Abstract: Wheel-running type moving robot has the restriction
on the moving range caused by obstacles or stairs. Solving this
weakness, we studied the development of moving robot using airship.
Our airship robot moves by recognizing arrow marks on the path. To
have the airship robot recognize arrow marks, we used edge-based
template matching. To control propeller units, we used PID and PD
controller. The results of experiments demonstrated that the airship
robot can move along the marks and can go up and down the stairs. It is
shown the possibility that airship robot can become a robot which can
move at wide range facilities.
Abstract: The aim of this study is to develop a cost-effective WBGT heat stress monitor which provides precise heat stress measurement. The proposed device employs SHT15 and DS18B20 as a temperature and humidity sensors, respectively, incorporating with ATmega328 microcontroller. The developed heat stress monitor was calibrated and adjusted to that of the standard temperature and humidity sensors in the laboratory. The results of this study illustrated that the mean percentage error and the standard deviation from the measurement of the globe temperature was 2.33 and 2.71 respectively, while 0.94 and 1.02 were those of the dry bulb temperature, 0.79 and 0.48 were of the wet bulb temperature, and 4.46 and 1.60 were of the relative humidity sensor. This device is relatively low-cost and the measurement error is acceptable.
Abstract: Recent medical studies have investigated the importance of enteral feeding and the use of feeding pumps for recovering patients unable to feed themselves or gain nourishment and nutrients by natural means. The most of enteral feeding system uses a peristaltic tube pump. A peristaltic pump is a form of positive displacement pump in which a flexible tube is progressively squeezed externally to allow the resulting enclosed pillow of fluid to progress along it. The squeezing of the tube requires a precise and robust controller of the geared motor to overcome parametric uncertainty of the pumping system which generates due to a wide variation of friction and slip between tube and roller. So, this paper proposes fuzzy adaptive controller for the robust control of the peristaltic tube pump. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system. Finally, the good control performance, accurate dose rate and robust system stability, of the developed feeding pump is confirmed through experimental and clinic testing.
Abstract: In this paper, we propose an advanced ILQ control for the buck-converter via two-degrees of freedom servo-system. Our presented strategy is based on Inverse Linear Quadratic (ILQ) servo-system controller without solving Riccati-s equation directly. The optimal controller of the current and voltage control system is designed. The stability and robust control are analyzed. A conscious and persistent effort has been made to improve ILQ control via two-degrees of freedom guarantees the optimal gains on the basis of polynomial pole assignment, which our results of the proposed strategy shows that the advanced ILQ control can be controlled independently the step response and the disturbance response by appending a feed-forward compensator.
Abstract: Movable power sources of proton exchange
membrane fuel cells (PEMFC) are the important research done in the
current fuel cells (FC) field. The PEMFC system control influences
the cell performance greatly and it is a control system for industrial
complex problems, due to the imprecision, uncertainty and partial
truth and intrinsic nonlinear characteristics of PEMFCs. In this paper
an adaptive PI control strategy using neural network adaptive Morlet
wavelet for control is proposed. It is based on a single layer feed
forward neural networks with hidden nodes of adaptive morlet
wavelet functions controller and an infinite impulse response (IIR)
recurrent structure. The IIR is combined by cascading to the network
to provide double local structure resulting in improving speed of
learning. The proposed method is applied to a typical 1 KW PEMFC
system and the results show the proposed method has more accuracy
against to MLP (Multi Layer Perceptron) method.
Abstract: RoboCup Rescue simulation as a large-scale Multi
agent system (MAS) is one of the challenging environments for
keeping coordination between agents to achieve the objectives
despite sensing and communication limitations. The dynamicity of
the environment and intensive dependency between actions of
different kinds of agents make the problem more complex. This point
encouraged us to use learning-based methods to adapt our decision
making to different situations. Our approach is utilizing
reinforcement leaning. Using learning in rescue simulation is one of
the current ways which has been the subject of several researches in
recent years. In this paper we present an innovative learning method
implemented for Police Force (PF) Agent. This method can cope
with the main difficulties that exist in other learning approaches.
Different methods used in the literature have been examined. Their
drawbacks and possible improvements have led us to the method
proposed in this paper which is fast and accurate. The Brain
Emotional Learning Based Intelligent Controller (BELBIC) is our
solution for learning in this environment. BELBIC is a
physiologically motivated approach based on a computational model
of amygdale and limbic system. The paper presents the results
obtained by the proposed approach, showing the power of BELBIC
as a decision making tool in complex and dynamic situation.
Abstract: One of the most basic functions of control engineers is
tuning of controllers. There are always several process loops in the
plant necessitate of tuning. The auto tuned Proportional Integral
Derivative (PID) Controllers are designed for applications where
large load changes are expected or the need for extreme accuracy and
fast response time exists. The algorithm presented in this paper is
used for the tuning PID controller to obtain its parameters with a
minimum computing complexity. It requires continuous analysis of
variation in few parameters, and let the program to do the plant test
and calculate the controller parameters to adjust and optimize the
variables for the best performance. The algorithm developed needs
less time as compared to a normal step response test for continuous
tuning of the PID through gain scheduling.
Abstract: This paper presents the application of discrete-time
variable structure control with sliding mode based on the 'reaching
law' method for robust control of a 'simple inverted pendulum on
moving cart' - a standard nonlinear benchmark system. The
controllers designed using the above techniques are completely
insensitive to parametric uncertainty and external disturbance. The
controller design is carried out using pole placement technique to find
state feedback gain matrix , which decides the dynamic behavior
of the system during sliding mode. This is followed by feedback gain
realization using the control law which is synthesized from 'Gao-s
reaching law'. The model of a single inverted pendulum and the
discrete variable structure control controller are developed, simulated
in MATLAB-SIMULINK and results are presented. The response of
this simulation is compared with that of the discrete linear quadratic
regulator (DLQR) and the advantages of sliding mode controller over
DLQR are also presented
Abstract: The optimal design of PI controller for Automatic Generation Control in two area is presented in this paper. The concept of Dual mode control is applied in the PI controller, such that the proportional mode is made active when the rate of change of the error is sufficiently larger than a specified limit otherwise switched to the integral mode. A digital simulation is used in conjunction with the Hooke-Jeeve’s optimization technique to determine the optimum parameters (individual gain of proportional and integral controller) of the PI controller. Integrated Square of the Error (ISE), Integrated Time multiplied by Absolute Error(ITAE) , and Integrated Absolute Error(IAE) performance indices are considered to measure the appropriateness of the designed controller. The proposed controller are tested for a two area single nonreheat thermal system considering the practical aspect of the problem such as Deadband and Generation Rate Constraint(GRC). Simulation results show that dual mode with optimized values of the gains improved the control performance than the commonly used Variable Structure .
Abstract: This paper describes a novel optimized JTAG interface circuit between a JTAG controller and target IC. Being able to access JTAG using only one or two pins, this circuit does not change the original boundary scanning test frequency of target IC. Compared with the traditional JTAG interface which based on IEEE std. 1149.1, this reduced pin technology is more applicability in pin limited devices, and it is easier to control the scale of target IC for the designer.
Abstract: Direct Torque Control is a control technique in AC
drive systems to obtain high performance torque control. The
conventional DTC drive contains a pair of hysteresis comparators.
DTC drives utilizing hysteresis comparators suffer from high torque
ripple and variable switching frequency. The most common solution
to those problems is to use the space vector depends on the reference
torque and flux. In this Paper The space vector modulation technique
(SVPWM) is applied to 2 level inverter control in the proposed
DTC-based induction motor drive system, thereby dramatically
reducing the torque ripple. Then the controller based on space vector
modulation is designed to be applied in the control of Induction
Motor (IM) with a three-level Inverter. This type of Inverter has
several advantages over the standard two-level VSI, such as a greater
number of levels in the output voltage waveforms, Lower dV/dt, less
harmonic distortion in voltage and current waveforms and lower
switching frequencies. This paper proposes a general SVPWM
algorithm for three-level based on standard two-level SVPWM. The
proposed scheme is described clearly and simulation results are
reported to demonstrate its effectiveness. The entire control scheme is
implemented with Matlab/Simulink.
Abstract: A fault detection and identification (FDI) technique is
presented to create a fault tolerant control system (FTC). The fault
detection is achieved by monitoring the position of the light source
using an array of light sensors. When a decision is made about the
presence of a fault an identification process is initiated to locate the
faulty component and reconfigure the controller signals. The signals
provided by the sensors are predictable; therefore the existence of a
fault is easily identified. Identification of the faulty sensor is based on
the dynamics of the frame. The technique is not restricted to a
particular type of controllers and the results show consistency.
Abstract: A new and cost effective robotic device was designed
for remote tele surgery using dual tone multi frequency technology
(DTMF). Tele system with Dual Tone Multiple Frequency has a large
capability in sending and receiving of data in hardware and software.
The robot consists of DC motors for arm movements and it is
controlled manually through a mobile phone through DTMF
Technology. The system enables the surgeon from base station to
send commands through mobile phone to the patient’s robotic system
which includes two robotic arms that translate the input into actual
instrument manipulation. A mobile phone attached to the
microcontroller 8051 which can activate robot through relays. The
Remote robot-assisted tele surgery eliminates geographic constraints
for getting surgical expertise where it is needed and allows an expert
surgeon to teach or proctor the performance of surgical technique by
real-time intervention.
Abstract: This project relates to a two-wheeled self balancing
robot for transferring loads on different locations along a path. This
robot specifically functions as a dual mode navigation to navigate
efficiently along a desired path. First, as a plurality of distance
sensors mounted at both sides of the body for collecting information
on tilt angle of the body and second, as a plurality of speed sensors
mounted at the bottom of the body for collecting information of the
velocity of the body in relative to the ground. A microcontroller for
processing information collected from the sensors and configured to
set the path and to balance the body automatically while a processor
operatively coupled to the microcontroller and configured to compute
change of the tilt and velocity of the body. A direct current motor
operatively coupled to the microcontroller for controlling the wheels
and characterized in that a remote control is operatively coupled to
the microcontroller to operate the robot in dual navigation modes.
Abstract: In this paper, the position control of an electronic
throttle actuator is outlined. The dynamic behavior of the actuator is
described with the help of an uncertain plant model. This motivates
the controller design based on the ideas of higher-order slidingmodes.
As a consequence anti-chattering techniques can be omitted.
It is shown that the same concept is applicable to estimate unmeasureable
signals. The control law and the observer are implemented on
an electronic control unit. Results achieved by numerical simulations
and real world experiments are presented and discussed.
Abstract: The two significant overvoltages in power system,
switching overvoltage and lightning overvoltage, are investigated in
this paper. Firstly, the effect of various power system parameters on
Line Energization overvoltages is evaluated by simulation in ATP.
The dominant parameters include line parameters; short-circuit
impedance and circuit breaker parameters. Solutions to reduce
switching overvoltages are reviewed and controlled closing using
switchsync controllers is proposed as proper method.
This paper also investigates lightning overvoltages in the
overhead-cable transition. Simulations are performed in
PSCAD/EMTDC. Surge arresters are applied in both ends of cable to
fulfill the insulation coordination. The maximum amplitude of
overvoltages inside the cable is surveyed which should be of great
concerns in insulation coordination studies.
Abstract: We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.
Abstract: Fuzzy logic can be used when knowledge is
incomplete or when ambiguity of data exists. The purpose of
this paper is to propose a proactive fuzzy set- based model for
reacting to the risk inherent in investment activities relative to
a complete view of portfolio management. Fuzzy rules are
given where, depending on the antecedents, the portfolio size
may be slightly or significantly decreased or increased. The
decision maker considers acceptable bounds on the proportion
of acceptable risk and return. The Fuzzy Controller model
allows learning to be achieved as 1) the firing strength of each
rule is measured, 2) fuzzy output allows rules to be updated,
and 3) new actions are recommended as the system continues
to loop. An extension is given to the fuzzy controller that
evaluates potential financial loss before adjusting the
portfolio. An application is presented that illustrates the
algorithm and extension developed in the paper.
Abstract: This paper aims to select the optimal location and
setting parameters of TCSC (Thyristor Controlled Series
Compensator) controller using Particle Swarm Optimization (PSO)
and Genetic Algorithm (GA) to mitigate small signal oscillations in a
multimachine power system. Though Power System Stabilizers
(PSSs) are prime choice in this issue, installation of FACTS device
has been suggested here in order to achieve appreciable damping of
system oscillations. However, performance of any FACTS devices
highly depends upon its parameters and suitable location in the
power network. In this paper PSO as well as GA based techniques are
used separately and compared their performances to investigate this
problem. The results of small signal stability analysis have been
represented employing eigenvalue as well as time domain response in
face of two common power system disturbances e.g., varying load
and transmission line outage. It has been revealed that the PSO based
TCSC controller is more effective than GA based controller even
during critical loading condition.
Abstract: This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a multirate neural control of an AUV trajectory for a nontrivial mid-small size AUV “r2D4" stochastic model. This control system has been demonstrated and evaluated by simulation of diving maneuvers using software package Simulink. From the simulation results it can be seen that the chosen AUV model is stable in the presence of noises, and also can be concluded that the proposed research technique will be useful for fast SA of similar AUV systems in real-time search-and-rescue operations.