Search results for: linear quadratic regulator (LQR) control
13090 Controller Design Using GA for SMC Systems
Authors: Susy Thomas, Sajju Thomas, Varghese Vaidyan
Abstract:
This paper considers SMCs using linear feedback with switched gains and proposes a method which can minimize the pole perturbation. The method is able to enhance the robustness property of the controller. A pre-assigned neighborhood of the ‘nominal’ positions is assigned and the system poles are not allowed to stray out of these bounds even when parameters variations/uncertainties act upon the system. A quasi SMM is maintained within the assigned boundaries of the sliding surface.Keywords: parameter variations, pole perturbation, sliding mode control, switching surface, robust switching vector
Procedia PDF Downloads 35613089 A Study on the Functional Safety Analysis of Stage Control System Based on International Electronical Committee 61508-2
Authors: Youn-Sung Kim, Hye-Mi Kim, Sang-Hoon Seo, Jaden Cha
Abstract:
This International standard IEC 61508 sets out a generic approach for all safety lifecycle activities for systems comprised of electrical/electronic/programmable electronic (E/E/PE) elements that are used to perform safety functions. The control unit in stage control system is safety related facilities to control state and speed for stage system running, and it performs safety-critical function by stage control system. The controller unit is part of safety loops corresponding to the IEC 61508 and classified as logic part in the safety loop. In this paper, we analyze using FMEDA (Failure Mode Effect and Diagnostic Analysis) to verification for fault tolerance methods and functional safety of control unit. Moreover, we determined SIL (Safety Integrity Level) for control unit according to the safety requirements defined in IEC 61508-2 based on an analyzed functional safety.Keywords: safety function, failure mode effect, IEC 61508-2, diagnostic analysis, stage control system
Procedia PDF Downloads 27213088 Understanding the Interactive Nature in Auditory Recognition of Phonological/Grammatical/Semantic Errors at the Sentence Level: An Investigation Based upon Japanese EFL Learners’ Self-Evaluation and Actual Language Performance
Authors: Hirokatsu Kawashima
Abstract:
One important element of teaching/learning listening is intensive listening such as listening for precise sounds, words, grammatical, and semantic units. Several classroom-based investigations have been conducted to explore the usefulness of auditory recognition of phonological, grammatical and semantic errors in such a context. The current study reports the results of one such investigation, which targeted auditory recognition of phonological, grammatical, and semantic errors at the sentence level. 56 Japanese EFL learners participated in this investigation, in which their recognition performance of phonological, grammatical and semantic errors was measured on a 9-point scale by learners’ self-evaluation from the perspective of 1) two types of similar English sound (vowel and consonant minimal pair words), 2) two types of sentence word order (verb phrase-based and noun phrase-based word orders), and 3) two types of semantic consistency (verb-purpose and verb-place agreements), respectively, and their general listening proficiency was examined using standardized tests. A number of findings have been made about the interactive relationships between the three types of auditory error recognition and general listening proficiency. Analyses based on the OPLS (Orthogonal Projections to Latent Structure) regression model have disclosed, for example, that the three types of auditory error recognition are linked in a non-linear way: the highest explanatory power for general listening proficiency may be attained when quadratic interactions between auditory recognition of errors related to vowel minimal pair words and that of errors related to noun phrase-based word order are embraced (R2=.33, p=.01).Keywords: auditory error recognition, intensive listening, interaction, investigation
Procedia PDF Downloads 50713087 Towards Human-Interpretable, Automated Learning of Feedback Control for the Mixing Layer
Authors: Hao Li, Guy Y. Cornejo Maceda, Yiqing Li, Jianguo Tan, Marek Morzynski, Bernd R. Noack
Abstract:
We propose an automated analysis of the flow control behaviour from an ensemble of control laws and associated time-resolved flow snapshots. The input may be the rich database of machine learning control (MLC) optimizing a feedback law for a cost function in the plant. The proposed methodology provides (1) insights into the control landscape, which maps control laws to performance, including extrema and ridge-lines, (2) a catalogue of representative flow states and their contribution to cost function for investigated control laws and (3) visualization of the dynamics. Key enablers are classification and feature extraction methods of machine learning. The analysis is successfully applied to the stabilization of a mixing layer with sensor-based feedback driving an upstream actuator. The fluctuation energy is reduced by 26%. The control replaces unforced Kelvin-Helmholtz vortices with subsequent vortex pairing by higher-frequency Kelvin-Helmholtz structures of lower energy. These efforts target a human interpretable, fully automated analysis of MLC identifying qualitatively different actuation regimes, distilling corresponding coherent structures, and developing a digital twin of the plant.Keywords: machine learning control, mixing layer, feedback control, model-free control
Procedia PDF Downloads 21313086 Q-Efficient Solutions of Vector Optimization via Algebraic Concepts
Authors: Elham Kiyani
Abstract:
In this paper, we first introduce the concept of Q-efficient solutions in a real linear space not necessarily endowed with a topology, where Q is some nonempty (not necessarily convex) set. We also used the scalarization technique including the Gerstewitz function generated by a nonconvex set to characterize these Q-efficient solutions. The algebraic concepts of interior and closure are useful to study optimization problems without topology. Studying nonconvex vector optimization is valuable since topological interior is equal to algebraic interior for a convex cone. So, we use the algebraic concepts of interior and closure to define Q-weak efficient solutions and Q-Henig proper efficient solutions of set-valued optimization problems, where Q is not a convex cone. Optimization problems with set-valued maps have a wide range of applications, so it is expected that there will be a useful analytical tool in optimization theory for set-valued maps. These kind of optimization problems are closely related to stochastic programming, control theory, and economic theory. The paper focus on nonconvex problems, the results are obtained by assuming generalized non-convexity assumptions on the data of the problem. In convex problems, main mathematical tools are convex separation theorems, alternative theorems, and algebraic counterparts of some usual topological concepts, while in nonconvex problems, we need a nonconvex separation function. Thus, we consider the Gerstewitz function generated by a general set in a real linear space and re-examine its properties in the more general setting. A useful approach for solving a vector problem is to reduce it to a scalar problem. In general, scalarization means the replacement of a vector optimization problem by a suitable scalar problem which tends to be an optimization problem with a real valued objective function. The Gerstewitz function is well known and widely used in optimization as the basis of the scalarization. The essential properties of the Gerstewitz function, which are well known in the topological framework, are studied by using algebraic counterparts rather than the topological concepts of interior and closure. Therefore, properties of the Gerstewitz function, when it takes values just in a real linear space are studied, and we use it to characterize Q-efficient solutions of vector problems whose image space is not endowed with any particular topology. Therefore, we deal with a constrained vector optimization problem in a real linear space without assuming any topology, and also Q-weak efficient and Q-proper efficient solutions in the senses of Henig are defined. Moreover, by means of the Gerstewitz function, we provide some necessary and sufficient optimality conditions for set-valued vector optimization problems.Keywords: algebraic interior, Gerstewitz function, vector closure, vector optimization
Procedia PDF Downloads 21013085 Adjustment and Compensation Techniques for the Rotary Axes of Five-axis CNC Machine Tools
Authors: Tung-Hui Hsu, Wen-Yuh Jywe
Abstract:
Five-axis computer numerical control (CNC) machine tools (three linear and two rotary axes) are ideally suited to the fabrication of complex work pieces, such as dies, turbo blades, and cams. The locations of the axis average line and centerline of the rotary axes strongly influence the performance of these machines; however, techniques to compensate for eccentric error in the rotary axes remain weak. This paper proposes optical (Non-Bar) techniques capable of calibrating five-axis CNC machine tools and compensating for eccentric error in the rotary axes. This approach employs the measurement path in ISO/CD 10791-6 to determine the eccentric error in two rotary axes, for which compensatory measures can be implemented. Experimental results demonstrate that the proposed techniques can improve the performance of various five-axis CNC machine tools by more than 90%. Finally, a result of the cutting test using a B-type five-axis CNC machine tool confirmed to the usefulness of this proposed compensation technique.Keywords: calibration, compensation, rotary axis, five-axis computer numerical control (CNC) machine tools, eccentric error, optical calibration system, ISO/CD 10791-6
Procedia PDF Downloads 37513084 Effects of Palm Waste Ash Residues on Acidic Soil in Relation to Physiological Responses of Habanero Chili Pepper (Capsicum chinense jacq.)
Authors: Kalu Samuel Ukanwa, Kumar Patchigolla, Ruben Sakrabani
Abstract:
The use of biosolids from thermal conversion of palm waste for soil fertility enhancement was tested in acidic soil of Southern Nigeria for the growing of Habanero chili pepper (Capsicum chinense jacq.). Soil samples from the two sites, showed pH 4.8 and 4.8 for site A and B respectively, below 5.6-6.8 optimum range and other fertility parameters indicating a low threshold for pepper growth. Nursery planting was done at different weeks to determine the optimum planting period. Ash analysis showed that it contains 26% of total K, 20% of total Ca, 0.27% of total P, and pH 11. The two sites were laid for an experiment in randomized complete block design and setup with three replications side by side. Each plot measured 3 x 2 m and a total of 15 plots for each site, four treatments, and one control. Outlined as control, 2, 4, 6 and 8 tonnes/hectare of palm waste ash, the combined average for both sites with correspondent yield after six harvests in one season are; 0, 5.8, 6, 6, 14.5 tonnes/hectare respectively to treatments. Optimum nursery survival rate was high in July; the crop yield was linear to the ash application. Site A had 6% yield higher than site B. Fruit development, weight, and total yield in relation to the control plot showed that palm waste ash is effective for soil amendment, nutrient delivery, and exchange.Keywords: ash, palm waste, pepper, soil amendment
Procedia PDF Downloads 12613083 A Fuzzy Control System for Reducing Urban Stormwater Runoff by a Stormwater Storage Tank
Authors: Pingping Zhang, Yanpeng Cai, Jianlong Wang
Abstract:
Stormwater storage tank (SST) is a popular low impact development technology for reducing stormwater runoff in the construction of sponge city. At present, it is difficult to perform the automatic control of SST for reducing peak flow. In this paper, fuzzy control was introduced into the peak control of SST to improve the efficiency of reducing stormwater runoff. Firstly, the design of SST was investigated. A catchment area and a return period were assumed, a SST model was manufactured, and then the storage capacity of the SST was verified. Secondly, the control parameters of the SST based on reducing stormwater runoff were analyzed, and a schematic diagram of real-time control (RTC) system based on peak control SST was established. Finally, fuzzy control system of a double input (flow and water level) and double output (inlet and outlet valve) was designed. The results showed that 1) under the different return periods (one year, three years, five years), the SST had the effect of delayed peak control and storage by increasing the detention time, 2) rainfall, pipeline flow, the influent time and the water level in the SST could be used as RTC parameters, and 3) the response curves of flow velocity and water level fluctuated very little and reached equilibrium in a short time. The combination of online monitoring and fuzzy control was feasible to control the SST automatically. This paper provides a theoretical reference for reducing stormwater runoff and improving the operation efficiency of SST.Keywords: stormwater runoff, stormwater storage tank, real-time control, fuzzy control
Procedia PDF Downloads 19313082 Cascade Control for Pressure Calibration by Fieldbus Communication System
Authors: Chatchaval Pornpatkul, Wipawan Suksathid
Abstract:
This paper is to study and control the pressure of the water inside the open tank using a cascade control with the communication in the process by fieldbus system for the pressure calibration. The plant model is to be used in experiments to control the level and flow process of the water by using Syscon program to create functions. We used to control by Intouch runtime program to create the graphic display on the screen. In this case we used PI control the level and the flow process of water in the open tank in the range of 0 – 10 L/m. The output signal of the level and the flow transmitter are the digital standard signal by fieldbus system. And all information displayed on the computer with the communication between the computer and plant model can be communication to each other through just one cable pair. And in this paper, the PI tuning, we used calculate by Ziegler-Nichols reaction curve method to control the plant model by PI controller.Keywords: cascade control, fieldbus system, pressure calibration, microelectronics systems
Procedia PDF Downloads 45313081 Wind Turbine Control Performance Evaluation Based on Minimum-Variance Principles
Authors: Zheming Cao
Abstract:
Control loops are the most important components in the wind turbine system. Product quality, operation safety, and the economic performance are directly or indirectly connected to the performance of control systems. This paper proposed a performance evaluation method based on minimum-variance for wind turbine control system. This method can be applied on PID controller for pitch control system in the wind turbine. The good performance result demonstrated in the paper was achieved by retuning and optimizing the controller settings based on the evaluation result. The concepts presented in this paper are illustrated with the actual data of the industrial wind farm.Keywords: control performance, evaluation, minimum-variance, wind turbine
Procedia PDF Downloads 36013080 A Spiral Dynamic Optimised Hybrid Fuzzy Logic Controller for a Unicycle Mobile Robot on Irregular Terrains
Authors: Abdullah M. Almeshal, Mohammad R. Alenezi, Talal H. Alzanki
Abstract:
This paper presents a hybrid fuzzy logic control strategy for a unicycle trajectory following robot on irregular terrains. In literature, researchers have presented the design of path tracking controllers of mobile robots on non-frictional surface. In this work, the robot is simulated to drive on irregular terrains with contrasting frictional profiles of peat and rough gravel. A hybrid fuzzy logic controller is utilised to stabilise and drive the robot precisely with the predefined trajectory and overcome the frictional impact. The controller gains and scaling factors were optimised using spiral dynamics optimisation algorithm to minimise the mean square error of the linear and angular velocities of the unicycle robot. The robot was simulated on various frictional surfaces and terrains and the controller was able to stabilise the robot with a superior performance that is shown via simulation results.Keywords: fuzzy logic control, mobile robot, trajectory tracking, spiral dynamic algorithm
Procedia PDF Downloads 48513079 PID Control of Quad-Rotor Unnamed Vehicle Based on Lagrange Approach Modelling
Authors: A. Benbouali, H. Saidi, A. Derrouazin, T. Bessaad
Abstract:
Aerial robotics is a very exciting research field dealing with a variety of subjects, including the attitude control. This paper deals with the control of a four rotor vertical take-off and landing (VTOL) Unmanned Aerial Vehicle. The paper presents a mathematical model based on the approach of Lagrange for the flight control of an autonomous quad-rotor. It also describes the controller architecture which is based on PID regulators. The control method has been simulated in closed loop in different situations. All the calculation stages and the simulation results have been detailed.Keywords: quad-rotor, lagrange approach, proportional integral derivate (PID) controller, Matlab/Simulink
Procedia PDF Downloads 39013078 EWMA and MEWMA Control Charts for Monitoring Mean and Variance in Industrial Processes
Authors: L. A. Toro, N. Prieto, J. J. Vargas
Abstract:
There are many control charts for monitoring mean and variance. Among these, the X y R, X y S, S2 Hotteling and Shewhart control charts, for mentioning some, are widely used for monitoring mean a variance in industrial processes. In particular, the Shewhart charts are based on the information about the process contained in the current observation only and ignore any information given by the entire sequence of points. Moreover, that the Shewhart chart is a control chart without memory. Consequently, Shewhart control charts are found to be less sensitive in detecting smaller shifts, particularly smaller than 1.5 times of the standard deviation. These kind of small shifts are important in many industrial applications. In this study and effective alternative to Shewhart control chart was implemented. In case of univariate process an Exponentially Moving Average (EWMA) control chart was developed and Multivariate Exponentially Moving Average (MEWMA) control chart in case of multivariate process. Both of these charts were based on memory and perform better that Shewhart chart while detecting smaller shifts. In these charts, information the past sample is cumulated up the current sample and then the decision about the process control is taken. The mentioned characteristic of EWMA and MEWMA charts, are of the paramount importance when it is necessary to control industrial process, because it is possible to correct or predict problems in the processes before they come to a dangerous limit.Keywords: control charts, multivariate exponentially moving average (MEWMA), exponentially moving average (EWMA), industrial control process
Procedia PDF Downloads 34813077 Development and Analysis of SFR Control Rod Design
Authors: Lenka Dujčíková, Laurent Buiron, Ján Haščík
Abstract:
The study is dedicated to safety management of SFR CAPRA core with CFV design improvements. In the case of CAPRA core, demands for reactivity control are higher than for reference core. There are two possible ways how to ensure the certain amount of negative reactivity. One option is to boost control rods worth. The Greater part of the study is aimed at the proposal of appropriate control rod design. At first, the European Fast Reactor (EFR) control rod design with high-enriched boron carbide B4C as absorber material was tested. Considering costly and difficult enrichment process, usage of natural boron carbide absorbator is desired. Obviously, the use of natural boron leads to CR worth reduction. In order to increase it to required value, moderator material was inserted inside the control rod. Various materials and geometric configurations were examined to find optimal solution corresponding with EFR based CR worth value.Keywords: boron carbide, CAPRA core, control rod design, low void effect design, melting temperature, moderator material
Procedia PDF Downloads 49613076 Parametric Non-Linear Analysis of Reinforced Concrete Frames with Supplemental Damping Systems
Authors: Daniele Losanno, Giorgio Serino
Abstract:
This paper focuses on parametric analysis of reinforced concrete structures equipped with supplemental damping braces. Practitioners still luck sufficient data for current design of damper added structures and often reduce the real model to a pure damper braced structure even if this assumption is neither realistic nor conservative. In the present study, the damping brace is modelled as made by a linear supporting brace connected in series with the viscous/hysteretic damper. Deformation capacity of existing structures is usually not adequate to undergo the design earthquake. In spite of this, additional dampers could be introduced strongly limiting structural damage to acceptable values, or in some cases, reducing frame response to elastic behavior. This work is aimed at providing useful considerations for retrofit of existing buildings by means of supplemental damping braces. The study explicitly takes into consideration variability of (a) relative frame to supporting brace stiffness, (b) dampers’ coefficient (viscous coefficient or yielding force) and (c) non-linear frame behavior. Non-linear time history analysis has been run to account for both dampers’ behavior and non-linear plastic hinges modelled by Pivot hysteretic type. Parametric analysis based on previous studies on SDOF or MDOF linear frames provide reference values for nearly optimal damping systems design. With respect to bare frame configuration, seismic response of the damper-added frame is strongly improved, limiting deformations to acceptable values far below ultimate capacity. Results of the analysis also demonstrated the beneficial effect of stiffer supporting braces, thus highlighting inadequacy of simplified pure damper models. At the same time, the effect of variable damping coefficient and yielding force has to be treated as an optimization problem.Keywords: brace stiffness, dissipative braces, non-linear analysis, plastic hinges, reinforced concrete frames
Procedia PDF Downloads 28813075 The Effect of Power of Isolation Transformer on the Lamps in Airfield Ground Lighting Systems
Authors: Hossein Edrisi
Abstract:
To study the impact of the amount and volume of power of isolation transformer on the lamps in airfield Ground Lighting Systems. A test was conducted in Persian Gulf International Airport, This airport is situated in the south of Iran and it is one of the most cutting-edge airports, the same one that owns modern devices. Iran uses materials and auxiliary equipment which are made by ADB Company from Belgium. Airfield ground lighting (AGL) systems are responsible for providing visual issue to aircrafts and helicopters in the runways. In an AGL system a great deal of lamps are connected in serial circuits to each other and each ring has its individual constant current regulators (CCR), which through that provide energy to the lamps. Control of lamps is crucial for maintenance and operation in the AGL systems. Thanks to the Programmable Logic Controller (PLC) that is a cutting-edge technology can help the system to connect the elements from substations and ATC (TOWER). For this purpose, a test in real conditions of the airport done for all element that used in the airport such as isolation transformer in different power capacity and different consuming power and brightness of the lamps. The data were analyzed with Lux meter and Multimeter. The results had shown that the increase in the power of transformer caused a significant increase in brightness. According to the Ohm’s law and voltage division, without changing the characteristics of the light bulb, it is not possible to change the voltage, just need to change the amount of transformer with which it connects to the lamps. When the voltage is increased, the current through the bulb has to increase as well, because of Ohm's law: I=V/R and I=V/R which means that if V increases, so do I increase. The output voltage on the constant current regulator emerges between the lamps and the transformers.Keywords: AGL, CCR, lamps, transformer, Ohm’s law
Procedia PDF Downloads 24313074 Green Design Study of Prefabricated Community Control Measures in Response to Public Health Emergencies
Authors: Enjia Zhang
Abstract:
During the prevention and control of the COVID-19 pandemic, all communities in China were gated and under strict management, which was highly effective in preventing the spread of the epidemic from spreading. Based on the TRIZ theory, this paper intends to propose green design strategies of community control in response to public health emergencies and to optimize community control facilities according to the principle of minimum transformation. Through the questionnaire method, this paper investigates and summarizes the situation and problems of community control during the COVID-19 pandemic. Based on these problems, the TRIZ theory is introduced to figure out the problems and associates them with prefabricated facilities. Afterward, the innovation points and solutions of prefabricated community control measures are proposed by using the contradiction matrix. This paper summarizes the current situation of community control under public health emergencies and concludes the problems such as simple forms of temporary roadblocks, sudden increase of community traffic pressure, and difficulties to access public spaces. The importance of entrance and exit control in community control is emphasized. Therefore, the community control measures are supposed to focus on traffic control, and the external access control measures, including motor vehicles, non-motor vehicles, residents and non-residents access control, and internal public space access control measures, including public space control shared with the society or adjacent communities, are proposed in order to make the community keep the open characteristics and have the flexibility to deal with sudden public health emergencies in the future.Keywords: green design, community control, prefabricated structure, public health emergency
Procedia PDF Downloads 12313073 Slosh Investigations on a Spacecraft Propellant Tank for Control Stability Studies
Authors: Sarath Chandran Nair S, Srinivas Kodati, Vasudevan R, Asraff A. K
Abstract:
Spacecrafts generally employ liquid propulsion for their attitude and orbital maneuvers or raising it from geo-transfer orbit to geosynchronous orbit. Liquid propulsion systems use either mono-propellant or bi-propellants for generating thrust. These propellants are generally stored in either spherical tanks or cylindrical tanks with spherical end domes. The propellant tanks are provided with a propellant acquisition system/propellant management device along with vanes and their conical mounting structure to ensure propellant availability in the outlet for thrust generation even under a low/zero-gravity environment. Slosh is the free surface oscillations in partially filled containers under external disturbances. In a spacecraft, these can be due to control forces and due to varying acceleration. Knowledge of slosh and its effect due to internals is essential for understanding its stability through control stability studies. It is mathematically represented by a pendulum-mass model. It requires parameters such as slosh frequency, damping, sloshes mass and its location, etc. This paper enumerates various numerical and experimental methods used for evaluating the slosh parameters required for representing slosh. Numerical methods like finite element methods based on linear velocity potential theory and computational fluid dynamics based on Reynolds Averaged Navier Stokes equations are used for the detailed evaluation of slosh behavior in one of the spacecraft propellant tanks used in an Indian space mission. Experimental studies carried out on a scaled-down model are also discussed. Slosh parameters evaluated by different methods matched very well and finalized their dispersion bands based on experimental studies. It is observed that the presence of internals such as propellant management devices, including conical support structure, alters slosh parameters. These internals also offers one order higher damping compared to viscous/ smooth wall damping. It is an advantage factor for the stability of slosh. These slosh parameters are given for establishing slosh margins through control stability studies and finalize the spacecraft control system design.Keywords: control stability, propellant tanks, slosh, spacecraft, slosh spacecraft
Procedia PDF Downloads 23813072 Ant Colony Optimization Control for Multilevel STATCOM
Authors: H. Tédjini, Y. Meslem, B. Guesbaoui, A. Safa
Abstract:
Flexible AC Transmission Systems (FACTS) are potentially becoming more flexible and more economical local controllers in the power system; and because of the high MVA ratings, it would be expensive to provide independent, equal, regulated DC voltage sources to power the multilevel converters which are presently proposed for STATCOMs. DC voltage sources can be derived from the DC link capacitances which are charged by the rectified ac power. In this paper a new stronger control combined of nonlinear control based Lyapunov’s theorem and Ant Colony Algorithm (ACA) to maintain stability of multilevel STATCOM and the utility.Keywords: Static Compensator (STATCOM), ant colony optimization (ACO), lyapunov control theory, Decoupled power control, neutral point clamped (NPC)
Procedia PDF Downloads 55113071 An Algorithm to Compute the State Estimation of a Bilinear Dynamical Systems
Authors: Abdullah Eqal Al Mazrooei
Abstract:
In this paper, we introduce a mathematical algorithm which is used for estimating the states in the bilinear systems. This algorithm uses a special linearization of the second-order term by using the best available information about the state of the system. This technique makes our algorithm generalizes the well-known Kalman estimators. The system which is used here is of the bilinear class, the evolution of this model is linear-bilinear in the state of the system. Our algorithm can be used with linear and bilinear systems. We also here introduced a real application for the new algorithm to prove the feasibility and the efficiency for it.Keywords: estimation algorithm, bilinear systems, Kakman filter, second order linearization
Procedia PDF Downloads 47913070 Adaptive Control Approach for an Unmanned Aerial Manipulator
Authors: Samah Riache, Madjid Kidouche
Abstract:
In this paper, we propose a nonlinear controller for Aerial Manipulator (AM) consists of a Quadrotor equipped with two degrees of freedom robotic arm. The kinematic and dynamic models were developed by considering the aerial manipulator as a coupled system. The proposed controller was designed using Nonsingular Terminal Sliding Mode Control. The objective of our approach is to improve performances and attenuate the chattering drawback using an adaptive algorithm in the discontinuous control part. Simulation results prove the effectiveness of the proposed control strategy compared with Sliding Mode Controller.Keywords: adaptive algorithm, quadrotor, robotic arm, sliding mode control
Procedia PDF Downloads 17413069 Hand Motion and Gesture Control of Laboratory Test Equipment Using the Leap Motion Controller
Authors: Ian A. Grout
Abstract:
In this paper, the design and development of a system to provide hand motion and gesture control of laboratory test equipment is considered and discussed. The Leap Motion controller is used to provide an input to control a laboratory power supply as part of an electronic circuit experiment. By suitable hand motions and gestures, control of the power supply is provided remotely and without the need to physically touch the equipment used. As such, it provides an alternative manner in which to control electronic equipment via a PC and is considered here within the field of human computer interaction (HCI).Keywords: control, hand gesture, human computer interaction, test equipment
Procedia PDF Downloads 30813068 Valorisation of Mango Seed: Response Surface Methodology Based Optimization of Starch Extraction from Mango Seeds
Authors: Tamrat Tesfaye, Bruce Sithole
Abstract:
Box-Behnken Response surface methodology was used to determine the optimum processing conditions that give maximum extraction yield and whiteness index from mango seed. The steeping time ranges from 2 to 12 hours and slurring of the steeped seed in sodium metabisulphite solution (0.1 to 0.5 w/v) was carried out. Experiments were designed according to Box-Behnken Design with these three factors and a total of 15 runs experimental variables of were analyzed. At linear level, the concentration of sodium metabisulphite had significant positive influence on percentage yield and whiteness index at p<0.05. At quadratic level, sodium metabisulphite concentration and sodium metabisulphite concentration2 had a significant negative influence on starch yield; sodium metabisulphite concentration and steeping time*temperature had significant (p<0.05) positive influence on whiteness index. The adjusted R2 above 0.8 for starch yield (0.906465) and whiteness index (0.909268) showed a good fit of the model with the experimental data. The optimum sodium metabisulphite concentration, steeping hours, and temperature for starch isolation with maximum starch yield (66.428%) and whiteness index (85%) as set goals for optimization with the desirability of 0.91939 was 0.255w/v concentration, 2hrs and 50 °C respectively. The determined experimental value of each response based on optimal condition was statistically in accordance with predicted levels at p<0.05. The Mango seeds are the by-products obtained during mango processing and possess disposal problem if not handled properly. The substitution of food based sizing agents with mango seed starch can contribute as pertinent resource deployment for value-added product manufacturing and waste utilization which might play significance role of food security in Ethiopia.Keywords: mango, synthetic sizing agent, starch, extraction, textile, sizing
Procedia PDF Downloads 22613067 Whether Chaos Theory Could Reconstruct the Ancient Societies
Authors: Zahra Kouzehgari
Abstract:
Since the early emergence of chaos theory in the 1970s in mathematics and physical science, it has increasingly been developed and adapted in social sciences as well. The non-linear and dynamic characteristics of the theory make it a useful conceptual framework to interpret the complex social systems behavior. Regarding chaotic approach principals, sensitivity to initial conditions, dynamic adoption, strange attractors and unpredictability this paper aims to examine whether chaos approach could interpret the ancient social changes. To do this, at first, a brief history of the chaos theory, its development and application in social science as well as the principals making the theory, then its application in archaeological since has been reviewed. The study demonstrates that although based on existing archaeological records reconstruct the whole social system of the human past, the non-linear approaches in studying social complex systems would be of a great help in finding general order of the ancient societies and would enable us to shed light on some of the social phenomena in the human history or to make sense of them.Keywords: archaeology, non-linear approach, chaos theory, ancient social systems
Procedia PDF Downloads 27513066 Targeting Mineral Resources of the Upper Benue trough, Northeastern Nigeria Using Linear Spectral Unmixing
Authors: Bello Yusuf Idi
Abstract:
The Gongola arm of the Upper Banue Trough, Northeastern Nigeria is predominantly covered by the outcrops of Limestone-bearing rocks in form of Sandstone with intercalation of carbonate clay, shale, basaltic, felsphatic and migmatide rocks at subpixel dimension. In this work, subpixel classification algorithm was used to classify the data acquired from landsat 7 Enhance Thematic Mapper (ETM+) satellite system with the aim of producing fractional distribution image for three most economically important solid minerals of the area: Limestone, Basalt and Migmatide. Linear Spectral Unmixing (LSU) algorithm was used to produce fractional distribution image of abundance of the three mineral resources within a 100Km2 portion of the area. The results show that the minerals occur at different proportion all over the area. The fractional map could therefore serve as a guide to the ongoing reconnaissance for the economic potentiality of the formation.Keywords: linear spectral un-mixing, upper benue trough, gongola arm, geological engineering
Procedia PDF Downloads 36413065 RBF Modelling and Optimization Control for Semi-Batch Reactors
Authors: Magdi M. Nabi, Ding-Li Yu
Abstract:
This paper presents a neural network based model predictive control (MPC) strategy to control a strongly exothermic reaction with complicated nonlinear kinetics given by Chylla-Haase polymerization reactor that requires a very precise temperature control to maintain product uniformity. In the benchmark scenario, the operation of the reactor must be guaranteed under various disturbing influences, e.g., changing ambient temperatures or impurity of the monomer. Such a process usually controlled by conventional cascade control, it provides a robust operation, but often lacks accuracy concerning the required strict temperature tolerances. The predictive control strategy based on the RBF neural model is applied to solve this problem to achieve set-point tracking of the reactor temperature against disturbances. The result shows that the RBF based model predictive control gives reliable result in the presence of some disturbances and keeps the reactor temperature within a tight tolerance range around the desired reaction temperature.Keywords: Chylla-Haase reactor, RBF neural network modelling, model predictive control, semi-batch reactors
Procedia PDF Downloads 46113064 Use of Plant Growth Regulators in the Amaryllis Production (Hippeastrum X Hybridum Hort. CV Orange Souvereign)
Authors: Maximiliano K. Pagliarini, Ana Carolina T. Malavolta, Isabela M. Morita, Regina Maria M. Castilho
Abstract:
Among the ornamental plants, the Amaryllis (Hippeastrum X hybridum Hort.) is one of the most cultivated plants in Brazil because of their large and showy flowers. Thus, the consumer market wants better quality plants or to flourish more in less time. One of the devices that can make such improvements or accelerate the flowering process is the use of growth regulators. The objective of this research was to evaluate the use of different Stimulate® growth regulator doses and its constituents separately in the development and flowering of Hippeastrum X hybridum Hort. Cv Orange Souvereign. The experiment was conducted in a Pad & Fan greenhouse at UNESP, São Paulo State, Brazil from August to October 2014. The bulbs were placed in black vases of 1.2 L filled with commercial substrate and divided into 9 treatments: T1 – 10 mL L-1 of Stimulate®, T2 – 5 mL L-1 of Stimulate®, T3 – 0.5 mg L-1 of gibberellic acid (GA), T4 – 0.25 mg L-1 of GA, T5 – 0.45 mg L-1 of kinetin, T6 – 0.9 mg L-1 of kinetin, T7 – 0.5 mg L-1 of indolbutiric acid (IBA), T8 – 0.25 mg L-1 of IBA and T9 – distilled water (control). All treatments were diluted in water. The used design was completely randomized with six repetitions and two vessels, totalling 12 vessels per treatment. The evaluated characteristics were: number of leaves, length of leaf, number of rods, maximum height of rods, maximum diameter of rods, maximum number of flowers, beginning of flowering, flowering duration, and weight of bulbs. The results showed that the Stimulate® was not efficient in the conducted experiment conditions. However, the best treatment was 0.5 mg L-1 of IBA.Keywords: bulbs, gibberellic acid, indolbutiric acid, kinetin, ornamental plants
Procedia PDF Downloads 54513063 Tropical Squall Lines in Brazil: A Methodology for Identification and Analysis Based on ISCCP Tracking Database
Authors: W. A. Gonçalves, E. P. Souza, C. R. Alcântara
Abstract:
The ISCCP-Tracking database offers an opportunity to study physical and morphological characteristics of Convective Systems based on geostationary meteorological satellites. This database contains 26 years of tracking of Convective Systems for the entire globe. Then, Tropical Squall Lines which occur in Brazil are certainly within the database. In this study, we propose a methodology for identification of these systems based on the ISCCP-Tracking database. A physical and morphological characterization of these systems is also shown. The proposed methodology is firstly based on the year of 2007. The Squall Lines were subjectively identified by visually analyzing infrared images from GOES-12. Based on this identification, the same systems were identified within the ISCCP-Tracking database. It is known, and it was also observed that the Squall Lines which occur on the north coast of Brazil develop parallel to the coast, influenced by the sea breeze. In addition, it was also observed that the eccentricity of the identified systems was greater than 0.7. Then, a methodology based on the inclination (based on the coast) and eccentricity (greater than 0.7) of the Convective Systems was applied in order to identify and characterize Tropical Squall Lines in Brazil. These thresholds were applied back in the ISCCP-Tracking database for the year of 2007. It was observed that other systems, which were not Squall Lines, were also identified. Then, we decided to call all systems identified by the inclination and eccentricity thresholds as Linear Convective Systems, instead of Squall Lines. After this step, the Linear Convective Systems were identified and characterized for the entire database, from 1983 to 2008. The physical and morphological characteristics of these systems were compared to those systems which did not have the required inclination and eccentricity to be called Linear Convective Systems. The results showed that the convection associated with the Linear Convective Systems seems to be more intense and organized than in the other systems. This affirmation is based on all ISCCP-Tracking variables analyzed. This type of methodology, which explores 26 years of satellite data by an objective analysis, was not previously explored in the literature. The physical and morphological characterization of the Linear Convective Systems based on 26 years of data is of a great importance and should be used in many branches of atmospheric sciences.Keywords: squall lines, convective systems, linear convective systems, ISCCP-Tracking
Procedia PDF Downloads 29613062 Neuron Efficiency in Fluid Dynamics and Prediction of Groundwater Reservoirs'' Properties Using Pattern Recognition
Authors: J. K. Adedeji, S. T. Ijatuyi
Abstract:
The application of neural network using pattern recognition to study the fluid dynamics and predict the groundwater reservoirs properties has been used in this research. The essential of geophysical survey using the manual methods has failed in basement environment, hence the need for an intelligent computing such as predicted from neural network is inevitable. A non-linear neural network with an XOR (exclusive OR) output of 8-bits configuration has been used in this research to predict the nature of groundwater reservoirs and fluid dynamics of a typical basement crystalline rock. The control variables are the apparent resistivity of weathered layer (p1), fractured layer (p2), and the depth (h), while the dependent variable is the flow parameter (F=![](file:///C:\Users\merhaba\AppData\Local\Temp\OICE_E62EC5F6-DA79-44AA-AEA1-6C9A5A2AEC3F.0\msohtmlclip1\01\clip_image002.gif)
Keywords: gravitational resistance, neural network, non-linear, pattern recognition
Procedia PDF Downloads 20813061 Investigation of Heating Behaviour of E-Textile Structures
Authors: Hande Sezgin, Senem Kursun Bahadır, Yakup Erhan Boke, Fatma Kalaoğlu
Abstract:
Electronic textiles (e-textiles) are fabrics that contain electronics and interconnections with them. In this study, two types of base yarns (cotton and acrylic) and three conductive steel yarns with different linear resistance values (14Ω/m, 30Ω/m, 70Ω/m) were used to investigate the effect of base yarn type and linear resistance of conductive yarns on thermal behavior of e-textile structures. Thermal behavior of samples were examined by thermal camera.Keywords: conductive yarn, e-textiles, smart textiles, thermal analysis
Procedia PDF Downloads 548