Search results for: coverage control

Authors: Mohanad Alhabo, Li Zhang, Naveed Nawaz

Abstract:

Small cell deployment in 5G networks is a promising technology to enhance capacity and coverage. However, unplanned deployment may cause high interference levels and high number of unnecessary handovers, which in turn will result in an increase in the signalling overhead. To guarantee service continuity, minimize unnecessary handovers, and reduce signalling overhead in heterogeneous networks, it is essential to properly model the handover decision problem. In this paper, we model the handover decision according to Multiple Attribute Decision Making (MADM) method, specifically Technique for Order Preference by Similarity to an Ideal Solution (TOPSIS). In this paper, we propose a hybrid TOPSIS method to control the handover in heterogeneous network. The proposed method adopts a hybrid weighting, which is a combination of entropy and standard deviation. A hybrid weighting control parameter is introduced to balance the impact of the standard deviation and entropy weighting on the network selection process and the overall performance. Our proposed method shows better performance, in terms of the number of frequent handovers and the mean user throughput, compared to the existing methods.

Keywords: handover, HetNets, interference, MADM, small cells, TOPSIS, weight

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Authors: Pornsiri Kaewpradit, Chalisa Pourneaw

Abstract:

Temperature control improvement of a membrane reactor with exothermic and reversible esterification reaction is studied in this work. It is well known that a batch membrane reactor requires different control strategies from a continuous one due to the fact that it is operated dynamically. Due to the effect of the operating temperature, the suitable control scheme has to be designed based reliable predictive model to achieve a desired objective. In the study, the optimization framework has been preliminary formulated in order to determine an optimal temperature trajectory for maximizing a desired product. In model predictive control scheme, a set of predictive models have been initially developed corresponding to the possible operating points of the system. The multiple predictive control moves have been further calculated on-line using the developed models corresponding to current operating point. It is obviously seen in the simulation results that the temperature control has been improved compared to the performance obtained by the conventional predictive controller. Further robustness tests have also been investigated in this study.

Keywords: model predictive control, batch reactor, temperature control, membrane reactor

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Authors: Marek Długosz, Paweł Skruch

Abstract:

One of purposes of home automation systems is to provide appropriate comfort to the users by suitable air temperature control and stabilization inside the rooms. The control of temperature level is not a simple task and the basic difficulty results from the fact that accurate parameters of the object of control, that is a building, remain unknown. Whereas the structure of the model is known, the identification of model parameters is a difficult task. In this paper, a control algorithm allowing the present temperature to be reached inside the building within the specified time without the need to know accurate parameters of the building itself is presented.

Keywords: control, home automation system, wireless networking, automation engineering

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Authors: Alexandra Monteiro, K. Bousson, Fernando J. O. Moreira, Ricardo Reis

Abstract:

Fixed-wing flying vehicles are usually controlled by means of control surfaces such as elevators, ailerons, and rudders. The failure of these systems may lead to severe or even fatal crashes. These failures resulted in increased popularity for research activities on propulsion control in the last decades. The present work deals with a hybrid control architecture in which the propulsion-controlled vehicle maintains its traditional control surfaces, addressing the issue of robust lateral-directional dynamics control. The challenges stem from the parameter uncertainties in the stability and control derivatives and some unknown terms in the flight dynamics model. Two approaches are implemented and tested: linear quadratic regulation with robustness characteristics and H∞ control. The problem is centered on roll-yaw controller design with full state-feedback, which is able to deal with a standalone propulsion control mode as well as a hybrid mode combining both propulsion control and conventional control surface concepts while maintaining the original flight maneuverability characteristics. The results for both controllers emphasized very good control performances; however, the H∞ controller showed higher stabilization rates and robustness albeit with a slightly higher control magnitude than using the linear quadratic regulator.

Keywords: robust propulsion control, h-infinity control, lateral-directional flight dynamics, parameter uncertainties

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Authors: Bessaad Taieb, Benbouali Abderrahmen

Abstract:

Fuzzy controllers are a powerful tool for controlling complex processes. However, its robustness capacity remains moderately limited because it loses its property for large ranges of parametric variations. In this paper, the proposed control method is designed, based on a fuzzy adaptive controller used as a remedy for this problem. For increase the robustness of the vector control and to maintain the performance of the five-phase asynchronous machine despite the presence of disturbances (variation of rotor resistance, rotor inertia variations, sudden variations in the load etc.), by applying the method of behaviour model control (BMC). The results of simulation show that the fuzzy adaptive control provides best performance and has a more robustness as the fuzzy (FLC) and as a conventional (PI) controller.

Keywords: fuzzy adaptive control, behaviour model control, vector control, five-phase asynchronous machine

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Authors: Moses Mwangi, Geert Verbeke, Geert Molenberghs

Abstract:

Cross-over designs are commonly used in randomized clinical trials to estimate efficacy of a new treatment with respect to a reference treatment (placebo or standard). The main advantage of using cross-over design over conventional parallel design is its flexibility, where every subject become its own control, thereby reducing confounding effect. Jones & Kenward, discuss in detail more recent developments in the analysis of cross-over trials. We revisit the simple piecewise linear mixed-effects model, proposed by Mwangi et. al, (in press) for its first application in the analysis of cross-over trials. We compared performance of the proposed piecewise linear mixed-effects model with two commonly cited statistical models namely, (1) Grizzle model; and (2) Jones & Kenward model, used in estimation of the treatment effect, in the analysis of randomized cross-over trial. We estimate two performance measurements (mean square error (MSE) and coverage probability) for the three methods, using data simulated from the proposed piecewise linear mixed-effects model. Piecewise linear mixed-effects model yielded lowest MSE estimates compared to Grizzle and Jones & Kenward models for both small (Nobs=20) and large (Nobs=600) sample sizes. It’s coverage probability were highest compared to Grizzle and Jones & Kenward models for both small and large sample sizes. A piecewise linear mixed-effects model is a better estimator of treatment effect than its two competing estimators (Grizzle and Jones & Kenward models) in the analysis of cross-over trials. The data generating mechanism used in this paper captures two time periods for a simple 2-Treatments x 2-Periods cross-over design. Its application is extendible to more complex cross-over designs with multiple treatments and periods. In addition, it is important to note that, even for single response models, adding more random effects increases the complexity of the model and thus may be difficult or impossible to fit in some cases.

Keywords: Evaluation, Grizzle model, Jones & Kenward model, Performance measures, Simulation

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Authors: Irtaza M. Syed, Kaamran Raahemifar

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In this paper, we present a comparative assessment of Space Vector Pulse Width Modulation (SVPWM) and Model Predictive Control (MPC) for two-level three phase (2L-3P) Voltage Source Inverter (VSI). VSI with associated system is subjected to both control techniques and the results are compared. Matlab/Simulink was used to model, simulate and validate the control schemes. Findings of this study show that MPC is superior to SVPWM in terms of total harmonic distortion (THD) and implementation.

Keywords: voltage source inverter, space vector pulse width modulation, model predictive control, comparison

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Authors: P. Ghann, J. Shiguang, C. Zhou

Abstract:

Access control is one of the most challenging issues facing information security. Access control is defined as, the ability to permit or deny access to a particular computational resource or digital information by an unauthorized user or subject. The concept of usage control (UCON) has been introduced as a unified approach to capture a number of extensions for access control models and systems. In UCON, an access decision is determined by three factors: Authorizations, obligations and conditions. Attribute mutability and decision continuity are two distinct characteristics introduced by UCON for the first time. An observation of UCON components indicates that, the components are predefined and static. In this paper, we propose a new and flexible model of usage control for the creation and elimination of some of these components; for example new objects, subjects, attributes and integrate these with the original UCON model. We also propose a model for concurrent usage scenarios in UCON.

Keywords: access control, concurrency, digital container, usage control

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Authors: A. Boualouch, A. Frigui, T. Nasser, A. Essadki, A.Boukhriss

Abstract:

This work deals with the vector control of the active and reactive powers of a Double-Fed Induction generator DFIG used as a wind generator by the polynomial RST controller. The control of the statoric power transfer between the machine and the grid is achieved by acting on the rotor parameters and control is provided by the polynomial controller RST. The performance and robustness of the controller are compared with PI controller and evaluated by simulation results in MATLAB/simulink.

Keywords: DFIG, RST, vector control, wind turbine

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Authors: Tomoaki Hashimoto

Abstract:

Model predictive control is a kind of optimal feedback control in which control performance over a finite future is optimized with a performance index that has a moving initial time and a moving terminal time. This paper examines the stability of model predictive control for linear discrete-time systems with additive stochastic disturbances. A sufficient condition for the stability of the closed-loop system with model predictive control is derived by means of a linear matrix inequality. The objective of this paper is to show the results of computational simulations in order to verify the validity of the obtained stability condition.

Keywords: computational simulations, optimal control, predictive control, stochastic systems, discrete-time systems

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Authors: A. Djahbar, E. Bounadja, A. Zegaoui, H. Allouache

Abstract:

In this paper, vector control of a series-connected two-machine drive system fed by a single inverter (CSI/VSI) is presented. The two stator windings of both machines are connected in series while the rotors may be connected to different loads, are called series-connected two-machine drive. Appropriate phase transposition is introduced while connecting the series stator winding to obtain decoupled control the two-machines. The dynamic decoupling of each machine from the group is obtained using the vector control algorithm. The independent control is demonstrated by analyzing the characteristics of torque and speed of each machine obtained via simulation under vector control scheme. The viability of the control techniques is proved using analytically and simulation approach.

Keywords: drives, inverter, multi-phase induction machine, vector control

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Authors: Sadaoui Djaouida

Abstract:

In this paper, the predictive control method is proposed to control the synchronization of two perturbed satellites attitude motion. Based on delayed feedback control of continuous-time systems combines with the prediction-based method of discrete-time systems, this approach only needs a single controller to realize synchronization, which has considerable significance in reducing the cost and complexity for controller implementation.

Keywords: predictive control, synchronization, satellite attitude, control engineering

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Authors: Winfred Okoe Addy, Jean Jacques Dominique Beraud

Abstract:

Access control systems (ACs) are some of the most important components in safety areas. Inaccuracies of regulatory frameworks make personal policies and remedies more appropriate than standard models or protocols. This problem is exacerbated by the increasing complexity of software, such as integrated Big Data (BD) software for controlling large volumes of encrypted data and resources embedded in a dedicated BD production system. This paper proposes a general access control strategy system for the diffusion of Big Data domains since it is crucial to secure the data provided to data consumers (DC). We presented a general access control circulation strategy for the Big Data domain by describing the benefit of using designated access control for BD units and performance and taking into consideration the need for BD and AC system. We then presented a generic of Big Data access control system to improve the dissemination of Big Data.

Keywords: access control, security, Big Data, domain

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Authors: Yinggang Guo, Zongchun Li

Abstract:

In order to decrease the accumulated survey error of tunnel installation control network of particle accelerator, a sectional control method is proposed. Firstly, the accumulation rule of positional error with the length of the control network is obtained by simulation calculation according to the shape of the tunnel installation-control-network. Then, the RMS of horizontal positional precision of tunnel backbone control network is taken as the threshold. When the accumulated error is bigger than the threshold, the tunnel installation control network should be divided into subsections reasonably. On each segment, the middle survey station is taken as the datum for independent adjustment calculation. Finally, by taking the backbone control points as faint datums, the weighted partial parameters adjustment is performed with the adjustment results of each segment and the coordinates of backbone control points. The subsections are jointed and unified into the global coordinate system in the adjustment process. An installation control network of the linac with a length of 1.6 km is simulated. The RMS of positional deviation of the proposed method is 2.583 mm, and the RMS of the difference of positional deviation between adjacent points reaches 0.035 mm. Experimental results show that the proposed sectional control method can not only effectively decrease the accumulated survey error but also guarantee the relative positional precision of the installation control network. So it can be applied in the data processing of tunnel installation control networks, especially for large particle accelerators.

Keywords: alignment, tunnel installation control network, accumulated survey error, sectional control method, datum

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Authors: Li Yongyi

Abstract:

In order to explore the distribution of geological disasters within the expressway area of Shaanxi Province, the Analytic Hierarchy Process theory is applied based on the geographic information system technology platform, and the ground elevation, rainfall, vegetation coverage and other indicators are selected for analysis, and the expressway area is sensitive Sexual evaluation. The results show that the highway area disasters in Shaanxi Province are mainly distributed in the southern mountainous areas and are dominated by landslides; the disaster area ratio basically increases with the increase in ground elevation, surface slope, surface undulation, rainfall, and vegetation coverage. The increase in the distance from the river shows a decreasing trend; after grading the disaster sensitivity within 5km of the expressway, the extremely sensitive area, the highly sensitive area, the medium sensitive area, the low sensitive area, and the extremely low sensitive area respectively account for 8.17%、15.80%、22.99%、26.22%、26.82%. Highly sensitive road areas are mainly distributed in southern Shaanxi.

Keywords: highway engineering, sensitivity, analytic hierarchy process, geological hazard, road area

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Authors: Yupaporn Areepong

Abstract:

The main goal of this paper is to study Statistical Process Control (SPC) with Exponentially Weighted Moving Average (EWMA) control chart when observations are serially-correlated. The characteristic of control chart is Average Run Length (ARL) which is the average number of samples taken before an action signal is given. Ideally, an acceptable ARL of in-control process should be enough large, so-called (ARL0). Otherwise it should be small when the process is out-of-control, so-called Average of Delay Time (ARL1) or a mean of true alarm. We find explicit formulas of ARL for EWMA control chart for Seasonal Autoregressive and Moving Average processes (SARMA) with Exponential white noise. The results of ARL obtained from explicit formula and Integral equation are in good agreement. In particular, this formulas for evaluating (ARL0) and (ARL1) be able to get a set of optimal parameters which depend on smoothing parameter (λ) and width of control limit (H) for designing EWMA chart with minimum of (ARL1).

Keywords: average run length, optimal parameters, exponentially weighted moving average (EWMA), control chart

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Authors: Frederick Monyepao

Abstract:

Crack cocaine first appeared on the scene in the form of cocaine freebasing in the late 1970s. Stockbrokers, investment bankers, rock stars, Hollywood elites, and a few pro athletes were regular users of the substance. As criminogenic factors associated with substance abuse began to surface, congress passed new legislation. The laws led to the increase of health coverage insurances and the expansion of hospitals. By the mid-1980s, crack use spread into America's inner cities among impoverished African Americans and Latinos. While substance abuse increased among minority communities, legislation pertaining to substance abuse evolved. The prison industry also expanded the number of cells available. A qualitative approach was taken, drawing from a range secondary sources for contextual analysis. This paper traces out the continued marginalisation and racist undertones towards minorities as perpetuated by certain drug policies. It was discovered that the new legislation on crack was instrumental in the largest incarcerations the United States ever faced. Drug offenders increased in prisons eightfold from 1986 to 2000. The paper concludes that American drug control policies are consistently irrational and ineffective when measured by levels of substance use and abuse. On the contrary, these policies have been successful as agents of social control in maintaining the stratification patterns of racial/ethnic minorities and women. To move beyond prohibition, radical law and policy reform may require a change in narratives on substance use.

Keywords: crack, drug policy, minorities, racism, substance abuse

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Authors: M. W. Sun, Y. Zhang, L. M. Zhang, Z. H. Wang, Z. Q. Chen

Abstract:

In the realm of flight control, the Proportional- Derivative (PD) control is still widely used for the attitude control in practice, particularly for the pitch control, and the attitude dynamics using PD controller should be investigated deeply. According to the empirical knowledge about the unstable flight dynamics, the control parameter combination conditions to generate sole or finite number of closed-loop oscillations, which is a quite smooth response and is more preferred by practitioners, are presented in analytical or numerical manners. To analyze the effects of the combination conditions of the control parameters, the roots of several polynomials are sought to obtain feasible solutions. These conditions can also be plotted in a 2-D plane which makes the conditions be more explicit by using multiple interval operations. Finally, numerical examples are used to validate the proposed methods and some comparisons are also performed.

Keywords: attitude control, dynamic performance, numerical solving method, interval, unstable flight dynamics

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Authors: Soltani Amir, Hu Jiaxin

Abstract:

Determination of optimal parameters of a passive control system device is the primary objective of this study. Expanding upon the use of control devices in wind and earthquake hazard reduction has led to development of various control systems. The advantage of non-linearity characteristics in a passive control device and the optimal control method using LQR algorithm are explained in this study. Finally, this paper introduces a simple approach to determine optimum parameters of a nonlinear viscous damper for vibration control of structures. A MATLAB program is used to produce the dynamic motion of the structure considering the stiffness matrix of the SDOF frame and the non-linear damping effect. This study concluded that the proposed system (variable damping system) has better performance in system response control than a linear damping system. Also, according to the energy dissipation graph, the total energy loss is greater in non-linear damping system than other systems.

Keywords: passive control system, damping devices, viscous dampers, control algorithm

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Authors: Ali Mausmi, Ahmed Abbou, Rachid El Akhrif

Abstract:

This research paper aims to reduce the chattering phenomenon due to control by sliding mode control applied on a wind energy conversion system based on the doubly fed induction generator (DFIG). Our goal is to offset the effect of parametric uncertainties and come as close as possible to the dynamic response solicited by the control law in the ideal case and therefore force the active and reactive power generated by the DFIG to accurately follow the reference values which are provided to it. The simulation results using Matlab / Simulink demonstrate the efficiency and performance of the proposed technique while maintaining the simplicity of control by first order sliding mode.

Keywords: control of speed, correction of the equivalent command, induction generator, sliding mode

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Authors: Aneesh Babu, S. P. Anusha

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A dynamic signal control system combines traditional traffic lights with an array of sensors to intelligently control vehicle and pedestrian traffic. The present study focus on evaluating the performance of dynamic signal control systems for mixed traffic conditions. Data collected from four different approaches to a typical four-legged signalized intersection at Trivandrum city in the Kerala state of India is used for the study. Performance of three other dynamic signal control methods, namely (i) Non-sequential method (ii) Webster design for consecutive signal cycle using flow as input, and (iii) dynamic signal control using RFID delay as input, were evaluated. The evaluation of the dynamic signal control systems was carried out using a calibrated VISSIM microsimulation model. Python programming was used to integrate the dynamic signal control algorithm through the COM interface in VISSIM. The intersection delay obtained from different dynamic signal control methods was compared with the delay obtained from fixed signal control. Based on the study results, it was observed that the intersection delay was reduced significantly by using dynamic signal control methods. The dynamic signal control method using delay from RFID sensors resulted in a higher percentage reduction in delay and hence is a suitable choice for implementation under mixed traffic conditions. The developed dynamic signal control strategies can be implemented in ITS applications under mixed traffic conditions.

Keywords: dynamic signal control, intersection delay, mixed traffic conditions, RFID sensors

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Authors: L. Marcos Domínguez, Nils Rage, Ongun B. Kazanci, Bjarne W. Olesen

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Thermally Activated Building Systems (TABS) have proven to be an energy-efficient solution to provide buildings with an optimal indoor thermal environment. This solution uses the structure of the building to store heat, reduce the peak loads, and decrease the primary energy demand. TABS require the heated or cooled surfaces to be as exposed as possible to the indoor space, but exposing the bare concrete surfaces has a diminishing effect on the acoustic qualities of the spaces in a building. Acoustic solutions capable of providing optimal acoustic comfort and allowing the heat exchange between the TABS and the room are desirable. In this study, the effects of free-hanging units on the cooling performance of TABS and the occupants’ thermal comfort was measured in a full-scale TABS laboratory. Investigations demonstrate that the use of free-hanging sound absorbers are compatible with the performance of TABS and the occupant’s thermal comfort, but an appropriate acoustic design is needed to find the most suitable solution for each case. The results show a reduction of 11% of the cooling performance of the TABS when 43% of the ceiling area is covered with free-hanging horizontal sound absorbers, of 23% for 60% ceiling coverage ratio and of 36% for 80% coverage. Measurements in actual buildings showed an increase of the room operative temperature of 0.3 K when 50% of the ceiling surface is covered with horizontal panels and of 0.8 to 1 K for a 70% coverage ratio. According to numerical simulations using a new TRNSYS Type, the use of comfort ventilation has a considerable influence on the thermal conditions in the room; if the ventilation is removed, then the operative temperature increases by 1.8 K for a 60%-covered ceiling.

Keywords: acoustic comfort, concrete core activation, full-scale measurements, thermally activated building systems, TRNSys

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Authors: Kanpop Saion, Sakreya Chitwong

Abstract:

Control of superheated steam temperature in the steam generation is essential for the efficiency safety and increment age of the boiler. Conventional cascade PID temperature control in the super heater is known to be efficient to compensate disturbance. However, the complex of thermal power plant due to nonlinearity, load disturbance and time delay of steam of superheater system is bigger than other control systems. The cascade loop with feed forward steam temperature control with energy balance compensator using thermodynamic model has been used for the compensation the complex structure of superheater. In order to improve the performance of steam temperature control. The experiment is implemented for 100% load steady and load changing state. The cascade with feed forward with energy balance steam temperature control has stabilized the system as well.

Keywords: cascade with feed forward, boiler, superheated steam temperature control, enthalpy balance

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Authors: M-M. Mohamed Ahmed, Nacer K. M’Sirdi, Aziz Naamane

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In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature for the control of multi vehicles. The modeling of the convoy of the vehicles is revisited using a robotic method for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles.

Keywords: autonomous vehicles, convoy, non-linear control, non-linear observer, sliding mode

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Authors: Hartani Kada, Merah Abdelkader

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Aiming at the high nonlinearities and unmatched uncertainties of the intelligent electric vehicles’ dynamic system, this paper presents a lateral motion control algorithm for intelligent electric vehicles with four in-wheel motors. A fuzzy logic procedure is presented and formulated to realize lateral control in lane change. The vehicle dynamics model and a desired target tracking model were established in this paper. A fuzzy logic controller was designed for integrated active front steering (AFS) and direct yaw moment control (DYC) in order to improve vehicle handling performance and stability, and a fuzzy controller for the automatic steering problem. The simulation results demonstrate the strong robustness and excellent tracking performance of the control algorithm that is proposed.

Keywords: fuzzy logic, lateral control, AFS, DYC, electric car technology, longitudinal control, lateral motion

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Authors: M. Pramila Devi, N. V. N. Indra Kiran

Abstract:

Control charts, predominantly in the form of X-bar chart, are important tools in statistical process control (SPC). They are useful in determining whether a process is behaving as intended or there are some unnatural causes of variation. A process is out of control if a point falls outside the control limits or a series of point’s exhibit an unnatural pattern. In this paper, a study is carried out on four training algorithms for CCPs recognition. For those algorithms optimal structure is identified and then they are studied for type I and type II errors for generalization without early stopping and with early stopping and the best one is proposed.

Keywords: control chart pattern recognition, neural network, backpropagation, generalization, early stopping

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Authors: A. Cittadino, P. Gantes, C. Coviella, M. Casset, A. Sanchez Caro

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Three currently active landfills receive the waste from Buenos Aires city and the Great Buenos Aires suburbs. One of the first landfills to receive solid waste from this area was located in Villa Dominico, some 7 km south from Buenos Aires City. With an area of some 750 ha, including riparian habitats, divided into 14 cells, it received solid wastes from June 1979 through February 2004. In December 2010, a biological monitoring program was set up by CEAMSE and Universidad Nacional de Lujan, still operational to date. The aim of the monitoring program is to assess the state of several biological groups within the landfill and to follow their dynamics overtime in order to identify if any, early signs of damage the landfill activities might have over the biota present. Bird and rodent populations, aquatic and terrestrial invertebrates’ populations, cells vegetation coverage, and surrounding areas vegetation coverage and main composition are followed by quarterly samplings. Bird species richness and abundance were estimated by observation over walk transects on each environment. A total of 74 different species of birds were identified. Species richness and diversity were high for both riparian surrounding areas and within the landfill. Several grassland -typical of the 'Pampa'- bird species were found within the landfill, as well as some migratory and endangered bird species. Sherman and Tomahawk traps are set overnight for small mammal sampling. Rodent populations are just above detection limits, and the few specimens captured belong mainly to species common to rural areas, instead of city-dwelling species. The two marsupial species present in the region were captured on occasions. Aquatic macroinvertebrates were sampled on a watercourse upstream and downstream the outlet of the landfill’s wastewater treatment plant and are used to follow water quality using biological indices. Water quality ranged between weak and severe pollution; benthic invertebrates sampled before and after the landfill, show no significant differences in water quality using the IBMWP index. Insect biota from yellow sticky cards and pitfall traps showed over 90 different morphospecies, with Shannon diversity index running from 1.9 to 3.9, strongly affected by the season. An easy-to-perform non-expert demandant method was used to assess vegetation coverage. Two scales of determination are utilized: field observation (1 m resolution), and Google Earth images (that allow for a better than 5 m resolution). Over the eight year period of the study, vegetation coverage over the landfill cells run from a low 83% to 100% on different cells, with an average between 95 to 99% for the entire landfill depending on seasonality. Surrounding area vegetation showed almost 100% coverage during the entire period, with an average density from 2 to 6 species per sq meter and no signs of leachate damaged vegetation.

Keywords: biological indicators, biota monitoring, landfill species diversity, waste management

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Authors: Wayan Widhiada, Cok Indra Partha, Gusti Ngurah Nitya Santhiarsa

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The purpose of this paper is to investigate the sophistication of the use of Proportional Integral and Derivative Control to control the kinematic motion of the mobile robot manipulator. Simulation and experimental methods will be used to investigate the sophistication of PID control to control the mobile robot arm in the collection and placement of several kinds of objects quickly, accurately and correctly. Mathematical modeling will be done by utilizing the integration of Solidworks and MATLAB / Simmechanics software. This method works by converting the physical model file into the xml file. This method is easy, fast and accurate done in modeling and design robotics. The automatic control design of this robot manipulator will be validated in simulations and experimental in control labs as evidence that the mobile robot manipulator gripper control design can achieve the best performance such as the error signal is lower than 5%, small overshoot and get steady signal response as quickly.

Keywords: control analysis, kinematics motion, mobile robot manipulator, performance

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Authors: Ali Oveysi Sarabi

Abstract:

In this paper, controller design for the attitude and altitude dynamics of an outdoor quadrotor, which is constructed with low cost actuators and drivers, is aimed. Before designing the controller, the quadrotor is modeled mathematically in Matlab-Simulink environment. To control attitude dynamics, linear quadratic regulator (LQR) based controllers are designed, simulated and applied to the system. Two different proportional-integral-derivative action (PID) controllers are designed to control yaw and altitude dynamics. During the implementation of the designed controllers, different test setups are used. Designed controllers are implemented and tuned on the real system using xPC Target. Tests show that these basic control structures are successful to control the attitude and altitude dynamics.

Keywords: helicopter balance, flight dynamics, autonomous landing, control robotics

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Authors: Kazuya Sato, Toru Kasahara, Junji Kuroda

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In this paper, an autonomous hovering control method of multicopter using only Web camera is proposed. Recently, various control method of an autonomous flight for multicopter are proposed. But, in the previously proposed methods, a motion capture system (i.e., OptiTrack) and laser range finder are often used to measure the position and posture of multicopter. To achieve an autonomous flight control of multicopter with simple equipment, we propose an autonomous flight control method using AR marker and Web camera. AR marker can measure the position of multicopter with Cartesian coordinate in three dimensional, then its position connects with aileron, elevator, and accelerator throttle operation. A simple PID control method is applied to the each operation and adjust the controller gains. Experimental result are given to show the effectiveness of our proposed method. Moreover, another simple operation method for autonomous flight control multicopter is also proposed.

Keywords: autonomous hovering control, multicopter, Web camera, operation

Procedia PDF Downloads 536