Search results for: direct toque control

Authors: Julius Brejohn Calvert

Abstract:

This Study Aimed to Investigate the Ecological Nature of Extremism Online. The Construction of a Far-Right Ecosystem Was Successful Using a Sample of Posts, Each With Separate Narrative Domains. Most of the Content Expressed Anti-black Racism and Pro-white Sentiments. Many Posts Expressed an Overt Disdain for the Recent Progress Made Regarding the United States and the United Kingdom’s Expansion of Civil Liberties to People of Color (Poc). Of Special Note, Several Anti-lgbt Posts Targeted the Ongoing Political Grievances Expressed by the Transgender Community. Overall, the Current Study Is Able to Demonstrate That Direct Measures of User Engagement, Such as Shares and Reactions, Can Be Used to Predict the Effect of a Post’s Radicalization Capabilities, Although Single Posts Do Not Operate on the Cognitive Processes of Radicalization Alone. In This Analysis, the Data Supports a Theoretical Framework Where Individual Posts Have a Higher Radicalization Capability Based on the Amount of User Engagement (Both Indirect and Direct) It Receives.

Keywords: cognitive psychology, cognitive radicalization, extremism online, domestic extremism, political science, political psychology

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Authors: Pichamon Chansuchai

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The objective of this research were to investigate electronic payment system on the internet and offer the guidelines for proper internal control of the payment system based on international standard security control (ISO/IEC 17799:2005),in a case study of payment of the internet, Thailand. The guidelines covered five important areas: (1) business requirement for access control, (2) information systems acquisition, development and maintenance, (3) information security incident management, (4) business continuity management, and (5) compliance with legal requirement. The findings from this qualitative study revealed the guidelines for proper internet control that were more reliable and allow the same line of business to implement the same system of control.

Keywords: audit, best practice, internet, payment

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Authors: Hadi Adibi-Asl, Alireza Doosthosseini, Amir Taghavipour

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This paper studies the design of an adaptive control strategy to tune an active steering system for better drivability and maneuverability. In the first step, adaptive control strategy is applied to estimate the uncertain parameters on-line (e.g. cornering stiffness), then the estimated parameters are fed into the pole placement controller to generate corrective feedback gain to improve the steering system dynamic’s characteristics. The simulations are evaluated for three types of road conditions (dry, wet, and icy), and the performance of the adaptive pole placement control (APPC) are compared with pole placement control (PPC) and a passive system. The results show that the APPC strategy significantly improves the yaw rate and side slip angle of a bicycle plant model.

Keywords: adaptive control, active steering, pole placement, vehicle dynamics

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Authors: Edokpa Idemudia Waziri, Salisu S. Umar

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The Hotellng’s T^2 is a well-known statistic for detecting a shift in the mean vector of a multivariate normal distribution. Control charts based on T have been widely used in statistical process control for monitoring a multivariate process. Although it is a powerful tool, the T statistic is deficient when the shift to be detected in the mean vector of a multivariate process is small and consistent. The Multivariate Exponentially Weighted Moving Average (MEWMA) control chart is one of the control statistics used to overcome the drawback of the Hotellng’s T statistic. In this paper, the probability distribution of the Average Run Length (ARL) of the MEWMA control chart when the quality characteristics exhibit substantial cross correlation and when the process is in-control and out-of-control was derived using the Markov Chain algorithm. The derivation of the probability functions and the moments of the run length distribution were also obtained and they were consistent with some existing results for the in-control and out-of-control situation. By simulation process, the procedure identified a class of ARL for the MEWMA control when the process is in-control and out-of-control. From our study, it was observed that the MEWMA scheme is quite adequate for detecting a small shift and a good way to improve the quality of goods and services in a multivariate situation. It was also observed that as the in-control average run length ARL0¬ or the number of variables (p) increases, the optimum value of the ARL0pt increases asymptotically and as the magnitude of the shift σ increases, the optimal ARLopt decreases. Finally, we use the example from the literature to illustrate our method and demonstrate its efficiency.

Keywords: average run length, markov chain, multivariate exponentially weighted moving average, optimal smoothing parameter

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Authors: M. Sajjadnejad, H. Karimi Abadeh

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In this research, zinc coatings were fabricated by electroplating process in a sulfate solution under direct and pulse current conditions. In direct and pulse current conditions, effect of maximum current was investigated on the coating properties. Also a comparison was made between the obtained coatings under direct and pulse current. Morphology of the coatings was investigated by scanning electron microscopy (SEM). Corrosion behavior of the coatings was investigated by potentiodynamic polarization test. In pulse current conditions, the effect of pulse frequency and duty cycle was also studied. The effect of these conditions and parameters were also investigated on morphology and corrosion behavior. All of DC plated coatings are showing a distinct passivation area in -1 to -0.4 V range. Pulsed current coatings possessed a higher corrosion resistance. The results showed that current density is the most important factor regarding the fabrication process. Furthermore, a rise in duty cycle deteriorated corrosion resistance of coatings. Pulsed plated coatings performed almost 10 times better than DC plated coatings.

Keywords: corrosion, duty cycle, pulsed current, zinc

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Authors: Iftikhar Raza

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Well control is the management of the hazardous effects caused by the unexpected release of formation fluid, such as natural gas and/or crude oil, upon surface equipment of oil or gas drilling rigs and escaping into the atmosphere. Technically, oil well control involves preventing the formation fluid, usually referred to as kick, from entering into the wellbore during drilling. Oil well control is one of the most important aspects of drilling operations. Improper handling of kicks in oil well control can result in blowouts with very grave consequences, including the loss of valuable resources. Even though the cost of a blowout (as a result of improper/no oil well control) can easily reach several millions of US dollars, the monetary loss is not as serious as the other damages that can occur: irreparable damage to the environment, waste of valuable resources, ruined equipment, and most importantly, the safety and lives of personnel on the drilling rig. In this paper, case study of a well is discussed with field data showing the properties of the well. The whole procedure of controlling this well is illustrated in this which may be helpful for professional dealing with such kind of problems.

Keywords: kick control, kill sheet, oil well, gas drilling

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Authors: Mina Beheshti, Vida Shams, Mojtaba Esfandiari, Farzaneh Abdollahi, Abdolreza Ohadi

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Most of the people who survive a stroke need rehabilitation tools to regain their mobility. The core function of these devices is a brake actuator. The goal of this study is to design and control a magnetorheological brake which can be used as a rehabilitation tool. In fact, the fluid used in this brake is called magnetorheological fluid or MR that properties can change by variation of the magnetic field. The braking properties can be set as control by using this feature of the fluid. In this research, different MR brake designs are first introduced in each design, and the dimensions of the brake have been determined based on the required torque for foot movement. To calculate the brake dimensions, it is assumed that the shear stress distribution in the fluid is uniform and the fluid is in its saturated state. After designing the rehabilitation brake, the mathematical model of the healthy movement of a healthy person is extracted. Due to the nonlinear nature of the system and its variability, various adaptive controllers, neural networks, and robust have been implemented to estimate the parameters and control the system. After calculating torque and control current, the best type of controller in terms of error and control current has been selected. Finally, this controller is implemented on the experimental data of the patient's movements, and the control current is calculated to achieve the desired torque and motion.

Keywords: rehabilitation, magnetorheological fluid, knee, brake, adaptive control, robust control, neural network control, torque control

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Authors: Diane H. Dotson, Shari L. Rodriguez

Abstract:

Habitat for predators is on the decline worldwide, which often brings humans and predators into conflict over remaining shared space and common resources. While the direct impacts of human predator conflict on humans (i.e., attacks on livestock or humans resulting in injury or death) are well documented, the indirect impacts of conflict on humans (i.e., downstream effects such as fear, stress, opportunity costs, PTSD) have not been addressed. We interviewed 437 people living in 54 villages on the periphery of Kanha National Park, India, to assess the amount and severity of direct and indirect impacts of predator conflict. ​While 58% of livestock owners believed that predator attacks on livestock guards occurred frequently and 62% of those who collect forest products believed that predator attacks on those collecting occurred frequently, less than 20% of all participants knew of someone who had experienced an attack. Data related to indirect impacts suggest that such impacts are common; 76% of participants indicated they were afraid a predator will physically injure them. Livestock owners reported that livestock guarding took time away from their primary job (61%) and getting enough sleep (73%), and believed that it increased their vulnerability to illnesses (80%). These results suggest that the perceptions of risk of predator attack are likely inflated, yet the costs of human predator impacts may be substantially higher than previously estimated, particularly related to human well-being, making the implementation of appropriate and effective conservation and conflict mitigation strategies and policies increasingly urgent.

Keywords: direct impacts, indirect impacts, human-predator conflict, India

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Authors: Tomas Menard

Abstract:

The design of control-law for engineering systems has been investigated for many decades. While many results are concerned with continuous systems with continuous output, nowadays, many controlled systems have to transmit their output measurements through network, hence making it discrete-time. But it is well known that the sampling of a system whose control-law is based on the continuous output may render the system unstable, especially when this sampling period is long compared to the system dynamics. The control design then has to be adapted in order to cope with this issue. In this paper, we consider systems which can be modeled as double integrator with uncertainty on the input since many mechanical systems can be put under such form. We present a control scheme based on an observer using only discrete time measurement and which provides continuous time estimation of the state, combined with a continuous control law, which stabilized a system with second-order dynamics even in the presence of uncertainty. It is further shown that arbitrarily long sampling periods can be dealt with properly setting the control scheme parameters.

Keywords: dynamical system, control law design, sampled output, observer design

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Authors: Xuezhang Hou

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In the present paper, a hybrid hyperbolic dynamic system formulated by partial differential equations with initial and boundary conditions is considered. First, the system is transformed to an abstract evolution system in an appropriate Hilbert space, and spectral analysis and semigroup generation of the system operator is discussed. Subsequently, a sliding model control problem is proposed and investigated, and an equivalent control method is introduced and applied to the system. Finally, a significant result that the state of the system can be approximated by an ideal sliding mode under control in any accuracy is derived and examined.

Keywords: hyperbolic dynamic system, sliding model control, semigroup of linear operators, partial differential equations

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Authors: Joon-Hoon Park

Abstract:

The fundamental concept of observability is important in both theoretical and practical points of modern control systems. In modern control theory, a control system has criteria for determining the design solution exists for the system parameters and design objectives. The idea of observability relates to the condition of observing or estimating the state variables from the output variables that is generally measurable. To design closed-loop control system, the practical problems of implementing the feedback of the state variables must be considered and implementing state feedback control problem has been existed in this case. All the state variables are not available, so it is requisite to design and implement an observer that will estimate the state variables form the output parameters. However sometimes unknown inputs are presented in control systems as practical cases. This paper presents a design method and algorithm for observer of control system with unknown input parameters based on Rationalized Haar transform. The proposed method is more advantageous than the other numerical method.

Keywords: orthogonal functions, rationalized Haar transforms, control system observer, algebraic method

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Authors: Hyomin Lee, Jinhyun Lee, Jinyeon Hwang, Younghoon Choi, Byeongseo Son

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Global warming is a world-wide issue. Various carbon capture and storage (CCS) technologies for reducing CO2 concentration in the atmosphere have been increasingly studied. Mineral carbonation is one of promising method for CO2 sequestration. Waste cement generating from aggregate recycling processes of waste concrete is potentially a good raw material containing reactive components for mineral carbonation. The major goal of our long-term project is to developed effective methods for CO2 sequestration using waste cement. In the present study, the carbonation characteristics of hydrated cement were examined by conducting two different direct aqueous carbonation experiments. We also evaluate the influence of NaCl and MgCl2 as additives to increase mineral carbonation efficiency of hydrated cement. Cement paste was made with W:C= 6:4 and stored for 28 days in water bath. The prepared cement paste was pulverized to the size less than 0.15 mm. 15 g of pulverized cement paste and 200 ml of solutions containing additives were reacted in ambient temperature and pressure conditions. 1M NaCl and 0.25 M MgCl2 was selected for additives after leaching test. Two different sources of CO2 was applied for direct aqueous carbonation experiment: 0.64 M NaHCO3 was used for CO2 donor in method 1 and pure CO2 gas (99.9%) was bubbling into reacting solution at the flow rate of 20 ml/min in method 2. The pH and Ca ion concentration were continuously measured with pH/ISE Multiparameter to observe carbonation behaviors. Material characterization of reacted solids was performed by TGA, XRD, SEM/EDS analyses. The carbonation characteristics of hydrated cement were significantly different with additives. Calcite was a dominant calcium carbonate mineral after the two carbonation experiments with no additive and NaCl additive. The significant amount of aragonite and vaterite as well as very fine calcite of poorer crystallinity was formed with MgCl2 additive. CSH (calcium silicate hydrate) in hydrated cement were changed to MSH (magnesium silicate hydrate). This transformation contributed to the high carbonation efficiency. Carbonation experiment with method 1 revealed that that the carbonation of hydrated cement took relatively long time in MgCl2 solution compared to that in NaCl solution and the contents of aragonite and vaterite were increased as increasing reaction time. In order to maximize carbonation efficiency in direct aqueous carbonation with CO2 gas injection (method 2), the control of solution pH was important. The solution pH was decreased with injection of CO2 gas. Therefore, the carbonation efficiency in direct aqueous carbonation was closely related to the stability of calcium carbonate minerals with pH changes. With no additive and NaCl additive, the maximum carbonation was achieved when the solution pH was greater than 11. Calcium carbonate form by mineral carbonation seemed to be re-dissolved as pH decreased below 11 with continuous CO2 gas injection. The type of calcium carbonate mineral formed during carbonation in MgCl2 solution was closely related to the variation of solution pH caused by CO2 gas injection. The amount of aragonite significantly increased with decreasing solution pH, whereas the amount of calcite decreased.

Keywords: CO2 sequestration, Mineral carbonation, Cement and concrete, MgCl2 and NaCl

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Authors: Mohammad Hedar

Abstract:

This paper presents selected topics from the area of high-speed electrical machine control with a focus on loss minimization. It focuses on pulse amplitude modulation (PAM) set-up in order to minimize the inrush current peak. An overview of these machines and the control topologies that have been used with these machines are reported. The critical problem that happens when controlling a high-speed electrical motor is the high current peak in the start-up process, which will cause high power-losses. The main goal of this paper is to clarify how the inrush current peak can be minimized in the start-up process. PAM control method is proposed to use in the frequency inverter, simulation results for PAM & PWM control method, and steps to improve the PAM control are reported. The simulations were performed with data for PMSM (nominal speed: 25 000 min-1, power: 3.1 kW, load: 1.2 Nm).

Keywords: control topology, frequency inverter, high-speed electrical machines, PAM, power losses, PWM

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Authors: Ayad Salih Sabbar, Amin Chegenizadeh, Hamid Nikraz

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Utilizing waste materials in civil engineering applications has a positive influence on the environment by reducing carbon dioxide emissions and issues associated with waste disposal. Granulated blast furnace slag (GBFS) is a by-product of the iron and steel industry, with millions of tons of slag being annually produced worldwide. Slag has been widely used in structural engineering and for stabilizing clay soils; however, studies on the effect of slag on sandy soils are scarce. This article investigates the effect of slag content on shear strength parameters through direct shear tests and unconsolidated undrained triaxial tests on mixtures of Perth sand and slag. For this purpose, sand-slag mixtures, with slag contents of 2%, 4%, and 6% by weight of samples, were tested with direct shear tests under three normal stress values, namely 100 kPa, 150 kPa, and 200 kPa. Unconsolidated undrained triaxial tests were performed under a single confining pressure of 100 kPa and relative density of 80%. The internal friction angles and shear stresses of the mixtures were determined via the direct shear tests, demonstrating that shear stresses increased with increasing normal stress and the internal friction angles and cohesion increased with increasing slag. There were no significant differences in shear stresses parameters when slag content rose from 4% to 6%. The unconsolidated undrained triaxial tests demonstrated that shear strength increased with increasing slag content.

Keywords: direct shear, shear strength, slag, UU test

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Authors: Encarnación Álvarez-Verdejo, Raúl Amor-Pulido, Pablo J. Moya-Fernández, Juan F. Muñoz-Rosas, Francisco J. Blanco-Encomienda

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Many companies use the statistical tool named as statistical quality control, and which can have a high cost for the companies interested on these statistical tools. The evaluation of the quality of products and services is an important topic, but the reduction of the cost of the implantation of the statistical quality control also has important benefits for the companies. For this reason, it is important to implement a economic design for the various steps included into the statistical quality control. In this paper, we describe some relevant aspects related to the economic design of a quality control chart for the proportion of defective items. They are very important because the suggested issues can reduce the cost of implementing a quality control chart for the proportion of defective items. Note that the main purpose of this chart is to evaluate and control the proportion of defective items of a production process.

Keywords: proportion, type I error, economic plan, distribution function

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Authors: V. Makis, L. Jafari

Abstract:

In this paper, we develop an optimal Bayesian chart to control the expected number of defects per inspection unit in production processes with long production runs. We formulate this control problem in the optimal stopping framework. The objective is to determine the optimal stopping rule minimizing the long-run expected average cost per unit time considering partial information obtained from the process sampling at regular epochs. We prove the optimality of the control limit policy, i.e., the process is stopped and the search for assignable causes is initiated when the posterior probability that the process is out of control exceeds a control limit. An algorithm in the semi-Markov decision process framework is developed to calculate the optimal control limit and the corresponding average cost. Numerical examples are presented to illustrate the developed optimal control chart and to compare it with the traditional u-chart.

Keywords: Bayesian u-chart, economic design, optimal stopping, semi-Markov decision process, statistical process control

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Authors: H. Y. Jung, Ju H. Park, S. M. Lee

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A sampled-data controller is presented for solid oxide fuel cell systems which is expressed by a sector bounded nonlinear model. The sector bounded nonlinear systems, which have a feedback connection with a linear dynamical system and nonlinearity satisfying certain sector type constraints. Also, the sampled-data control scheme is very useful since it is possible to handle digital controller and increasing research efforts have been devoted to sampled-data control systems with the development of modern high-speed computers. The proposed control law is obtained by solving a convex problem satisfying several linear matrix inequalities. Simulation results are given to show the effectiveness of the proposed design method.

Keywords: sampled-data control, fuel cell, linear matrix inequalities, nonlinear control

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Authors: Bruno Vilić Belina, Jadranko Matuško

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The rapid development of cyber-physical systems significantly influences modern control systems introducing a whole new range of applications of control systems but also putting them under new challenges to ensure their resiliency to possible cyber attacks, either in the form of data integrity attacks or deception attacks. This paper presents a model predictive approach to the control of cyber-physical systems robust to cyber attacks. We assume that a cyber attack can be modelled as an additive disturbance that acts in the measuring channel. For such a system, we designed a tube-based predictive controller based. The performance of the designed controller has been verified in Matlab/Simulink environment.

Keywords: control systems, cyber attacks, resiliency, robustness, tube based model predictive control

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Authors: Aymen Rhouma, Khaled Hcheichi, Sami Hafsi

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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.

Keywords: fractional model predictive control, fractional order systems, thermal system, predictive control

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Authors: Anuja Askhedkar, G. H. Agrawal, Madhu Gudgunti

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Direct Charge Transfer Switched Capacitor (DCT-SC) DAC is the internal DAC used in Delta-Sigma (∆∑) DAC which works on Over-Sampling concept. The Switched Capacitor DAC mainly suffers from mismatch among capacitors. Mismatch among capacitors in DAC, causes non linearity between output and input. Dynamic Element Matching (DEM) technique is used to match the capacitors. According to element selection logic there are many types. In this paper, Data Weighted Averaging (DWA) technique is used for mismatch shaping. In this paper, the 4 bit DCT-SC-DAC with DWA-DEM technique is implemented using WINSPICE simulation software in 180nm CMOS technology. DNL for DAC with DWA is ±0.03 LSB and INL is ± 0.02LSB.

Keywords: ∑-Δ DAC, DCT-SC-DAC, mismatch shaping, DWA, DEM

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Authors: Safiullah Abdullahi

Abstract:

This paper describes the design of a digital control system which controls the speed and direction of a robot. The robot is expected to follow a black thick line with the highest possible speed and lowest error around the line. The control system of the robot will correct for the angle error that is made between the frame axis of the robot and the line. The cause for error is the difference in speed of the two driving wheels of the robot which are driven by two separate DC motors, whereas the speed difference in wheels is due to the un-modeled fraction that is available in the wheels with different magnitudes in each. The control scheme is that a number of photo sensors are mounted in the front of the robot and report their position in reference to the black line to the digital controller. The controller then, evaluates the position error and generates the needed duty cycle for the related wheel motor to drive it faster or slower.

Keywords: digital control, robot, controller, control system

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Authors: Adnan Alhathal Alanezi, Alanood A. Alsarayreh

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A direct contact membrane distillation (DCMD) system was modeled using various angles for the membrane unit and a Reynolds number range of 500 to 2000 in this numerical analysis. The Navier-Stokes, energy, and species transport equations were used to create a two-dimensional model. The finite volume method was used to solve the governing equations (FVM). The results showed that as the Reynolds number grows up to 1500, the heat transfer coefficient increases for all membrane angles except the 60ᵒ inclination angle. Additionally, increasing the membrane angle to 90ᵒreduces the exit influence while increasing heat transfer. According to these data, a membrane with a 90o inclination angle (also known as a vertical membrane) and a Reynolds number of 2000 might have the smallest temperature differential. Similarly, decreasing the inclination angle of the membrane keeps the temperature difference constant between Reynolds numbers 1000 and 2000; however, between Reynolds numbers 500 and 1000, the temperature difference decreases dramatically.

Keywords: direct contact membrane distillation, membrane inclination angle, heat and mass transfer, reynolds number

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Authors: Ewon Kaliyadasa, U. L. B. Jayasinghe, S. E. Peiris

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Ashwagandha (Withania sominifera Duanal) is an important medicinal herb belongs to family Solanaceae. This plant has raised its popularity after discovering anti stress and sex stimulating properties that mainly due to the presence of biologically active alkaloid compounds. Therefore it is vital to adapt to a proper agro technological package that ensure optimum growth of ashwagandha to obtain the finest quality without degrading pharmacologically active constituents. Organic and inorganic fertilizer mixtures were combined with direct seeding and transplanting as four different treatments in this study. Tuber fresh and dry weights were recorded up to twelve months starting from two months after sowing (MAS) while shoot height, root length, number of leaves, shoot fresh and dry weights and root: shoot ratio up to 6MAS. Results revealed that growth of ashwagandha was not affected significantly by method of planting or type of fertilizer or its combinations during most of the harvests. However, tubers harvested at 6MAS recorded the highest dry tuber weight per plant in all four treatments compared to early harvests where two direct seeded treatments are the best. Chemical comparison of these two treatments, direct seeding coupled with organic and inorganic fertilizer shown that direct seeding with organic treatment recorded the highest values for alkaloid and withaferine A content with lower percentage of fiber. Further these values are in concurring with the values of commercially available tuber samples. Having considered all facts, 6MAS can be recommended as the best harvesting stage to obtain high quality tubers of ashwagandha under local conditions.

Keywords: alkaloids, direct seeding, dry tuber weight, inorganic fertilizer, organic fertilizer, transplanting, withaferine a

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Authors: Derya Karagöz

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A Shewhart chart based on normality assumption is not appropriate for skewed distributions since its Type-I error rate is inflated. This study presents X̄ and S control charts for monitoring the process variability for skewed distributions. We propose Weighted Standard Deviation (WSD) X̄ and S control charts. Standard deviation estimator is applied to monitor the process variability for estimating the process standard deviation, in the case of the W SD X̄ and S control charts as this estimator is simple and easy to compute. Unlike the Shewhart control chart, the proposed charts provide asymmetric limits in accordance with the direction and degree of skewness to construct the upper and lower limits. The performances of the proposed charts are compared with other heuristic charts for skewed distributions by using Simulation study. The Simulation studies show that the proposed control charts have good properties for skewed distributions and large sample sizes.

Keywords: weighted standard deviation, MAD, skewed distributions, S control charts

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Authors: Yankun Yang, Xinggang Yan, Konstantinos Sirlantzis, Gareth Howells

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This paper presents a static output feedback sliding mode control method to regulate a two-wheeled inverted pendulum system with considerations of matched and unmatched uncertainties. A sliding surface is designed and the associated sliding motion stability is analysed based on the reduced-order dynamics. A static output sliding mode control law is synthesised to drive the system to the sliding surface and maintain a sliding motion afterwards. The nonlinear bounds on the uncertainties are employed in the stability analysis and control design to improve the robustness. The simulation results demonstrate the effectiveness of the proposed control.

Keywords: two-wheeled inverted pendulum, output feedback sliding mode control, nonlinear systems, robotics

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Authors: Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

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In recent years, Japanese society has been aging, engendering a labour shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke, and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.

Keywords: disturbance observer, pneumatic balloon, predictive functional control, rubber artificial muscle

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Authors: Magdi. M. Nabi, Ding-Li Yu

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Control of a semi-batch polymerization reactor using an adaptive radial basis function (RBF) neural network method is investigated in this paper. A neural network inverse model is used to estimate the valve position of the reactor; this method can identify the controlled system with the RBF neural network identifier. The weights of the adaptive PID controller are timely adjusted based on the identification of the plant and self-learning capability of RBFNN. A PID controller is used in the feedback control to regulate the actual temperature by compensating the neural network inverse model output. Simulation results show that the proposed control has strong adaptability, robustness and satisfactory control performance and the nonlinear system is achieved.

Keywords: Chylla-Haase polymerization reactor, RBF neural networks, feed-forward, feedback control

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Authors: K. Raghu, Altafhusen P. Pinjar

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Cold-formed steel section are extensively used in industry and many other non-industry constructions worldwide, it is relatively a new concept in India. Cold-formed steel sections have been developed as more economical building solutions to the alternative heavier hot-rolled sections in the commercial and residential markets. Cold‐formed steel (CFS) structural members are commonly manufactured with perforations to accommodate plumbing, electrical, and heating conduits in the walls and ceilings of buildings. Current design methods available to engineers for predicting the strength of CFS members with perforations are prescriptive and limited to specific perforation locations, spacing, and sizes. The Direct Strength Method (DSM), a relatively new design method for CFS members validated for members with and without perforations, predicts the ultimate strength of general CFS members with the elastic buckling properties of the member cross section. The design compression strength and flexural strength of Indian (IS 811-1987) standard sections is calculated as per North American Specification (AISI-S100 2007) and software CUFSM 4.05.

Keywords: direct strength, cold formed, perforations, CUFSM

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Authors: Shilpi Tripathi

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India has adopted the policy of economic reforms (Globalization, Liberalization, and Privatization) in 1991 which has reduced the trade barriers and investment restrictions and further increased the economy’s international trade, foreign direct investment (FDI) inflows and Gross Domestic Product (GDP) growth. The paper empirically studies the relationship between India’s international trades, GDP, FDI and environment during 1978-2012. The first part of the paper focuses on the background and trends of FDI, GDP, trade, and environment (CO2). The second part focuses on the literature regarding the relationship among all the variables. The last part of paper, we examine the results of empirical analysis like co integration and Granger causality between foreign trade, FDI inflows, GDP and CO2 since 1978. The findings of the paper revealed that there is only one uni- directional causality exists between GDP and trade. The direction of causality reveals that international trade is one of the major contributors to the economic growth (GDP). While, there is no causality found between GDP and FDI, FDI, and CO2 and International trade and CO2. The paper concludes with the policy recommendations that will ensure environmental friendly trade, investment and growth in India for future.

Keywords: international trade, foreign direct investment, GDP, CO2, co-integration, granger causality test

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Authors: Apidet Booranawong, Wiklom Teerapabkajorndet

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An enhanced ad-hoc on-demand distance vector routing (E-AODV) protocol for control system applications in wireless sensor and actuator networks (WSANs) is proposed. Our routing algorithm is designed by considering both wireless network communication and the control system aspects. Control system error and network delay are the main selection criteria in our routing protocol. The control and communication performance is evaluated on multi-hop IEEE 802.15.4 networks for building-temperature control systems. The Gilbert-Elliott error model is employed to simulate packet loss in wireless networks. The simulation results demonstrate that the E-AODV routing approach can significantly improve the communication performance better than an original AODV routing under various packet loss rates. However, the control performance result by our approach is not much improved compared with the AODV routing solution.

Keywords: WSANs, building temperature control, AODV routing protocol, control system error, settling time, delay, delivery ratio

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