Search results for: tunnel installation control network

Authors: Arman Kishan, Sanjay Kubsad, Steve Li, Mark Haft, Duc Nguyen, Dawn Laporte

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Objective: Carpal tunnel syndrome can be managed surgically with endoscopic or open carpal tunnel release (CTR). Rheumatoid arthritis (RA) is a known risk factor for Carpal Tunnel Syndrome (CTS) and is believed to be related to compression of the median nerve secondary to inflammation. We aimed to analyze national trends, outcomes, and patient-specific comorbidities associated with ECTR and OCTR in patients with RA. Methods: A retrospective cohort study was conducted using the PearlDiver database, identifying 683 RA patients undergoing ECTR and 4234 undergoing OCTR between 2010 and 2014. Demographic data, comorbidities, and complication rates were analyzed. Univariate and multivariable analyses assessed differences between the treatment methods. Results:  Patients with RA undergoing ECTR in comparison to OCTR had no significant differences in medical comorbidities such as hypertension, obesity, chronic kidney disease, hypothyroidism and diabetes mellitus. Patients in the ECTR group reported a risk ratio of 1.44 (95%CI: 1.10-1.89, p=0.01) of requiring repeat procedures within 90 days of the initial procedure. Five-year trends in ECTR and OCTR procedures reported a combined annual growth rate of 5.6% and 13.15, respectively. Conclusion: Endoscopic and open approaches to CTR are important considerations in surgical planning. RA and ECTR have previously been identified as independent risk factors for revision CTR. Our study has identified the 90-day risk of repeat procedures to be elevated in the ECTR group in comparison to the OCTR group. Additionally, the growth of OCTR procedures has outpaced the growth of ECTR procedures in the same period, likely in response to the trend of ECTR leading to higher rates of repeat procedures. The need for revision following ECTR in patients with RA could be related to chronic inflammation leading to transverse carpal ligament thickening and concomitant tenosynovitis. Future directions could include further characterization of repeat procedures performed in this subset of patients. 

Keywords: endoscopic treatment of carpal tunnel syndrome, open treatment of carpal tunnel syndrome, rheumatoid arthritis, trends analysis, carpal tunnel syndrome

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Authors: A. Moualdia, D. J. Boudana, O. Bouchhida, A. Medjber

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Wind energy has many advantages, it does not pollute and it is an inexhaustible source. However, the cost of this energy is still too high to compete with traditional fossil fuels, especially on sites less windy. The performance of a wind turbine depends on three parameters: the power of wind, the power curve of the turbine and the generator's ability to respond to wind fluctuations. This paper presents a control chain conversion based on a double-fed asynchronous machine and flow-oriented. The supply system comprises of two identical converters, one connected to the rotor and the other one connected to the network via a filter. The architecture of the device is up by three commands are necessary for the operation of the turbine control extraction of maximum power of the wind to control itself (MPPT) control of the rotor side converter controlling the electromagnetic torque and stator reactive power and control of the grid side converter by controlling the DC bus voltage and active power and reactive power exchanged with the network. The proposed control has been validated in both modes of operation of the three-bladed wind 7.5 kW, using Matlab/Simulink. The results of simulation control technology study provide good dynamic performance and static.

Keywords: D.F.I.G, variable wind speed, hypersynchrone, energy quality, hyposynchrone

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Authors: Javier Fernandez De Canete, Alvaro Fernandez-Quintero

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Nowadays, adaptive control schemes are being used when model based control schemes are applied in presence of uncertainty and model mismatches. Artificial neural networks have been employed both in modelling and control of non-linear dynamic systems with unknown dynamics. In fact, these are powerful tools to solve this control problem when only input-output operational data are available. A neural network controller under SIMULINK together with the ARDUINO hardware platform has been used to perform real-time speed control of a computer case fan. Comparison of performance with a PID controller has also been presented in order to show the efficacy of neural control under different command signals tracking and also when disturbance signals are present in the speed control loops.

Keywords: neural networks, ARDUINO platform, SIMULINK, adaptive speed control

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Authors: Ranbir Singh, Deepinder Kaur

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Network security is an important aspect in every field like government offices, Educational Institute and any business organization. Network security consists of the policies adopted to prevent and monitor forbidden access, misuse, modification, or denial of a computer network. Network security is very complicated subject and deal by only well trained and experienced people. However, as more and more people become wired, an increasing number of people need to understand the basics of security in a networked world. The history of the network security included an introduction to the TCP/IP and interworking. Network security starts with authenticating, commonly with a username and a password. In this paper, we study about various types of attacks on network security and how to handle or prevent this attack.

Keywords: network security, attacks, denial, authenticating

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Authors: M. Eckert, M. Oliveira

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The intensive use of natural aggregates, near cities and towns, associated to the increase of the global population, leads to its depletion and increases the transport distances. The uncontrolled deposition of construction and demolition waste in landfills and city outskirts, causes pollution and takes up space. The use of recycled aggregates in concrete preparation would contribute to mitigate the problem. However, it arises the problem that the high water absorption of recycled aggregate decreases the bleeding rate of concrete, and when this gets lower than the evaporation rate, plastic shrinkage cracking occurs. This phenomenon can be particularly problematic in hot and windy curing environments. Cracking facilitates the flow of liquid and gas into concrete which attacks the reinforcement and degrades the concrete. These factors reduce the durability of concrete structures and consequently the lifetime of buildings. A ring test was used, cured in a wind tunnel, to evaluate the plastic shrinkage cracking sensitivity of recycled aggregate concrete, in order to implement preventive means to control this phenomenon. The role of several aggregate properties on the concrete segregation and cracking mechanisms were also discussed.

Keywords: recycled aggregate, plastic shrinkage cracking, wind tunnel, durability

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Authors: Emmanuel Kamal Aziz Saba

Abstract:

Aim of the work: This study proposed to assess the role of the median versus ulnar medial thenar motor (MTM) recording in supporting the diagnosis of carpal tunnel syndrome (CTS). Patients and methods: The present study included 130 hands (70 CTS and 60 controls). Clinical examination was done for all patients. The following tests were done (using surface electrodes recording) for patients and control: (1) sensory nerve conduction studies: median nerve, ulnar nerve and median versus ulnar digit four sensory study; (2) motor nerve conduction studies: median nerve, ulnar nerve, median (second lumbrical) versus ulnar (interosseous) (2-LINT) motor study and median versus ulnar (MTM) study. Results: The tests with higher sensitivity in diagnosing CTS were median versus ulnar (2-LINT) motor latency difference (87.1%), median versus ulnar (MTM) motor latency difference (80%) and median versus ulnar digit four sensory latency differences (91.4%). There was no statistically significant difference between median versus ulnar (MTM) motor latency difference with both median versus ulnar (2-LINT) motor latency difference and median versus ulnar digit four sensory latency difference (P > 0.05) as regards the confirmation of CTS. Conclusions: Median versus ulnar (MTM) motor latency difference has high sensitivity and specificity for the diagnosis of CTS as for both median versus ulnar (2-LINT) motor latency difference and median versus ulnar digit four sensory latency differences. It can be considered a useful neurophysiological test to be used in combination with another median versus ulnar comparative tests for confirming the diagnosis of CTS beside other well-known electrophysiological tests.

Keywords: carpal tunnel syndrome, medial thenar motor, median nerve, ulnar nerve

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Authors: Cristian F.T. Montenegro, Luís F. N. Lourenço, Maurício B. C. Salles, Renato M. Monaro

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More PV systems have been connected to the electrical network each year. As the number of PV systems increases, some issues affecting grid operations have been identified. This paper studied the impacts related to changes in solar irradiance on a distribution/sub-transmission network, considering variations due to moving clouds and daily cycles. Using MATLAB/Simulink software, a solar farm of 30 MWp was built and then implemented to a test network. From simulations, it has been determined that irradiance changes can have a significant impact on the grid by causing voltage fluctuations outside the allowable thresholds. This work discussed some local control strategies and grid reinforcements to mitigate the negative effects of the irradiance changes on the grid.

Keywords: reactive power control, solar irradiance, utility-scale PV systems, voltage fluctuations

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Authors: A. A. Behroozpoor, M. M. Mazarei

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In this paper, a fuzzy recurrent neural network is proposed for solving the classical quadratic control problem subject to linear equality and bound constraints. The convergence of the state variables of the proposed neural network to achieve solution optimality is guaranteed.

Keywords: REFERENCES [1] Xia, Y, A new neural network for solving linear and quadratic programming problems. IEEE Transactions on Neural Networks, 7(6), 1996, pp.1544–1548. [2] Xia, Y., & Wang, J, A recurrent neural network for solving nonlinear convex programs subject to linear constraints. IEEE Transactions on Neural Networks, 16(2), 2005, pp. 379–386. [3] Xia, Y., H, Leung, & J, Wang, A projection neural network and its application to constrained optimization problems. IEEE Transactions Circuits and Systems-I, 49(4), 2002, pp.447–458.B. [4] Q. Liu, Z. Guo, J. Wang, A one-layer recurrent neural network for constrained seudoconvex optimization and its application for dynamic portfolio optimization. Neural Networks, 26, 2012, pp. 99-109.

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Authors: Xinyan Zhang, Zhipeng Tan, Shan Fan

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The first layer of defense against data loss is the backup data. This paper implements an agent-based network backup system used the backup, server-storage and server-backup agent these tripartite construction, and we realize the snapshot and hierarchical index in the NSBS. It realizes the control command and data flow separation, balances the system load, thereby improving the efficiency of the system backup and recovery. The test results show the agent-based network backup system can effectively improve the task-based concurrency, reasonably allocate network bandwidth, the system backup performance loss costs smaller and improves data recovery efficiency by 20%.

Keywords: agent, network backup system, three architecture model, NSBS

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Authors: Yu-Chu Yeh, WeiChin Hsu, Chih-Yen Chang

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Substitution, combination, modification, putting to other uses, elimination, and rearrangement (SCAMPER) has been regarded as an effective technique that provides a structured way to help people to produce creative ideas and solutions. Although some neuroscience studies regarding creativity training have been conducted, no study has focused on SCAMPER. This study therefore aimed at examining whether the learning of SCAMPER through video tutorials would result in alternations of neural activation. Thirty college students were randomly assigned to the experimental group or the control group. The experimental group was requested to watch SCAMPER videos, whereas the control group was asked to watch natural-scene videos which were regarded as neutral stimulating materials. Each participant was brain scanned in a Functional magnetic resonance imaging (fMRI) machine while undertaking a creativity test before and after watching the videos. Furthermore, a two-way ANOVA was used to analyze the interaction between groups (the experimental group; the control group) and tasks (C task; M task; X task). The results revealed that the left precuneus significantly activated in the interaction of groups and tasks, as well as in the main effect of group. Furthermore, compared with the control group, the experimental group had greater activation in the default mode network (left precuneus and left inferior parietal cortex) and the motor network (left postcentral gyrus and left supplementary area). The findings suggest that the SCAMPER training may facilitate creativity through the stimulation of the default mode network and the motor network.

Keywords: creativity, default mode network, neural activation, SCAMPER

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Authors: Mevlüt Burak Dalmış, Kemal Yaman

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In this study, flutter characteristics of cantilever rectangular plate structure under incompressible flow regime are investigated by comparing the results of commercial flutter analysis program ZAERO^© with wind tunnel tests conducted in Ankara Wind Tunnel (ART). A rectangular polycarbonate (PC) plate, 5x125x1000 mm in dimensions, is used for both numerical and experimental investigations. Analysis and test results are very compatible with each other. A comparison between two different solution methods (g and k-method) of ZAERO^© is also done. It is seen that, k-method gives closer result than the other one. However, g-method results are on conservative side and it is better to use conservative results namely g-method results. Even if the modal analysis results are used for the flutter analysis for this simple structure, a modal test should be conducted in order to validate the modal analysis results to have accurate flutter analysis results for more complicated structures.

Keywords: flutter, plate, subsonic flow, wind tunnel

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Authors: Rahman Mofidi, Sina Rahimi, Farnoosh Darban

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Communication plays a key role in today’s world, and to support it, the quality of service has the highest priority. It is very important to differentiate between traffic based on priority level. Some traffic classes should be a higher priority than other classes. It is also necessary to give high priority to customers who have more payment for better service, however, without influence on other customers. So to realize that, we will require effective quality of service methods. To ensure the optimal performance of the network in accordance with the quality of service is an important goal for all operators in the mobile network. In this work, we propose an algorithm based on control parameters which it’s based on user feedback that aims at minimizing the access to system transmit power and thus improving the network key performance indicators and increasing the quality of service. This feedback that is known as channel quality indicator (CQI) indicates the received signal level of the user. We aim at proposing an algorithm in control parameter criterion to study improving the quality of service and throughput in a cellular network at the simulated environment. In this work we tried to parameter values have close to their actual level. Simulation results show that the proposed algorithm improves the system throughput and thus satisfies users' throughput and improves service to set up a successful call.

Keywords: quality of service, key performance indicators, control parameter, channel quality indicator

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Authors: Edina Koch, Péter Hudacsek

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In railways transition zone is present at the boundaries of zones with different stiffness. When a train rides from an embankment onto a stiff structure, such as a bridge, tunnel or culvert, an abrupt change in the support stiffness occurs possibly inducing differential settlements. This in long term can yield to the degradation of the tracks and foundations in the transition zones. A number of techniques have been proposed or implemented to provide gradual stiffness transition at the problem zones, such as methods to ensure gradually changing pad stiffness, application of long sleepers or installation of auxiliary rails in the transition zone. Aim of the research presented in this paper is to analyze the 3D and the dynamic effects induced by the passing train over an area where significant difference in the support stiffness exists. The effects were analyzed for different arrangements associated with certain differential settlement mitigation strategies of the transition zones.

Keywords: culvert, dynamic load, HS small model, railway transition zone

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Authors: Shashank Mukkoti, Mainak Majumder, Srinivasan Venkatraman

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Owing to the land scarcity in the modern-day, most of the construction activities are carried out closed to the existing buildings. Most of the high-rise buildings are constructed on pile foundations to transfer the design loads to a strong stratum below the ground surface. Due to the proximity of the new and existing structures, noise disturbances are prominent during the pile installation. Installation of vibratory piles is most suitable in urban areas. The ground vibrations developed due to the vibratory pile driving may cause many detrimental effects on the surrounding structures based on the proximity of the sources and nature of the structures. In the present study, an attempt has been made to study the severity of ground vibrations induced by vibratory pile driving. For this purpose, a three-dimensional finite element model has been developed in the ABAQUS/ Explicit finite element program. The couple finite/infinite element method has been employed for the capturing of propagating waves due to the pile installation. The geometry of the pile foundations, frequency of the pile driving, length of the pile has been considered for the parametric study. The results show that vibrations generated due to the vibratory pile installation are either very close or more than the thresholds tolerance limits set by different guidelines.

Keywords: FE model, pile driving, free field vibrations, wave propagation

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Authors: Akwesi Assensoh-Kodua

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Online Social Networks (OSN) has come and gone, yet the explosion of business activities on such platforms continuous to surge high, giving advantage to the bold entrepreneurs. It is therefore a practical requirement that practitioners and researchers understand the key determinants of costumers’ online social network business activities and continuance intention. An exploratory literature research to examine OSN continuous intention of business participants on OSN revealed that the practice of doing business on social network has come to stay and the following factors are the likely drivers for this new business model: perceived trust, perceived ease of use, confirmation, habit, social norm, perceived behavioural control, expected benefit, and satisfaction are the most probable factors that can lead to online social network (OSN) continuance intention.

Keywords: online social network, continuance intention, business continuance

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Authors: Semanur Savruk, Onur Akbatı

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Integration of various communication protocols into an automation system causes a rise in setup and maintenance cost and make to control network devices in difficulty. The gateway becomes necessary for reducing complexity in network topology. In this study, Modbus RTU/Modbus TCP industrial ethernet gateway design and implementation are presented with ARM embedded system and FreeRTOS real-time operating system. The Modbus gateway can perform communication with Modbus RTU and Modbus TCP devices over itself. Moreover, the gateway can be adjustable with the user-interface application or messaging interface. Conducted experiments and the results are presented in the paper. Eventually, the proposed system is a complete, low-cost, real-time, and user-friendly design for monitoring and setting devices and useful for meeting remote control purposes.

Keywords: gateway, industrial communication, modbus, network

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Authors: Amare Worku, Harikrishnan Muralidharan

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The research for more environmentally friendly sources of energy is a result of growing environmental awareness. In this aspect, wind energy is a very good option and there are two different wind turbines, horizontal axis wind turbine (HAWT) and vertical axis turbine (VAWT). For locations outside of integrated grid networks, vertical axis wind turbines (VAWT) present a feasible solution. However, those turbines have several drawbacks related to various setups, VAWT has a very low efficiency when compared with HAWT, but they work under different conditions and installation areas. This paper reviewed numerous measurements taken to improve the efficiency of VAWT configurations, either directly or indirectly related to the performance efficiency of the turbine. Additionally, the comparison and advantages of HAWT and VAWT turbines and also the findings of the design methodologies used for the VAWT design have been reviewed together with efficiency enhancement revision. Most of the newly modified designs are based on the turbine blade structure modification but need other studies on behalf other than electromechanical modification. Some of the techniques, like continuous variation of pitch angle control and swept area control, are not the most effective since VAWT is Omni-directional, and so wind direction is not a problem like HAWT. Hybrid system technology has become one of the most important and efficient methods to enhance the efficiency of VAWT. Besides hybridization, the contra-rotating method is also good if the installation area is big enough in an urban area.

Keywords: wind turbine, horizontal axis wind turbine, vertical axis wind turbine, hybridization

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Authors: S. C. Gupta

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The wind flow over several buildings lying in close vicinity in urban areas generates flow interference effects causing problems related to pedestrian comfort and ventilation within the buildings. This promoted a lot of research interest in the recent years. Airflow over a building creates a positive pressure zone on the upstream side and negative pressure zones (cavities or eddy zones) on the roof and all other sides. Large eddy simulation model is used along with sub-grid-scale model to numerically simulate turbulence for this purpose. The basis of flow outside the building is the pressure difference (between the wind and building interior). Wind Tunnel models are fabricated and tested in the subsonic wind tunnel. Theoretical results are compared with the experimental data. Newer configuration is tried for favorable effects in recovering static pressure values. Results obtained are seen very encouraging. The proposed exhaustive research investigation through numerical simulations and the experimental work are described and some interesting findings are brought out.

Keywords: wind flow, buildings, static pressure wind tunnel testing, CFD

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Authors: Alaa Eddien Abdallah, Bajes Yousef Alskarnah

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Ant colony based routing algorithms are known to grantee the packet delivery, but they suffer from the huge overhead of control messages which are needed to discover the route. In this paper we utilize the network nodes positions to group the nodes in connected clusters. We use clusters-heads only on forwarding the route discovery control messages. Our simulations proved that the new algorithm has decreased the overhead dramatically without affecting the delivery rate.

Keywords: ad-hoc network, MANET, ant colony routing, position based routing

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Authors: Aradhna Pandarum

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South Africa is experiencing an exponential growth of distributed solar PV installations. This is due to various factors with the predominant one being increasing electricity tariffs along with decreasing installation costs, resulting in attractive business cases to some end-users. Despite there being a variety of economic and environmental advantages associated with the installation of PV, their potential impact on distribution grids has yet to be thoroughly investigated. This is especially true since the locations of these units cannot be controlled by Network Service Providers (NSPs) and their output power is stochastic and non-dispatchable. This report details two case studies that were completed to determine the possible voltage and technical losses impact of increasing PV penetration in the Northern Cape of South Africa. Some major impacts considered for the simulations were ramping of PV generation due to intermittency caused by moving clouds, the size and overall hosting capacity and the location of the systems. The main finding is that the technical impact is different on a constrained feeder vs a non-constrained feeder. The acceptable PV penetration level is much lower for a constrained feeder than a non-constrained feeder, depending on where the systems are located.

Keywords: medium voltage networks, power system losses, power system voltage, solar photovoltaic

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Authors: Young-Kwan Choi, Han-Sang Jeong

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Floating photovoltaic system is a technology that combines photovoltaic power generation with floating structure. However, since floating technology has not been utilized in photovoltaic generation, there are no standardized criteria. It is separately developed and used by different installation bodies. This paper aims to discuss the change of floating photovoltaic system technology based on examples of floating photovoltaic systems installed in Korea.

Keywords: floating photovoltaic system, floating PV installation, ocean floating photovoltaic system, tracking type floating photovoltaic system

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

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

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

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Authors: Yang Xiong, Hua Cheng

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In this paper, for the basic problem of wireless sensor network topology control and deployment, the Roesser model in rectangular grid sensor networks is presented. In addition, a general constructive realization procedure will be proposed. The procedure enables a distributed implementation of linear systems on a sensor network. A non-trivial example is illustrated.

Keywords: grid sensor networks, Roesser model, state-space realization, multidimensional systems

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Authors: S. A. Naeini, A. Khalili

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Nowadays, tunnels with different applications are developed, and most of them are related to subway tunnels. The excavation of shallow tunnels that pass under municipal utilities is very important, and the surface settlement control is an important factor in the design. The study sought to analyze the settlement and also to find an appropriate model in order to predict the behavior of the tunnel in Tehran subway line-3. The displacement in these sections is also determined by using numerical analyses and numerical modeling. In addition, the Adaptive Neuro-Fuzzy Inference System (ANFIS) method is utilized by Hybrid training algorithm. The database pertinent to the optimum network was obtained from 46 subway tunnels in Iran and Turkey which have been constructed by the new Austrian tunneling method (NATM) with similar parameters based on type of their soil. The surface settlement was measured, and the acquired results were compared to the predicted values. The results disclosed that computing intelligence is a good substitute for numerical modeling.

Keywords: settlement, Subway Line, FLAC3D, ANFIS Method

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Authors: Ahmed Shariful Alam, Abu Hena M. Mustafa Kamal, M. Abdul Rahman, M. Nasmus Sakib Khan Shabbir, Atiqul Islam

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According to the rules of quantum mechanics there is a non-vanishing probability of for an electron to tunnel through a thin insulating barrier or a thin capacitor which is not possible according to the laws of classical physics. Tunneling of electron through a thin insulating barrier or tunnel junction is a random event and the magnitude of current flowing due to the tunneling of electron is very low. As the current flowing through a Single Electron Transistor (SET) is the result of electron tunneling through tunnel junctions of its source and drain the supply voltage requirement is also very low. As a result, the power consumption across a Single Electron Transistor is ultra-low in comparison to that of a MOSFET. In this paper simulations have been done with PSPICE for an inverter built with both SETs and MOSFETs. 35mV supply voltage was used for a SET built inverter circuit and the supply voltage used for a CMOS inverter was 3.5V.

Keywords: ITRS, enhancement type MOSFET, island, DC analysis, transient analysis, power consumption, background charge co-tunneling

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Authors: M. Caramihai, Irina Severin

Abstract:

This paper deals with the design of an intelligent control structure for a bioprocess of Hansenula polymorpha yeast cultivation. The objective of the process control is to produce biomass in a desired physiological state. The work demonstrates that the designed Hybrid Control Techniques (HCT) are able to recognize specific evolution bioprocess trajectories using neural networks trained specifically for this purpose, in order to estimate the model parameters and to adjust the overall bioprocess evolution through an expert system and a fuzzy structure. The design of the control algorithm as well as its tuning through realistic simulations is presented. Taking into consideration the synergism of different paradigms like fuzzy logic, neural network, and symbolic artificial intelligence (AI), in this paper we present a real and fulfilled intelligent control architecture with application in bioprocess control.

Keywords: bioprocess, intelligent control, neural nets, fuzzy structure, hybrid techniques

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Authors: Thomas Adi Purnomo Sidhi

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Nowadays, network is an essential need in almost every part of human daily activities. People now can seamlessly connect to others through the Internet. With advanced technology, our personal data now can be more easily accessed. One of many components we are concerned for delivering the best network is a security issue. This paper is proposing a method that provides more options for security. This research aims to improve network security by focusing on the physical layer which is the first layer of the OSI model. The layer consists of the basic networking hardware transmission technologies of a network. With the use of observation method, the research produces a schematic design for enhancing the network security through the gray code converter.

Keywords: network, network security, grey code, physical layer

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Authors: Henni Mansour Abdelwaheb

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

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

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Authors: Boguslaw Schreyer

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The paper investigates the application of the Kohonen’s Self-Organizing Map (SOM) to the wheeled robot starting and braking dynamic states. In securing wheeled robot stability as well as minimum starting and braking time, it is important to ensure correct torque distribution as well as proper slope of braking and driving moments. In this paper, a correct movement distribution has been formulated, securing optimum adhesion coefficient and good transversal stability of a wheeled robot. A neural tuner has been proposed to secure the above properties, although most of the attention is attached to the SOM network application. If the delay of the torque application or torque release is not negligible, it is important to change the rising and falling slopes of the torque. The road/surface condition is also paramount in robot dynamic states control. As the road conditions may randomly change in time, application of the SOM network has been suggested in order to classify the actual road conditions.

Keywords: slip control, SOM network, torque distribution, wheeled Robot

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Authors: Z. Abdollahi Biron, P. Pisu

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Connected vehicles are one of the promising technologies for future Intelligent Transportation Systems (ITS). A connected vehicle system is essentially a set of vehicles communicating through a network to exchange their information with each other and the infrastructure. Although this interconnection of the vehicles can be potentially beneficial in creating an efficient, sustainable, and green transportation system, a set of safety and reliability challenges come out with this technology. The first challenge arises from the information loss due to unreliable communication network which affects the control/management system of the individual vehicles and the overall system. Such scenario may lead to degraded or even unsafe operation which could be potentially catastrophic. Secondly, faulty sensors and actuators can affect the individual vehicle’s safe operation and in turn will create a potentially unsafe node in the vehicular network. Further, sending that faulty sensor information to other vehicles and failure in actuators may significantly affect the safe operation of the overall vehicular network. Therefore, it is of utmost importance to take these issues into consideration while designing the control/management algorithms of the individual vehicles as a part of connected vehicle system. In this paper, we consider a connected vehicle system under Co-operative Adaptive Cruise Control (CACC) and propose a fault diagnosis scheme that deals with these aforementioned challenges. Specifically, the conventional CACC algorithm is modified by adding a Kalman filter-based estimation algorithm to suppress the effect of lost information under unreliable network. Further, a sliding mode observer-based algorithm is used to improve the sensor reliability under faults. The effectiveness of the overall diagnostic scheme is verified via simulation studies.

Keywords: fault diagnostics, communication network, connected vehicles, packet drop out, platoon

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