Search results for: Modelica simulation software

Authors: Ahmad Atieh, Masoud Kalantari, Roozbeh Ahmadi, Javad Dargahi, Muthukumaran Packirisamy, Mehrdad Hosseini Zadeh

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The present paper presents a finite element model and analysis for the interaction between a piezoresistive tactile sensor and biological tissues. The tactile sensor is proposed for use in minimally invasive surgery to deliver tactile information of biological tissues to surgeons. The proposed sensor measures the relative hardness of soft contact objects as well as the contact force. Silicone rubbers were used as the phantom of biological tissues. Finite element analysis of the silicone rubbers and the mechanical structure of the sensor were performed using COMSOL Multiphysics (v3.4) environment. The simulation results verify the capability of the sensor to be used to differentiate between different kinds of silicone rubber materials.

Keywords: finite element analysis, minimally invasive surgery, Neo-Hookean hyperelastic materials, tactile sensor.

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Authors: Jürgen Roßmann, André Kupetz, Roland Wischnewski

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An intuitive user interface for the teleoperation of mobile rescue robots is one key feature for a successful exploration of inaccessible and no-go areas. Therefore, we have developed a novel framework to embed a flexible and modular user interface into a complete 3-D virtual reality simulation system. Our approach is based on a client-server architecture to allow for a collaborative control of the rescue robot together with multiple clients on demand. Further, it is important that the user interface is not restricted to any specific type of mobile robot. Therefore, our flexible approach allows for the operation of different robot types with a consistent concept and user interface. In laboratory tests, we have evaluated the validity and effectiveness of our approach with the help of two different robot platforms and several input devices. As a result, an untrained person can intuitively teleoperate both robots without needing a familiarization time when changing the operating robot.

Keywords: Teleoperation of mobile robots, augmented reality, user interface, virtual reality.

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Authors: Zhichao Zhao, Yi Liu, Shunping Xiao

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A new data fusion method called joint probability density matrix (JPDM) is proposed, which can associate and fuse measurements from spatially distributed heterogeneous sensors to identify the real target in a surveillance region. Using the probabilistic grids representation, we numerically combine the uncertainty regions of all the measurements in a general framework. The NP-hard multisensor data fusion problem has been converted to a peak picking problem in the grids map. Unlike most of the existing data fusion method, the JPDM method dose not need association processing, and will not lead to combinatorial explosion. Its convergence to the CRLB with a diminishing grid size has been proved. Simulation results are presented to illustrate the effectiveness of the proposed technique.

Keywords: Cramer-Rao lower bound (CRLB), data fusion, probabilistic grids, joint probability density matrix, localization, sensor network.

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Authors: Koudjo M. Koumadi, Kester Quist-Aphetsi, Robert A. Sowah, Amevi Acakpovi

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Downlink/Uplink (DL/UL) time slot allocation (TSA) in time division duplex (TDD) systems is generally uniform for all the cells. This TSA however is not efficient in case of different traffic asymmetry ratios in different cells. We first propose a new 3-coordinate architecture to identify cells in an orthogonal frequency division multiple access (OFDMA) system where each cell is divided into three sectors. Then, this coordinate system is used to derive a TSA for symmetric traffic. Mathematical analysis and simulations are used to show that the proposed TSA outperforms the traditional all uniform type of TSA in terms of total intercellular interference, even under uniform symmetrical traffic. Two adaptation strategies are further proposed to adjust the proposed TSA to asymmetrical traffic with different DL/UL traffic ratios in different cells. Further simulation results show that the adaptation strategies also yield higher signal-to-interference ratio (SIR).

Keywords: Crossed TSA, different-entity interference, same-entity interference, uniform TSA

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Authors: Zin Maw Tun, Tun Lin Naing

Abstract:

This paper presents the two loop proportional integral (PI) controller for speed control of permanent magnet DC motor (PMDC) motor drive with H-bridge DC chopper. PMDC motors are widely used in many applications because of having a good performance and it is easy to apply the speed control. The speed can be adjusted by using armature voltage control as it had only the armature circuit. H-bridge DC chopper circuit is used to obtain the desired speed in any direction. In this system, the two loop PI controller is designed by using pole-zero cancellation method. The speed and current controller gains are considered depending on the sampling frequency of the microcontroller. An Arduino IO package is used to implement the control algorithm. Both simulation and experimental results are presented to prove the correctness of the mathematical model.

Keywords: Arduino IO package, double loop PI controller, H-bridge DC chopper, low cost hardware, PMDC motor.

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Authors: Thamer Ali Albahkali

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The challenge in the swing-up problem of double inverted pendulum on a cart (DIPC) is to design a controller that bring all DIPC's states, especially the joint angles of the two links, into the region of attraction of the desired equilibrium. This paper proposes a new method to swing-up DIPC based on a series of restto- rest maneuvers of the first link about its vertically upright configuration while holding the cart fixed at the origin. The rest-torest maneuvers are designed such that each one results in a net gain in energy of the second link. This results in swing-up of DIPC-s configuration to the region of attraction of the desired equilibrium. A three-step algorithm is provided for swing-up control followed by the stabilization step. Simulation results with a comparison to an experimental work done in the literature are presented to demonstrate the efficacy of the approach.

Keywords: Double Inverted pendulum, Impulse, momentum, underactuated

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Authors: Ephraim Gower, Thato Tsalaile, Monageng Kgwadi, Malcolm Hawksford.

Abstract:

This paper introduces a new point estimation algorithm, with particular focus on coherent noise suppression, given several measurements of the device under test where it is assumed that 1) the noise is first-order stationery and 2) the device under test is linear and time-invariant. The algorithm exploits the robustness of the Pitman estimator of the Cauchy location parameter through the initial scaling of the test signal by a centred Gaussian variable of predetermined variance. It is illustrated through mathematical derivations and simulation results that the proposed algorithm is more accurate and consistently robust to outliers for different tailed density functions than the conventional methods of sample mean (coherent averaging technique) and sample median search.

Keywords: Central limit theorem, Fisher-Cramer Rao, gamma function, Pitman estimator.

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Authors: M.Y. Pua, M.C. Tan, L.W. Tan, N. Ab.Aziz, F.S. Taip

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The most common type of controller being used in the industry is PI(D) controller which has been used since 1945 and is still being widely used due to its efficiency and simplicity. In most cases, the PI(D) controller was tuned without taking into consideration of the effect of actuator saturation. In real processes, the most common actuator which is valve will act as constraint and restrict the controller output. Since the controller is not designed to encounter saturation, the process may windup and consequently resulted in large oscillation or may become unstable. Usually, an antiwindup compensator is added to the feedback control loop to reduce the deterioration effect of integral windup. This research aims to specifically control processes with constraints. The proposed method was applied to two different types of food processes, which are blending and spray drying. Simulations were done using MATLAB and the performances of the proposed method were compared with other conventional methods. The proposed technique was able to control the processes and avoid saturation such that no anti windup compensator is needed.

Keywords: constraints, food process control, first order plusdead time process, PI

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Authors: Peristera A. Baziana

Abstract:

The idea of the asynchronous transmission in wavelength division multiplexing (WDM) ring MANs is studied in this paper. Especially, we present an efficient access technique to coordinate the collisions-free transmission of the variable sizes of IP traffic in WDM ring core networks. Each node is equipped with a tunable transmitter and a tunable receiver. In this way, all the wavelengths are exploited for both transmission and reception. In order to evaluate the performance measures of average throughput, queuing delay and packet dropping probability at the buffers, a simulation model that assumes symmetric access rights among the nodes is developed based on Poisson statistics. Extensive numerical results show that the proposed protocol achieves apart from high bandwidth exploitation for a wide range of offered load, fairness of queuing delay and dropping events among the different packets size categories.

Keywords: Asynchronous transmission, collision avoidance, wavelength division multiplexing.

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Authors: Lorena Urricelqui, Armando Malanda, Arantxa Villanueva

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Purpose: To develop a method for automatic segmentation of adipose and muscular tissue in thighs from magnetic resonance images. Materials and methods: Thirty obese women were scanned on a Siemens Impact Expert 1T resonance machine. 1500 images were finally used in the tests. The developed segmentation method is a recursive and multilevel process that makes use of several concepts such as shaped histograms, adaptative thresholding and connectivity. The segmentation process was implemented in Matlab and operates without the need of any user interaction. The whole set of images were segmented with the developed method. An expert radiologist segmented the same set of images following a manual procedure with the aid of the SliceOmatic software (Tomovision). These constituted our 'goal standard'. Results: The number of coincidental pixels of the automatic and manual segmentation procedures was measured. The average results were above 90 % of success in most of the images. Conclusions: The proposed approach allows effective automatic segmentation of MRIs from thighs, comparable to expert manual performance.

Keywords: Segmentation, thigh, magnetic resonance image, fat, muscle.

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Authors: Ibrahim F. Jasim

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This paper presents a new stable robust adaptive controller and observer design for a class of nonlinear systems that contain i. Coupling of unmeasured states and unknown parameters ii. Unknown dead zone at the system actuator. The system is firstly cast into a modified form in which the observer and parameter estimation become feasible. Then a stable robust adaptive controller, state observer, parameter update laws are derived that would provide global adaptive system stability and desirable performance. To validate the approach, simulation was performed to a single-link mechanical system with a dynamic friction model and unknown dead zone exists at the system actuation. Then a comparison is presented with the results when there is no dead zone at the system actuation.

Keywords: Dead Zone, Nonlinear Systems, Observer, Robust Adaptive Control.

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Authors: I. Yakubu, Y. Y. Ziggah, C. Yeboah

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In the mining environment, tailings dam embankment is among the hazards and risk areas. The tailings dam embankment could fail and result to damages to facilities, human injuries or even fatalities. Periodic monitoring of the dam embankment is needed to help assess the safety of the tailings dam embankment. Artificial intelligence techniques such as fractals can be used to analyse the stability of the monitored dataset from survey measurement techniques. In this paper, the fractal dimension (D) was determined using D = 2-H. The Hurst parameters (H) of each monitored prism were determined by using a time domain of rescaled range programming in MATLAB software. The fractal dimensions of each monitored prism were determined based on the values of H. The results reveal that the values of the determined H were all within the threshold of 0 ≤ H ≤ 1 m. The smaller the H, the bigger the fractal dimension is. Fractal dimension values ranging from 1.359 x 10^-4 m to 1.8843 x 10^-3 m were obtained from the monitored prisms on the based on the tailing dam embankment dataset used. The ranges of values obtained indicate that the tailings dam embankment is stable.

Keywords: Hurst parameter, fractal dimension, tailings dam embankment, surveyed dataset.

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Authors: M. S. Salimi, H. Kiamanesh, N. Hedayat

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In this survey the process of crack propagation at the toe of concrete gravity dam is investigated by applying principals and criteria of linear elastic fracture mechanic. Simulating process of earthquake conditions for three models of dam with different geometrical condition, in empty reservoir under plain stress is calculated through special fracture mechanic software FRANNC2D [1] for determining fracture mechanic criteria. The outcomes showed that in spite of the primary expectations, the simultaneous existence of fillet in both toe and heel area (model 3), the rate of maximum principal stress has not been decreased; however, even the maximum principal stress has increased, so it caused stress intensity factors increase which is undesirable. On the other hand, the dam with heel fillet has shown the best attitude and it is because of items like decreasing the rates of maximum and minimum principal stresses and also is related to decreasing the rates of stress intensity factors for 1st & 2nd modes of the model.

Keywords: Stress intensity factor, concrete gravity dam, numerical analysis, geometry of toe.

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Authors: Santanu Santra, Utpal Roy

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The most important mathematical operation for any computing system is addition. An efficient adder can be of greater assistance in designing of any arithmetic circuits. Quantum-dot Cellular Automata (QCA) is a promising nanotechnology to create electronic circuits for computing devices and suitable candidate for next generation of computing systems. The article presents a modest approach to implement a novel XOR gate. The gate is simple in structure and powerful in terms of implementing digital circuits. By applying the XOR gate, the hardware requirement for a QCA circuit can be decrease and circuits can be simpler in level, clock phase and cell count. In order to verify the functionality of the proposed device some implementation of Half Adder (HA) and Full Adder (FA) is checked by means of computer simulations using QCA-Designer tool. Simulation results and physical relations confirm its usefulness in implementing every digital circuit.

Keywords: Clock, Computing system, Majority gate, QCA, QCA Designer.

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Authors: N. Chetty, K. Singh

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In this work, the relationship between the melanin content in a tissue and subsequent absorption of light through that tissue was determined using a digital camera. This technique proved to be simple, cost effective, efficient and reliable. Tissue phantom samples were created using milk and soy sauce to simulate the optical properties of melanin content in human tissue. Increasing the concentration of soy sauce in the milk correlated to an increase in melanin content of an individual. Two methods were employed to measure the light transmitted through the sample. The first was direct measurement of the transmitted intensity using a conventional lux meter. The second method involved correctly calibrating an ordinary digital camera and using image analysis software to calculate the transmitted intensity through the phantom. The results from these methods were then graphically compared to the theoretical relationship between the intensity of transmitted light and the concentration of absorbers in the sample. Conclusions were then drawn about the effectiveness and efficiency of these low cost methods.

Keywords: Tissue phantoms, scattering coefficient, albedo, low-cost method.

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Authors: Md Abdullah Al Mashud, M. Tariquzzaman, M. Jahangir Alam, Tapan Kumar Godder, M. Mahbubur Rahman

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This paper presents a Monte Carlo (MC) method-based dose distributions on lung tumor for 6 MV photon beam to improve the dosimetric accuracy for cancer treatment. The polystyrene which is tissue equivalent material to the lung tumor density is used in this research. In the empirical calculations, TRS-398 formalism of IAEA has been used, and the setup was made according to the ICRU recommendations. The research outcomes were compared with the state-of-the-art experimental results. From the experimental results, it is observed that the proposed based approach provides more accurate results and improves the accuracy than the existing approaches. The average %variation between measured and TPS simulated values was obtained 1.337±0.531, which shows a substantial improvement comparing with the state-of-the-art technology.

Keywords: Lung tumor, Monte Carlo, polystyrene, elekta synergy, Monaco Planning System.

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Authors: Vrince Vimal, Madhav J. Nigam

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Wireless sensor networks have enticed much of the spotlight from researchers all around the world, owing to its extensive applicability in agricultural, industrial and military fields. Energy conservation node deployment stratagems play a notable role for active implementation of Wireless Sensor Networks. Clustering is the approach in wireless sensor networks which improves energy efficiency in the network. The clustering algorithm needs to have an optimum size and number of clusters, as clustering, if not implemented properly, cannot effectively increase the life of the network. In this paper, an algorithm has been proposed to address connectivity issues with the aim of ensuring the uniform energy consumption of nodes in every part of the network. The results obtained after simulation showed that the proposed algorithm has an edge over existing algorithms in terms of throughput and networks lifetime.

Keywords: WSN, random deployment, clustering, isolated nodes, network lifetime.

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Authors: Kenneth M. Oba

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Adequate management, control, and optimization of cost is an essential element for a successful construction project. A multiple linear regression optimization model was formulated to address the problem of costs associated with pile construction operations. A total of 32 PVC-reinforced concrete piles with diameter of 300 mm, 5.4 m long, were studied during the construction. The soil upon which the piles were installed was mostly silty sand, and completely submerged in water at Bonny, Nigeria. The piles are friction piles installed by boring method, using a piling auger. The volumes of soil removed, the weight of reinforcement cage installed, and volumes of fresh concrete poured into the PVC void were determined. The cost of constructing each pile based on the calculated quantities was determined. A model was derived and subjected to statistical tests using Statistical Package for the Social Sciences (SPSS) software. The model turned out to be adequate, fit, and have a high predictive accuracy with an R2 value of 0.833.

Keywords: Cost optimization modelling, multiple linear models, pile construction, regression models.

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Authors: Altab Hossain, Ataur Rahman, A.K.M. P. Iqbal, M. Ariffin, M. Mazian

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This work describes the aerodynamic characteristic for aircraft wing model with and without bird feather like winglet. The aerofoil used to construct the whole structure is NACA 653-218 Rectangular wing and this aerofoil has been used to compare the result with previous research using winglet. The model of the rectangular wing with bird feather like winglet has been fabricated using polystyrene before design using CATIA P3 V5R13 software and finally fabricated in wood. The experimental analysis for the aerodynamic characteristic for rectangular wing without winglet, wing with horizontal winglet and wing with 60 degree inclination winglet for Reynolds number 1.66×105, 2.08×105 and 2.50×105 have been carried out in open loop low speed wind tunnel at the Aerodynamics laboratory in Universiti Putra Malaysia. The experimental result shows 25-30 % reduction in drag coefficient and 10-20 % increase in lift coefficient by using bird feather like winglet for angle of attack of 8 degree.

Keywords: Aerofoil, Wind tunnel, Winglet, Drag Coefficient.

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Authors: Rida B. Arieby, Hameed N. Hameed

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In this work, tensile tests on high density polyethylene have been carried out under various constant strain rate and strain rate jump tests. The dependency of the true stress and specially the variation of volume strain have been investigated, the volume strain due to the phenomena of damage was determined in real time during the tests by an optical extensometer called Videotraction. A modified constitutive equations, including strain rate and damage effects, are proposed, such a model is based on a non-equilibrium thermodynamic approach called (DNLR). The ability of the model to predict the complex nonlinear response of this polymer is examined by comparing the model simulation with the available experimental data, which demonstrate that this model can represent the deformation behavior of the polymer reasonably well.

Keywords: Strain rate jump tests, Volume Strain, High Density Polyethylene, Large strain, Thermodynamics approach.

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Authors: Vinod Kumar, Jatinder Kumar

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The use of hard and brittle material has become increasingly more extensive in recent years. Therefore processing of these materials for the parts fabrication has become a challenging problem. However, it is time-consuming to machine the hard brittle materials with the traditional metal-cutting technique that uses abrasive wheels. In addition, the tool would suffer excessive wear as well. However, if ultrasonic energy is applied to the machining process and coupled with the use of hard abrasive grits, hard and brittle materials can be effectively machined. Ultrasonic machining process is mostly used for the brittle materials. The present research work has developed models using finite element approach to predict the mechanical stresses sand strains produced in the tool during ultrasonic machining process. Also the flow behavior of abrasive slurry coming out of the nozzle has been studied for simulation using ANSYS CFX module. The different abrasives of different grit sizes have been used for the experimentation work.

Keywords: Stress, MRR, Flow, Ultrasonic Machining

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Authors: Yang-Keun Ahn, Kwang-Soon Choi, Young-Choong Park, Kwang-Mo Jung

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This paper proposes a method to recognize the tip of a finger and space touch hand gesture using an infrared camera in a smart device environment. The proposed method estimates the tip of a finger with a curvature-based ellipse fitting algorithm, and verifies that the estimated object is indeed a finger with an ellipse fitting rectangular area. The feature extracted from the verified finger tip is used to implement the movement of a mouse and clicking gesture. The proposed algorithm was implemented with an actual smart device to test the proposed method. Empirical parameters were obtained from the keypad software and an image analysis tool for the performance optimization, and a comparative analysis with conventional research showed improved performance with the proposed method.

Keywords: Infrared camera, Hand gesture, Smart device, Space touch.

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Authors: T. Banerjee, R. A. Christian

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Three dimensional simulations are carried out to estimate the effect of wind direction, wind speed and geometry on the flow and dispersion of vehicular pollutant in a street canyon. The pollutant sources are motor vehicles passing between the two buildings. Suitable emission factors for petrol and diesel vehicles at varying vehicle speed are used for the estimation of the rate of emission from the streets. The dispersion of automobile pollutant released from the street is simulated by introducing vehicular emission source term as a fixed-flux boundary condition at the ground level over the road. The emission source term is suitably calculated by adopting emission factors from literature for varying conditions of street traffic. It is observed that increase in wind angle disturbs the symmetric pattern of pollution distribution along the street length. The concentration increases in the far end of the street as compared to the near end.

Keywords: Street canyon, pollution dispersion, vehicular emission, numerical simulation.

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Authors: R. Mahjoub, K. Maghsoudi Mehraban

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Since the heart of the hybrid system is the fuel cell and it has vital impact on efficiency and performance of cycle, in this study, the major modeling of electrochemical reaction within the fuel cell is analyzed. Also, solid oxide fuel cell is integrated with the gas turbine and thermodynamic analysis on different elements of hybrid system is applied. Next, in predefined operational points of hybrid cycle, the simulation results are obtained. Then, different source of irreversibility in fuel cell is modeled and influence of different major parameters on different irreversibility is computed and applied. Then, the effect of important parameters such as thickness and surface of electrolyte fuel cell are simulated in fuel cell and its dependency to these parameters is explained. At the end of the paper, different impact of parameters on fuel cell with a gas turbine and current density and voltage of fuel cell are simulated.

Keywords: Electrochemical analysis, Gas turbine, Hybrid system, Irreversibility analysis.

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Authors: Mada Sanjaya, Halimatussadiyah, Dian Syah Maulana

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The nonlinear chaotic non-autonomous fourth order system is algebraically simple but can generate complex chaotic attractors. In this paper, non-autonomous fourth order chaotic oscillator circuits were designed and simulated. Also chaotic nonautonomous Attractor is addressed suitable for chaotic masking communication circuits using Matlab® and MultiSIM® programs. We have demonstrated in simulations that chaos can be synchronized and applied to signal masking communications. We suggest that this phenomenon of chaos synchronism may serve as the basis for little known chaotic non-autonomous Attractor to achieve signal masking communication applications. Simulation results are used to visualize and illustrate the effectiveness of non-autonomous chaotic system in signal masking. All simulations results performed on nonautonomous chaotic system are verify the applicable of secure communication.

Keywords: Bidirectional chaotic synchronization, double bellattractor, secure communication

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Authors: Vahid Khalajzadeh, Ghassem Heidarinejad

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In this paper, the feasibility study of using a hybrid system of ground heat exchangers (GHE) and direct evaporative cooling system in arid weather condition has been performed. The model is applied for Yazd and Kerman, two cities with arid weather condition in Iran. The system composed of three sections: Ground- Coupled-Circuit (GCC), Direct Evaporative Cooler (DEC) and Cooling Coil Unite (CCU). The GCC provides the necessary precooling for DEC. The GCC includes four vertical GHE which are designed in series configuration. Simulation results show that hybridization of GCC and DEC could provide comfort condition whereas DEC alone did not. Based on the results the cooling effectiveness of a hybrid system is more than unity. Thus, this novel hybrid system could decrease the air temperature below the ambient wet-bulb temperature. This environmentally clean and energy efficient system can be considered as an alternative to the mechanical vapor compression systems.

Keywords: Computational Fluid Dynamics (CFD), Cooling CoilUnit (CCU), Direct Evaporative Cooling (DEC), Ground CoupledCircuit (GCC)

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Authors: Ali Gholami

Abstract:

In this research the Preparation of Land use map of scanner LISS III satellite data, belonging to the IRS in the Aghche region in Isfahan province, is studied carefully. For this purpose, the IRS satellite images of August 2008 and various land preparation uses in region including rangelands, irrigation farming, dry farming, gardens and urban areas were separated and identified. Therefore, the GPS and Erdas Imaging software were used and three methods of Maximum Likelihood, Mahalanobis Distance and Minimum Distance were analyzed. In each of these methods, matrix error and Kappa index were calculated and accuracy of each method, based on percentages: 53.13, 56.64 and 48.44, were obtained respectively. Considering the low accuracy of these methods in separation of land preparation use, the visual interpretation of the map was used. Finally, regional visits of 150 points were noted at random and no error was observed. It shows that the map prepared by visual interpretation is in high accuracy. Although the probable errors due to visual interpretation and geometric correction might happen but the desired accuracy of the map which is more than 85 percent is reliable.

Keywords: Land use map, Aghche Region, Erdas Imagine, satellite images

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Authors: Maha Idrissi Aouad, Rene Schott, Olivier Zendra

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Reducing energy consumption of embedded systems requires careful memory management. It has been shown that Scratch- Pad Memories (SPMs) are low size, low cost, efficient (i.e. energy saving) data structures directly managed at the software level. In this paper, the focus is on heuristic methods for SPMs management. A method is efficient if the number of accesses to SPM is as large as possible and if all available space (i.e. bits) is used. A Tabu Search (TS) approach for memory management is proposed which is, to the best of our knowledge, a new original alternative to the best known existing heuristic (BEH). In fact, experimentations performed on benchmarks show that the Tabu Search method is as efficient as BEH (in terms of energy consumption) but BEH requires a sorting which can be computationally expensive for a large amount of data. TS is easy to implement and since no sorting is necessary, unlike BEH, the corresponding sorting time is saved. In addition to that, in a dynamic perspective where the maximum capacity of the SPM is not known in advance, the TS heuristic will perform better than BEH.

Keywords: Energy consumption, memory allocation management, optimization, tabu search heuristic.

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Authors: Pinfa Boonrong, Boonserm Kaewkamnerdpong

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As nanotechnology advances, the use of nanotechnology for medical purposes in the field of nanomedicine seems more promising; the rise of nanorobots for medical diagnostics and treatments could be arriving in the near future. This study proposes a swarm intelligence based control mechanism for swarm nanorobots that operate as artificial platelets to search for wounds. The canonical particle swarm optimization algorithm is employed in this study. A simulation in the circulatory system is constructed and used for demonstrating the movement of nanorobots with essential characteristics to examine the performance of proposed control mechanism. The effects of three nanorobot capabilities including their perception range, maximum velocity and respond time are investigated. The results show that canonical particle swarm optimization can be used to control the early version nanorobots with simple behaviors and actions.

Keywords: Artificial platelets, canonical particle swarm optimization, nanomedicine, nanorobot, swarm intelligence.

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Authors: A. Ameur, B. Mokhtari, N. Essounbouli, L. Mokrani

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This paper presents a speed sensorless direct torque control scheme using space vector modulation (DTC-SVM) for permanent magnet synchronous motor (PMSM) drive based a Model Reference Adaptive System (MRAS) algorithm and stator resistance estimator. The MRAS is utilized to estimate speed and stator resistance and compensate the effects of parameter variation on stator resistance, which makes flux and torque estimation more accurate and insensitive to parameter variation. In other hand the use of SVM method reduces the torque ripple while achieving a good dynamic response. Simulation results are presented and show the effectiveness of the proposed method.

Keywords: MRAS, PMSM, SVM, DTC, Speed and Resistance estimation, Sensorless drive

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