Search results for: vision in control

Authors: Hasan Basaran, Emre Unal

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Formation flying of satellites is a mission that involves a relative position keeping of different satellites in the constellation. In this study, different control algorithms are compared with one another in terms of ΔV, velocity increment, and tracking error. Various control methods, covering continuous and impulsive approaches are implemented and tested for satellites flying in low Earth orbit. Feedback linearization, sliding mode control, and model predictive control are designed and compared with an impulsive feedback law, which is based on mean orbital elements. Feedback linearization and sliding mode control approaches have identical mathematical models that include second order Earth oblateness effects. The model predictive control, on the other hand, does not include any perturbations and assumes circular chief orbit. The comparison is done with 4 different initial errors and achieved with velocity increment, root mean square error, maximum steady state error, and settling time. It was observed that impulsive law consumed the least ΔV, while produced the highest maximum error in the steady state. The continuous control laws, however, consumed higher velocity increments and produced lower amounts of tracking errors. Finally, the inversely proportional relationship between tracking error and velocity increment was established.

Keywords: chief-deputy satellites, feedback linearization, follower-leader satellites, formation flight, fuel consumption, model predictive control, rendezvous, sliding mode

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Authors: Orhan Kurtuluş, Cüneyt Yavuz

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The end of the line controls of the finished products in the automotive industry is important. The control that has been conducted with the manual methods for the sliding doors tracks is not sufficient and faulty products cannot be identified. As a result, the customer has the faulty products. In the scope of this study, the design criteria of the PLC integrated modular end of line control unit has been examined, designed and manufactured to make the control of the 10 different track profile to 2 different vehicles with an objective to minimize the salvage costs by obtaining more sensitive, certain and accurate measurement results. In the study that started with literature and patent review, the design inputs have been specified, the technical concept has been developed, computer supported mechanic design, control system and automation design, design review and design improvement have been made. Laser analog sensors at high sensitivity, probes and modular blocks have been used in the unit. The measurement has been conducted in the system and it is observed that measurement results are more sensitive than the previous methods.

Keywords: control unit design, end of line, modular design, sliding door system

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Authors: Nouby M. Ghazaly, Ahmed O. Moaaz, Mostafa Makrahy

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The main purpose of a car suspension system is to reduce the vibrations resulting from road roughness. The main objective of this research paper is to decrease vibration and improve passenger comfort through controlling car suspension system using sliding mode control techniques. The mathematical model for passive and active suspensions systems for quarter car model which subject to excitation from different road profiles is obtained. The active suspension system is synthesized based on sliding mode control for a quarter car model. The performance of the sliding mode control is determined through computer simulations using MATLAB and SIMULINK toolbox. The simulated results plotted in time domain, and root mean square values. It is found that active suspension system using sliding mode control improves the ride comfort and decrease vibration.

Keywords: quarter car model, active suspension system, sliding mode control, road profile

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Authors: Kamel Laidi, Khelifa Benmansour, Ouahid Bouchhida

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Neural networks-based approach for 2-cells serial converter has been developed and implemented. The approach is based on a behavioural description of the different operating modes of the converter. Each operating mode represents a well-defined configuration, and for which is matched an operating zone satisfying given invariance conditions, depending on the capacitors' voltages and the load current of the converter. For each mode, a control vector whose components are the control signals to be applied to the converter switches has been associated. Therefore, the problem is reduced to a classification task of the different operating modes of the converter. The artificial neural nets-based approach, which constitutes a powerful tool for this kind of task, has been adopted and implemented. The application to a 2-cells chopper has allowed ensuring efficient and robust control of the load current and a high capacitors voltages balancing.

Keywords: neural nets, control, multicellular converters, 2-cells chopper

Procedia PDF Downloads 836

Authors: Young-Su Ryu, Kyung-Won Park, Jae-Hoon Song, Ki-Won Kwon

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In this paper, an embedded frequency modulation (FM) transmission control software (SW) for a low power battery system is designed and implemented. The simultaneous translation systems for various languages are needed as so many international conferences and festivals are held in world wide. Especially in portable transmitting and receiving systems, the ability of long operation life is used for a measure of value. This paper proposes an embedded FM transmission control SW for low power battery system and shows the results of the SW implemented on a portable FM transmission system.

Keywords: FM transmission, simultaneous translation system, portable transmitting and receiving systems, low power embedded control SW

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Authors: Noppatee Sabpayakom, Somporn Sirisumrannukul

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Due to incentive policies to promote renewable energy and energy efficiency, high penetration levels of very small power producers (VSPP) located in distribution networks have imposed technical barriers and established new requirements for protection and control of the networks. Although VSPPs have economic and environmental benefit, they may introduce negative effects and cause several challenges on the issue of protection and control system. This paper presents comprehensive studies of possible impacts on control and protection systems based on real distribution systems located in a metropolitan area. A number of scenarios were examined primarily focusing on state of islanding, and un-disconnected VSPP during faults. It is shown that without proper measures to address the issues, the system would be unable to maintain its integrity of electricity power supply for disturbance incidents.

Keywords: control and protection systems, distributed generation, renewable energy, very small power producers

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Authors: Sabir Messalti, Bilal Boudjellal, Azouz Said

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In this paper, power system Voltage improvement using wind turbine is presented. Two controllers are used: a PI controller and Artificial Neural Networks (ANN) controllers are studied to control of the power flow exchanged between the wind turbine and the power system in order to improve the bus voltage. The wind turbine is based on a doubly-fed induction generator (DFIG) controlled by field-oriented control. Indirect control is used to control of the reactive power flow exchanged between the DFIG and the power system. The proposed controllers are tested on power system for large voltage disturbances.

Keywords: artificial neural networks controller, DFIG, field-oriented control, PI controller, power system voltage improvement

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Authors: Javad Khazaei, Rick Blum

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Distributed control is an efficient and flexible approach for coordination of multi-agent systems. One of the main challenges in designing a distributed controller is identifying the governing dynamics of the dynamical systems. Data-driven system identification is currently undergoing a revolution. With the availability of high-fidelity measurements and historical data, model-free identification of dynamical systems can facilitate the control design without tedious modeling of high-dimensional and/or nonlinear systems. This paper develops a distributed control design using consensus theory for linear and nonlinear dynamical systems using sparse identification of system dynamics. Compared with existing consensus designs that heavily rely on knowing the detailed system dynamics, the proposed model-free design can accurately capture the dynamics of the system with available measurements and input data and provide guaranteed performance in consensus and tracking problems. Heterogeneous damped oscillators are chosen as examples of dynamical system for validation purposes.

Keywords: consensus tracking, distributed control, model-free control, sparse identification of dynamical systems

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Authors: Almutasim Billa A. Alanazi, Hal S. Tharp

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Safe performance and efficient energy consumption are essential factors for designing a control system. This paper presents a reinforcement learning (RL) model that can be applied to control applications to improve safety and reduce energy consumption. As hardware constraints and environmental disturbances are imprecise and unpredictable, conventional control methods may not always be effective in optimizing control designs. However, RL has demonstrated its value in several artificial intelligence (AI) applications, especially in the field of control systems. The proposed model intelligently monitors a system's success by observing the rewards from the environment, with positive rewards counting as a success when the controlled reference is within the desired operating zone. Thus, the model can determine whether the system is safe to continue operating based on the designer/user specifications, which can be adjusted as needed. Additionally, the controller keeps track of energy consumption to improve energy efficiency by enabling the idle mode when the controlled reference is within the desired operating zone, thus reducing the system energy consumption during the controlling operation. Water temperature control for a hydroponic system is taken as a case study for the RL model, adjusting the variance of disturbances to show the model’s robustness and efficiency. On average, the model showed safety improvement by up to 15% and energy efficiency improvements by 35%- 40% compared to a traditional RL model.

Keywords: control system, hydroponics, machine learning, reinforcement learning

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Authors: Abdelsalam A. Ahmed

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Fast speed drives for Permanent Magnet Synchronous Motor (PMSM) is a crucial performance for the electric traction systems. In this paper, PMSM is drived with a Model-based Predictive Control (MPC) technique. Fast speed tracking is achieved through optimization of the DC source utilization using MPC. The technique is based on predicting the optimum voltage vector applied to the driver. Control technique is investigated by comparing to the cascaded PI control based on Space Vector Pulse Width Modulation (SVPWM). MPC and SVPWM-based FOC are implemented with the TMS320F2812 DSP and its power driver circuits. The designed MPC for a PMSM drive is experimentally validated on a laboratory test bench. The performances are compared with those obtained by a conventional PI-based system in order to highlight the improvements, especially regarding speed tracking response.

Keywords: permanent magnet synchronous motor, model-based predictive control, DC source utilization, cascaded PI control, space vector pulse width modulation, TMS320F2812 DSP

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Authors: Takumi Ito, Kurumi Kurokawa, Dong Hang Wu, Takashi Nagumo, Haruhiko Hirata

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The structural system of wooden house by two-by-four method is widely adopted in any countries, and a various type of vibration control system for building structures has been developed on country with frequent earthquake. In this study, a vibration control device called “Scaling Frame” (SF) is suggested, and which is applied to wooden two-by-four method structures. This paper performs the experimental study to investigate the restoring force characteristics of two-by-four with SF device installed. The seismic resistant performance is estimated experimentally, and also the applicability and effectiveness are discussing.

Keywords: two-by-four method, seismic vibration control, horizontally loading test, restoring force characteristics

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Authors: Molakala Mourya Vardhan Reddy, Kandimala Revanth, Koduru Sumanth, Beena B. M.

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Emergency response and recovery operations are severely hampered by natural catastrophes, especially floods. Understanding post-flood scenarios is essential to disaster management because it facilitates quick evaluation and decision-making. To this end, we introduce FloodNet, a brand-new high-resolution aerial picture collection created especially for comprehending post-flood scenes. A varied collection of excellent aerial photos taken during and after flood occurrences make up FloodNet, which offers comprehensive representations of flooded landscapes, damaged infrastructure, and changed topographies. The dataset provides a thorough resource for training and assessing computer vision models designed to handle the complexity of post-flood scenarios, including a variety of environmental conditions and geographic regions. Pixel-level semantic segmentation masks are used to label the pictures in FloodNet, allowing for a more detailed examination of flood-related characteristics, including debris, water bodies, and damaged structures. Furthermore, temporal and positional metadata improve the dataset's usefulness for longitudinal research and spatiotemporal analysis. For activities like flood extent mapping, damage assessment, and infrastructure recovery projection, we provide baseline standards and evaluation metrics to promote research and development in the field of post-flood scene comprehension. By integrating FloodNet into machine learning pipelines, it will be easier to create reliable algorithms that will help politicians, urban planners, and first responders make choices both before and after floods. The goal of the FloodNet dataset is to support advances in computer vision, remote sensing, and disaster response technologies by providing a useful resource for researchers. FloodNet helps to create creative solutions for boosting communities' resilience in the face of natural catastrophes by tackling the particular problems presented by post-flood situations.

Keywords: image classification, segmentation, computer vision, nature disaster, unmanned arial vehicle(UAV), machine learning.

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Authors: Hebah M. Musalem, Jeylan El-Mansoury, Lin M. Tuleimat, Selwa Alhazza, Abdul-Aziz A. Al Zoba

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Background: Amblyopia is a condition that affects the visual system triggering a decrease in visual acuity without a known underlying pathology. It is due to abnormal vision development in childhood or infancy. Most importantly, vision loss is preventable or reversible with the right kind of intervention in most of the cases. Strabismus, sensory defects, and anisometropia are all well-known causes of amblyopia. However, ocular misalignment in Strabismus is considered the most common form of amblyopia worldwide. The risk of developing amblyopia increases in premature children, developmentally delayed or children who had brain lesions affecting the visual pathway. The prevalence of amblyopia varies between 2 to 5 % in the world according to the literature. Objective: To determine the different causes of Amblyopia in pediatric patients seen in ophthalmology clinic of a tertiary care center, i.e. King Faisal Specialist Hospital and Research Center (KFSH&RC). Methods: This is a hospital based, random retrospective, based on reviewing patient’s files in the Ophthalmology Department of KFSH&RC in Riyadh city, Kingdom of Saudi Arabia. Inclusion criteria: amblyopic pediatric patients who attended the clinic from 2015 to 2016, who are between 6 months and 18 years old. Exclusion Criteria: patients above 18 years of age and any patient who is uncooperative to obtain an accurate vision or a proper refraction. Detailed ocular and medical history are recorded. The examination protocol includes a full ocular exam, full cycloplegic refraction, visual acuity measurement, ocular motility and strabismus evaluation. All data were organized in tables and graphs and analyzed by statistician. Results: Our preliminary results will be discussed on spot by our corresponding author. Conclusions: We focused on this study on utilizing various examination techniques which enhanced our results and highlighted a distinguished correlation between amblyopia and its’ causes. This paper recommendation emphasizes on critical testing protocols to be followed among amblyopic patient, especially in tertiary care centers.

Keywords: amblyopia, amblyopia causes, amblyopia diagnostic criterion, amblyopia prevalence, Saudi Arabia

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Authors: Yansong Zhang, Xueyuan Li, Junjie Zhou, Xufeng Yin, Shihua Yuan, Shuxian Liu

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Aiming at the verification of control algorithms for skid-steering vehicles, a vehicle simulation model of 6×6 electric skid-steering unmanned vehicle was established based on Trucksim and Simulink. The original transmission and steering mechanism of Trucksim are removed, and the electric skid-steering model and a closed-loop controller for the vehicle speed and yaw rate are built in Simulink. The simulation results are compared with the ones got by theoretical formulas. The results show that the predicted tire mechanics and vehicle kinematics of Trucksim-Simulink simulation model are closed to the theoretical results. Therefore, it can be used as an effective approach to study the dynamic performance and control algorithm of skid-steering vehicle. In this paper, a method of motion control based on feed forward control is also designed. The simulation results show that the feed forward control strategy can make the vehicle follow the target yaw rate more quickly and accurately, which makes the vehicle have more maneuverability.

Keywords: skid-steering, Trucksim-Simulink, feedforward control, dynamics

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Authors: Van Nhan Nguyen, Harald Holone

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Over the past few years, a lot of research has been conducted to bring Automatic Speech Recognition (ASR) into various areas of Air Traffic Control (ATC), such as air traffic control simulation and training, monitoring live operators for with the aim of safety improvements, air traffic controller workload measurement and conducting analysis on large quantities controller-pilot speech. Due to the high accuracy requirements of the ATC context and its unique challenges, automatic speech recognition has not been widely adopted in this field. With the aim of providing a good starting point for researchers who are interested bringing automatic speech recognition into ATC, this paper gives an overview of possibilities and challenges of applying automatic speech recognition in air traffic control. To provide this overview, we present an updated literature review of speech recognition technologies in general, as well as specific approaches relevant to the ATC context. Based on this literature review, criteria for selecting speech recognition approaches for the ATC domain are presented, and remaining challenges and possible solutions are discussed.

Keywords: automatic speech recognition, asr, air traffic control, atc

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Authors: Pawel Skruch, Marek Dlugosz

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The paper starts with a general model of the temperature dynamics in buildings. The modelling approach relies on thermodynamics, in particular heat transfer, principles. The model considers heat loses by conduction and ventilation and internal heat gains. The parameters of the model can be determined uniquely from the geometry of the building and from thermal properties of construction materials. The model is presented using state space notation and this form is used in the control design procedure. A sliding surface is defined by the system output and the desired trajectory. The control law is designed to force the trajectory of the system from any initial condition to the sliding surface in finite time. The trajectory of the system after reaching the sliding surface remains on it. A simulation example is included to verify the approach and to demonstrate the achievable performance improvement by the proposed solution in the temperature control in buildings.

Keywords: modelling, building, temperature dynamics, sliding-mode control, sliding surface

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Authors: Viji Vijayakumar, R. Divya, A. Vivek

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This paper deals with a quadratic boost converter which belongs to cascade boost family, controlled by sliding mode controller. In the cascade boost family, quadratic boost converter is the best trade-off when circuit complexity and modulator saturation is considered. Sliding mode control being a nonlinear control results in a robust and stable system when applied to switching converters which are inherently variable structured systems. The stability of this system is analyzed through Lyapunov’s approach. Analysis is done for load regulation, line regulation and step response of the system. Also these results are compared with that of PID controller based system.

Keywords: DC-DC converter, quadratic boost converter, sliding mode control, PID control

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Authors: Khaidan Hatami, Mehran Nasiri

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The aim of following research was the analysis between sport motivation and control center of football players of Iran. All the players employed in Iran’s football league are included in the population of the research. So, 360 players, every level 120 players ( Youth, U-21 and adults ) playing in Guilan, Kurdistan and Kermanshah province having professional football league in first and second level league were randomly and selectively taken and included the population. The current research is of descriptive and solidarity types. Instruments of measurement are three personal questionnaires, sport motivation (SMS) of Politer and partners (1995), control center of Berger (1986) which their valid content were confirmed by experts in sport management field. The internal stability of questions were analyzed by Alfa Cronbach respectively for sport obligation questionnaire (0.82) and control center (0.86) to analysis and evaluate data, Kolmogrouf-Smirnov, Spearman Correlation, Kruskal-Wallis test, Whitney U, Freedman and T-Wilcoxon were used in a meaningful level (P ≤ 0/05). The results showed positive and meaningful relation between control center of football players in youth, U-21 and adults and sport motivation of football players. So, it can be concluded, people with internal control against those with external one have more internal sport motivation and follow the team goals with more mental power. So, it’s recommended to coaches to use sport psychologist in their teams to internalize the people’s needs by scientific method by taking the mental issues and the type of control in people on life events.

Keywords: sport motivation, control center, internal, external football players

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Authors: Yamamah Abdulrazaq, Lahieb A. Abrahim, Samuel E. Davies, Iain Shewring

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An electric water heater (EWH) is a powerful appliance that uses electricity in residential, commercial, and industrial settings, and the ability to control them properly will result in cost savings and the prevention of blackouts on the national grid. This article discusses the usage of timers in EWH control strategies for demand-side management (DSM). Up to the authors' knowledge, there is no systematic mapping review focusing on the utilisation of EWH control strategies in DSM has yet been conducted. Consequently, the purpose of this research is to identify and examine main papers exploring EWH procedures in DSM by quantifying and categorising information with regard to publication year and source, kind of methods, and source of data for monitoring control techniques. In order to answer the research questions, a total of 31 publications published between 1999 and 2023 were selected depending on specific inclusion and exclusion criteria. The data indicate that direct load control (DLC) has been somewhat more prevalent than indirect load control (ILC). Additionally, the mixing method is much lower than the other techniques, and the proportion of Real-time data (RTD) to non-real-time data (NRTD) is about equal.

Keywords: demand side management, direct load control, electric water heater, indirect load control, non real-time data, real-time data

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Authors: Darko Babic, Maja Modric, Dario Babic, Mario Fiolic

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For road markings as a part of traffic control plan, it is considered to have a positive impact on road safety. Their importance is particularly evident in low visibility conditions when the field of vision and the driver's visual acuity are significantly reduced. The aim of this article is to analyze how road marking retroreflectivity affects the frequency of traffic accidents in low visibility conditions. For this purpose, 10,417.4 km single carriageway roads were analysed across Croatia in the period from 2012 to 2016. The research included accidents that may be significantly affected by marking retroreflectivity: head-on collisions, running off the road, hitting a stationary object on the road and hitting a stationary roadside object. The results have shown that the retroreflectivity level is negatively correlated to the total number of accidents and the number of casualties and injuries, which ultimately means that the risk of traffic accidents and deaths and/or injuries of participants will be lower with the increase of road markings retroreflectivity. These results may assist in defining minimum values of retroreflectivity that the markings must meet at any time as well as the suitable technologies and materials for their implementation.

Keywords: retroreflectivity, road markings, traffic accidents, traffic safety

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Authors: Pratyush Agnihotri

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The space missions are very costly because the transportation to the space is highly expensive and therefore there is the need to achieve complete re-usability in our launch vehicles to make the missions highly economic by cost cutting of the material recovered. Launcher reusability is the most efficient approach to decreasing admittance to space access economy, however stays an incredible specialized hurdle for the aerospace industry. Major concern of the difficulties lies in guidance and control procedure and calculations, specifically for those of the controlled landing stage, which should empower an exact landing with low fuel edges. Although cutting edge ways for navigation and control are present viz hybrid navigation and robust control. But for powered descent and landing of first stage of launch vehicle the guidance control is need to enable on board optimization. At first the CAD model of the launch vehicle I.e. space x falcon 9 rocket is presented for better understanding of the architecture that needs to be identified for the guidance and control solution for the recovery of the launcher. The focus is on providing the landing phase guidance scheme for recovery and re usability of first stage using retro propulsion. After reviewing various GNC solutions, to achieve accuracy in pre requisite landing online convex and successive optimization are explored as the guidance schemes.

Keywords: guidance, navigation, control, retro propulsion, reusable rockets

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Authors: A. Degale Desta, Cheng Jian

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Deep learning application in computer vision is rapidly advancing, giving it the ability to monitor the public and quickly identify potentially anomalous behaviour from crowd scenes. Therefore, the purpose of the current work is to improve the performance of safety of people in crowd events from panic behaviour through introducing the innovative idea of Aggregation of Ensembles (AOE), which makes use of the pre-trained ConvNets and a pool of classifiers to find anomalies in video data with packed scenes. According to the theory of algorithms that applied K-means, KNN, CNN, SVD, and Faster-CNN, YOLOv5 architectures learn different levels of semantic representation from crowd videos; the proposed approach leverages an ensemble of various fine-tuned convolutional neural networks (CNN), allowing for the extraction of enriched feature sets. In addition to the above algorithms, a long short-term memory neural network to forecast future feature values and a handmade feature that takes into consideration the peculiarities of the crowd to understand human behavior. On well-known datasets of panic situations, experiments are run to assess the effectiveness and precision of the suggested method. Results reveal that, compared to state-of-the-art methodologies, the system produces better and more promising results in terms of accuracy and processing speed.

Keywords: action recognition, computer vision, crowd detecting and tracking, deep learning

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Authors: Habu Musa, Nusaibah Binti Syd Ali

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Oil palm industries particularly in Malaysia and Indonesia are being devastated by Ganoderma disease caused by Ganoderma spp. To date, this disease has been causing serious oil palm yield losses and collapse of oil palm trees, thus affecting its contribution to the producer’s economy. Research on sustainable and eco-friendly remedy to counter Ganoderma disease is on the upsurge to avoid the current control measures via synthetic fungicides. Trichoderma species have been the most studied and valued microbes as biological control agents in an effort to combat a wide range of plant diseases sustainably. Therefore, in this current study, the potential of Trichoderma spp. (Trichoderma asperellum, Trichoderma harzianum, and Trichoderma virens) as a consortium approach was evaluated as biological control agents against Ganoderma disease on oil palm. The consortium of Trichoderma spp. applied found to be the most effective treatment in suppressing Ganoderma disease with 83.03% and 89.16% from the foliar and bole symptoms respectively. Besides, it exhibited tremendous enhancement in the oil palm seedling vegetative growth parameters. Also, it had highly induced significant activity of peroxidase, polyphenol oxidase and total phenolic content was recorded in the consortium treatment compared to the control treatment. Disease development was slower in the seedlings treated with consortium of Trichoderma spp. compared to the positive control, which exhibited with the highest percentage of disease severity.

Keywords: biological control, ganoderma disease, trichoderma, disease severity

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Authors: Jin-Wei Liang, Hung-Yi Chen, Lung Lin

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In this paper feedforward controller is designed to eliminate nonlinear hysteresis behaviors of a piezoelectric stack actuator (PSA) driven system. The control design is based on inverse Prandtl-Ishlinskii (P-I) hysteresis model identified using particle swarm optimization (PSO) technique. Based on the identified P-I model, both the inverse P-I hysteresis model and feedforward controller can be determined. Experimental results obtained using the inverse P-I feedforward control are compared with their counterparts using hysteresis estimates obtained from the identified Bouc-Wen model. Effectiveness of the proposed feedforward control scheme is demonstrated. To improve control performance feedback compensation using traditional PID scheme is adopted to integrate with the feedforward controller.

Keywords: the Bouc-Wen hysteresis model, particle swarm optimization, Prandtl-Ishlinskii model, automation engineering

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Authors: Cau Tran, Tu Nguyen, Tien Pham

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Model-based design (MBD) is a mathematical and visual technique for addressing design issues in the fields of communications, signal processing, and complicated control systems. It is utilized in several automotive, aerospace, industrial, and motion control applications. Virtual models are at the center of the software development process with model based design. A method used in the creation of embedded software is model-based design. In this study, the LAT motor is modeled in a simulation environment, and the LAT motor control is designed with a cascade structure, a speed and current control loop, and a controller that is used in the next part. A PID structure serves as this controller. Based on techniques and motor parameters that match the design goals, the PID controller is created for the model using traditional design principles. The MBD approach will be used to build embedded software for motor control. The paper will be divided into three distinct sections. The first section will introduce the design process and the benefits and drawbacks of the MBD technique. The design of control software for LAT motors will be the main topic of the next section. The experiment's results are the subject of the last section.

Keywords: model based design, limited angle torque, intellectual property core, hardware description language, controller area network, user datagram protocol

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Authors: Atilla Bayram

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This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors.

Keywords: computed force method, genetic algorithm, hybrid manipulator, inverse kinematics of redundant manipulators, variable geometry truss

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Authors: Mao Ju

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As a capital organizing form, the mixed-ownership reform of state-owned enterprises (SOEs) is an important way to stimulate enterprises’ vitality through reshaping the shareholding structure, enhancing mutual complementation of shareholders’ resources, and improving corporate governance and the quality of internal control. Based on the process of mixed-ownership reform and according to IPO and the change in the key shareholding structure of the listed companies, this paper divides the reform into two stages: primary mixed-ownership reform and secondary mixed-ownership reform (deeper mixed-ownership reform), and uses this as the basis to construct the proxy variable of the mixed-ownership reform of SOEs, research on the relationship between the mixed-ownership reform of SOEs and the quality of internal control. The research reveals that: (1) SOEs completing a secondary mixed-ownership reform can enhance the quality of internal control; (2) In the secondary mixed-ownership reform, the introduction of heterogeneous major shareholders will generate more obvious enhancement in the quality of internal control than the introduction of homogeneous major shareholders. Further research shows that the internal environment and marketization process play a moderating role in the process of the secondary mixed-ownership reform affecting the quality of internal control, that is, a better internal environment or a higher degree of marketization can promote the improvement of the quality of internal control in secondary mixed-ownership reform. The conclusion of the research provides experimental evidence for the expected results of the mixed-ownership reform policy.

Keywords: mixed-ownership reform of state-owned enterprises, secondary mixed-ownership reform, quality of internal control, primary mixed-ownership reform

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Authors: Chaouch Souad, Abdou Latifa, Larbi Chrifi Alaoui

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This paper deals with sensorless backstepping control of induction motor using MRAS technique associated to sliding mode approach. A high order genetic algorithm structure is used to approximate a control law designed by the Backstepping technique, and to find the best parameters globally optimized. However, the Backstepping control approach is unsuitable for high performance applications because the need of a speed sensor for increased accuracy and the absence of any error decay mechanism. In this paper a nonlinear observer, obtained by combining sliding mode structure and model reference adaptive system (MRAS), is designed for the rotor flux and rotor speed estimations. To validate the proposed method, the results are presented for showing the improved drive characteristics and performances.

Keywords: Backstepping Control, Induction Motor, Genetic Algorithm, Sliding Mode observer

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Authors: Andrés Gomez-Casseres, Rubén Contreras

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In this paper, a bidirectional boost converter operated in Discontinuous Conduction Mode (DCM) is presented as a suitable power conditioning circuit for tuning of kinetic energy harvesters without the need of a battery. A nonlinear control scheme, composed by two linear controllers, is used to control the average value of the input current, enabling the synthesization of complex loads. The converter, along with the control system, is validated through SPICE simulations using the LTspice tool. The converter model and the controller transfer functions are derived. From the simulation results, it was found that the input current distortion increases with the introduced phase shift and that, such distortion, is almost entirely present at the zero-crossing point of the input voltage.

Keywords: average current control, boost converter, electrical tuning, energy harvesting

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Authors: Tomas Menard

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The synthesis of output-feedback control law has been investigated by many researchers since the last century. While many results exist for the case of Linear Time Invariant systems whose measurements are continuously available, nowadays, control laws are usually implemented on micro-controller, then the measurements are discrete-time by nature. This fact has to be taken into account explicitly in order to obtain a satisfactory behavior of the closed-loop system. One considers here a general class of systems corresponding to an observability normal form and which is subject to uncertainties in the dynamics and sampling of the output. Indeed, in practice, the modeling of the system is never perfect, this results in unknown uncertainties in the dynamics of the model. We propose here an output feedback algorithm which is based on a linear state feedback and a continuous-discrete time observer. The main feature of the proposed control law is that only discrete-time measurements of the output are needed. Furthermore, it is formally proven that the state of the closed loop system exponentially converges toward the origin despite the unknown uncertainties. Finally, the performances of this control scheme are illustrated with simulations.

Keywords: dynamical systems, output feedback control law, sampling, uncertain systems

Procedia PDF Downloads 286