Search results for: virtualized software controller

Authors: Jay Xiong, Li Lin

Abstract:

Existing software modeling and visualization approaches using UML are outdated, which are outcomes of reductionism and the superposition principle that the whole of a system is the sum of its parts, so that with them all tasks of software modeling and visualization are performed linearly, partially, and locally. This paper introduces revolutionary solutions for modeling and visualization of complex software systems, which make complex software systems much easy to understand, test, and maintain. The solutions are based on complexity science, offering holistic, automatic, dynamic, virtual, and executable approaches about thousand times more efficient than the traditional ones.

Keywords: complex systems, software maintenance, software modeling, software visualization

Procedia PDF Downloads 399

Authors: Fazal-e-Amin, Abdullah S. Alghamdi, Iftikhar Ahmad

Abstract:

Software ecosystems’ concept is an inspiration from the natural ecosystem. Software ecosystems refer to large systems developed on top of a platform composed of different components developed by different entities of that ecosystem. Ecosystems improve information access, dissemination and coordination considerably. The ability to evolve and accommodate new subsystems gives a boost to the software ecosystems. In this paper, Saudi education software ecosystem is discussed and its need and potential benefits are highlighted. This work will provide a basis for further research in this area and foundation in development of Saudi education ecosystem.

Keywords: software ecosystem, education software, framework, software engineering

Procedia PDF Downloads 527

Authors: R. M. P. C. Bandara, M. L. L. Weerasinghe, K. T. C. R. Kumari, A. G. D. R. Hansika, D. I. De Silva, D. M. T. H. Dias

Abstract:

Software testing is an essential process in software development that aims to identify defects and ensure that software is functioning as intended. Various testing techniques are employed to achieve this goal, but the effectiveness of these techniques varies. This research paper analyzes the effectiveness of different testing techniques in ensuring software quality. The paper explores different testing techniques, including manual and automated testing, and evaluates their effectiveness in terms of identifying defects, reducing the number of defects in software, and ensuring that software meets its functional and non-functional requirements. Moreover, the paper will also investigate the impact of factors such as testing time, test coverage, and testing environment on the effectiveness of these techniques. This research aims to provide valuable insights into the effectiveness of different testing techniques, enabling software development teams to make informed decisions about the testing approach that is best suited to their needs. By improving testing techniques, the number of defects in software can be reduced, enhancing the quality of software and ultimately providing better software for users.

Keywords: software testing life cycle, software testing techniques, software testing strategies, effectiveness, software quality

Procedia PDF Downloads 82

Authors: Tesfaye Alamirew Dessie

Abstract:

Our study focuses on developing a Model Predictive Controller (MPC) and evaluating it against a traditional PID for a pasteurization process. Utilizing system identification from the experimental data, the dynamics of the pasteurization process were calculated. Using best fit with data validation, residual, and stability analysis, the quality of several model architectures was evaluated. The validation data fit the auto-regressive with exogenous input (ARX322) model of the pasteurization process by roughly 80.37 percent. The ARX322 model structure was used to create MPC and PID control techniques. After comparing controller performance based on settling time, overshoot percentage, and stability analysis, it was found that MPC controllers outperform PID for those parameters.

Keywords: MPC, PID, ARX, pasteurization

Procedia PDF Downloads 161

Authors: Salman Hameed

Abstract:

In this paper, a self-tuning fuzzy PI controller (STFPIC) is proposed for thyristor controlled series capacitor (TCSC) to improve power system dynamic performance. In a STFPIC controller, the output scaling factor is adjusted on-line by an updating factor (α). The value of α is determined from a fuzzy rule-base defined on error (e) and change of error (Δe) of the controlled variable. The proposed self-tuning controller is designed using a very simple control rule-base and the most natural and unbiased membership functions (MFs) (symmetric triangles with equal base and 50% overlap with neighboring MFs). The comparative performances of the proposed STFPIC and the standard fuzzy PI controller (FPIC) have been investigated on a multi-machine power system (namely, 4 machine two area system) through detailed non-linear simulation studies using MATLAB/SIMULINK. From the simulation studies it has been found out that for damping oscillations, the performance of the proposed STFPIC is better than that obtained by the standard FPIC. Moreover, the proposed STFPIC as well as the FPIC have been found to be quite effective in damping oscillations over a wide range of operating conditions and are quite effective in enhancing the power carrying capability of the power system significantly.

Keywords: genetic algorithm, power system stability, self-tuning fuzzy controller, thyristor controlled series capacitor

Procedia PDF Downloads 422

Authors: Jingjing Lan, Jun Yu, Muthukumaraswamy Annamalai Arasu

Abstract:

This paper presents a digital non-linear pulse-width modulation (PWM) controller in a high-voltage (HV) buck-boost DC-DC converter for the piezoelectric transducer of the down-hole acoustic telemetry system. The proposed design controls the generation of output signal with voltage higher than the supply voltage and is targeted to work under high temperature. To minimize the power consumption and silicon area, a simple and efficient design scheme is employed to develop the PWM controller. The proposed PWM controller consists of serial to parallel (S2P) converter, data assign block, a mode and duty cycle controller (MDC), linearly PWM (LPWM) and noise shaper, pulse generator and clock generator. To improve the reliability of circuit operation at higher temperature, this design is fabricated with the 1.0-μm silicon-on-insulator (SOI) CMOS process. The implementation results validated that the proposed design has the advantages of smaller size, lower power consumption and robust thermal stability.

Keywords: DC-DC power conversion, digital control, high temperatures, pulse-width modulation

Procedia PDF Downloads 393

Authors: A. Elnady

Abstract:

This paper presents an improved Direct Power Control (DPC) scheme applied to the multilevel inverter that forms a Distributed Generation Unit (DGU). This paper demonstrates the performance of active and reactive power injected by the DGU to the smart grid. The DPC is traditionally operated by the hysteresis controller with the Space Vector Modulation (SVM) which is applied on the 2-level inverters or 3-level inverters. In this paper, the DPC is operated by the PI controller with the Phase-Disposition Pulse Width Modulation (PD-PWM) applied to the 5-level diode clamped inverter. The new combination of the DPC, PI controller, PD-PWM and multilevel inverter proves that its performance is much better than the conventional hysteresis-SVM based DPC. Simulations results have been presented to validate the performance of the suggested control scheme in the grid-connected mode.

Keywords: direct power control, PI controller, PD-PWM, and power control

Procedia PDF Downloads 236

Authors: Martins Olatunbosun Babatunde, Muhammed Bashir Muazu, Emmanuel Adewale Adedokun

Abstract:

This paper presents the development of a double-loop trajectory-tracking controller for the ball and plate system (BPS) using the Normalized Right Coprime Factorization (NRCF) scheme.The Linear Algebraic (LA) method is used to design the inner loop required to stabilize the ball, while H-infinity NRCF method, that involved the lead-lag compensator design approach, is used to develop the outer loop that controls the plate. Simulation results show that the plate was stabilized at 0.2989 seconds and the ball was able to settle after 0.9646 seconds, with a trajectory tracking error of 0.0036. This shows that the controller has good adaptability and robustness.

Keywords: ball and plate system, normalized right coprime factorization, linear algebraic method, compensator, controller, tracking.

Procedia PDF Downloads 139

Authors: Raunak Munjal, Mohammad Akif Ali, Prithiv Raj

Abstract:

This study investigates the relative effectiveness of various flight controllers for drone obstacle avoidance. To assess ultrasonic sensors' performance in real-time obstacle detection, they are integrated with ESP32 and Arduino Nano controllers. The study determines which controller is most effective for this particular application by analyzing important parameters such as accuracy (mean absolute error), standard deviation, and mean distance range. Furthermore, the study explores the possibility of incorporating state-driven algorithms into the Arduino Nano configuration to potentially improve obstacle detection performance. The results offer significant perspectives for enhancing sensor integration, choosing the best flight controller for obstacle avoidance, and maybe enhancing drones' general environmental navigation ability.

Keywords: ultrasonic distance measurement, accuracy and consistency, flight controller comparisons, ESP32 vs arduino nano

Procedia PDF Downloads 56

Authors: T. Vamsee Kiran, A. Gopi

Abstract:

The undesired torque and flux ripple may occur in conventional direct torque control (DTC) induction motor drive. DTC can improve the system performance at low speeds by continuously tuning the regulator by adjusting the Kp, Ki values. In this differential evolution (DE) is proposed to adjust the parameters (Kp, Ki) of the speed controller in order to minimize torque ripple, flux ripple, and stator current distortion.The DE based PI controller has resulted is maintaining a constant speed of the motor irrespective of the load torque fluctuations.

Keywords: differential evolution, direct torque control, PI controller

Procedia PDF Downloads 429

Authors: Wesam Jasim, Dongbing Gu

Abstract:

This paper presents an iterative linear quadratic regulator optimal control technique to solve the problem of quadrotors path tracking. The dynamic motion equations are represented based on unit quaternion representation and include some modelled aerodynamical effects as a nonlinear part. Simulation results prove the ability and effectiveness of iLQR to stabilize the quadrotor and successfully track different paths. It also shows that iLQR controller outperforms LQR controller in terms of fast convergence and tracking errors.

Keywords: iLQR controller, optimal control, path tracking, quadrotor UAVs

Procedia PDF Downloads 444

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 181

Authors: Abeer Toheed Quadri, Maria Abubakar, Mehreen Sirshar

Abstract:

Component Based Software Development (CBSD) is a new trend in software development. Selection of quality components is not enough to ensure software quality in Component Based Software System (CBSS). A software product is considered to be a quality product if it satisfies its customer’s needs and has minimum defects. Authors’ survey different research papers and analyzes various techniques which ensure software quality in component based software development. This paper includes an investigation about how to improve the quality of a component based software system without effecting quality attributes. The reported information is identified from literature survey. The developments of component based systems are rising as they reduce the development time, effort and cost by means of reuse. After analysis, it has been explored that in order to achieve the quality in a CBSS we need to have the components that are certified through software measure because the predictability of software quality attributes of system depend on the quality attributes of the constituent components, integration process and the framework used.

Keywords: CBSD (component based software development), CBSS (component based software system), quality components, SQA (software quality assurance)

Procedia PDF Downloads 410

Authors: Sabir Messalti, Bilal Boudjellal, Azouz Said

Abstract:

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

Procedia PDF Downloads 460

Authors: V. Sankaranarayanan, V. Amrita Sundari, Sunit P. Gopal

Abstract:

This paper presents the design and implementation of a nonlinear controller for the point to point control of a mobile inverted pendulum (MIP). The controller is designed based on the kinematic model of the MIP to stabilize all the four coordinates. The stability of the closed-loop system is proved using Lyapunov stability theory. The proposed controller is validated through numerical simulations and also implemented in a laboratory prototype. The results are presented to evaluate the performance of the proposed closed loop system.

Keywords: mobile inverted pendulum, switched control, nonlinear systems, lyapunov stability

Procedia PDF Downloads 328

Authors: Anil Kumar Tripathi, Ratneshwer Gupta

Abstract:

All the software engineering researches and best industry practices aim at providing software products with high degree of quality and functionality at low cost and less time. These requirements are addressed by the Component Based Software Engineering (CBSE) as well. CBSE, which deals with the software construction by components’ assembly, is a revolutionary extension of Software Engineering. CBSE must define and describe processes to assure timely completion of high quality software systems that are composed of a variety of pre built software components. Though these features provide distinct and visible benefits in software design and programming, they also raise some challenging problems. The aim of this work is to summarize the pertinent issues and considerations in CBSE to make an understanding in forms of concepts and observations that may lead to development of newer ways of dealing with the problems and challenges in CBSE.

Keywords: software component, component based software engineering, software process, testing, maintenance

Procedia PDF Downloads 397

Authors: Malinda Gayan Sirisena

Abstract:

The aim of this research is to evaluate the effectiveness of software quality assurance approaches of Sri Lankan offshore software development organizations, and to propose a framework which could be used across all offshore software development organizations. An empirical study was conducted using derived framework from popular software quality evaluation models. The research instrument employed was a questionnaire survey among thirty seven Sri Lankan registered offshore software development organizations. The findings demonstrate a positive view of Effectiveness of Software Quality Assurance – the stronger predictors of Stability, Installability, Correctness, Testability and Changeability. The present study’s recommendations indicate a need for much emphasis on software quality assurance for the Sri Lankan offshore software development organizations.

Keywords: software quality assurance (SQA), offshore software development, quality assurance evaluation models, effectiveness of quality assurance

Procedia PDF Downloads 418

Authors: Jesús Antonio Puente Fernández, Luis Javier Garcia Villalba

Abstract:

New trends on streaming videos such as series or films require a high demand of network resources. This fact results in a huge problem within traditional IP networks due to the rigidity of its architecture. In this way, Software Defined Networks (SDN) is a new concept of network architecture that intends to be more flexible and it simplifies the management in networks with respect to the existing ones. These aspects are possible due to the separation of control plane (controller) and data plane (switches). Taking the advantage of this separated control, it is easy to deploy a monitoring tool independent of device vendors since the existing ones are dependent on the installation of specialized and expensive hardware. In this paper, we propose a framework that optimizes the traffic monitoring in SDN networks that decreases the number of monitoring queries to improve the network traffic and also reduces the overload. The performed experiments (with and without the optimization) using a video streaming delivery between two hosts demonstrate the feasibility of our monitoring proposal.

Keywords: optimization, monitoring, software defined networking, statistics, query

Procedia PDF Downloads 331

Authors: Amirreza Fazely Hamedani, Muzzamil Aziz, Philipp Wieder, Ramin Yahyapour

Abstract:

Software-defined networking in recent years came into the sight of so many network designers as a successor to the traditional networking. Unlike traditional networks where control and data planes engage together within a single device in the network infrastructure such as switches and routers, the two planes are kept separated in software-defined networks (SDNs). All critical decisions about packet routing are made on the network controller, and the data level devices forward the packets based on these decisions. This type of network is vulnerable to DDoS attacks, degrading the overall functioning and performance of the network by continuously injecting the fake flows into it. This increases substantial burden on the controller side, and the result ultimately leads to the inaccessibility of the controller and the lack of network service to the legitimate users. Thus, the protection of this novel network architecture against denial of service attacks is essential. In the world of cybersecurity, attacks and new threats emerge every day. It is essential to have tools capable of managing and analyzing all this new information to detect possible attacks in real-time. These tools should provide a comprehensive solution to automatically detect, predict and prevent abnormalities in the network. Big data encompasses a wide range of studies, but it mainly refers to the massive amounts of structured and unstructured data that organizations deal with on a regular basis. On the other hand, it regards not only the volume of the data; but also that how data-driven information can be used to enhance decision-making processes, security, and the overall efficiency of a business. This paper presents an intelligent big data framework as a solution to handle illegitimate traffic burden on the SDN network created by the numerous DDoS attacks. The framework entails an efficient defence and monitoring mechanism against DDoS attacks by employing the state of the art machine learning techniques.

Keywords: apache spark, apache kafka, big data, DDoS attack, machine learning, SDN network

Procedia PDF Downloads 168

Authors: Asghar Zamani, Mostafa Falahmorad

Abstract:

Virtualization is established to combine and use the unique capabilities of employees to increase productivity and agility to provide services regardless of location. Adapting to fast and continuous change and getting maximum access to human resources are reasons why virtualization is happening. The distance problem is solved by information. Flexibility is the most important feature of virtualization, and information will be the main focus of virtualized companies. In this research, we used the Covid-19 opportunity window to assess the productivity of the companies that had been going through more virtualized management before the Covid-19 in comparison with those that just started planning on developing infrastructures on virtual management after the crises of pandemic occurred. The research process includes financial (profitability and customer satisfaction) and behavioral (organizational culture and reluctance to change) metrics assessment. In addition to financial and CRM KPIs, a questionnaire is devised to assess how manager and employees’ attitude has been changing towards the migration to virtualization. The sample companies and questions are selected by asking from experts in the IT industry of Iran. In this article, the conclusion is that companies open to virtualization based on accurate strategic planning or willing to pay to train their employees for virtualization before the pandemic are more agile in adapting to change and moving forward in recession. The prospective companies in this research, not only could compensate for the short period loss from the first shock of the Covid-19, but they could also foresee new needs of their customer sooner than other competitors, resulting in the need to employ new staff for executing the emerging demands. Findings were aligned with the literature review. Results can be a wake-up call for business owners especially in developing countries to be more resilient toward modern management styles instead of continuing with traditional ones.

Keywords: virtual management, virtual organization, competitive advantage, KPI, profit

Procedia PDF Downloads 82

Authors: Carlos Gonzalez

Abstract:

This paper describes the use of the Internet as a feature to enhance the security of our software that is going to be distributed/sold to users potentially all over the world. By placing in a secure server some of the features of the secure software, we increase the security of such software. The communication between the protected software and the secure server is done by a double lock algorithm. This paper also includes an analysis of intruders and describes possible responses to detect threats.

Keywords: internet, secure software, threats, cryptography process

Procedia PDF Downloads 331

Authors: Mohammad Javad Maghsoudi, Z. Mohamed, A. R. Husain

Abstract:

Input shaping has been utilized for vibration reduction of many oscillatory systems. This paper presents an optimal closed-loop input shaping scheme for control of a three dimensional (3D) gantry crane system including. This includes a PID controller and Zero Vibration shaper which consider two control objectives concurrently. The control objectives are minimum sway of a payload and fast and accurate positioning of a trolley. A complete mathematical model of a lab-scaled 3D gantry crane is simulated in Simulink. Moreover, by utilizing PSO algorithm and a proposed scheme the controller is designed to cater both control objectives concurrently. Simulation studies on a 3D gantry crane show that the proposed optimal controller has an acceptable performance. The controller provides good position response with satisfactory payload sway in both rail and trolley responses.

Keywords: 3D gantry crane, input shaping, closed-loop control, optimal scheme, PID

Procedia PDF Downloads 412

Authors: Bandreddy Anand Babu, Mandadi Srinivasa Rao, Chintala Pradeep Reddy

Abstract:

The main theme of this paper is to design fuzzy logic Proportional Integral Derivative controller for controlling of Pulse Width Modulator (PWM) based DCDC buck converter in continuous conduction mode of operation and comparing the results of FPID and ANFIS. Simulation is done to fuzzy the given input variables and membership functions of input values, creating the interference rules linking the input and output variables and after then defuzzfies the output variables. Fuzzy logic is simple for nonlinear models like buck converter. Fuzzy logic based PID controller technique is to control, nonlinear plants like buck converters in switching variables of power electronics. The characteristics of FPID are in terms of rise time, settling time, rise time, steady state errors for different inputs and load disturbances.

Keywords: fuzzy logic, PID controller, DC-DC buck converter, pulse width modulation

Procedia PDF Downloads 1009

Authors: Carlos Gonzalez, Ernesto Linan

Abstract:

We propose a methodology to conciliate two apparently contradictory processes in the development of secure obfuscated software and good software engineered software. Our methodology consists first in the system designers defining the type of security level required for the software. There are four types of attackers: casual attackers, hackers, institution attack, and government attack. Depending on the level of threat, the methodology we propose uses five or six teams to accomplish this task. One Software Engineer Team and one or two software Obfuscation Teams, and Compiler Team, these four teams will develop and compile the secure obfuscated software, a Code Breakers Team will test the results of the previous teams to see if the software is not broken at the required security level, and an Intrusion Analysis Team will analyze the results of the Code Breakers Team and propose solutions to the development teams to prevent the detected intrusions. We also present an analytical model to prove that our methodology is no only easier to use, but generates an economical way of producing secure obfuscated software.

Keywords: development methodology, obfuscated software, secure software development, software engineering

Procedia PDF Downloads 248

Authors: Abderraouf Gaaloul, Faouzi Msahli

Abstract:

The use of standard sliding mode controller, usually, leads to the appearing of an undesirable chattering phenomenon affecting the control signal. Such problem can be overcome using a higher-order sliding mode controller (HOSMC) which preserves the main properties of the standard sliding mode and deliberately increases the control smoothness. In this paper, we propose a new HOSMC for a class of uncertain multi-input multi-output nonlinear systems. Based on high gain and integral sliding mode paradigms, the established control scheme removes theoretically the chattering phenomenon and provides the stability of the control system. Numerical simulations are developed to show the effectiveness of the proposed controller when applied to solve a control problem of two water levels into a quadruple-tank process.

Keywords: nonlinear systems, sliding mode control, high gain, higher order

Procedia PDF Downloads 325

Authors: Mounir Zekkaoui, Abdelhadi Fennan

Abstract:

The software evolution control requires a deep understanding of the changes and their impact on different system heterogeneous artifacts. And an understanding of descriptive knowledge of the developed software artifacts is a prerequisite condition for the success of the evolutionary process. The implementation of an evolutionary process is to make changes more or less important to many heterogeneous software artifacts such as source code, analysis and design models, unit testing, XML deployment descriptors, user guides, and others. These changes can be a source of degradation in functional, qualitative or behavioral terms of modified software. Hence the need for a unified approach for extraction and representation of different heterogeneous artifacts in order to ensure a unified and detailed description of heterogeneous software artifacts, exploitable by several software tools and allowing to responsible for the evolution of carry out the reasoning change concerned.

Keywords: heterogeneous software artifacts, software evolution control, unified approach, meta model, software architecture

Procedia PDF Downloads 442

Authors: Mandar Ghodekar, Sharad Jadhav, Sangram Jadhav

Abstract:

Speed control of rotor during startup and under varying load conditions is one of the most difficult tasks of gas turbine operation. In this paper, power plant gas turbine (GE9001E) is considered for this purpose and fuzzy and fuzzy-PI rotor speed controllers are designed. The goal of the presented controllers is to keep the turbine rotor speed within predefined limits during startup condition as well as during operating condition. The fuzzy controller and fuzzy-PI controller are designed using Takagi-Sugeno method and Mamdani method, respectively. In applying the fuzzy-PI control to a gas-turbine plant, the tuning parameters (Kp and Ki) are modified online by fuzzy logic approach. Error and rate of change of error are inputs and change in fuel flow is output for both the controllers. Hence, rotor speed of gas turbine is controlled by modifying the fuel ƒflow. The identified linear ARX model of gas turbine is considered while designing the controllers. For simulations, demand power is taken as disturbance input. It is assumed that inlet guide vane (IGV) position is fixed. In addition, the constraint on the fuel flow is taken into account. The performance of the presented controllers is compared with each other as well as with H∞ robust and MPC controllers for the same operating conditions in simulations.

Keywords: gas turbine, fuzzy controller, fuzzy PI controller, power plant

Procedia PDF Downloads 333

Authors: Feleke Tsegaye

Abstract:

The work in this thesis mainly focuses on trajectory tracking of fixed wing unmanned aerial vehicle (FWUAV) by using fuzzy based sliding mode controller(FSMC) for surveillance applications. Unmanned Aerial Vehicles (UAVs) are general-purpose aircraft built to fly autonomously. This technology is applied in a variety of sectors, including the military, to improve defense, surveillance, and logistics. The model of FWUAV is complex due to its high non-linearity and coupling effect. In this thesis, input decoupling is done through extracting the dominant inputs during the design of the controller and considering the remaining inputs as uncertainty. The proper and steady flight maneuvering of UAVs under uncertain and unstable circumstances is the most critical problem for researchers studying UAVs. A FSMC technique was suggested to tackle the complexity of FWUAV systems. The trajectory tracking control algorithm primarily uses the sliding-mode (SM) variable structure control method to address the system’s control issue. In the SM control, a fuzzy logic control(FLC) algorithm is utilized in place of the discontinuous phase of the SM controller to reduce the chattering impact. In the reaching and sliding stages of SM control, Lyapunov theory is used to assure finite-time convergence. A comparison between the conventional SM controller and the suggested controller is done in relation to the chattering effect as well as tracking performance. It is evident that the chattering is effectively reduced, the suggested controller provides a quick response with a minimum steady-state error, and the controller is robust in the face of unknown disturbances. The designed control strategy is simulated with the nonlinear model of FWUAV using the MATLAB® / Simulink® environments. The simulation result shows the suggested controller operates effectively, maintains an aircraft’s stability, and will hold the aircraft’s targeted flight path despite the presence of uncertainty and disturbances.

Keywords: fixed-wing UAVs, sliding mode controller, fuzzy logic controller, chattering, coupling effect, surveillance, finite-time convergence, Lyapunov theory, flight path

Procedia PDF Downloads 56

Authors: Shweda Mohan, J. L. Nandagopal, S. Amritha

Abstract:

This paper focuses on the dynamic modelling of unicycle robot. Two main concepts used for balancing unicycle robot are: reaction wheel pendulum and inverted pendulum. The pitch axis is modelled as inverted pendulum and roll axis is modelled as reaction wheel pendulum. The unicycle yaw dynamics is not considered which makes the derivation of dynamics relatively simple. For the roll controller, sliding-mode controller has been adopted and optimal methods are used to minimize switching-function chattering. For pitch controller, an LQR controller has been implemented to drive the unicycle robot to follow the desired velocity trajectory. The pitching and rolling balance could be achieved by two DC motors. Unicycle robot is a non-holonomic, non-linear, static unbalance system that has the minimal number of point contact to the ground, therefore, it is a perfect platform for researchers to study motion and balance control. These real-time solutions will be a viable solution for advanced robotic systems and controls.

Keywords: decoupled dynamics, linear quadratic regulator (LQR) control, Lyapunov function sliding mode control, unicycle robot, velocity and trajectory control

Procedia PDF Downloads 362

Authors: Vuk M. Popovic, Dunja D. Popovic

Abstract:

Software maintenance phase is started once a software project has been developed and delivered. After that, any modification to it corresponds to maintenance. Software maintenance involves modifications to keep a software project usable in a changed or a changing environment, to correct discovered faults, and modifications, and to improve performance or maintainability. Software maintenance and management of software maintenance are recognized as two most important and most expensive processes in a life of a software product. This research is basing the prediction of maintenance, on risks and time evaluation, and using them as data sets for working with neural networks. The aim of this paper is to provide support to project maintenance managers. They will be able to pass the issues planned for the next software-service-patch to the experts, for risk and working time evaluation, and afterward to put all data to neural networks in order to get software maintenance prediction. This process will lead to the more accurate prediction of the working hours needed for the software-service-patch, which will eventually lead to better planning of budget for the software maintenance projects.

Keywords: laboratory information system, maintenance engineering, neural networks, software maintenance, software maintenance costs

Procedia PDF Downloads 357