Abstract: This paper addresses the problem of trajectory
tracking control of an underactuated autonomous underwater vehicle
(AUV) in the horizontal plane. The underwater vehicle under
consideration is not actuated in the sway direction, and the system
matrices are not assumed to be diagonal and linear, as often found in
the literature. In addition, the effect of constant bias of environmental
disturbances is considered. Using backstepping techniques and the
tracking error dynamics, the system states are stabilized by forcing
the tracking errors to an arbitrarily small neighborhood of zero. The
effectiveness of the proposed control method is demonstrated through
numerical simulations. Simulations are carried out for an
experimental vehicle for smooth, inertial, two dimensional (2D)
reference trajectories such as constant velocity trajectory (a circle
maneuver – constant yaw rate), and time varying velocity trajectory
(a sinusoidal path – sinusoidal yaw rate).
Abstract: Least Development Countries (LDC) like
Bangladesh, whose 25% revenue earning is achieved from Textile
export, requires producing less defective textile for minimizing
production cost and time. Inspection processes done on these
industries are mostly manual and time consuming. To reduce error
on identifying fabric defects requires more automotive and
accurate inspection process. Considering this lacking, this research
implements a Textile Defect Recognizer which uses computer
vision methodology with the combination of multi-layer neural
networks to identify four classifications of textile defects. The
recognizer, suitable for LDC countries, identifies the fabric defects
within economical cost and produces less error prone inspection
system in real time. In order to generate input set for the neural
network, primarily the recognizer captures digital fabric images by
image acquisition device and converts the RGB images into binary
images by restoration process and local threshold techniques.
Later, the output of the processed image, the area of the faulty
portion, the number of objects of the image and the sharp factor of
the image, are feed backed as an input layer to the neural network
which uses back propagation algorithm to compute the weighted
factors and generates the desired classifications of defects as an
output.
Abstract: Adaptive observers used in sensorless control of induction motors suffer from instability especally in regenerating mode. In this paper, an optimal feed back gain design is proposed, it can reduce the instability region in the torque speed plane .
Abstract: In a none-super-competitive environment the concepts
of closed system, management control remains to be the dominant
guiding concept to management. The merits of closed loop have been
the sources of most of the management literature and culture for
many decades. It is a useful exercise to investigate and poke into the
dynamics of the control loop phenomenon and draws some lessons to
use for refining the practice of management. This paper examines the
multitude of lessons abstracted from the behavior of the Input /output
/feedback control loop model, which is the core of control theory.
There are numerous lessons that can be learned from the insights this
model would provide and how it parallels the management dynamics
of the organization. It is assumed that an organization is basically a
living system that interacts with the internal and external variables. A
viable control loop is the one that reacts to the variation in the
environment and provide or exert a corrective action. In managing
organizations this is reflected in organizational structure and
management control practices. This paper will report findings that
were a result of examining several abstract scenarios that are
exhibited in the design, operation, and dynamics of the control loop
and how they are projected on the functioning of the organization.
Valuable lessons are drawn in trying to find parallels and new
paradigms, and how the control theory science is reflected in the
design of the organizational structure and management practices. The
paper is structured in a logical and perceptive format. Further
research is needed to extend these findings.
Abstract: In this paper, we introduce an e-collaborative learning circles methodology which utilizes the information and communication technologies (ICTs) in e-educational processes. In e-collaborative learning circles methodology, the teachers and students announce their research projects on various mailing lists and discussion boards using available ICTs. The teachers & moderators and students who are already members of the e-forums, discuss the project proposals in their classrooms sent out by the potential global partner schools and return the requested feed back to the proposing school(s) about their level of the participation and contribution in the research. In general, an e-collaborative learning circle project is implemented with a small and diverse group (usually 8-10 participants) from around the world. The students meet regularly over a period of weeks/months through the ICTs during the ecollaborative learning process. When the project is completed, a project product (e-book / DVD) is prepared and sent to the circle members. In this research, when taking into account the interests and motivation of the participating students with the facilitating role of the teacher(s), the students in each circle do research to obtain new data and information, thus enabling them to have the opportunity to meet both different cultures and international understandings across the globe. However, while the participants communicate along with the members in the circle they also practice and develop their communication language skills. Finally, teachers and students find the possibility to develop their skills in using the ICTs as well.
Abstract: In this paper, we investigate the study of techniques
for scheduling users for resource allocation in the case of multiple
input and multiple output (MIMO) packet transmission systems. In
these systems, transmit antennas are assigned to one user or
dynamically to different users using spatial multiplexing. The
allocation of all transmit antennas to one user cannot take full
advantages of multi-user diversity. Therefore, we developed the case
when resources are allocated dynamically. At each time slot users
have to feed back their channel information on an uplink feedback
channel. Channel information considered available in the schedulers
is the zero forcing (ZF) post detection signal to interference plus
noise ratio. Our analysis study concerns the round robin and the
opportunistic schemes.
In this paper, we present an overview and a complete capacity
analysis of these schemes. The main results in our study are to give
an analytical form of system capacity using the ZF receiver at the
user terminal. Simulations have been carried out to validate all
proposed analytical solutions and to compare the performance of
these schemes.
Abstract: This paper is a continuation of our daily energy peak load forecasting approach using our modified network which is part of the recurrent networks family and is called feed forward and feed back multi context artificial neural network (FFFB-MCANN). The inputs to the network were exogenous variables such as the previous and current change in the weather components, the previous and current status of the day and endogenous variables such as the past change in the loads. Endogenous variable such as the current change in the loads were used on the network output. Experiment shows that using endogenous and exogenous variables as inputs to the FFFBMCANN rather than either exogenous or endogenous variables as inputs to the same network produces better results. Experiments show that using the change in variables such as weather components and the change in the past load as inputs to the FFFB-MCANN rather than the absolute values for the weather components and past load as inputs to the same network has a dramatic impact and produce better accuracy.
Abstract: This paper presents a time control liquids mixing
system in the tanks as an application of fuzzy time control discrete
model. The system is designed for a wide range of industrial
applications. The simulation design of control system has three
inputs: volume, viscosity, and selection of product, along with the
three external control adjustments for the system calibration or to
take over the control of the system autonomously in local or
distributed environment. There are four controlling elements: rotatory
motor, grinding motor, heating and cooling units, and valves
selection, each with time frame limit. The system consists of three
controlled variables measurement through its sensing mechanism for
feed back control. This design also facilitates the liquids mixing
system to grind certain materials in tanks and mix with fluids under
required temperature controlled environment to achieve certain
viscous level. Design of: fuzzifier, inference engine, rule base,
deffuzifiers, and discrete event control system, is discussed. Time
control fuzzy rules are formulated, applied and tested using
MATLAB simulation for the system.