Search results for: proportional navigation guidance(PNG)

Authors: Mengesha Mamo Wogari

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In this paper, low voltage multiphase brushless DC motor with square wave air-gap flux distribution for electric vehicle application is proposed. Ten-phase, 5 kW motor, has been designed and simulated by finite element methods demonstrating the desired high torque capability at low speed and flux weakening operation for high-speed operations. The motor torque is proportional to number of phases for a constant phase current and air-gap flux. The concept of vector control and simple space vector modulation technique is used on MATLAB to control the motor demonstrating simple switching pattern for selected number of phases. The low voltage DC and inverter output AC are desired characteristics to avoid any electric shock in the vehicle, accidentally and during abnormal conditions. The switching devices for inverter are of low-voltage rating and cost effective though their number is equal to twice the number of phases.

Keywords: brushless DC motors, electric Vehicle, finite element methods, Low-voltage inverter, multiphase

Procedia PDF Downloads 120

Authors: Edi Artono, Budi Tamtomo, Gema Wahyudi Purnama

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The world energy demand increasing extreamly high time by time, including domestic demand. That is impossible to avoid because energy a country demand proportional to surge in the number of residents, economic growth and addition of industrial sector. Domestic Oil and gas conventional reserves depleted naturally while production outcome from reservoir also depleted time to time. In the other hand, new reserve did not discover significantly to replace it all. Many people are investigating to looking for new alternative energy to answer the challenge. There are several option to solve energy fossil needed problem using Unconventional Hydrocarbon. There are four aspects to consider as a management reference in order that Unconventional Hydrocarbon business can work properly, divided to: 1. Legal aspect, 2. Environmental aspect, 3. Technical aspect and 4. Economy aspect. The economic aspect as the key to whether or not a project can be implemented or not in Oil and Gas business scheme, so do Unconventional Hydorcarbon business scheme. The support of regulation are needed to buttress Unconventional Hydorcarbon business grow up and make benefits contribute to Government.

Keywords: alternative energy, unconventional hydrocarbon, regulation support, management strategy

Procedia PDF Downloads 327

Authors: Mohamed Noureldin, Jinkoo Kim

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In this study, a genetic algorithm was used to find out the optimum locations of the slit dampers satisfying a target displacement. A seismic retrofit scheme for a building structure was presented using steel plate slit dampers. A cyclic loading test was used to verify the energy dissipation capacity of the slit damper. The seismic retrofit of the model structure using the slit dampers was compared with the retrofit with enlarging shear walls. The capacity spectrum method was used to propose a simple damper distribution scheme proportional to the inter-story drifts. The validity of the simple story-wise damper distribution procedure was verified by comparing the results of the genetic algorithm. It was observed that the proposed simple damper distribution pattern was in a good agreement with the optimum distribution obtained from the genetic algorithm. Acknowledgment: This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2017R1D1A1B03032809).

Keywords: slit dampers, seismic retrofit, genetic algorithm, optimum design

Procedia PDF Downloads 199

Authors: Cyrus Addy, Venkata Sriram Siddhardh Nadendla, Kwame Awuah-Offei

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Surface robots in modern underground mine rescue operations suffer from several limitations in enabling a prompt self-rescue. Therefore, the possibility of designing and deploying in-mine robots to expedite miner self-rescue can have a transformative impact on miner safety. These in-mine robots for miner self-rescue can be envisioned to carry out diverse tasks such as object detection, autonomous navigation, and payload delivery. Specifically, this paper investigates the challenges in the design of object detection algorithms for in-mine robots using thermal images, especially to detect people in real-time. A total of 125 thermal images were collected in the Missouri S&T Experimental Mine with the help of student volunteers using the FLIR TG 297 infrared camera, which were pre-processed into training and validation datasets with 100 and 25 images, respectively. Three state-of-the-art, pre-trained real-time object detection models, namely YOLOv5, YOLO-FIRI, and YOLOv8, were considered and re-trained using transfer learning techniques on the training dataset. On the validation dataset, the re-trained YOLOv8 outperforms the re-trained versions of both YOLOv5, and YOLO-FIRI.

Keywords: miner self-rescue, object detection, underground mine, YOLO

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Authors: Mohammed Albahttiti, Eliana Aguilar

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A push for sustainability in the concrete industry is increasing. Cow manure itself is becoming a problem and having the potential solution to use it in concrete as a cementitious replacement would be an ideal solution. For cow manure ash to become a well-rounded substitute, it would have to meet the right criteria to progress in becoming a more popular idea in the concrete industry. This investigation primarily focuses on how the replacement of cow manure ash affects the air content and air void distribution in concrete. In order to assess these parameters, the Super Air Meter (SAM) was used to test concrete in this research. In addition, multiple additional tests were performed, which included the slump test, temperature, and compression test. The strength results of the manure ash in concrete were promising. The manure showed compression strength results that are similar to that of the other supplementary cementitious materials tested. On the other hand, concrete samples made with cow manure ash showed 2% air content loss and an increasing SAM number proportional to cow manure content starting at 0.38 and increasing to 0.8. In conclusion, while the use of cow manure results in loss of air content, it results in compressive strengths similar to other supplementary cementitious materials.

Keywords: air content, biomass ash, cow manure ash, super air meter, supplementary cementitious materials

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Authors: Nisha Prakash, Kritika Anand, Arun Barvat, Prabir Pal, Sonachand Adhikari, Suraj P. Khanna

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Group-III nitride semiconductors (GaN, AlN, InN and their ternary and quaternary compounds) have attracted a great deal of attention for the development of high-performance Ultraviolet (UV) photodetectors. Any midgap defect states in the epitaxial grown film have a direct influence on the photodetectors responsivity. The proportion of the midgap defect states can be controlled by the growth parameters. To study this we have grown high quality epitaxial GaN films on MOCVD- grown GaN template using plasma-assisted molecular beam epitaxy (PAMBE) with different growth parameters. Optical and electrical properties of the films were characterized by room temperature photoluminescence and photoconductivity measurements, respectively. The observed persistent photoconductivity behaviour is proportional to the yellow luminescence (YL) and the absolute responsivity has been found to decrease with decreasing YL. The results will be discussed in more detail later.

Keywords: gallium nitride, plasma-assisted molecular beam epitaxy, photoluminescence, photoconductivity, persistent photoconductivity, yellow luminescence

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Authors: Takuya Sumi, Syoko Nukaya, Takashi Kaburagi, Hiroshi Tanaka, Kajiro Watanabe, Yosuke Kurihara

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We propose an unconstrained measurement system for scratching motion based on mathematical model of unconstrained bed sensing method which could measure the bed vibrations due to the motion of the person on the bed. In this paper, we construct mathematical model of the unconstrained bed monitoring system, and we apply the unconstrained bed sensing method to the system for detecting scratching motion. The proposed sensors are placed under the three bed feet. When the person is lying on the bed, the output signals from the sensors are proportional to the magnitude of the vibration due to the scratching motion. Hence, we could detect the subject’s scratching motion from the output signals from ceramic sensors. We evaluated two scratching motions using the proposed system in the validity experiment as follows: First experiment is the subject’s scratching the right side cheek with his right hand, and; second experiment is the subject’s scratching the shin with another foot. As the results of the experiment, we recognized the scratching signals that enable the determination when the scratching occurred. Furthermore, the difference among the amplitudes of the output signals enabled us to estimate where the subject scratched.

Keywords: unconstrained bed sensing method, scratching, body movement, itchy, piezoceramics

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Authors: Alexandre Rabaseda, Emelie Seguin, Marc Doumit

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Human mobility exoskeletons have been in development for several years and are becoming increasingly efficient. Unfortunately, user comfort was not always a priority design criterion throughout their development. To further improve this technology, exoskeletons should operate and deliver assistance without causing discomfort to the user. For this, improvements are necessary from an ergonomic point of view. The device’s control method is important when endeavoring to enhance user comfort. Exoskeleton or rehabilitation device controllers use methods of control called interaction controls (admittance and impedance controls). This paper proposes an extended version of an admittance controller to enhance user comfort. The control method used consists of adding an inner loop that is controlled by a proportional-integral-derivative (PID) controller. This allows the interaction force to be kept as close as possible to the desired force trajectory. The force-tracking admittance controller modifies the actuation force of the system in order to follow both the desired motion trajectory and the desired relative force between the user and the exoskeleton.

Keywords: mobility assistive device, exoskeleton, force-tracking admittance controller, user comfort

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Authors: Rovina Kobun, Shafiquzzaman Siddiquee

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A novel and simple electrochemical sensor for the determination of melamine was developed based on modified gold electrode (AuE) with chitosan (CHIT) nanocomposite membrane, zinc oxide nanoparticles (ZnONPs) and ionic liquids ([EMIM][Otf]) to enhance the potential current response of melamine. Cyclic voltammetry and differential pulse voltammetry were used to investigate the electrochemical behaviour between melamine and modified AuE in the presence of methylene blue as a redox indicator. The experimental results indicated that the interaction of melamine with CHIT/ZnONPs/([EMIM][Otf])/AuE were based on the strong interaction of hydrogen bonds. The morphological characterization of modified AuE was observed under scanning electron microscope. Under optimal conditions, the current signal was directly proportional to the melamine concentration ranging from 9.6 x 10-5 to 9.6 x 10-11 M, with a correlation coefficient of 0.9656. The detection limit was 9.6 x 10-12 M. Finally, the proposed method was successfully applied and displayed an excellent sensitivity in the determination of melamine in milk samples.

Keywords: melamine, gold electrode, zinc oxide nanoparticles, cyclic voltammetries, differential pulse voltammetries

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Authors: Sharif Muddsair, Eisels Martin, Giesbrecht Eugenie

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With development of society increase the demand for the movement of people also increases gradually. The various modes of the transport in different extent which expat impacts, which depends on mainly technical-operating conditions. The up-to-date telematics systems provide the transport industry a revolutionary. Appropriate use of these systems can help to substantially improve the efficiency. Vehicle monitoring and fleet tracking are among services used for improving efficiency and effectiveness of utility vehicle. There are many telematics systems which may contribute to eco-driving. Generally, they can be grouped according to their role in driving cycle. • Before driving - eco-route selection, • While driving – Advanced driver assistance, • After driving – remote analysis. Our point of interest is regulated in third point [after driving – remote analysis]. TS [Telematics-system] make it possible to record driving patterns in real time and analysis the data later on, So that driver- classification-specific hints [fast driver, slow driver, aggressive driver…)] are given to imitate eco-friendly driving style. Together with growing number of vehicle and development of information technology, telematics become an ‘active’ research subject in IT and the car industry. Telematics has gone a long way from providing navigation solution/assisting the driver to become an integral part of the vehicle. Today’s telematics ensure safety, comfort and become convenience of the driver.

Keywords: internet of things, iot, connected vehicle, cv, ts, telematics services, ml, machine learning

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Authors: Isao Tomita

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We develop a periodically-poled LiNbO3 (PPLN) device for highly-efficient third-harmonic generation (THG), where the THG efficiency is enhanced with a cavity. THG can usually be produced via χ(3)-nonlinear materials by optical pumping with very high pump-power. Instead, we here propose THG by moderate-power pumping through a specially-designed PPLN device containing only χ(2)-nonlinearity, where sum-frequency generation in the χ(2) process is employed for the mixing of a pump beam and a second-harmonic-generation (SHG) beam produced from the pump beam. The cavity is designed to increase the SHG power with dichroic mirrors attached to both ends of the device that perfectly reflect the SHG beam back to the device and yet let the pump and THG beams pass through the mirrors. This brings about a THG-power enhancement because of THG power proportional to the enhanced SHG power. We examine the THG-efficiency dependence on the mirror reflectance and show that very high THG-efficiency is obtained at moderate pump-power when compared with that of a cavity-free PPLN device.

Keywords: cavity, periodically-poled LiNbO₃, sum-frequency generation, third-harmonic generation

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Authors: Todor Bačkalić, Marinko Maslarić, Milosav Georgijević, Sanja Bojić

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Water transport could be the backbone of the future European combined transport system. The future transport policy in landlocked countries from the Danube Region has to be based on inland waterway transport (IWT). The development of the container transport on inland waterways depends directly on technical-exploitative characteristics of the network of inland waterways. Research of navigational abilities of inland waterways is the basic step in transport planning. The size of the vessel’s draught (T) is the limiting value in project tasks and it depends on the depth of the waterway. Navigation characteristics of rivers have to be determined as precise as possible, especially from the aspect of determination of the possible draught of vessels. This article outlines a rationale, why it is necessary to develop competence about infrastructure risk in water transport. Climate changes are evident and require special attention and global monitoring. Current risk assessment methods for Inland waterway transport just consider some dramatic events. We present a new method for the assessment of risk and vulnerability of inland waterway transport where river depth represents a crucial part. The analysis of water level changes in the lower Danube was done for two significant periods (1965-1979 and 1998-2012).

Keywords: container vessel, draught, probability, the Danube

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Authors: Duyen Lam, Thuong Hoang, Atul Sajjanhar, Feifei Chen

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With the emerging interactive technology applications helping users connect progressively with cultural artefacts in new approaches, the cultural heritage sector gains significantly. The interactive apps’ issues can be tested via several techniques, including usability surveys and usability evaluations. The severe usability problems for museums’ interactive technologies commonly involve interactions, control, and navigation processes. This study confirms the low quality of being immersive for audio guides in navigating the exhibition and involving experience in the virtual environment, which are the most vital features of new interactive technologies such as AR and VR. In addition, our usability surveys and heuristic evaluations disclosed many usability issues of these interactive technologies relating to interaction functions. Additionally, we use the Wayback Machine to examine what interactive apps/technologies were deployed on these websites during the physical visits limited due to the COVID-19 pandemic lockdown. Based on those inputs, we propose the reflection framework to enhance the UX in the cultural heritage domain with detailed guidelines.

Keywords: framework, user experience, cultural heritage, interactive technology, museum, COVID-19 pandemic, usability survey, heuristic evaluation, guidelines

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Authors: Fatma El-Zahraa El-Taher, Ayman Taha, Jane Courtney, Susan Mckeever

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Understanding road networks plays an important role in navigation applications such as self-driving vehicles and route planning for individual journeys. Intersections of roads are essential components of road networks. Understanding the features of an intersection, from a simple T-junction to larger multi-road junctions, is critical to decisions such as crossing roads or selecting the safest routes. The identification and profiling of intersections from satellite images is a challenging task. While deep learning approaches offer the state-of-the-art in image classification and detection, the availability of training datasets is a bottleneck in this approach. In this paper, a labelled satellite image dataset for the intersection recognition problem is presented. It consists of 14,692 satellite images of Washington DC, USA. To support other users of the dataset, an automated download and labelling script is provided for dataset replication. The challenges of construction and fine-grained feature labelling of a satellite image dataset is examined, including the issue of how to address features that are spread across multiple images. Finally, the accuracy of the detection of intersections in satellite images is evaluated.

Keywords: satellite images, remote sensing images, data acquisition, autonomous vehicles

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Authors: Harshan Baskar, Anirudh S. Chakravarthy, Prateek Garg, Divyam Goel, Abhijith S. Raj, Kshitij Kumar, Lakshya, Ravichandra Parvatham, V. Sushant, Bijay Kumar Rout

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In this paper, we introduce a new computer vision task called nighttime dehaze-enhancement. This task aims to jointly perform dehazing and lightness enhancement. Our task fundamentally differs from nighttime dehazing – our goal is to jointly dehaze and enhance scenes, while nighttime dehazing aims to dehaze scenes under a nighttime setting. In order to facilitate further research on this task, we release a new benchmark dataset called Reside-β Night dataset, consisting of 4122 nighttime hazed images from 2061 scenes and 2061 ground truth images. Moreover, we also propose a new network called NDENet (Nighttime Dehaze-Enhancement Network), which jointly performs dehazing and low-light enhancement in an end-to-end manner. We evaluate our method on the proposed benchmark and achieve SSIM of 0.8962 and PSNR of 26.25. We also compare our network with other baseline networks on our benchmark to demonstrate the effectiveness of our approach. We believe that nighttime dehaze-enhancement is an essential task, particularly for autonomous navigation applications, and we hope that our work will open up new frontiers in research. Our dataset and code will be made publicly available upon acceptance of our paper.

Keywords: dehazing, image enhancement, nighttime, computer vision

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Authors: Seyed Jamal Haddadi, M. Reza Mehranpour, Roya Sadat Mortazavi, Zahra Sadat Mortazavi

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Principal aim of this research is trajectory tracking, attitude and position control scheme in real flight mode by an Octorotor helicopter. For more stability, in this Unmanned Aerial Vehicle (UAV), number of motors is increased to eight motors which end of each arm installed two coaxial counter rotating motors. Dynamic model of this Octorotor includes of motion equation for translation and rotation. Utilized controller is proportional-integral-derivative (PID) control loop. The proposed controller is designed such that to be able to attenuate an effect of external wind disturbance and guarantee stability in this condition. The trajectory is determined by a Global Positioning System (GPS). Also an ARM CortexM4 is used as microprocessor. Electronic board of this UAV designed as able to records all of the sensors data, similar to an aircraft black box in external memory. Finally after auto landing of Octorotor, flight data is shown in MATLAB software and Experimental results of the proposed controller show the effectiveness of our approach on the Autonomous Quadrotor in real conditions.

Keywords: octorotor, design, PID controller, autonomous, trajectory tracking

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Authors: Yousef S. Al-Othman

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The growth and expansion of the industrial facilities comes proportional to the market increasing demand of products and services. Furthermore, raw material producers such as oil companies usually undergo massive revamping projects to maintain a synchronized supply. These revamping projects are usually delivered through challenging construction projects held and associated with daily site risks related to the construction process. Henceforth, a case study related to these risks and corresponding on-spot corrective measurements has been made on a certain number of construction project contractors at Kuwait Oil Company (KOC) to derive the benefits and overall effectiveness of the on-spot corrective measurements during the construction phase of a project, and how would the same help in avoiding major incidents, ensuring a smooth, cost effective and on time delivery of the project. Findings of this case study shall have an added value to the overall risk management process by minimizing the daily site risks that may affect the project lead time, resulting in an undisturbed on-site construction process.

Keywords: oil and gas, risk management, construction projects, project lead time

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Authors: Nazish Iftikhar, Adil Jhangeer, Tayyaba Naz

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The universe is expanding at an accelerated rate. Symmetries are useful in understanding universe’s behavior. Emmy Noether reported the relation between symmetries and conservation laws. These symmetries are known as Noether symmetries which correspond to a conserved quantity. In differential equations, conservation laws play an important role. Noether symmetries are helpful in modified theories of gravity. Time independent plane symmetric spacetime was classified by Noether`s theorem. By using Noether`s theorem, set of linear partial differential equations was obtained having A(r), B(r) and F(r) as unknown radial functions. The Lagrangian corresponding to considered spacetime in the Noether equation was used to get Noether operators. Different possibilities of radial functions were considered. Firstly, all functions were same. All the functions were considered as non-zero constant, linear, reciprocal and exponential respectively. Secondly, two functions were proportional to each other keeping third function different. Second case has four subcases in which four different relationships between A(r), B(r) and F(r) were discussed. In all cases, we obtained nontrivial Noether operators including gauge term. Conserved quantities for each Noether operators were also presented.

Keywords: Noether gauge symmetries, radial function, Noether operator, conserved quantities

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Authors: Nevine Henry Wasef

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The research discusses how Egyptian citizens perceive the performance of public sector officials, particularly the ethical values manifested in their behavior. It aims at answering the question of how Egyptian citizens’ perception of public officials affects citizens' trust in the government at large and the process of public service delivery specifically. The hypothesis is that public opinion about civil servants’ ethical values would be proportional to citizens’ trust in the government, which means that the more citizens regard administrators with high ethical standards, the higher trust in the government they would have and vice versa. The research would focus on the independent variable of trust in the government and the dependent variable of public perception of administrators’ ethical performance. The data would be collected through surveys designed to measure the public evaluation of public officials they are interacting with and the quality of services delivered to them. The study concludes that implementing ethical values in public administration has a crucial role in improving citizens’ trust in the government based on various case studies of governments that successfully adopted ethical training programs for their civil servants.

Keywords: trust, distrust, ethics, performance, integrity, values, public service

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Authors: Monisha Pattanaik

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In scenarios where users have to work with large amounts of hierarchical data structures combined with visualizations (For example, Construction 3d Models, Manufacturing equipment's models, Gantt charts, Building Plans), the data structures have a high density in terms of consisting multiple parent nodes up to 50 levels and their siblings to descendants, therefore convey an immediate feeling of complexity. With customers moving to consumer-grade enterprise software, it is crucial to make sophisticated features made available to touch devices or smaller screen sizes. This paper evaluates the UI component that allows users to scroll through all deep density levels using a slider overlay on top of the hierarchy table, performing several actions to focus on one set of objects at any point in time. This overlay component also solves the problem of excessive horizontal scrolling of the entire table on a fixed pane for a hierarchical table. This component can be customized to navigate through parents, only siblings, or a specific component of the hierarchy only. The evaluation of the UI component was done by End Users of application and Human-Computer Interaction (HCI) experts to test the UI component's usability with statistical results and recommendations to handle complex hierarchical data visualizations.

Keywords: building information modeling, digital twin, navigation, UI component, user interface, usability, visualization

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Authors: Wael M Albadri, Hassnen M Jafer, Ehab H Sfoog

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Relationship between undrained shear strength (Su) and over consolidation ratio (OCR) of clay soil (marine clay) is very important in the field of geotechnical engineering to estimate the settlement behaviour of clay and to prepare a small scale physical modelling test. In this study, a relationship between shear strength and OCR parameters was determined using the laboratory vane shear apparatus and the fully automatic consolidated apparatus. The main objective was to establish non-linear correlation formula between shear strength and OCR and comparing it with previous studies. Therefore, in order to achieve this objective, three points were chosen to obtain 18 undisturbed samples which were collected with an increasing depth of 1.0 m to 3.5 m each 0.5 m. Clay samples were prepared under undrained condition for both tests. It was found that the OCR and shear strength are inversely proportional at similar depth and at same undrained conditions. However, a good correlation was obtained from the relationships where the R2 values were very close to 1.0 using polynomial equations. The comparison between the experimental result and previous equation from other researchers produced a non-linear correlation which has a similar pattern with this study.

Keywords: shear strength, over-consolidation ratio, vane shear test, clayey soil

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Authors: Jayron Sanchez, Analyn Yumang, Felicito Caluyo

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The visually impaired individual may use a cane, guide dog or ask for assistance from a person. This study implemented the RFID technology which consists of a low-cost RFID reader and passive RFID tag cards. The passive RFID tag cards served as checkpoints for the visually impaired. The visually impaired was guided through audio output from the system while traversing the path. The study implemented an ultrasonic sensor in detecting static obstacles. The system generated an alternate path based on A* algorithm to avoid the obstacles. Alternate paths were also generated in case the visually impaired traversed outside the intended path to the destination. A* algorithm generated the shortest path to the destination by calculating the total cost of movement. The algorithm then selected the smallest movement cost as a successor to the current tag card. Several trials were conducted to determine the effect of obstacles in the time traversal of the visually impaired. A dependent sample t-test was applied for the statistical analysis of the study. Based on the analysis, the obstacles along the path generated delays while requesting for the alternate path because of the delay in transmission from the laptop to the device via ZigBee modules.

Keywords: A* algorithm, RFID technology, ultrasonic sensor, ZigBee module

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Authors: Linhang Zhu, Hongyu Zhu, Jiahe Liu

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This paper investigated a method of indoor real-time positioning and mapping based on the Manhattan world assumption. In indoor environments, relying solely on feature matching techniques or other geometric algorithms for sensor pose estimation inevitably resulted in cumulative errors, posing a significant challenge to indoor positioning. To address this issue, we adopt the Manhattan world hypothesis to optimize the camera pose algorithm based on feature matching, which improves the accuracy of camera pose estimation. A special processing method was applied to image data frames that conformed to the Manhattan world assumption. When similar data frames appeared subsequently, this could be used to eliminate drift in sensor pose estimation, thereby reducing cumulative errors in estimation and optimizing mapping and positioning. Through experimental verification, it is found that our method achieves high-precision real-time positioning in indoor environments and successfully generates maps of indoor environments. This provides effective technical support for applications such as indoor navigation and robot control.

Keywords: Manhattan world hypothesis, real-time positioning and mapping, feature matching, loopback detection

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Authors: Truong Nguyen Luan Vu, Le Hieu Giang, Le Linh

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The FOPI controller is proposed based on the main properties of the decoupling control scheme, as well as the fractional calculus. By using the simplified decoupling technique, the transfer function of decoupled apparent process is firstly separated into a set of n equivalent independent processes in terms of a ratio of the diagonal elements of original open-loop transfer function to those of dynamic relative gain array and the fraction – order PI controller is then developed for each control loops due to the Bode’s ideal transfer function that gives the desired fractional closed-loop response in the frequency domain. The simulation studies were carried out to evaluate the proposed design approach in a fair compared with the other existing methods in accordance with the structured singular value (SSV) theory that used to measure the robust stability of control systems under multiplicative output uncertainty. The simulation results indicate that the proposed method consistently performs well with fast and well-balanced closed-loop time responses.

Keywords: ideal transfer function of bode, fractional calculus, fractional order proportional integral (FOPI) controller, decoupling control system

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Authors: Wiem Zemzem, Moncef Tagina

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In this work, we are addressing the problem of an autonomous mobile robot navigating in a large, unknown and dynamic environment using reinforcement learning abilities. This problem is principally related to the exploration/exploitation dilemma, especially the need to find a solution letting the robot detect the environmental change and also learn in order to adapt to the new environmental form without ignoring knowledge already acquired. Firstly, a new action selection strategy, called ε-greedy-MPA (the ε-greedy policy favoring the most promising actions) is proposed. Unlike existing exploration/exploitation policies (EEPs) such as ε-greedy and Boltzmann, the new EEP doesn’t only rely on the information of the actual state but also uses those of the eventual next states. Secondly, as the environment is large, an exploration favoring least recently visited states is added to the proposed EEP in order to accelerate learning. Finally, various simulations with ball-catching problem have been conducted to evaluate the ε-greedy-MPA policy. The results of simulated experiments show that combining this policy with the Qlearning method is more effective and efficient compared with the ε-greedy policy in stationary environments and the utility-based reinforcement learning approach in non stationary environments.

Keywords: autonomous mobile robot, exploration/ exploitation policy, large, dynamic environment, reinforcement learning

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Authors: El-Sadek H. Nour El-deen, K. Harby

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Energy saving and environment friendly applications are turning out to be one of the most important topics nowadays. In this work, a simulation analysis using TRNSYS software has been carried out to study the benefit of employing a solar adsorption cooling system under the climatic conditions of Al-Minya city, Egypt. A theoretical model was carried out on a two bed adsorption cooling system employing granular activated carbon-HFC-404A as working pair. Temporal and averaged history of solar collector, adsorbent beds, evaporator and condenser has been shown. System performance in terms of daily average cooling capacity and average coefficient of performance around the year has been investigated. The results showed that maximum yearly average coefficient of performance (COP) and cooling capacity are about 0.26 and 8 kW respectively. The maximum value of the both average cooling capacity and COP cyclic is directly proportional to the maximum solar radiation. The system performance was found to be increased with the average ambient temperature. Finally, the proposed solar powered adsorption cooling systems can be used effectively under Al-Minya climatic conditions.

Keywords: adsorption, cooling, Egypt, environment, solar energy

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Authors: Zine Souhila Rached, Mazari Benyounes Bouzid, Mohamed Amine, Allaoui Tayeb

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Wind energy has many advantages, it does not pollute and it is an inexhaustible source. However, its high cost is a major constraint, especially on the less windy sites. The purpose of wind energy systems is to maximize energy efficiency, and extract maximum power from the wind speed. In other words, having a power coefficient is maximum and therefore the maximum power point tracking. In this case, the MPPT control becomes important.To realize this control, strategy conventional proportional and integral (PI) controller is usually used. However, this strategy cannot achieve better performance. This paper proposes a robust control of a turbine which optimizes its production, that is improve the quality and energy efficiency, namely, a strategy of sliding mode control. The proposed sliding mode control strategy presents attractive features such as robustness to parametric uncertainties of the turbine; the proposed sliding mode control approach has been simulated on three-blade wind turbine. The simulation result under Matlab\Simulink has validated the performance of the proposed MPPT strategy.

Keywords: wind turbine, maximum power point tracking, sliding mode, energy conversion systems

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Authors: Marulasiddappa H. B., Pushparajesh Viswanathan

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Day by day, the uses of internal combustion engines (ICE) are deteriorating because of pollution and less fuel availability. In the present scenario, the electric vehicle (EV) plays a major role in the place of an ICE vehicle. The performance of EVs can be improved by the proper selection of electric motors. Initially, EV preferred induction motors for traction purposes, but due to complexity in controlling induction motor, permanent magnet synchronous motor (PMSM) is replacing induction motor in EV due to its advantages. Direct torque control (DTC) is one of the known techniques for PMSM drive in EV to control the torque and speed. However, the presence of torque ripple is the main drawback of this technique. Many control strategies are followed to reduce the torque ripples in PMSM. In this paper, the adaptive neuro-fuzzy inference system (ANFIS) controller technique is proposed to reduce torque ripples and settling time. Here the performance parameters like torque, speed and settling time are compared between conventional proportional-integral (PI) controller with ANFIS controller.

Keywords: direct torque control, electric vehicle, torque ripple, PMSM

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Authors: Abdulmajeed Dabwan, Saqib Anwar, Ali Al-Samhan

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Electron Beam Melting (EBM) is a metal powder bed-based Additive Manufacturing (AM) technology, which uses computer-controlled electron beams to create fully dense three-dimensional near-net-shaped parts from metal powder. It gives the ability to produce any complex parts directly from a computer-aided design (CAD) model without tools and dies, and with a variety of materials. However, the quality of the surface finish in EBM process has limitations to meeting the performance requirements of additively manufactured components. The aim of this study is to investigate the cutting forces induced during milling Ti6Al4V produced by EBM as well as the surface quality of the milled surfaces. The effects of cutting speed and radial depth of cut on the cutting forces, surface roughness, and surface morphology were investigated. The results indicated that the cutting speed was found to be proportional to the resultant cutting force at any cutting conditions while the surface roughness improved significantly with the increase in cutting speed and radial depth of cut.

Keywords: electron beam melting, additive manufacturing, Ti6Al4V, surface morphology

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Authors: Ali Emre Öztürk, Ergun Ercelebi

Abstract:

Autonomous robotic systems needs an equipment like a human eye for their movement. Robotic camera systems, distance sensors and 3D laser scanners have been used in the literature. In this study a 3D laser scanner has been produced for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder that is moving in two –axis (2D) and because of this the laser scanner has been produced cheaper. Furthermore for the laser scanner a motor driver, an embedded system control board has been used and at the same time a user interface card has been used to make the communication between those cards and computer. Due to this laser scanner, the density of the objects, the distance between the objects and the necessary path ways for the robot can be calculated. The data collected by the laser scanner system is converted in to cartesian coordinates to be modeled in AutoCAD program. This study shows also the synchronization between the computer user interface, AutoCAD and the embedded systems. As a result it makes the solution cheaper for such systems. The scanning results are enough for an autonomous robot but the scan cycle time should be developed. This study makes also contribution for further studies between the hardware and software needs since it has a powerful performance and a low cost.

Keywords: 3D laser scanner, embedded system, 1D laser range finder, 3D model

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