Search results for: fractional order controllers

Authors: Nabila Jaman, K. E. Hoque, S. Sawall, M. Ferdows

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Coronary artery disease (CAD) is one of the most lethal diseases of the cardiovascular diseases. Coronary arteries stenosis and bifurcation angles closely interact for myocardial infarction. We want to use computer-aided design model coupled with computational hemodynamics (CHD) simulation for detecting several types of coronary artery stenosis with different locations in an idealized model for identifying virtual fractional flow reserve (vFFR). The vFFR provides us the information about the severity of stenosis in the computational models. Another goal is that we want to imitate patient-specific computed tomography coronary artery angiography model for constructing our idealized models with different left anterior descending (LAD) and left circumflex (LCx) bifurcation angles. Further, we want to analyze whether the bifurcation angles has an impact on the creation of narrowness in coronary arteries or not. The numerical simulation provides the CHD parameters such as wall shear stress (WSS), velocity magnitude and pressure gradient (PGD) that allow us the information of stenosis condition in the computational domain.

Keywords: CAD, CHD, vFFR, bifurcation angles, coronary stenosis

Procedia PDF Downloads 134

Authors: Kessal Abdelhalim, Zebiri Fouad, Rahmani Lazhar

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This paper presents an analysis by which the dynamic performances of a permanent magnet brushless DC (PMBLDC) motor is controlled through a hysteresis current loop and an outer speed loop with different controllers. The dynamics of the photovoltaic pumping drive system with sliding mode speed controllers are presented. The proposed structure is constituted of photovoltaic generator associated to DC-DC converter controlled by fuzzy logic to ensure the maximum power point tracking. The PWM signals are generated by the interaction of the motor speed closed-loop system and the current hysteresis. The motor reference current is compared with the motor speed feedback signal. The considered model has been implemented in Matlab/Simpower environment. The results show the effectiveness of the proposed method to increase the performance of the water pumping system.

Keywords: photovoltaic, permanent magnet brushless DC (PMBLDC) motor, MPPT, speed control, fuzzy, sliding mode

Procedia PDF Downloads 653

Authors: Ravneet Kaur, Joydeep Acharya, Sudhanshu Gaur

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Artificial Intelligence (AI) has the potential to transform manufacturing by improving shop floor processes such as production, maintenance and quality. However, industrial datasets are notoriously difficult to extract in a real-time, streaming fashion thus, negating potential AI benefits. The main example is some specialized industrial controllers that are operated by custom software which complicates the process of connecting them to an Information Technology (IT) based data acquisition network. Security concerns may also limit direct physical access to these controllers for data acquisition. To connect the Operational Technology (OT) data stored in these controllers to an AI application in a secure, reliable and available way, we propose a novel Industrial IoT (IIoT) solution in this paper. In this solution, we demonstrate how video cameras can be installed in a factory shop floor to continuously obtain images of the controller HMIs. We propose image pre-processing to segment the HMI into regions of streaming data and regions of fixed meta-data. We then evaluate the performance of multiple Optical Character Recognition (OCR) technologies such as Tesseract and Google vision to recognize the streaming data and test it for typical factory HMIs and realistic lighting conditions. Finally, we use the meta-data to match the OCR output with the temporal, domain-dependent context of the data to improve the accuracy of the output. Our IIoT solution enables reliable and efficient data extraction which will improve the performance of subsequent AI applications.

Keywords: human machine interface, industrial internet of things, internet of things, optical character recognition, video analytics

Procedia PDF Downloads 84

Authors: Merve Aygün Esastürk, Deren Ataç Yılmaz, Görkem Oğur, Emre Özgen Kuzu, Sadık Ödemiş

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Hydrocracker plants are one of the most complicated and most profitable units in the refinery process. It takes long chain paraffinic hydrocarbons as feed and turns them into smaller and more valuable products, mainly kerosene and diesel under high pressure with the excess amount of hydrogen. Controlling the product qualities well directly contributes to the unit profit. Control of a plant is mainly based on PID and MPC controllers. Controlling the reaction section is important in terms of reaction severity. However, controlling the fractionation section is more crucial since the end products are separated in fractionation section. In this paper, the importance of well-configured base layer control mechanism, composed of PID controllers, is highlighted. For this purpose, two different base layer control scheme is applied in a hydrocracker fractionator column performances of schemes, which is a direct contribution to better product quality, are compared.

Keywords: controller, distillation, configuration selection, hydrocracker, model predictive controller, proportional-integral-derivative controller

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Authors: Elysia Barker, Jian Guo Zhou, Ling Qian, Steve Decent

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A method of modelling topography used in the simulation of riverbeds is proposed in this paper, which removes the need for datapoints and measurements of physical terrain. While complex scans of the contours of a surface can be achieved with other methods, this requires specialised tools, which the proposed method overcomes by using fractional Brownian motion (FBM) as a basis to estimate the real surface within a 15% margin of error while attempting to optimise algorithmic efficiency. This removes the need for complex, expensive equipment and reduces resources spent modelling bed topography. This method also accounts for the change in topography over time due to erosion, sediment transport, and other external factors which could affect the topography of the ground by updating its parameters and generating a new bed. The lattice Boltzmann method (LBM) is used to simulate both stationary and steady flow cases in a side-by-side comparison over the generated bed topography using the proposed method and a test case taken from an external source. The method, if successful, will be incorporated into the current LBM program used in the testing phase, which will allow an automatic generation of topography for the given situation in future research, removing the need for bed data to be specified.

Keywords: bed topography, FBM, LBM, shallow water, simulations

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Authors: Amin Zabihinejad, Philippe Viarouge

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In this paper, a direct power control (DPC) strategies have been investigated in order to control a high power AC/DC converter with time variable load. This converter is composed of a three level three phase neutral point clamped (NPC) converter as rectifier and an H-bridge four quadrant current control converter. In the high power application, controller not only must adjust the desired outputs but also decrease the level of distortions which are injected to the network from the converter. Regarding this reason and nonlinearity of the power electronic converter, the conventional controllers cannot achieve appropriate responses. In this research, the precise mathematical analysis has been employed to design the appropriate controller in order to control the time variable load. A DPC controller has been proposed and simulated using Matlab/Simulink. In order to verify the simulation result, a real-time simulator- OPAL-RT- has been employed. In this paper, the dynamic response and stability of the high power NPC with variable load has been investigated and compared with conventional types using a real-time simulator. The results proved that the DPC controller is more stable and has more precise outputs in comparison with the conventional controller.

Keywords: direct power control, three level rectifier, real time simulator, high power application

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Authors: Hajara Abdulkarim Aliyu, Abdulbasid Ismail Isa

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This research paper studies electrohydraulic system for its role in position and motion control system and develops as mathematical model describing the behaviour of the system. The research further proposes Fuzzy logic and conventional PID controllers in order to achieve both accurate positioning of the payload and overall improvement of the system performance. The simulation result shows Fuzzy logic controller has a superior tracking performance and high disturbance rejection efficiency for its shorter settling time, less overshoot, smaller values of integral of absolute and deviation errors over the conventional PID controller at all the testing conditions.

Keywords: electrohydraulic, fuzzy logic, modelling, NZ-PID

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Authors: M. Doumi, K. Tahir, A. Miloudi, A. G. Aissaoui, C. Belfedal, S. Tahir

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This paper presents a three-phase grid-connected photovoltaic generation system with unity power factor for any situation of solar radiation based on voltage-oriented control (VOC). An input voltage clamping technique is proposed to control the power between the grid and photovoltaic system, where it is intended to achieve the maximum power point operation. This method uses a Perturb and Observe (P&O) controller. The main objective of this work is to compare the energy production unit performances by the use of two types of controllers (namely, classical PI and Sliding Mode (SM) Controllers) for the grid inverter control. The proposed control has a hierarchical structure with a grid side control level to regulate the power (PQ) and the current injected to the grid and to obtain a common DC voltage constant. To show the effectiveness of both control methods performances analysis of the system are analyzed and compared by simulation and results included in this paper.

Keywords: grid connected photovoltaic, MPPT, inverter control, classical PI, sliding mode, DC voltage constant, voltage-oriented control, VOC

Procedia PDF Downloads 572

Authors: U. Yavas, M. Gokasan

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Control of diesel engine’s air path has drawn a lot of attention due to its multi input-multi output, closed coupled, non-linear relation. Today, precise control of amount of air to be combusted is a must in order to meet with tight emission limits and performance targets. In this study, passenger car size diesel engine is modeled by AVL Boost RT, and then simulated with standard, industry level PID controllers. Finally, linear model predictive control is designed and simulated. This study shows the importance of modeling and control of diesel engines with flexible algorithm development in computer based systems.

Keywords: predictive control, engine control, engine modeling, PID control, feedforward compensation

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Authors: Daniel Fulus Fom, Gau Patrick Damulak

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In this study, the Autoregressive Fractional Integrated Moving Average (ARFIMA) and Jordan Recurrent Neural Network (JRNN) models were employed to model the forecasting performance of the daily turbidity flow of White Clay Creek (WCC). The two methods were applied to the log difference series of the daily turbidity flow series of WCC. The measurements of error employed to investigate the forecasting performance of the ARFIMA and JRNN models are the Root Mean Square Error (RMSE) and the Mean Absolute Error (MAE). The outcome of the investigation revealed that the forecasting performance of the JRNN technique is better than the forecasting performance of the ARFIMA technique in the mean square error sense. The results of the ARFIMA and JRNN models were obtained by the simulation of the models using MATLAB version 8.03. The significance of using the log difference series rather than the difference series is that the log difference series stabilizes the turbidity flow series than the difference series on the ARFIMA and JRNN.

Keywords: auto regressive, mean absolute error, neural network, root square mean error

Procedia PDF Downloads 243

Authors: Chandrashekar, R. T. Radhika, B. M. Venkatesha, S. Ananda, Shivalingegowda, T. S. Shashikumar, H. Ramachandra

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The kinetics of the oxidation of amitriptyline (AT) by sodium N-bromotoluene sulphonamide (C₆H₅SO₂NBrNa) has been studied in an acidic buffer medium of pH 1.2 at 303 K. The oxidation reaction of AT was followed spectrophotometrically at maximum wavelength, 410 nm. The reaction rate shows a first order dependence each on concentration of AT and concentration of sodium N-bromotoluene sulphonamide. The reaction also shows an inverse fractional order dependence at low or high concentration of HCl. The dielectric constant of the solvent shows negative effect on the rate of reaction. The addition of halide ions and the reduction product of BAT have no significant effect on the rate. The rate is unchanged with the variation in the ionic strength (NaClO₄) of the medium. Addition of reaction mixtures to be aqueous acrylamide solution did not initiate polymerization, indicating the absence of free radical species. The stoichiometry of the reaction was found to be 1:1 and oxidation product of AT is identified. The Michaelis-Menton type of kinetics has been proposed. The CH₃C₆H₅SO₂NHBr has been assumed to be the reactive oxidizing species. Thermodynamical parameters were computed by studying the reactions at different temperatures. A mechanism consistent with observed kinetics is presented.

Keywords: amitriptyline, bromamine-T, kinetics, oxidation

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Authors: Donatien Callon, Ian Lalonde, Mathieu Nadeau, Alexandre Girard

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Patient transfer is a challenging, critical task because it exposes caregivers to injury risks. Available transfer devices, like floor lifts, lead to improvements but are far from perfect. They do not eliminate the caregivers’ risk of musculoskeletal disorders, and they can be burdensome to use due to their poor maneuverability. This paper presents a new motorized floor lift with a single central motorized wheel connected to an instrumented handle. Admittance controllers are designed to 1) improve the device maneuverability, 2) reduce the required caregiver effort, and 3) ensure the security and comfort of patients. Two controller designs, one with a linear admittance law and a non-linear admittance law with variable damping, were developed and implemented on a prototype. Tests were performed on seven participants to evaluate the performance of the assistance system and the controllers. The experimental results show that 1) the motorized assistance with the variable damping controller improves maneuverability by 28%, 2) reduces the amount of effort required to push the lift by 66%, and 3) provides the same level of patient comfort compared to a standard unassisted floor lift.

Keywords: floor lift, human robot interaction, admittance controller, variable admittance

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Authors: Abdelhalim Kessal

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This paper treats a design of combined control of a single phase power factor correction (PFC). The strategy of the proposed control is based on two parts, the first, for the outer loop (DC output regulated voltage), and the second govern the input current of the converter in order to achieve a sinusoidal form in phase with the grid voltage. Two kinds of regulators are used, Fuzzy controller for the outer loop and predictive controller for the inner loop. The controllers are verified and discussed through simulation under MATLAB/Simulink platform. Also an experimental confirmation is applied. Results present a high dynamic performance under various parameters changes.

Keywords: boost converter, harmonic distortion, Fuzzy, predictive, unity power factor

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Authors: Chih-Jer Lin, Chun-Ying Lee, Ying Liu, Chiang-Ho Cheng

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The main objective of this article is to present the semi-active vibration control using an electro-rheological fluid embedded sandwich structure for a cantilever beam. ER fluid is a smart material, which cause the suspended particles polarize and connect each other to form chain. The stiffness and damping coefficients of the ER fluid can be changed in 10 micro seconds; therefore, ERF is suitable to become the material embedded in the tunable vibration absorber to become a smart absorber. For the ERF smart material embedded structure, the fuzzy control law depends on the experimental expert database and the proposed self-tuning strategy. The electric field is controlled by a CRIO embedded system to implement the real application. This study investigates the different performances using the Type-1 fuzzy and interval Type-2 fuzzy controllers. The Interval type-2 fuzzy control is used to improve the modeling uncertainties for this ERF embedded shock absorber. The self-tuning vibration controllers using Type-1 and Interval Type-2 fuzzy law are implemented to the shock absorber system. Based on the resulting performance, Internal Type-2 fuzzy is better than the traditional Type-1 fuzzy control for this vibration control system.

Keywords: electro-rheological fluid, semi-active vibration control, shock absorber, type 2 fuzzy control

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Authors: N. Ould cherchali, M. S. Boucherit, L. Barazane, A. Morsli

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Photovoltaic power is widely used to supply isolated or unpopulated areas (lighting, pumping, etc.). Great advantage is that this source is inexhaustible, it offers great safety in use and it is clean. But the dynamic models used to describe a photovoltaic system are complicated and nonlinear and due to nonlinear I-V and P–V characteristics of photovoltaic generators, a maximum power point tracking technique (MPPT) is required to maximize the output power. In this paper, two online techniques of maximum power point tracking using robust controller for photovoltaic systems are proposed, the first technique use fuzzy logic controller (FLC) and the second use sliding mode controller (SMC) for photovoltaic systems. The two maximum power point tracking controllers receive the partial derivative of power as inputs, and the output is the duty cycle corresponding to maximum power. A Photovoltaic generator with Boost converter is developed using MATLAB/Simulink to verify the preferences of the proposed techniques. SMC technique provides a good tracking speed in fast changing irradiation and when the irradiation changes slowly or is constant the panel power of FLC technique presents a much smoother signal with less fluctuations.

Keywords: fuzzy logic controller, maximum power point, photovoltaic system, tracker, sliding mode controller

Procedia PDF Downloads 512

Authors: H. Mansor, S. B. Mohd-Noor, T. S. Gunawan, S. Khan, N. I. Othman, N. Tazali, R. B. Islam

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This paper provides a comparative study on the performances of standard PID and adaptive PID controllers tested on travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top helicopter. Quanser, a well-known manufacturer of educational bench-top helicopter has developed Proportional Integration Derivative (PID) controller with Linear Quadratic Regulator (LQR) for all travel, pitch and yaw angle of the bench-top helicopter. The performance of the PID controller is relatively good; however its performance could also be improved if the controller is combined with adaptive element. The objective of this research is to design adaptive PID controller and then compare the performances of the adaptive PID with the standard PID. The controller design and test is focused on travel angle control only. Adaptive method used in this project is self-tuning controller, which controller’s parameters are updated online. Two adaptive algorithms those are pole-placement and deadbeat have been chosen as the method to achieve optimal controller’s parameters. Performance comparisons have shown that the adaptive (deadbeat) PID controller has produced more desirable performance compared to standard PID and adaptive (pole-placement). The adaptive (deadbeat) PID controller attained very fast settling time (5 seconds) and very small percentage of overshoot (5% to 7.5%) for 10° to 30° step change of travel angle.

Keywords: adaptive control, deadbeat, pole-placement, bench-top helicopter, self-tuning control

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Authors: Ersan Aktas, Eren Turanoğuz

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In this study, the quad-electrical rotor driven unmanned aerial vehicle system is designed and modeled using fundamental dynamic equations. After that, mechanical, electronical and control system of the air vehicle are designed and implemented. Brushless motor speeds are altered via electronic speed controllers in order to achieve desired controllability. The vehicle's fundamental Euler angles (i.e., roll angle, pitch angle, and yaw angle) are obtained via AHRS sensor. These angles are provided as an input to the control algorithm that run on soft the processor on the electronic card. The vehicle control algorithm is implemented in the electronic card. Controller is designed and improved for each Euler angles. Finally, flight tests have been performed to observe and improve the flight characteristics.

Keywords: quadrotor, UAS applications, control architectures, PID

Procedia PDF Downloads 333

Authors: Kholod Hajo

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In this study COMSOL Multiphysics was used to design lateral flow biosensors (LFBs) which provide advantages in low cost, simplicity, rapidity, stability and portability thus making LFBs popular in biomedical, agriculture, food and environmental sciences. This study was focused on simulation model of biosensor based on gold nanoparticles (GNPs) designed using software package (COMSOL Multiphysics), the magnitude of the laminar velocity field in the flow cell, concentration distribution in the analyte stream and surface coverage of adsorbed species and average fractional surface coverage of adsorbed analyte were discussed from the model and couples of suggestion was given in order to functionalize GNPs and to increase the accuracy of the biosensor design, all above were obtained acceptable results.

Keywords: model, gold nanoparticles, biosensor, COMSOL Multiphysics

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Authors: Manoj M. Sarode, Sharad P. Jadhav, Mukesh D. Patil, Pushparaj S. Suryawanshi

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Even though the PID controller is widely used in industrial process, tuning of PID parameters are not easy. It is a time consuming and requires expert people. Another drawback of PID controller is that process dynamics might change over time. This can happen due to variation of the process load, normal wear and tear etc. To compensate for process behavior change over time, expert users are required to recalibrate the PID gains. Implementation of model based controllers usually needs a process model. Identification of process model is time consuming job and no guaranty of model accuracy. If the identified model is not accurate, performance of the controller may degrade. Model based controllers are quite expensive and the whole procedure for the implementation is sometimes tedious. To eliminate such issues Autotuning PID controller becomes vital element. Software based Relay Feedback Autotuning Controller proves to be efficient, upgradable and maintenance free controller. In Relay Feedback Autotune controller PID parameters can be achieved with a very short span of time. This paper presents the real time implementation of LabVIEW based Relay Feedback Autotuning PID controller. It is successfully developed and implemented to control level of a laboratory setup. Its performance is analyzed for different setpoints and found satisfactorily.

Keywords: autotuning, PID, liquid level control, recalibrate, labview, controller

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Authors: Noha Ibrahim, Eman S. Elzanfaly, Said A. Hassan, Ahmed E. El Gendy

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Objectives: The purpose of the study is to develop a sensitive synchronous spectrofluorimetric method with multivariate calibration after studying and optimizing the different variables affecting the native fluorescence intensity of amlodipine and olmesartan implementing an experimental design approach. Method: In the first step, the fractional factorial design used to screen independent factors affecting the intensity of both drugs. The objective of the second step was to optimize the method performance using a Central Composite Face-centred (CCF) design. The optimal experimental conditions obtained from this study were; a temperature of (15°C ± 0.5), the solvent of 0.05N HCl and methanol with a ratio of (90:10, v/v respectively), Δλ of 42 and the addition of 1.48 % surfactant providing a sensitive measurement of amlodipine and olmesartan. The resolution of the binary mixture with a multivariate calibration method has been accomplished mainly by using partial least squares (PLS) model. Results: The recovery percentage for amlodipine besylate and atorvastatin calcium in tablets dosage form were found to be (102 ± 0.24, 99.56 ± 0.10, for amlodipine and Olmesartan, respectively). Conclusion: Method is valid according to some International Conference on Harmonization (ICH) guidelines, providing to be linear over a range of 200-300, 500-1500 ng mL⁻¹ for amlodipine and Olmesartan. The methods were successful to estimate amlodipine besylate and olmesartan in bulk powder and pharmaceutical preparation.

Keywords: amlodipine, central composite face-centred design, experimental design, fractional factorial design, multivariate calibration, olmesartan

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Authors: Sang Kompiang Wirawan, Pandu Prabowo Jati, I Wayan Warmada

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Klaten Indonesian natural zeolite can be used as powder or pellet adsorbent. Pellet adsorbent has been made from activated natural zeolite powder by a conventional pressing method. Starch and formaldehyde were added as binder to strengthen the construction of zeolite pellet. To increase the absorptivity and its capacity, natural zeolite was activated first chemically and thermally. This research examined adsorption process of water from Isopropyl Alcohol (IPA)-water system using zeolite adsorbent pellet from natural zeolite powder which has been activated with H2SO4 0.1 M and 0.3 M. Adsorbent was pelleted by pressing apparatus at certain pressure to make specification in 1.96 cm diameter, 0.68 cm thickness which the natural zeolite powder (-80 mesh). The system of isopropyl-alcohol water contained 80% isopropyl-alcohol. Adsorption process was held in close-loop continuous apparatus which the zeolite pellet was put inside a column and the solution of IPA-water was circulated at certain flow. Concentration changing was examined thoroughly at a certain time. This adsorption process included mass transfer from bulk liquid into film layer and from film layer into the solid particle. Analysis of rate constant was using first order isotherm model that simulated with MATLAB. Besides using first order isotherm, intra-particle diffusion model was proposed by using pore diffusion model. The study shows that adsorbent activated by H2SO4 0.1 M has good absorptivity with mass transfer constant at 0.1286 min-1.

Keywords: intra-particle diffusion, fractional attainment, first order isotherm, zeolite

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Authors: Aouiche Abdelaziz, Soudani Mouhamed Salah, Aouiche El Moundhe

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The present paper addresses the utilization of Artificial Neural Networks (ANNs) and Fuzzy Inference Systems (FISs) for the identification and control of dynamical systems with some degree of uncertainty. Because ANNs and FISs have an inherent ability to approximate functions and to adapt to changes in input and parameters, they can be used to control systems too complex for linear controllers. In this work, we show how ANNs and FISs can be put in order to form nets that can learn from external data. In sequence, it is presented structures of inputs that can be used along with ANNs and FISs to model non-linear systems. Four systems were used to test the identification and control of the structures proposed. The results show the ANNs and FISs (Back Propagation Algorithm) used were efficient in modeling and controlling the non-linear plants.

Keywords: non-linear systems, fuzzy set Models, neural network, control law

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Authors: Bin Mu, Site Li, Shijin Yuan

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Under the circumstance of environment deterioration, people are increasingly concerned about the quality of the environment, especially air quality. As a result, it is of great value to give accurate and timely forecast of AQI (air quality index). In order to simplify influencing factors of air quality in a city, and forecast the city’s AQI tomorrow, this study used MATLAB software and adopted the method of constructing a mathematic model of PCA-GABP to provide a solution. To be specific, this study firstly made principal component analysis (PCA) of influencing factors of AQI tomorrow including aspects of weather, industry waste gas and IAQI data today. Then, we used the back propagation neural network model (BP), which is optimized by genetic algorithm (GA), to give forecast of AQI tomorrow. In order to verify validity and accuracy of PCA-GABP model’s forecast capability. The study uses two statistical indices to evaluate AQI forecast results (normalized mean square error and fractional bias). Eventually, this study reduces mean square error by optimizing individual gene structure in genetic algorithm and adjusting the parameters of back propagation model. To conclude, the performance of the model to forecast AQI is comparatively convincing and the model is expected to take positive effect in AQI forecast in the future.

Keywords: AQI forecast, principal component analysis, genetic algorithm, back propagation neural network model

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Authors: S. Yaman, S. Rostami

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In this study, a black box modeling of the coupled-tank system is obtained by using fuzzy sets. The derived model is tested via adaptive neuro fuzzy inference system (ANFIS). In order to achieve a better control performance, the parameters of three different controller types, classical proportional integral controller (PID), fuzzy PID and function tuner method, are tuned by one of the evolutionary computation method, genetic algorithm. All tuned controllers are applied to the fuzzy model of the coupled-tank experimental setup and analyzed under the different reference input values. According to the results, it is seen that function tuner method demonstrates better robust control performance and guarantees the closed loop stability.

Keywords: function tuner method (FTM), fuzzy modeling, fuzzy PID controller, genetic algorithm (GA)

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Authors: Mostafa Mjahed

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Tilt Rotor UAVs (Unmanned Aerial Vehicles) are naturally unstable and difficult to maneuver. The purpose of this paper is to design controllers for the stabilization and trajectory tracking of this type of UAV. To this end, artificial intelligence methods have been exploited. First, the dynamics of this UAV was modeled using the Lagrange-Euler method. The conventional method based on Proportional, Integral and Derivative (PID) control was applied by decoupling the different flight modes. To improve stability and trajectory tracking of the Tilt Rotor, the fuzzy approach and the technique of multilayer neural networks (NN) has been used. Thus, Fuzzy Proportional Integral and Derivative (FPID) and Neural Network-based Proportional Integral and Derivative controllers (NNPID) have been developed. The meta-heuristic approach based on Particle Swarm Optimization (PSO) method allowed adjusting the setting parameters of NNPID controller, giving us an improved NNPID-PSO controller. Simulation results under the Matlab environment show the efficiency of the approaches adopted. Besides, the Tilt Rotor UAV has become stable and follows different types of trajectories with acceptable precision. The Fuzzy, NN and NN-PSO-based approaches demonstrated their robustness because the presence of the disturbances did not alter the stability or the trajectory tracking of the Tilt Rotor UAV.

Keywords: neural network, fuzzy logic, PSO, PID, trajectory tracking, tilt-rotor UAV

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Authors: Zhiyuan Du, Baisravan Hom Chaudhuri, Pierluigi Pisu

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In connected vehicle systems where wireless communication is available among the involved vehicles and intersection controllers, it is possible to design an intersection coordination strategy that leads the connected and automated vehicles (CAVs) travel through the road intersections without the conventional traffic light control. In this paper, we present a distributed coordination strategy for the CAVs at multiple interconnected intersections that aims at improving system fuel efficiency and system mobility. We present a distributed control solution where in the higher level, the intersection controllers calculate the road desired average velocity and optimally assign reference velocities of each vehicle. In the lower level, every vehicle is considered to use model predictive control (MPC) to track their reference velocity obtained from the higher level controller. The proposed method has been implemented on a simulation-based case with two-interconnected intersection network. Additionally, the effects of mixed vehicle types on the coordination strategy has been explored. Simulation results indicate the improvement on vehicle fuel efficiency and traffic mobility of the proposed method.

Keywords: connected vehicles, automated vehicles, intersection coordination systems, multiple interconnected intersections, model predictive control

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Authors: Artion Kashuri, Rozana Liko

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In this paper, the authors establish an integral identity using delta differentiable functions. By applying this identity, some new results via a general class of convex functions with respect to two nonnegative functions on a time scale are given. Also, for suitable choices of nonnegative functions, some special cases are deduced. Finally, in order to illustrate the efficiency of our main results, some applications to special means are obtained as well. We hope that current work using our idea and technique will attract the attention of researchers working in mathematical analysis, mathematical inequalities, numerical analysis, special functions, fractional calculus, quantum mechanics, quantum calculus, physics, probability and statistics, differential and difference equations, optimization theory, and other related fields in pure and applied sciences.

Keywords: convex functions, Hermite-Hadamard inequality, special means, time scale

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Authors: Chiraz Ben Jabeur, Hassene Seddik

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In this paper, a full approach of modeling and control of a four-rotor unmanned air vehicle (UAV), known as quad-rotor aircraft, is presented. In fact, a PD and a PD optimized Neural Networks Approaches (PD-NN) are developed to be applied to control a quad-rotor. The goal of this work is to concept a smart self-tuning PD controller based on neural networks able to supervise the quad-rotor for an optimized behavior while tracking the desired trajectory. Many challenges could arise if the quad-rotor is navigating in hostile environments presenting irregular disturbances in the form of wind added to the model on each axis. Thus, the quad-rotor is subject to three-dimensional unknown static/varying wind disturbances. The quad-rotor has to quickly perform tasks while ensuring stability and accuracy and must behave rapidly with regard to decision-making facing disturbances. This technique offers some advantages over conventional control methods such as PD controller. Simulation results are obtained with the use of Matlab/Simulink environment and are founded on a comparative study between PD and PD-NN controllers based on wind disturbances. These later are applied with several degrees of strength to test the quad-rotor behavior. These simulation results are satisfactory and have demonstrated the effectiveness of the proposed PD-NN approach. In fact, this controller has relatively smaller errors than the PD controller and has a better capability to reject disturbances. In addition, it has proven to be highly robust and efficient, facing turbulences in the form of wind disturbances.

Keywords: hostile environment, PD and PD-NN controllers, quad-rotor control, robustness against disturbance

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Authors: Natalia Kalinowska

Abstract:

The adoption of the General Data Protection Regulation, (GDPR) finished the four-year work of the European Commission in this area in the European Union. Considering far-reaching changes, which will be applied by GDPR, the European legislator envisaged two-year transitional period. Member states and companies have to prepare for a new regulation until 25 of May 2018. The idea, which becomes a new look at an attitude to data protection in the European Union is risk-based approach. So far, as a result of implementation of Directive 95/46/WE, in many European countries (including Poland) there have been adopted very particular regulations, specifying technical and organisational security measures e.g. Polish implementing rules indicate even how long password should be. According to the new approach from May 2018, controllers and processors will be obliged to apply security measures adequate to level of risk associated with specific data processing. The risk in GDPR should be interpreted as the likelihood of a breach of the rights and freedoms of the data subject. According to Recital 76, the likelihood and severity of the risk to the rights and freedoms of the data subject should be determined by reference to the nature, scope, context and purposes of the processing. GDPR does not indicate security measures which should be applied – in recitals there are only examples such as anonymization or encryption. It depends on a controller’s decision what type of security measures controller considered as sufficient and he will be responsible if these measures are not sufficient or if his identification of risk level is incorrect. Data protection regulation indicates few levels of risk. Recital 76 indicates risk and high risk, but some lawyers think, that there is one more category – low risk/now risk. Low risk/now risk data processing is a situation when it is unlikely to result in a risk to the rights and freedoms of natural persons. GDPR mentions types of data processing when a controller does not have to evaluate level of risk because it has been classified as „high risk” processing e.g. processing on a large scale of special categories of data, processing with using new technologies. The methodology will include analysis of legal regulations e.g. GDPR, the Polish Act on the Protection of personal data. Moreover: ICO Guidelines and articles concerning risk based approach in GDPR. The main conclusion is that an appropriate risk assessment is a key to keeping data safe and avoiding financial penalties. On the one hand, this approach seems to be more equitable, not only for controllers or processors but also for data subjects, but on the other hand, it increases controllers’ uncertainties in the assessment which could have a direct impact on incorrect data protection and potential responsibility for infringement of regulation.

Keywords: general data protection regulation, personal data protection, privacy protection, risk based approach

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Authors: Zhiguo Shi, Cheng Ning Loong, Jiazeng Shan, Weichao Wu

Abstract:

This study proposes an equivalent circuit model to simulate the eddy current damping force with shaking table tests and finite element modeling. The model is firstly proposed and applied to a simple eddy current damper, which is modelled in ANSYS, indicating that the proposed model can simulate the eddy current damping force under different types of excitations. Then, a non-contact and friction-free eddy current damper is designed and tested, and the proposed model can reproduce the experimental observations. The excellent agreement between the simulated results and the experimental data validates the accuracy and reliability of the equivalent circuit model. Furthermore, a more complicated model is performed in ANSYS to verify the feasibility of the equivalent circuit model in complex eddy current damper, and the higher-order fractional model and viscous model are adopted for comparison.

Keywords: equivalent circuit model, eddy current damping, finite element model, shake table test

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