for the parameter can be very
unstable due to the sampling variation since the sample sizes of
microarray data are often small. Our approach is to choose multiple candidates of tuning parameter
first, then average the candidates with different weights depending
on their performance. The additional step of estimating the weights
and averaging the candidates rarely increase the computational cost,
while it can considerably improve the traditional cross-validation. We
show that the selected value from the suggested methods often lead to
stable parameter selection as well as improved detection of significant
genetic variables compared to the tradition cross-validation via real
data and simulated data sets.
Abstract: In this paper, a PSO based fractional order PID (FOPID) controller is proposed for concentration control of an isothermal Continuous Stirred Tank Reactor (CSTR) problem. CSTR is used to carry out chemical reactions in industries, which possesses complex nonlinear dynamic characteristics. Particle Swarm Optimization algorithm technique, which is an evolutionary optimization technique based on the movement and intelligence of swarm is proposed for tuning of the controller for this system. Comparisons of proposed controller with conventional and fuzzy based controller illustrate the superiority of proposed PSO-FOPID controller.
Abstract: This paper presents Differential Evolution Algorithm (DEA) based Variable Structure Position Control (VSPC) of Laboratory DC servomotor (LDCSM). DEA is employed for the optimal tuning of Variable Structure Control (VSC) parameters for position control of a DC servomotor. The VSC combines the techniques of Sliding Mode Control (SMC) that gives the advantages of small overshoot, improved step response characteristics, faster dynamic response and adaptability to plant parameter variations, suppressed influences of disturbances and uncertainties in system behavior. The results of the simulation responses of the VSC parameters adjustment by DEA were performed in Matlab Version 2010a platform and yield better dynamic performance compared with the untuned VSC designed.
Abstract: In this work we make a bifurcation analysis for a
single compartment representation of Traub model, one of the most
important conductance-based models. The analysis focus in two
principal parameters: current and leakage conductance. Study of
stable and unstable solutions are explored; also Hop-bifurcation and
frequency interpretation when current varies is examined. This study
allows having control of neuron dynamics and neuron response when
these parameters change. Analysis like this is particularly important
for several applications such as: tuning parameters in learning
process, neuron excitability tests, measure bursting properties of the
neuron, etc. Finally, a hardware implementation results were
developed to corroborate these results.
Abstract: In this paper, we investigate the low-lying energy
levels of the two-dimensional parabolic graphene quantum dots
(GQDs) in the presence of topological defects with long range
Coulomb impurity and subjected to an external uniform magnetic
field. The low-lying energy levels of the system are obtained within
the framework of the perturbation theory. We theoretically
demonstrate that a valley splitting can be controlled by geometrical
parameters of the graphene quantum dots and/or by tuning a uniform
magnetic field, as well as topological defects. It is found that, for
parabolic graphene dots, the valley splitting occurs due to the
introduction of spatial confinement. The corresponding splitting is
enhanced by the introduction of a uniform magnetic field and it
increases by increasing the angle of the cone in subcritical regime.
Abstract: A Reconfigurable Wilkinson power divider is
proposed in this paper. In existing system only a limited number of
bandwidth is used at the output ports, in the proposed Wilkinson
power divider different band of frequencies are obtained by using
PIN diode. By tuning the PIN diode, different frequencies are
achieved. The size of the power divider is reduced for the operating
frequency and increases the fractional bandwidth.
Abstract: In this paper, the unstable angle of attack of a
FOXTROT aircraft is controlled by using Genetic Algorithm based
flight controller and the result is compared with the conventional
techniques like Tyreus-Luyben (TL), Ziegler-Nichols (ZN) and
Interpolation Rule (IR) for tuning the PID controller. In addition, the
performance indices like Mean Square Error (MSE), Integral Square
Error (ISE), and Integral Absolute Time Error (IATE) etc. are
improved by using Genetic Algorithm. It was established that the
error by using GA is very less as compared to the conventional
techniques thereby improving the performance indices of the
dynamic system.
Abstract: This paper presents a comparative analysis of
continuously stirred tank reactor (CSTR) control based on adaptive
control and optimal tuning of PID control based on particle swarm
optimization. In the design of adaptive control, Model reference
adaptive control (MRAC) scheme is used, in which the adaptation
law have been developed by MIT rule & Lyapunov’s rule. In PSO
control parameters of PID controller is tuned by using the concept of
particle swarm optimization to get optimized operating point for
minimum integral square error (ISE) condition. The results show the
adjustment of PID parameters converting into the optimal operating
point and the good control response can be obtained by the PSO
technique.
Abstract: In this article, the radial displacement error correction
capability of a high precision spindle grinding caused by unbalance
force was investigated. The spindle shaft is considered as a flexible
rotor mounted on two sets of angular contact ball bearing. Finite
element methods (FEM) have been adopted for obtaining the
equation of motion of the spindle. In this paper, firstly, natural
frequencies, critical frequencies, and amplitude of the unbalance
response caused by residual unbalance are determined in order to
investigate the spindle behaviors. Furthermore, an optimization
design algorithm is employed to minimize radial displacement of the
spindle which considers dimension of the spindle shaft, the dynamic
characteristics of the bearings, critical frequencies and amplitude of
the unbalance response, and computes optimum spindle diameters
and stiffness and damping of the bearings. Numerical simulation
results show that by optimizing the spindle diameters, and stiffness
and damping in the bearings, radial displacement of the spindle can
be reduced. A spindle about 4 μm radial displacement error can be
compensated with 2 μm accuracy. This certainly can improve the
accuracy of the product of machining.
Abstract: Live video streaming is one of the most widely used
service among end users, yet it is a big challenge for the network
operators in terms of quality. The only way to provide excellent
Quality of Experience (QoE) to the end users is continuous
monitoring of live video streaming. For this purpose, there are several
objective algorithms available that monitor the quality of the video in
a live stream. Subjective tests play a very important role in fine
tuning the results of objective algorithms. As human perception is
considered to be the most reliable source for assessing the quality of a
video stream subjective tests are conducted in order to develop more
reliable objective algorithms. Temporal impairments in a live video
stream can have a negative impact on the end users. In this paper we
have conducted subjective evaluation tests on a set of video
sequences containing temporal impairment known as frame freezing.
Frame Freezing is considered as a transmission error as well as a
hardware error which can result in loss of video frames on the
reception side of a transmission system. In our subjective tests, we
have performed tests on videos that contain a single freezing event
and also for videos that contain multiple freezing events. We have
recorded our subjective test results for all the videos in order to give a
comparison on the available No Reference (NR) objective
algorithms. Finally, we have shown the performance of no reference
algorithms used for objective evaluation of videos and suggested the
algorithm that works better. The outcome of this study shows the
importance of QoE and its effect on human perception. The results
for the subjective evaluation can serve the purpose for validating
objective algorithms.
Abstract: An Acoustic Micro-Energy Harvester (AMEH) is
developed to convert wasted acoustical energy into useful electrical
energy. AMEH is mathematically modeled using Lumped Element
Modelling (LEM) and Euler-Bernoulli beam (EBB) modelling. An
experiment is designed to validate the mathematical model and assess
the feasibility of AMEH. Comparison of theoretical and experimental
data on critical parameter value such as Mm, Cms, dm and Ceb showed
the variances are within 1% to 6%, which is reasonably acceptable.
Then, AMEH undergoes bandwidth tuning for performance
optimization. The AMEH successfully produces 0.9V/(m/s^2) and
1.79μW/(m^2/s^4) at 60Hz and 400kΩ resistive load which only
show variances about 7% compared to theoretical data. At 1g and
60Hz resonance frequency, the averaged power output is about
2.2mW which fulfilled a range of wireless sensors and
communication peripherals power requirements. Finally, the design
for AMEH is assessed, validated and deemed as a feasible design.
Abstract: The new era of digital communication has brought up
many challenges that network operators need to overcome. The high
demand of mobile data rates require improved networks, which is a
challenge for the operators in terms of maintaining the quality of
experience (QoE) for their consumers. In live video transmission,
there is a sheer need for live surveillance of the videos in order to
maintain the quality of the network. For this purpose objective
algorithms are employed to monitor the quality of the videos that are
transmitted over a network. In order to test these objective algorithms,
subjective quality assessment of the streamed videos is required, as the
human eye is the best source of perceptual assessment. In this paper we
have conducted subjective evaluation of videos with varying spatial
and temporal impairments. These videos were impaired with frame
freezing distortions so that the impact of frame freezing on the quality
of experience could be studied. We present subjective Mean Opinion
Score (MOS) for these videos that can be used for fine tuning the
objective algorithms for video quality assessment.