Search results for: robust design

Authors: Yoonsoo Kim

Abstract:

This paper introduces an open-source software package SCILAB, an alternative of MATLAB, which can be used for robust control design and analysis of a typical mass-spring-damper (MSD) system. Using the previously published ideas in this popular mechanical system is considered to provide another example of usefulness of SCILAB for advanced control design.

Keywords: robust control, SCILAB, mass-spring-damper (MSD), popular mechanical systems

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Authors: Rami A. Maher, Ibraheem K. Ibraheem

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This work presents a comparison study between the state-space and polynomial methods for the design of the robust governor for load frequency control of steam turbine power systems. The robust governor is synthesized using the two approaches and the comparison is extended to include time and frequency domains performance, controller order, and uncertainty representation, weighting filters, optimality and sub-optimality. The obtained results are represented through tables and curves with reasons of similarities and dissimilarities.

Keywords: robust control, load frequency control, steam turbine, H∞-norm, system uncertainty, load disturbance

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Authors: Xiaobao Han, Huacong Li, Jia Li

Abstract:

For dynamic decoupling of linear parameter varying system, a robust dominance pre-compensator design method is given. The parameterized pre-compensator design problem is converted into optimal problem constrained with parameterized linear matrix inequalities (PLMI); To solve this problem, firstly, this optimization problem is equivalently transformed into a new form with elimination of coupling relationship between parameterized Lyapunov function (PLF) and pre-compensator. Then the problem was reduced to a normal convex optimization problem with normal linear matrix inequalities (LMI) constraints on a newly constructed convex polyhedron. Moreover, a parameter scheduling pre-compensator was achieved, which satisfies robust performance and decoupling performances. Finally, the feasibility and validity of the robust diagonal dominance pre-compensator design method are verified by the numerical simulation of a turbofan engine PLPV model.

Keywords: linear parameter varying (LPV), parameterized Lyapunov function (PLF), linear matrix inequalities (LMI), diagonal dominance pre-compensator

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Authors: Peyman Sindareh Esfahani, Jeffery Kurt Pieper

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In this paper, the problem of robust model predictive control (MPC) for discrete-time linear systems in linear fractional transformation form with structured uncertainty and norm-bounded disturbance is investigated. The problem of minimization of the cost function for MPC design is converted to minimization of the worst case of the cost function. Then, this problem is reduced to minimization of an upper bound of the cost function subject to a terminal inequality satisfying the l₂-norm of the closed loop system. The characteristic of the linear fractional transformation system is taken into account, and by using some mathematical tools, the robust predictive controller design problem is turned into a linear matrix inequality minimization problem. Afterwards, a formulation which includes an integrator to improve the performance of the proposed robust model predictive controller in steady state condition is studied. The validity of the approaches is illustrated through a robust control benchmark problem.

Keywords: linear fractional transformation, linear matrix inequality, robust model predictive control, state feedback control

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Authors: K. K. Lee, H. W. Han, H. L. Kang, T. A. Kim, S. H. Han

Abstract:

For the robust optimization of the manufacturing product design, there are design objectives that must be achieved, such as a minimization of the mean and standard deviation in objective functions within the required sensitivity constraints. The authors utilized the sensitivity of objective functions and constraints with respect to the effective design variables to reduce the computational burden associated with the evaluation of the probabilities. The individual mean and sensitivity values could be estimated easily by using the 9 level orthogonal array based response surface models optimized by the stepwise regression. The present study evaluates a proposed procedure from the robust optimization of rubber domes that are commonly used for keyboard switching, by using the 9 level orthogonal array and stepwise regression along with a desirability function. In addition, a new robust optimization process, i.e., the I2GEO (Identify, Integrate, Generate, Explore and Optimize), was proposed on the basis of the robust optimization in rubber domes. The optimized results from the response surface models and the estimated results by using the finite element analysis were consistent within a small margin of error. The standard deviation of objective function is decreasing 54.17% with suggested sensitivity based robust optimization. (Business for Cooperative R&D between Industry, Academy, and Research Institute funded Korea Small and Medium Business Administration in 2017, S2455569)

Keywords: objective function, orthogonal array, response surface model, robust optimization, stepwise regression

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Authors: Bong-Su Sin, Jong-Kyu Kim, Se-Il Song, Kwon-Hee Lee

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An automobile ball joint is a pivoting element used to allow rotational motion between the parts of the steering and suspension system. And it plays a role in smooth transmission of steering movement, also reduction in impact from the road surface. A ball joint is under various repeated loadings that may cause cracks and abrasion. This damages lead to safety problems of a car, as well as reducing the comfort of the driver's ride, and raise questions about the ball joint procedure and the whole durability of the suspension system. Accordingly, it is necessary to ensure the high durability and reliability of a ball joint. The structural responses of stiffness and pull-out strength were then calculated to check if the design satisfies the related requirements. The analysis was sequentially performed, following the caulking process. In this process, the deformation and stress results obtained from the analysis were saved. Sequential analysis has a strong advantage, in that it can be analyzed by considering the deformed shape and residual stress. The pull-out strength means the required force to pull the ball stud out from the ball joint assembly. The low pull-out strength can deteriorate the structural stability and safety performances. In this study, two design variables and two noise factors were set up. Two design variables were the diameter of a stud and the angle of a socket. And two noise factors were defined as the uncertainties of Young's modulus and yield stress of a seat. The DOE comprises 81 cases using these conditions. Robust design of a ball joint was performed using the DOE. The pull-out strength was generated from the uncertainties in the design variables and the design parameters. The purpose of robust design is to find the design with target response and smallest variation.

Keywords: ball joint, pull-out strength, robust design, design of experiments

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Authors: S. A. Gayvoronsky, T. A. Ezangina

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The robust control system objects with interval-undermined parameters is considers in this paper. Initial information about the system is its characteristic polynomial with interval coefficients. On the basis of coefficient estimations of quality indices and criterion of the maximum stability degree, the methods of synthesis of a robust regulator parametric is developed. The example of the robust stabilization system synthesis of the rope tension is given in this article.

Keywords: interval polynomial, controller synthesis, analysis of quality factors, maximum degree of stability, robust degree of stability, robust oscillation, system accuracy

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Authors: Dinesh Inamadar, R. Venugopalan, K. Padmini

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An attempt has been made in the present communication to elucidate the efficacy of robust ANOVA methods to analyze horticultural field experimental data in the presence of outliers. Results obtained fortify the use of robust ANOVA methods as there was substantiate reduction in error mean square, and hence the probability of committing Type I error, as compared to the regular approach.

Keywords: outliers, robust ANOVA, horticulture, cook distance, type I error

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Authors: Fernando P. Silva, Valter J. S. Leite, Erivelton G. Nepomuceno

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In this paper, a nonlinear controller design for an omnidirectional mobile is presented. The robot controller consists of an inner-loop controller and an outer-loop controller, the first is designed using state feedback (robust allocation) and the second controller is designed based on Robust Multi Inversion (RMI) approach. The objective of RMI controller is rendering the robust inversion of the dynamic, when the model is affected by uncertainties. A model nonlinear MIMO of an omni-directional robot (small-league of Robocup) is used to simulate the RMI approach. The parameters of linear and nonlinear model are varied to cause modelling uncertainties among the model and the real model (real system) generating an error in inner-loop controller signal that must be compensated by RMI controller. The simulation test results show that the RMI is capable of compensating the uncertainties and keep the system stable and controlled under uncertainties.

Keywords: robust multi inversion, omni-directional robot, robocup, nonlinear control

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Authors: Shokrya Saleh A. Alshqaq, Abdullah Ali H. Ahmadini

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The Schwarz information criterion (SIC) is a popular tool for selecting the best variables in regression datasets. However, SIC is defined using an unbounded estimator, namely, the least-squares (LS), which is highly sensitive to outlying observations, especially bad leverage points. A method for robust variable selection based on SIC for linear regression models is thus needed. This study investigates the robustness properties of SIC by deriving its influence function and proposes a robust SIC based on the MM-estimation scale. The aim of this study is to produce a criterion that can effectively select accurate models in the presence of vertical outliers and high leverage points. The advantages of the proposed robust SIC is demonstrated through a simulation study and an analysis of a real dataset.

Keywords: influence function, robust variable selection, robust regression, Schwarz information criterion

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Authors: Marek Dlapa

Abstract:

The algebraic approach is applied to the control of the HiMAT (Highly Maneuverable Aircraft Technology). The objective is to find a robust controller which guarantees robust stability and decoupled control of longitudinal model of a scaled remotely controlled vehicle version of the advanced fighter HiMAT. Control design is performed by decoupling the nominal MIMO (multi-input multi-output) system into two identical SISO (single-input single-output) plants which are approximated by a 4th order transfer function. The algebraic approach is then used for pole placement design, and the nominal closed-loop poles are tuned so that the peak of the µ-function is minimal. As an optimization tool, evolutionary algorithm Differential Migration is used in order to overcome the multimodality of the cost function yielding simple controller with decoupling for nominal plant which is compared with the D-K iteration through simulations of standard longitudinal manoeuvres documenting decoupled control obtained from algebraic approach for nominal plant as well as worst case perturbation.

Keywords: algebraic approach, evolutionary computation, genetic algorithms, HiMAT, robust control, structured singular value

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Authors: Reza Alikhani

Abstract:

This research focuses on the establishment of horizontal cooperation among companies to enhance their operational efficiency and competitiveness. The study proposes an approach to horizontal collaboration, called coalition configuration, which involves partnering companies sharing distribution centers in a network design problem. The paper investigates which coalition should be formed in each distribution center to minimize the total cost of the network. Moreover, potential uncertainties, such as operational and disruption risks, are considered during the collaborative design phase. To address this problem, a two-stage robust optimization model for collaborative distribution network design under surging demand and facility disruptions is presented, along with a column-and-constraint generation algorithm to obtain exact solutions tailored to the proposed formulation. Extensive numerical experiments are conducted to analyze solutions obtained by the model in various scenarios, including decisions ranging from fully centralized to fully decentralized settings, collaborative versus non-collaborative approaches, and different amounts of uncertainty budgets. The results show that the coalition formation mechanism proposes some solutions that are competitive with the savings of the grand coalition. The research also highlights that collaboration increases network flexibility and resilience while reducing costs associated with demand and capacity uncertainties.

Keywords: logistics, warehouse sharing, robust facility location, collaboration for resilience

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Authors: Siwar Fadhel, Imen Bahri, Man Zhang

Abstract:

The switched reluctance machine (SRM) has undeniable qualities in terms of low cost and mechanical robustness. However, its highly nonlinear character and its uncertain parameters justify the development of complicated controls. In this paper, authors present the design of a robust H-infinity current controller for an 8/6 SRM with taking into account the nonlinearity of the SRM and with rejection of disturbances. The electromagnetic torque is indirectly regulated through the current controller. To show the performances of this control, a robustness analysis is performed by comparing the H-infinity and PI controller simulation results. This comparison demonstrates better performances for the presented controller. The effectiveness and robustness of the presented controller are also demonstrated by experimental tests.

Keywords: current regulation, experimentation, robust H-infinity control, switched reluctance machine

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Authors: İkbal Eski

Abstract:

This investigation is researched on design of robust neural network predictors for analyzing vibration effects on moving parts of a drilling machine. Moreover, the research is divided two parts; first part is experimental investigation, second part is simulation analysis with neural networks. Therefore, a real time the drilling machine is used to vibrations during working conditions. The measured real vibration parameters are analyzed with proposed neural network. As results: Simulation approaches show that Radial Basis Neural Network has good performance to adapt real time parameters of the drilling machine.

Keywords: artificial neural network, vibration analyses, drilling machine, robust

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Authors: Fatma Zehra Doğru, Olcay Arslan

Abstract:

In this paper, we propose alternative robust estimators for the shape parameters of the Burr XII distribution. We provide a small simulation study and a real data example to illustrate the performance of the proposed estimators over the ML and the LS estimators.

Keywords: burr xii distribution, robust estimator, m-estimator, least squares

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Authors: Hazem Al-Mofleh, John Daniels, Joseph McKean

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Within geostatistics research, effective estimation of the variogram points has been examined, particularly in developing robust alternatives. The parametric fit of these variogram points which eventually defines the kriging weights, however, has not received the same attention from a robust perspective. This paper proposes the use of the non-linear Wilcoxon norm over weighted non-linear least squares as a robust variogram fitting alternative. First, we introduce the concept of variogram estimation and fitting. Then, as an alternative to non-linear weighted least squares, we discuss the non-linear Wilcoxon estimator. Next, the robustness properties of the non-linear Wilcoxon are demonstrated using a contaminated spatial data set. Finally, under simulated conditions, increasing levels of contaminated spatial processes have their variograms points estimated and fit. In the fitting of these variogram points, both non-linear Weighted Least Squares and non-linear Wilcoxon fits are examined for efficiency. At all levels of contamination (including 0%), using a robust estimation and robust fitting procedure, the non-weighted Wilcoxon outperforms weighted Least Squares.

Keywords: non-linear wilcoxon, robust estimation, variogram estimation, wilcoxon norm

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Authors: Dong Sang Yoo

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We consider nonlinear uncertain systems such that a priori information of the uncertainties is not available. For such systems, we assume that the upper bound of the uncertainties is represented as a Fredholm integral equation of the first kind and we propose an adaptation law that is capable of estimating the upper bound and design a continuous robust control which renders nonlinear uncertain systems ultimately bounded.

Keywords: adaptive control, estimation, Fredholm integral, uncertain system

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Authors: Myung-Gon Yoon, Jung-Ho Moon, Tae Kwon Ha

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This paper considers a robust stabilization problem of a single agent in a multi-agent consensus system composed of identical agents, when the network topology of the system is completely unknown. It is shown that the transfer function of an agent in a consensus system can be described as a multiplicative perturbation of the isolated agent transfer function in frequency domain. Applying known robust stabilization results, we present sufficient conditions for a robust stabilization of an agent against unknown network topology.

Keywords: single agent control, multi-agent system, transfer function, graph angle

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Authors: Behrooz Khalilloo, Hamid Shahriari, Emad Roghanian

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Process capability indices (PCIs) are important concepts of statistical quality control and measure the capability of processes and how much processes are meeting certain specifications. An important issue in statistical quality control is parameter estimation. Under the assumption of multivariate normality, the distribution parameters, mean vector and variance-covariance matrix must be estimated, when they are unknown. Classic estimation methods like method of moment estimation (MME) or maximum likelihood estimation (MLE) makes good estimation of the population parameters when data are not contaminated. But when outliers exist in the data, MME and MLE make weak estimators of the population parameters. So we need some estimators which have good estimation in the presence of outliers. In this work robust M-estimators for estimating these parameters are used and based on robust parameter estimators, robust process capability indices are introduced. The performances of these robust estimators in the presence of outliers and their effects on process capability indices are evaluated by real and simulated multivariate data. The results indicate that the proposed robust capability indices perform much better than the existing process capability indices.

Keywords: multivariate process capability indices, robust M-estimator, outlier, multivariate quality control, statistical quality control

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Authors: J. P. P. Andrade, V. A. F. Campos

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This work presents an application of Linear Matrix Inequalities (LMI) for the robust control of an F-16 aircraft through an algorithm ensuring the damping factor to the closed loop system. The results show that the zero and gain settings are sufficient to ensure robust performance and stability with respect to various operating points. The technique used is the pole placement, which aims to put the system in closed loop poles in a specific region of the complex plane. Test results using a dynamic model of the F-16 aircraft are presented and discussed.

Keywords: F-16 aircraft, linear matrix inequalities, pole placement, robust control

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Authors: Alla Levina, Sergey Taranov

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The classical approach to the providing noise immunity and integrity of information that process in computing devices and communication channels is to use linear codes. Linear codes have fast and efficient algorithms of encoding and decoding information, but this codes concentrate their detect and correct abilities in certain error configurations. To protect against any configuration of errors at predetermined probability can robust codes. This is accomplished by the use of perfect nonlinear and almost perfect nonlinear functions to calculate the code redundancy. The paper presents the error-correcting coding scheme using biorthogonal wavelet transform. Wavelet transform applied in various fields of science. Some of the wavelet applications are cleaning of signal from noise, data compression, spectral analysis of the signal components. The article suggests methods for constructing linear codes based on wavelet decomposition. For developed constructions we build generator and check matrix that contain the scaling function coefficients of wavelet. Based on linear wavelet codes we develop robust codes that provide uniform protection against all errors. In article we propose two constructions of robust code. The first class of robust code is based on multiplicative inverse in finite field. In the second robust code construction the redundancy part is a cube of information part. Also, this paper investigates the characteristics of proposed robust and linear codes.

Keywords: robust code, linear code, wavelet decomposition, scaling function, error masking probability

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Authors: M. Khairudin

Abstract:

This paper investigates the system identification and design quantitative feedback theory (QFT) for the robust control of a lathe spindle. The dynamic of the lathe spindle is uncertain and time variation due to the deepness variation on cutting process. System identification was used to obtain the dynamics model of the lathe spindle. In this work, real time system identification is used to construct a linear model of the system from the nonlinear system. These linear models and its uncertainty bound can then be used for controller synthesis. The real time nonlinear system identification process to obtain a set of linear models of the lathe spindle that represents the operating ranges of the dynamic system. With a selected input signal, the data of output and response is acquired and nonlinear system identification is performed using Matlab to obtain a linear model of the system. Practical design steps are presented in which the QFT-based conditions are formulated to obtain a compensator and pre-filter to control the lathe spindle. The performances of the proposed controller are evaluated in terms of velocity responses of the the lathe machine spindle in corporating deepness on cutting process.

Keywords: lathe spindle, QFT, robust control, system identification

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Authors: A. Abbasi Moshaii, M. Soltan Rezaee, M. Mohammadi Moghaddam

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Control of some mechanisms is hard because of their complex dynamic equations. If part of the complexity is resulting from uncertainties, an efficient way for solving that is robust control. By this way, the control procedure could be simple and fast and finally, a simple controller can be designed. One kind of these mechanisms is 3-RRR which is a parallel mechanism and has three revolute joints. This paper aims to robust control a 3-RRR planner mechanism and it presents that this could be used for other mechanisms. So, a significant problem in mechanisms control could be solved. The relevant diagrams are drawn and they show the correctness of control process.

Keywords: 3-RRR, dynamic equations, mechanisms control, structural uncertainty

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Authors: Charles Chikwendu Okpala, Christopher Chukwutoo Ihueze

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As a technique that reduces variation in a product by lessening the sensitivity of the design to sources of variation, rather than by controlling their sources, Taguchi Robust Design entails the designing of ideal goods, by developing a product that has minimal variance in its characteristics and also meets the desired exact performance. This paper examined the concept of the manufacturing approach and its application to brake pad product of an automotive parts manufacturing company. Although the firm claimed that only defects, excess inventory, and over-production were the few wastes that grossly affect their productivity and profitability, a careful study and analysis of their manufacturing processes with the application of Single Minute Exchange of Dies (SMED) tool showed that the waste of waiting is the fourth waste that bedevils the firm. The selection of the Taguchi L9 orthogonal array which is based on the four parameters and the three levels of variation for each parameter revealed that with a range of 2.17, that waiting is the major waste that the company must reduce in order to continue to be viable. Also, to enhance the company’s throughput and profitability, the wastes of over-production, excess inventory, and defects with ranges of 2.01, 1.46, and 0.82, ranking second, third, and fourth respectively must also be reduced to the barest minimum. After proposing -33.84 as the highest optimum Signal-to-Noise ratio to be maintained for the waste of waiting, the paper advocated for the adoption of all the tools and techniques of Lean Production System (LPS), and Continuous Improvement (CI), and concluded by recommending SMED in order to drastically reduce set up time which leads to unnecessary waiting.

Keywords: lean production system, single minute exchange of dies, signal to noise ratio, Taguchi robust design, waste

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Authors: Chivon Choeung, Heng Tang, Panha Soth, Vichet Huy

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This paper presents a robust control strategy for a single-phase DC-AC inverter with an output LC-filter. An all-pass filter is utilized to create an artificial β-signal so that the proposed controller can be simply used in dq-synchronous frame. The proposed robust controller utilizes a state feedback control with integral action in the dq-synchronous frame. A linear matrix inequality-based optimization scheme is used to determine stabilizing gains of the controllers to maximize the convergence rate to steady state in the presence of uncertainties. The uncertainties of the system are described as the potential variation range of the inductance and resistance in the LC-filter.

Keywords: single-phase inverter, linear matrix inequality, robust control, all-pass filter

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Authors: Shunichi Ohmori, Sirawadee Arunyanart, Kazuho Yoshimoto

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We consider a periodic review inventory control problem of minimizing production cost, inventory cost, and lost-sales under demand uncertainty, in which product demands are not specified exactly and it is only known to belong to a given uncertainty set, yet the constraints must hold for possible values of the data from the uncertainty set. We propose a robust optimization formulation for obtaining lowest cost possible and guaranteeing the feasibility with respect to range of order quantity and inventory level under demand uncertainty. Our formulation is based on the adaptive robust counterpart, which suppose order quantity is affine function of past demands. We derive certainty equivalent problem via second-order cone programming, which gives 'not too pessimistic' worst-case.

Keywords: robust optimization, inventory control, supply chain managment, second-order programming

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Authors: Henni Mansour Abdelwaheb

Abstract:

This study discusses the design of a bounded position/force feedback controller developed to ensure position and force tracking for bilateral teleoperation arms operating with variable delay, and actuator saturation. Also, an adaptive robust Radial Basis Function (RBF) neural network is used to estimate the environment torque. The parameters of the environment torque are then sent from the slave site to the master site as a non-power signal to avoid passivity problems. Moreover, a nonlinear function is applied to each controller term as a smooth saturation function, providing a bounded control signal and preserving the system’s actuators. Lastly, the Lyapunov approach demonstrates the global stability of the controlled system, and numerical experiment results further confirm the validity of the presented strategy.

Keywords: teleoperation manipulators system, time-varying delay, actuator saturation, adaptive robust rbf neural network approximation, uncertainties

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Authors: R. M. Chandima Ratnayake, Daniel Dyakov

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Super steel materials play vital role in construction and fabrication of structural, piping and pipeline components. They enable to minimize the life cycle costs in assuring the integrity of onshore and offshore operating systems. In this context, Duplex stainless steel (DSS) material related welding on constructions and fabrications play a significant role in maintaining and assuring integrity at an optimal expenditure over the life cycle of production and process systems as well as associated structures. In DSS welding, the factors such as gap geometry, shielding gas supply rate, welding current, and type of the welding process play a vital role on the final joint performance. Hence, an experimental investigation has been performed using engineering robust design approach (ERDA) to investigate the optimal settings that generate optimal super DSS (i.e. UNS S32750) joint performance. This manuscript illustrates the mathematical approach and experimental design, optimal parameter settings and results of verification experiment.

Keywords: duplex stainless steel welding, engineering robust design, mathematical framework, optimal parameter settings

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Authors: Hussein Altartouri

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The purpose of this paper is to present a modeling and control of the active suspension system using robust state feedback controller implemented for a half car model. This system represents a mechatronic system which contains all the essential components to be considered a complete mechatronic system. This system must adapt different conditions which are difficult to compromise, such as disturbances, slippage, and motion on rough road (that contains rocks, stones, and other miscellanies). Some current automobile suspension systems use passive components only by utilizing spring and damping coefficient with fixed rates. Vehicle suspensions systems are used to provide good road handling and improve passenger comfort. Passive suspensions only offer compromise between these two conflicting criteria. Active suspension poses the ability to reduce the traditional design as a compromise between handling and comfort by directly controlling the suspensions force actuators. In this study, the robust state feedback controller implemented to the active suspensions system for half car model.

Keywords: half-car model, active suspension system, state feedback, road profile

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Authors: Honorio Salmeron Valdivieso, Andy Keane, David Toal

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In the area of mechanical reverse engineering, processes often encounter difficulties capturing small, highly localized surface information. This could be the case if a physical turbine was 3D scanned for lifecycle management or robust design purposes, with interest on eroded areas or scratched coating. The limitation partly is due to insufficient automated frameworks for handling -localized - surface information during the reverse engineering pipeline. We have developed a tool for blending surface patches with arbitrary irregularities into a base body (e.g. a CAD solid). The approach aims to transfer small surface features while preserving their shape and relative placement by using a multi-resolution scheme and rigid deformations. Automating this process enables the inclusion of outsourced surface information in CAD models, including samples prepared in mesh handling software, or raw scan information discarded in the early stages of reverse engineering reconstruction.

Keywords: application lifecycle management, multiresolution deformation, reverse engineering, robust design, surface blending

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