Search results for: quantized control

Authors: Fekkak Bouazza, Menaa Mohamed, Loukriz Abdelhamid, Krim Mohamed L.

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This paper presents modeling and control strategy for the grid connected wind turbine system based on Permanent Magnet Synchronous Generator (PMSG). The considered system is based on back-to-back converter topology. The Grid Side Converter (GSC) achieves the DC bus voltage control and unity power factor. The Machine Side Converter (MSC) assures the PMSG speed control. The PMSG is used as a variable speed generator and connected directly to the turbine without gearbox. The pitch angle control is not either considered in this study. Further, Optimal Tip Speed Ratio (OTSR) based MPPT control strategy is used to ensure the most energy efficiency whatever the wind speed variations. A filter (L) is put between the GSC and the grid to reduce current ripple and to improve the injected power quality. The proposed grid connected wind system is built under MATLAB/Simulink environment. The simulation results show the feasibility of the proposed topology and performance of its control strategies.

Keywords: wind, grid, PMSG, MPPT, OTSR

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Authors: Jun Liu, Feihang Zhou, Gungyi Wang

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This paper expounds on the direct-driven PMSG wind power system control strategy, and analyses the stability conditions of the system. The direct-driven PMSG wind power system may generate the intense mechanical vibration, when wind speed changes dramatically. This paper proposes a new type of torque control strategy, which increases the system damping effectively, mitigates mechanical vibration of the system, and enhances the stability conditions of the system. The simulation results verify the reliability of the new torque control strategy.

Keywords: damping, direct-driven PMSG wind power system, mechanical vibration, torque control

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Authors: R. Loukil, M. Chtourou, T. Damak

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In this work, we use the Fault detection and isolation and the Fault tolerant control based on sliding mode observer in order to introduce the well diagnosis of a nonlinear system. The robustness of the proposed observer for the two techniques is tested through a physical example. The results in this paper show the interaction between the Fault tolerant control and the Diagnosis procedure.

Keywords: fault detection and isolation FDI, fault tolerant control FTC, sliding mode observer, nonlinear system, robustness, stability

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Authors: Hayani Anastasia, Junus Widjaja, Anis Nur Widayati

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In Indonesia, schistosomiasis is caused by Schistosoma japonicum with Oncomelania hupensis lindoensis as the intermediate host. Schistosomiasis can infect humans and all species of mammals. In order to achieve schistosomiasis elimination by 2020, schistosomiasis control, including environmental management, has been carried out by multi-sector. A cross-sectional study was conducted in 2018 to evaluate the multi-sectoral schistosomiasis control program. Data were collected by depth interviews of stakeholders, stool surveys, snail surveys, observation, and document reviews. About 53.6% of control programs in the schistosomiasis control roadmap were not achieved. The number of foci area found in 2018 are not significantly different compared to before the control programs. Moreover, the prevalence of schistosomiasis in the human was 0-5.1% and in mammals was the range from 0 to 10%. In order to overcome the problems, a policy about schistosomiasis as a priority program in ministries and agencies other than the Ministry of Health is needed. Innovative health promotion with interactive media also needs to be applied. Also, the schistosomiasis work team needs to be more active with the Agency of Regional Development as the leading sector.

Keywords: evaluation, Indonesia, multi-sector, schistosomiasis

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Authors: Magno Enrique Mendoza Meza

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This paper deals with the comparison of three control techniques: the hysteresis on-off control (HyOOC), the hybrid on-off control (HOOC) and the simple Structured Treatment Interruptions (sSTI). These techniques are applied to the mathematical model developed by Kirschner and Webb. To compare these techniques we use a cost functional that minimize the wild-type virus population and the mutant virus population, but the main objective is to minimize the systemic cost of treatment and maximize levels of healthy CD4+ T cells. HyOOC, HOOC, and sSTI are applied to the drug therapies using a reverse transcriptase and protease inhibitors; simulations show that these controls maintain the uninfected cells in a small, bounded neighborhood of a pre-specified level. The controller HyOOC and HOOC are designed by appropriate choice of virtual equilibrium points.

Keywords: virus dynamics, on-off control, hysteresis, multi-drug therapies

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Authors: Keiju Matsui, Mikio Yasubayashi, Masayoshi Umeno

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Consumption of energy is increasing every year, and yet does not the decline at all. The main energy source is fossil fuels such as petroleum and natural gas. Since it is the finite resources, they will be exhausted someday. Moreover, to make the fossil fuel an energy source causes an environment problem. In such way, one solution of the problems is the solar battery that is remarkable as one of the alternative energies. Under such circumstances, in this paper, we propose a novel maximum power control circuit for photovoltaic power generation system with simple and fast-response operation. In addition to an application to the solar battery, since this control system is possible to operate with simple circuit and fast-response, the polar value control like the maximum or the minimum value tracking for general application could be easily realized.

Keywords: maximum power control, inter-connection, photovoltaic power generation, PI controller, multiplier, exclusive-or, power system

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Authors: Vahid Nademi

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In response to widely used wearable medical devices equipped with a continuous glucose monitor (CGM) and insulin pump, the advanced control methods are still demanding to get the full benefit of these devices. Unlike costly clinical trials, implementing effective insulin-glucose control strategies can provide significant contributions to the patients suffering from chronic diseases such as diabetes. This study deals with a key role of two-layer insulin-glucose regulator based on model-predictive-control (MPC) scheme so that the patient’s predicted glucose profile is in compliance with the insulin level injected through insulin pump automatically. It is achieved by iterative optimization algorithm which is called an integrated perturbation analysis and sequential quadratic programming (IPA-SQP) solver for handling uncertainties due to unexpected variations in glucose-insulin values and body’s characteristics. The feasibility evaluation of the discussed control approach is also studied by means of numerical simulations of two case scenarios via measured data. The obtained results are presented to verify the superior and reliable performance of the proposed control scheme with no negative impact on patient safety.

Keywords: blood glucose monitoring, insulin pump, predictive control, optimization

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Authors: K. T. Sun, Y. H. Tai, H. W. Yang, H. T. Lin

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This paper presented the technique of robot control by event-related potentials (ERPs) of brain waves. Based on the proposed technique, severe physical disabilities can free browse outside world. A specific component of ERPs, N2P3, was found and used to control the movement of robot and the view of camera on the designed brain-computer interface (BCI). Users only required watching the stimuli of attended button on the BCI, the evoked potentials of brain waves of the target button, N2P3, had the greatest amplitude among all control buttons. An experimental scene had been constructed that the robot required walking to a specific position and move the view of camera to see the instruction of the mission, and then completed the task. Twelve volunteers participated in this experiment, and experimental results showed that the correct rate of BCI control achieved 80% and the average of execution time was 353 seconds for completing the mission. Four main contributions included in this research: (1) find an efficient component of ERPs, N2P3, for BCI control, (2) embed robot's viewpoint image into user interface for robot control, (3) design an experimental scene and conduct the experiment, and (4) evaluate the performance of the proposed system for assessing the practicability.

Keywords: severe physical disabilities, robot control, event-related potentials (ERPs), brain-computer interface (BCI), brain waves

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Authors: Shohel Ahmed, Md. Abdul Alim, Sumaiya Rahman

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Optimal control can be helpful to test and compare different vaccination strategies of a certain disease. The mathematical model of HIV we consider here is a set of ordinary differential equations (ODEs) describing the interactions of CD4+T cells of the immune system with the human immunodeficiency virus (HIV). As an early treatment setting, we investigate an optimal chemotherapy strategy where control represents the percentage of effect the chemotherapy has on the system. The aim is to obtain a new optimal chemotherapeutic strategy where an isoperimetric constraint on the chemotherapy supply plays a crucial role. We outline the steps in formulating an optimal control problem, derive optimality conditions and demonstrate numerical results of an optimal control for the model. Numerical results illustrate how such a constraint alters the optimal vaccination schedule and its effect on cell-virus interactions.

Keywords: chemotherapy of HIV, optimal control involving ODEs, optimality conditions, Pontryagin’s maximum principle

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Authors: J. Fernandez de Canete, S. Fernandez-Calvo, I. García-Moral

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This paper presents and discusses the application of the object-oriented modelling software SIMSCAPE to hydraulic systems, with particular reference to multivariable proportional-integral-derivative (PID) control. As a result, a particular modelling approach of a double cylinder-piston coupled system is proposed and motivated, and the SIMULINK based PID tuning tool has also been used to select the proper controller parameters. The paper demonstrates the usefulness of the object-oriented approach when both physical modelling and control are tackled.

Keywords: object-oriented modeling, multivariable hydraulic system, multivariable PID control, computer simulation

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Authors: Mohammad Reza Ebrahimi, Behnaz Mahdaviani

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Increasing renewable sources such photovoltaic are the reason of environmental pollution. Because photovoltaic generates power in low voltage, first, generated power should increase. Usually, distributed generation injects their power to AC-Grid, hence after voltage increasing an inverter is needed to convert DC power to AC power. This results in utilization two series converter that grows cost, complexity, and low efficiency. In this paper a single stage inverter is utilized to boost and invert in one stage. Control of this scheme is easier, and its initial cost decreases comparing to conventional double stage inverters. A simple control scheme is used to control active power as well as minimum total harmonic distortion (THD) in injected current. Simulations in MATLAB demonstrate better outputs comparing with conventional approaches.

Keywords: maximum power point tracking, boost inverter, control strategy, three phase inverter

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Authors: M. N. Amrani, H. Abanou, A. Dib

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In this paper, we proposed a strategy for optimizing the performance for a pumping structure constituted by an induction motor coupled to a centrifugal pump and improving existing results in this context. The considered system is supplied by a photovoltaic generator (GPV) through two static converters piloted in an independent manner. We opted for a maximum power point tracking (MPPT) control method based on the Neuro - Fuzzy, which is well known for its stability and robustness. To improve the induction motor performance, we use the concept of Direct Torque Control (DTC) and PID controller for motor speed to pilot the working of the induction motor. Simulations of the proposed approach give interesting results compared to the existing control strategies in this field. The model of the proposed system is simulated by MATLAB/Simulink.

Keywords: solar energy, pumping photovoltaic system, maximum power point tracking, direct torque Control (DTC), PID regulator

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Authors: Pham Van Hung, Nguyen Trong Hieu, Le Quoc Dinh, Nguyen Kiem Chien, Le Dinh Hieu

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The article focuses on the study of automatic flight control on missiles during operation. The quality standards and characteristics of missile operations are very strict, requiring high stability and accurate response to commands within a relatively wide range of work. The study analyzes the linear transfer function model of the Missile Roll channel to facilitate the development of control systems. A two-loop control structure for the Missile Roll channel is proposed, with the inner loop controlling the Missile Roll rate and the outer loop controlling the Missile Roll angle. To determine the optimal control parameters, a genetic algorithm is applied. The study uses MATLAB simulation software to implement the genetic algorithm and evaluate the quality of the closed-loop system. The results show that the system achieves better quality than the original structure and is simple, reliable, and ready for implementation in practical experiments.

Keywords: genetic algorithm, roll chanel, two-loop control structure, missile

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Authors: Piotr Jerzy Rugor, Julia Wajoras

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The presented work regards a single-stage aerodynamically controlled solid propulsion rocket. Steering a rocket to fly along a predetermined trajectory can be beneficial for minimizing aerodynamic losses and achieved by implementing an active control system on board. In this particular case, a canard configuration has been chosen, although other methods of control have been considered and preemptively analyzed, including non-aerodynamic ones. The objective of this work is to create a system capable of guiding the rocket, focusing on roll stabilization. The paper describes initial analysis of the problem, covers the main challenges of missile guidance and presents data acquired during the experimental study.

Keywords: active canard control system, rocket design, numerical simulations, flight optimization

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Authors: Parag Nihawan, Ravinder Singh Bhatia, Dinesh Kumar Jain

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Industrial drives are source of serious power quality problems. In this, two typical industrial drives have been dealt with, namely, FOC induction motor drives and DTC induction motor drive. The Z-source inverter is an emerging topology of power electronic converters which is capable of buck boost characteristics. The performances of different control methods based Z-source inverters feeding these industrial drives have been investigated, in this work. The test systems have been modeled and simulated in MATLAB/SIMULINK. The results obtained after carrying out these simulations have been used to draw the conclusions.

Keywords: Z-source inverter, total harmonic distortion, direct torque control, field orientation control

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Authors: Jožef Ritonja

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The biochemical industry is one of the most important modern industries. Biochemical reactors are crucial devices of the biochemical industry. The essential bioprocess carried out in bioreactors is the fermentation process. A thorough insight into the fermentation process and the knowledge how to control it are essential for effective use of bioreactors to produce high quality and quantitatively enough products. The development of the control system starts with the determination of a mathematical model that describes the steady state and dynamic properties of the controlled plant satisfactorily, and is suitable for the development of the control system. The paper analyses the fermentation process in bioreactors thoroughly, using existing mathematical models. Most existing mathematical models do not allow the design of a control system for controlling the fermentation process in batch bioreactors. Due to this, a mathematical model was developed and presented that allows the development of a control system for batch bioreactors. Based on the developed mathematical model, a control system was designed to ensure optimal response of the biochemical quantities in the fermentation process. Due to the time-varying and non-linear nature of the controlled plant, the conventional control system with a proportional-integral-differential controller with constant parameters does not provide the desired transient response. The improved adaptive control system was proposed to improve the dynamics of the fermentation. The use of the adaptive control is suggested because the parameters’ variations of the fermentation process are very slow. The developed control system was tested to produce dairy products in the laboratory bioreactor. A carbon dioxide concentration was chosen as the controlled variable. The carbon dioxide concentration correlates well with the other, for the quality of the fermentation process in significant quantities. The level of the carbon dioxide concentration gives important information about the fermentation process. The obtained results showed that the designed control system provides minimum error between reference and actual values of carbon dioxide concentration during a transient response and in a steady state. The recommended control system makes reference signal tracking much more efficient than the currently used conventional control systems which are based on linear control theory. The proposed control system represents a very effective solution for the improvement of the milk fermentation process.

Keywords: biochemical reactor, fermentation process, modelling, adaptive control

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Authors: Ayoub Moufid, Najib Bennis, Soumia El Hani

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The objective of greenhouse climate control is to improve the culture development and to minimize the production costs. A greenhouse is an open system to external environment and the challenge is to regulate the internal climate despite the strong meteorological disturbances. The internal state of greenhouse considered in this work is defined by too relevant and coupled variables, namely inside temperature and hygrometry. These two variables are chosen to describe the internal state of greenhouses due to their importance in the development of plants and their sensitivity to external climatic conditions, sources of weather disturbances. A multivariable model is proposed and validated by considering a greenhouse as black-box system and the least square method is applied to parameters identification basing on collected experimental measures. To regulate the internal climate, we propose a Model Predictive Control (MPC) scheme. This one considers the measured meteorological disturbances and the physical and operational constraints on the control and state variables. A successful feasibility study of the proposed controller is presented, and simulation results show good performances despite the high interaction between internal and external variables and the strong external meteorological disturbances. The inside temperature and hygrometry are tracking nearly the desired trajectories. A comparison study with an On/Off control applied to the same greenhouse confirms the efficiency of the MPC approach to inside climate control.

Keywords: climate control, constraints, identification, greenhouse, model predictive control, optimization

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Authors: Piyush V. Surjagade, Jiamei Deng, Paul Doney, S. R. Shimjith, A. John Arul

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In sophisticated and complex systems such as nuclear power plants, maintaining the system's stability in the presence of uncertainties and disturbances and obtaining a fast dynamic response are the most challenging problems. Thus, to ensure the satisfactory and safe operation of nuclear power plants, this work proposes a new fast, robust optimal switching control strategy for pressurized water reactor-type nuclear power plants. The proposed control strategy guarantees a substantial degree of robustness, fast dynamic response over the entire operational envelope, and optimal performance during the nominal operation of the plant. To improve the robustness, obtain a fast dynamic response, and make the system optimal, a bank of controllers is designed. Various controllers, like a baseline proportional-integral-derivative controller, an optimal linear quadratic Gaussian controller, and a robust adaptive L1 controller, are designed to perform distinct tasks in a specific situation. At any instant of time, the most suitable controller from the bank of controllers is selected using the switching logic unit that designates the controller by monitoring the health of the nuclear power plant or transients. The proposed switching control strategy optimizes the overall performance and increases operational safety and efficiency. Simulation studies have been performed considering various uncertainties and disturbances that demonstrate the applicability and effectiveness of the proposed switching control strategy over some conventional control techniques.

Keywords: switching control, robust control, optimal control, nuclear power control

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Authors: J. Fernandez de Canete, P. Del Saz Orozco, I. Garcia-Moral, A. Akhrymenka

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Object-oriented modeling is spreading in current simulation of wastewater treatments plants through the use of the individual components of the process and its relations to define the underlying dynamic equations. In this paper, we describe the use of the free-software OpenModelica simulation environment for the object-oriented modeling of an activated sludge process under feedback control. The performance of the controlled system was analyzed both under normal conditions and in the presence of disturbances. The object-oriented described approach represents a valuable tool in teaching provides a practical insight in wastewater process control field.

Keywords: object-oriented programming, activated sludge process, OpenModelica, feedback control

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Authors: A. Elnady

Abstract:

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

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

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Authors: Ferydon Salehifar, Hassan Safarikia, Hossein Boromandfar

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Karkheh plant in Iran's Khuzestan province and is located in the city Andimeshk. The plant has a production capacity of 400 MW units with water and three hours. One of the important parameters of each country's power grid stability is the stability of the power grid is affected by the voltage and frequency In plants, the amount of active power frequency control is done so that when the unit is placed in the frequency control their productivity is a function of frequency and output power varies with frequency. Produced by hydroelectric power plants with the water level behind the dam has a direct relationship And to decrease and increase the water level behind the dam in order to reduce the power output increases But these changes have a different interval is due to some mechanical problems such as turbine cavitation and vibration are limited. In this study, the range of the frequency control can be Karkheh manufacturing plants have been identified and their effectiveness has been determined.

Keywords: Karkheh power, frequency control system, active power, efficiency

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Authors: Rihab Hamdi, Amel Hadri Hamida, Ouafae Bennis, Fatima Babaa, Sakina Zerouali

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This paper features a sliding mode controller (SMC) for closed-loop voltage control of DC-DC three-cells buck converter connected in parallel, operating in continuous conduction mode (CCM), based on pulse-width modulation (PWM). To maintain the switching frequency, the approach is to incorporate a pulse-width modulation that utilizes an equivalent control, inferred by applying the SM control method, to produce a control sign to be contrasted and the fixed-frequency within the modulator. Detailed stability and transient performance analysis have been conducted using Lyapunov stability criteria to restrict the switching frequency variation facing wide variations in output load, input changes, and set-point changes. The results obtained confirm the effectiveness of the proposed control scheme in achieving an enhanced output transient performance while faithfully realizing its control objective in the event of abrupt and uncertain parameter variations. Simulations studies in MATLAB/Simulink environment are performed to confirm the idea.

Keywords: DC-DC converter, pulse width modulation, power electronics, sliding mode control

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Authors: Emin Gundogar, Aysegul Yilmaz

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Strategic performance control is a significant procedure in management. There are various methods to improve this procedure. This study introduces an information system that is developed to score performance for municipal management. The application of the system is clarified by exemplifying municipal processes.

Keywords: management information system, municipal management, performance control

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Authors: Ferenc Kovács, Gábor Hosszú

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The paper presents an advanced control system for tennis ball throwing machines to improve their accuracy according to the ball impact points. A further advantage of the system is the much easier calibration process involving the intelligent solution of the automatic adjustment of the stroking parameters according to the ball elasticity, the self-calibration, the use of the safety margin at very flat strokes and the possibility to placing the machine to any position of the half court. The system applies mathematical methods to determine the exact ball trajectories and special approximating processes to access all points on the aimed half court.

Keywords: control system, robot programming, robot control, sports equipment, throwing machine

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Authors: Amos Olusola Akinola

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The aim of this study is to evaluate the internal control system on fraud prevention in Nigerian business organizations. A survey research was undertaken in five organizations from the banking and manufacturing sectors in Nigeria using the simple random sampling technique and primary data was obtained with the aid structured questionnaire drawn on five likert’s scale. Four Hypotheses were formulated and tested using the T-test Statistics, Correlation and Regression Analysis at 95% confidence interval. It was discovered that internal control has a significant positive relationship with fraud prevention and that a weak internal control system permits fraudulent activities among staff. Based on the findings, it was recommended that organizations should continually and methodically review and evaluate the components of its internal control system whether activities are working as planned or not and that every organization should have pre-determined guidelines for conducting its operations and ensures compliance with these set guidelines while proactive steps should be taken to establish the independence of the internal audit by making the audit reportable to the governing council of an organization and not the chief executive officer.

Keywords: internal control, internal system, internal audit, fraud prevention, fraud detection

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Authors: Karchung, S. Ruangsinchaiwanich

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This paper presents open-loop vector control method of induction motor with space vector pulse width modulation (SVPWM) technique. Normally, the closed loop speed control is preferred and is believed to be more accurate. However, it requires a position sensor to track the rotor position which is not desirable to use it for certain workspace applications. This paper exhibits the performance of three-phase induction motor with the simplest control algorithm without the use of a position sensor nor an estimation block to estimate rotor position for sensorless control. The motor stator currents are measured and are transformed to synchronously rotating (d-q-axis) frame by use of Clarke and Park transformation. The actual control happens in this frame where the measured currents are compared with the reference currents. The error signal is fed to a conventional PI controller, and the corrected d-q voltage is generated. The controller outputs are transformed back to three phase voltages and are fed to SVPWM block which generates PWM signal for the voltage source inverter. The open loop vector control model along with SVPWM algorithm is modeled in MATLAB/Simulink software and is experimented and validated in TMS320F28335 DSP board.

Keywords: electric drive, induction motor, open-loop vector control, space vector pulse width modulation technique

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Authors: Chinmay Shah

Abstract:

The project is all about development of a close loop traffic light control system using PLC (Programmable Logic Controller). This project is divided into two parts which are hardware and software. The hardware part for this project is a model of four way junction of a traffic light. Three indicator lamps (Red, Yellow and Green) are installed at each lane for represents as traffic light signal. This traffic control model is a replica of actuated traffic control. Actuated traffic control system is a close loop traffic control system which controls the timing of the indicator lamps depending on the fluidity of traffic for a particular lane. To make it autonomous, in each lane three IR sensors are placed which helps to sense the percentage of traffic present on any particular lane. The IR Sensors and Indicator lamps are connected to LG PLC XGB series. The PLC controls every signal which is coming from the inputs (IR Sensors) to software and display to the outputs (Indicator lamps). Default timing for the indicator lamps is 30 seconds for each lane. But depending on the percentage of traffic present, if the traffic is nearly 30-35%, green lamp will be on for 10 seconds, for 65-70% traffic it will be 20 seconds, for full 100% traffic it will be on for full 30 seconds. The software part that operates with LG PLC is “XG 5000” Programmer. Using this software, the ladder logic diagram is programmed to control the traffic light base on the flow chart. At the end of this project, the traffic light system is actuated successfully by PLC.

Keywords: close loop, IR sensor, PLC, light control system

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Authors: Florian Mach, Eric Hund, Malte Stonis

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The dismantling of disused industrial facilities such as nuclear power plants or refineries is an enormous challenge for the planning and control of the logistic processes. Existing control models do not meet the requirements for a proper dismantling of industrial plants. Therefore, the paper presents an approach for the control of dismantling and post-processing processes (e.g. decontamination) in plant decommissioning. In contrast to existing approaches, the dismantling sequence and depth are selected depending on the capacity utilization of required post-processing processes by also considering individual characteristics of respective dismantling tasks (e.g. decontamination success rate, uncertainties regarding the process times). The results can be used in the dismantling of industrial plants (e.g. nuclear power plants) to reduce dismantling time and costs by avoiding bottlenecks such as capacity constraints.

Keywords: dismantling management, logistics planning and control models, nuclear power plant dismantling, reverse logistics

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Authors: Ghania Zidani, Said Drid, Larbi Chrifi-Alaoui, Abdeslam Benmakhlouf, Souad Chaouch

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In this paper, we focus on the study for path tracking control of unicycle-type Wheeled Mobile Robots (WMR), by applying the Backstepping technic. The latter is a relatively new technic for nonlinear systems. To solve the problem of constraints nonholonomics met in the path tracking of such robots, an adaptive Backstepping based nonlinear controller is developed. The stability of the controller is guaranteed, using the Lyapunov theory. Simulation results show that the proposed controller achieves the objective and ensures good path tracking.

Keywords: Backstepping control, kinematic and dynamic controllers, Lyapunov methods, nonlinear control systems, Wheeled Mobile Robot (WMR).

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Authors: Maaza Saeed, Caina Li

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The current 2-wave longitudinal study attempts to illuminate the well-established association between parental warm support and academic achievement through the mediating role of self-control while taking into account the moderating role of teacher emotional support. The present research has assessed 2569 Chinese students (aged 10-18 years, M = 13.27, SD = 0.67). They were recruited from the three public middle schools in Xi’an, a middle-sized city in the central part of China. Meditation analysis revealed that self-control mediated the relationship between parental warm support and academic achievement. Additionally, it was found the direct effect of parental warm support was not significant after controlling for the age and gender. Furthermore, moderation analysis revealed high parental warm support and higher teacher emotional support was related to increased self-control compared to lower teacher emotion support. The findings highlighted the importance of parental warm support, teacher emotional support, and self-control on academic achievement.

Keywords: self control, academic achievement, teacher emotional support/conflict, adolescent

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