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.
Abstract: This paper presents a method of hardening the 8051
micro-controller, able to assure reliable operation in the presence of
bit flips caused by radiation. Aiming at avoiding such faults in the
8051 micro-controller, Hamming code protection was used in its
SRAM memory and registers. A VHDL code has been used for this
hamming code protection.
Abstract: This paper describes the design and implementation of
a hardware setup for online monitoring of 24 refrigerators inside
blood bank center using the microcontroller and CAN bus for
communications between each node. Due to the security of locations
in the blood bank hall and difficulty of monitoring of each
refrigerator separately, this work proposes a solution to monitor all
the blood bank refrigerators in one location. CAN-bus system is used
because it has many applications and advantages, especially for this
system due to easy in use, low cost, providing a reduction in wiring,
fast to repair and easily expanding the project without a problem.
Abstract: Evolutionary Fuzzy PID Speed Controller for Permanent Magnet Synchronous Motor (PMSM) is developed to achieve the Speed control of PMSM in Closed Loop operation and to deal with the existence of transients. Consider a Fuzzy PID control design problem, based on common control Engineering Knowledge. If the transient error is big, that Good transient performance can be obtained by increasing the P and I gains and decreasing the D gains. To autotune the control parameters of the Fuzzy PID controller, the Evolutionary Algorithms (EA) are developed. EA based Fuzzy PID controller provides better speed control and guarantees the closed loop stability. The Evolutionary Fuzzy PID controller can be implemented in real time Applications without any concern about instabilities that leads to system failure or damage.
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: In this work, the IMC-PID controller cascaded filter based on Internal Model Control (IMC) scheme is systematically proposed for the simplified decoupling control system. The simplified decoupling is firstly introduced for multivariable processes by using coefficient matching to obtain a stable, proper, and causal simplified decoupler. Accordingly, transfer functions of decoupled apparent processes can be expressed as a set of n equivalent independent processes and then derived as a ratio of the original open-loop transfer function to the diagonal element of the dynamic relative gain array. The IMC-PID controller in series with filter is then directly employed to enhance the overall performance of the decoupling control system while avoiding difficulties arising from properties inherent to simplified decoupling. Some simulation studies are considered to demonstrate the simplicity and effectiveness of the proposed method. Simulations were conducted by tuning various controllers of the multivariate processes with multiple time delays. The results indicate that the proposed method consistently performs well with fast and well-balanced closed-loop time responses.
Abstract: This paper presents the method of designing the type 2 fuzzy PID controllers in order to solve the problem of Load Frequency Control (LFC). The Harmony Search (HS) algorithm is used to regulate the measurement factors and the effect of uncertainty of membership functions of Interval Type 2 Fuzzy Proportional Integral Differential (IT2FPID) controllers in order to reduce the frequency deviation resulted from the load oscillations. The simulation results implicitly show that the performance of the proposed IT2FPID LFC in terms of error, settling time and resistance against different load oscillations is more appropriate and preferred than PID and Type 1 Fuzzy Proportional Integral Differential (T1FPID) controllers.
Abstract: In this paper, a digital control algorithm based on delta-operator is presented for high-frequency digitally-controlled DC-DC switching converters. The stability and the controlling accuracy of the DC-DC switching converters are improved by using the digital control algorithm based on delta-operator without increasing the hardware circuit scale. The design method of voltage compensator in delta-domain using PID (Proportion-Integration- Differentiation) control is given in this paper, and the simulation results based on Simulink platform are provided, which have verified the theoretical analysis results very well. It can be concluded that, the presented control algorithm based on delta-operator has better stability and controlling accuracy, and easier hardware implementation than the existed control algorithms based on z-operator, therefore it can be used for the voltage compensator design in high-frequency digitally- controlled DC-DC switching converters.
Abstract: To provide reliable and valid findings when evaluating innovative in-car devices in the automotive context highly realistic driving environments are recommended. Nowadays, in-car devices are mostly evaluated due to driving simulator studies followed by real car driving experiments. Driving simulators are characterized by high internal validity, but weak regarding ecological validity. Real car driving experiments are ecologically valid, but difficult to standardize, more time-robbing and costly. One economizing suggestion is to implement more immersive driving environments when applying driving simulator studies. This paper presents research comparing non-immersive standard PC conditions with mobile and highly immersive Oculus Rift conditions while performing the Lane Change Task (LCT). Subjective data with twenty participants show advantages regarding presence and immersion experience when performing the LCT with the Oculus Rift, but affect adversely cognitive workload and simulator sickness, compared to non-immersive PC condition.
Abstract: Recent technological advance has prompted significant
interest in developing the control theory of quantum systems.
Following the increasing interest in the control of quantum
dynamics, this paper examines the control problem of Schrödinger
equation because quantum dynamics is basically governed by
Schrödinger equation. From the practical point of view, stochastic
disturbances cannot be avoided in the implementation of control
method for quantum systems. Thus, we consider here the robust
stabilization problem of Schrödinger equation against stochastic
disturbances. In this paper, we adopt model predictive control method
in which control performance over a finite future is optimized with
a performance index that has a moving initial and terminal time.
The objective of this study is to derive the stability criterion for
model predictive control of Schrödinger equation under stochastic
disturbances.
Abstract: In the present case study we examined the development and testing methods of systems that contain safety-critical elements in different industrial fields. Consequentially, we observed the classical object-oriented development and testing environment, as both medical technology and automobile industry approaches the development of safety critical elements that way. Subsequently, we examined model-based development. We introduce the quality parameters that define development and testing. While taking modern agile methodology (scrum) into consideration, we examined whether and to what extent the methodologies we found fit into this environment.
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.
Abstract: A robotic arm and hand controlled by simulated
neurons is presented. The robot makes use of a biological neuron
simulator using a point neural model. The neurons and synapses are
organised to create a finite state automaton including neural inputs
from sensors, and outputs to effectors. The robot performs a simple
pick-and-place task. This work is a proof of concept study for a
longer term approach. It is hoped that further work will lead to
more effective and flexible robots. As another benefit, it is hoped that
further work will also lead to a better understanding of human and
other animal neural processing, particularly for physical motion. This
is a multidisciplinary approach combining cognitive neuroscience,
robotics, and psychology.
Abstract: Fishery lights on the surface could be detected by the Day and Night Band (DNB) of the Visible Infrared Imaging Radiometer Suite (VIIRS) on the Suomi National Polar-orbiting Partnership (Suomi-NPP). The DNB covers the spectral range of 500 to 900 nm and realized a higher sensitivity. The DNB has a difficulty of identification of fishing lights from lunar lights reflected by clouds, which affects observations for the half of the month. Fishery lights and lights of the surface are identified from lunar lights reflected by clouds by a method using the DNB and the infrared band, where the detection limits are defined as a function of the brightness temperature with a difference from the maximum temperature for each level of DNB radiance and with the contrast of DNB radiance against the background radiance. Fishery boats or structures on islands could be detected by the Synthetic Aperture Radar (SAR) on the polar orbit satellites using the reflected microwave by the surface reflecting targets. The SAR has a difficulty of tradeoff between spatial resolution and coverage while detecting the small targets like fishery boats. A distribution of fishery boats and island activities were detected by the scan-SAR narrow mode of Radarsat-2, which covers 300 km by 300 km with various combinations of polarizations. The fishing boats were detected as a single pixel of highly scattering targets with the scan-SAR narrow mode of which spatial resolution is 30 m. As the look angle dependent scattering signals exhibits the significant differences, the standard deviations of scattered signals for each look angles were taken into account as a threshold to identify the signal from fishing boats and structures on the island from background noise. It was difficult to validate the detected targets by DNB with SAR data because of time lag of observations for 6 hours between midnight by DNB and morning or evening by SAR. The temporal changes of island activities were detected as a change of mean intensity of DNB for circular area for a certain scale of activities. The increase of DNB mean intensity was corresponding to the beginning of dredging and the change of intensity indicated the ending of reclamation and following constructions of facilities.
Abstract: Socially assistive robotic has become increasingly active and it is present in therapies of people affected for several neurobehavioral conditions, such as Autism Spectrum Disorder (ASD). In fact, robots have played a significant role for positive interaction with children with ASD, by stimulating their social and cognitive skills. This work introduces a mobile socially-assistive robot, which was built for interaction with children with ASD, using non-linear control techniques for this interaction.
Abstract: The article presents an application of Fractional Model Predictive Control (FMPC) to a fractional order thermal system using Controlled Auto Regressive Integrated Moving Average (CARIMA) model obtained by discretization of a continuous fractional differential equation. Moreover, the output deviation approach is exploited to design the K -step ahead output predictor, and the corresponding control law is obtained by solving a quadratic cost function. Experiment results onto a thermal system are presented to emphasize the performances and the effectiveness of the proposed predictive controller.
Abstract: In this paper, a sampled-data model predictive tracking
control method is presented for mobile robots which is modeled as
constrained continuous-time linear parameter varying (LPV) systems.
The presented sampled-data predictive controller is designed by linear
matrix inequality approach. Based on the input delay approach, a
controller design condition is derived by constructing a new Lyapunov
function. Finally, a numerical example is given to demonstrate the
effectiveness of the presented method.
Abstract: Choosing good features is an essential part of machine learning. Recent techniques aim to automate this process. For instance, feature learning intends to learn the transformation of raw data into a useful representation to machine learning tasks. In automatic audio classification tasks, this is interesting since the audio, usually complex information, needs to be transformed into a computationally convenient input to process. Another technique tries to generate features by searching a feature space. Genetic algorithms, for instance, have being used to generate audio features by combining or modifying them. We find this approach particularly interesting and, despite the undeniable advances of feature learning approaches, we wanted to take a step forward in the use of genetic algorithms to find audio features, combining them with more conventional methods, like PCA, and inserting search control mechanisms, such as constraints over a confusion matrix. This work presents the results obtained on particular audio classification problems.
Abstract: This paper presents and discusses the application of the object-oriented modelling software SIMSCAPE to hydraulic systems, with particular reference to multivariable proportional-integral-derivative (PID) control. As a result, a particular modelling approach of a double cylinder-piston coupled system is proposed and motivated, and the SIMULINK based PID tuning tool has also been used to select the proper controller parameters. The paper demonstrates the usefulness of the object-oriented approach when both physical modelling and control are tackled.
Abstract: Seamless modification of an entity for the purpose of hiding a message of significance inside its substance in a manner that the embedding remains oblivious to an observer is known as steganography. Together with today's pervasive registering frameworks, steganography has developed into a science that offers an assortment of strategies for stealth correspondence over the globe that must, however, need a critical appraisal from security breach standpoint. Microsoft Word is amongst the preferably used word processing software, which comes as a part of the Microsoft Office suite. With a user-friendly graphical interface, the richness of text editing, and formatting topographies, the documents produced through this software are also most suitable for stealth communication. This research aimed not only to epitomize the fundamental concepts of steganography but also to expound on the utilization of Microsoft Word document as a carrier for furtive message exchange. The exertion is to examine contemporary message hiding schemes from security aspect so as to present the explorative discoveries and suggest enhancements which may serve a wellspring of information to encourage such futuristic research endeavors.