Search results for: decoupled power control

Authors: Han-wool Lee, Chin-suk Hong, Weui-bong Jung

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In this study, noise characteristics of structure were analyzed in an effort to reduce noise passing through an opening of an enclosure surrounding the structure that generates noise. Enclosures are essential measure to protect noise propagation from operating machinery. Access openings of the enclosures are important path of noise leakage. First, noise characteristics of structure were analyzed and feed-forward noise control was performed using simulation in order to reduce noise passing through the opening of enclosure, which surrounds a structure generating noise. We then implemented a feed-forward controller to actively control the acoustic power through the opening. Finally, we conducted optimization of placement of the reference sensors for several cases of the number of sensors. Good control performances were achieved using the minimum number of microphones arranged an optimal placement.

Keywords: Active Noise Control, Feed-forward Control, Noise Attenuation, Position Optimization.

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Authors: O. Pop, C. Barbulescu, M. Nemes, St. Kilyeni

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The tracing methods determine the contribution the power system sources have in their supplying. These methods can be used to assess the transmission prices, but also to recover the transmission fixed cost. In this paper is presented the influence of the modification of commons structure has on the specific price of transfer and on active power losses. The authors propose a power losses allocation method, based on Kirschen-s method. The system operator must make use of a few basic principles about allocation. The only necessary information is the power flows on system branches and the modifications applied to power system buses. In order to illustrate this method, the 25-bus test system is used, elaborated within the Electrical Power Engineering Department, from Timisoara, Romania.

Keywords: Power systems, P-U bus, P-Q bus, loss allocation, traceability methods.

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Authors: Mehmet Savsar

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Reliability and availability of power stations are extremely important in order to achieve a required level of power generation. In particular, in the hot desert climate of Kuwait, reliable power generation is extremely important because of cooling requirements at temperatures exceeding 50-centigrade degrees. In this paper, a particular power plant, named Sabiya Power Plant, which has 8 steam turbines and 13 gas turbine stations, has been studied in detail; extensive data are collected; and availability of station units are determined. Furthermore, a simulation model is developed and used to analyze the effects of different maintenance policies on availability of these stations. The results show that significant improvements can be achieved in power plant availabilities if appropriate maintenance policies are implemented.

Keywords: Power plants, steam turbines, gas turbines, maintenance, availability, simulation.

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Authors: Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

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In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.

Keywords: Disturbance observer, Pneumatic balloon, Predictive functional control, Rubber artificial muscle.

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Authors: Mehdi Karbalaye Zadeh, Ehsan M. Siavashi

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The controllable electrical loss which consists of the copper loss and iron loss can be minimized by the optimal control of the armature current vector. The control algorithm of current vector minimizing the electrical loss is proposed and the optimal current vector can be decided according to the operating speed and the load conditions. The proposed control algorithm is applied to the experimental PM motor drive system and this paper presents a modern approach of speed control for permanent magnet synchronous motor (PMSM) applied for Electric Vehicle using a nonlinear control. The regulation algorithms are based on the feedback linearization technique. The direct component of the current is controlled to be zero which insures the maximum torque operation. The near unity power factor operation is also achieved. More over, among EV-s motor electric propulsion features, the energy efficiency is a basic characteristic that is influenced by vehicle dynamics and system architecture. For this reason, the EV dynamics are taken into account.

Keywords: PMSM, Electric Vehicle, Optimal control, Traction.

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Authors: Dody Ismoyo, Mohammad Awan, Norashikin Yahya

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The presence of harmonic in power system is a major concerned to power engineers for many years. With the increasing usage of nonlinear loads in power systems, the harmonic pollution becomes more serious. One of the widely used computation algorithm for harmonic analysis is fast Fourier transform (FFT). In this paper, a harmonic analyzer using FFT was implemented on TMS320C6713 DSK. The supply voltage of 240 V 59 Hz is stepped down to 5V using a voltage divider in order to match the power rating of the DSK input. The output from the DSK was displayed on oscilloscope and Code Composer Studio™ software. This work has demonstrated the possibility of analyzing the 240V power supply harmonic content using the DSK board.

Keywords: Harmonic Analysis, DSP.

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Authors: İ. Kıyak, G. Gökmen

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Using of natural lighting has come into prominence in constructed buildings, especially in last ten years, under scope of energy efficiency. Natural lighting methods are one of the methods that aim to take advantage of day light in maximum level and decrease using of artificial lighting. Increasing of day light amount in buildings by using suitable methods will give optimum result in terms of comfort and energy saving when the daylight-artificial light integration is ensured with a suitable control system. Using of natural light in places that require lighting will ensure energy saving in great extent. With this study, it is aimed to save energy used for purpose of lighting. Under this scope, lighting of a scanning laboratory of a hospital was realized by using a lighting automation containing natural and artificial lighting. In natural lighting, light pipes were used and in artificial lighting, dimmable power LED modules were used. Necessity of lighting was followed with motion sensors. The lighting automation containing natural and artificial light was ensured with fuzzy logic control. At the scanning laboratory where this application was realized, energy saving in lighting was obtained.

Keywords: Daylight transfer, fuzzy logic controller, light pipe, Power LED.

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Authors: M. Tamilarasi, T.G. Palanivelu

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Mobile Ad Hoc Networks (MANETs) are multi-hop wireless networks in which all nodes cooperatively maintain network connectivity. In such a multi-hop wireless network, every node may be required to perform routing in order to achieve end-to-end communication among nodes. These networks are energy constrained as most ad hoc mobile nodes today operate with limited battery power. Hence, it is important to minimize the energy consumption of the entire network in order to maximize the lifetime of ad hoc networks. In this paper, a mechanism involving the integration of load balancing approach and transmission power control approach is introduced to maximize the life-span of MANETs. The mechanism is applied on Ad hoc On-demand Vector (AODV) protocol to make it as energy aware AODV (EA_AODV). The simulation is carried out using GloMoSim2.03 simulator. The results show that the proposed mechanism reduces the average required transmission energy per packet compared to the standard AODV.

Keywords: energy aware routing, load balance, Mobile Ad HocNetworks, MANETs , on demand routing, transmission power control.

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Authors: Burak Yildirim, Muhsin Tunay Gençoğlu

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A microgrid (MG) is a small power grid composed of localized medium or low level power generation, storage systems, and loads. In this paper, the effects of a MG on power systems voltage stability are shown. The MG model, designed to demonstrate the effects of the MG, was applied to the IEEE 14 bus power system which is widely used in power system stability studies. Eigenvalue and modal analysis methods were used in simulation studies. In the study results, it is seen that MGs affect system voltage stability positively by increasing system voltage instability limit value for buses of a power system in which MG are placed.

Keywords: Eigenvalue analysis, microgrid, modal analysis, voltage stability.

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Authors: S. H. Oudjana, A. Hellal, I. Hadj Mahammed

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Photovoltaic power generation forecasting is an important task in renewable energy power system planning and operating. This paper explores the application of neural networks (NN) to study the design of photovoltaic power generation forecasting systems for one week ahead using weather databases include the global irradiance, and temperature of Ghardaia city (south of Algeria) using a data acquisition system. Simulations were run and the results are discussed showing that neural networks Technique is capable to decrease the photovoltaic power generation forecasting error.

Keywords: Photovoltaic Power Forecasting, Regression, Neural Networks.

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Authors: W. S. Hsu, S. W. Chen, Y. T. Ku, Y. Chiang, J. R. Wang , J. H. Yang, C. Shih

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ALOHA code was used to calculate the concentration under the CO₂ storage burst condition for Maanshan nuclear power plant (NPP) in this study. Five main data are input into ALOHA code including location, building, chemical, atmospheric, and source data. The data from Final Safety Analysis Report (FSAR) and some reports were used in this study. The ALOHA results are compared with the failure criteria of R.G. 1.78 to confirm the habitability of control room. The result of comparison presents that the ALOHA result is below the R.G. 1.78 criteria. This implies that the habitability of control room can be maintained in this case. The sensitivity study for atmospheric parameters was performed in this study. The results show that the wind speed has the larger effect in the concentration calculation.

Keywords: PWR, ALOHA, habitability, Maanshan.

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Authors: F. Ahwide, Y. Aldali

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This article presents a current and future energy situation in Libya. The electric power efficiency and operating hours in power plants are evaluated from 2005 to 2010. Carbon dioxide emissions in most of power plants are estimated. In 2005, the efficiency of steam power plants achieved a range of 20% to 28%. While, the gas turbine power plants efficiency ranged between 9% and 25%, this can be considered as low efficiency. However, the efficiency improvement has clearly observed in some power plants from 2008 to 2010, especially in the power plant of North Benghazi and west Tripoli. In fact, these power plants have modified to combine cycle. The efficiency of North Benghazi power plant has increased from 25% to 46.6%, while in Tripoli it is increased from 22% to 34%. On the other hand, the efficiency improvement is not observed in the gas turbine power plants. When compared to the quantity of fuel used, the carbon dioxide emissions resulting from electricity generation plants were very high. Finally, an estimation of the energy demand has been done to the maximum load and the annual load factor (i.e., the ratio between the output power and installed power).

Keywords: Power plant, Efficiency improvement, Carbon dioxide Emissions.

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Authors: Andrés Gomez-Casseres, Rubén Contreras

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In this paper, a bidirectional boost converter operated in Discontinuous Conduction Mode (DCM) is presented as a suitable power conditioning circuit for tuning of kinetic energy harvesters without the need of a battery. A nonlinear control scheme, composed by two linear controllers, is used to control the average value of the input current, enabling the synthesization of complex loads. The converter, along with the control system, is validated through SPICE simulations using the LTspice tool. The converter model and the controller transfer functions are derived. From the simulation results, it was found that the input current distortion increases with the introduced phase shift and that, such distortion, is almost entirely present at the zero-crossing point of the input voltage.

Keywords: Average current control, boost converter, electrical tuning, energy harvesting.

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Authors: Mostafa Alinezhad, Mehrdad Ahmadi Kamarposhti

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According to the increasing utilization in power system, the transmission lines and power plants often operate in stability boundary and system probably lose its stable condition by over loading or occurring disturbance. According to the reasons that are mentioned, the prediction and recognition of voltage instability in power system has particular importance and it makes the network security stronger.This paper, by considering of power system contingencies based on the effects of them on Mega Watt Margin (MWM) and maximum loading point is focused in order to analyse the static voltage stability using continuation power flow method. The study has been carried out on IEEE 14-Bus Test System using Matlab and Psat softwares and results are presented.

Keywords: Contingency, Continuation Power Flow, Static Voltage Stability, Voltage Collapse.

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Authors: R.K. Behera, S.Behera

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In a wind power generator using doubly fed induction generator (DFIG), the three-phase pulse width modulation (PWM) voltage source converter (VSC) is used as grid side converter (GSC) and rotor side converter (RSC). The standard linear control laws proposed for GSC provides not only instablity against comparatively large-signal disturbances, but also the problem of stability due to uncertainty of load and variations in parameters. In this paper, a nonlinear controller is designed for grid side converter (GSC) of a DFIG for wind power application. The nonlinear controller is designed based on the input-output feedback linearization control method. The resulting closed-loop system ensures a sufficient stability region, make robust to variations in circuit parameters and also exhibits good transient response. Computer simulations and experimental results are presented to confirm the effectiveness of the proposed control strategy.

Keywords: Doubly fed Induction Generator, grid side converter, machine side converter, dc link, feedback linearization.

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Authors: Anupam Kumar, Abdul Hamid Bhat, Pramod Agarwal

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Bidirectional energy transfer capability with high efficiency and reduced cost is fast gaining prominence in the central part of a lot of power conversion systems in Direct Current (DC) microgrid. Preferably, under the economics constraints, these systems utilise a single high efficiency power electronics conversion system and a dual active bridge converter. In this paper, modeling and performance of Dual Active Bridge (DAB) converter with Extended Phase Shift (EPS) is evaluated with two batteries on both sides of DC bus and bidirectional energy transfer is facilitated and this is further compared with the Single Phase Shift (SPS) mode of operation. Optimum operating zone is identified through exhaustive simulations using MATLAB/Simulink and SimPowerSystem software. Reduced rules based fuzzy logic controller is implemented for closed loop control of DAB converter. The control logic enables the bidirectional energy transfer within the batteries even at lower duty ratios. Charging and discharging of batteries is supervised by the fuzzy logic controller. State of charge, current and voltage for both the batteries are plotted in the battery characteristics. Power characteristics of batteries are also obtained using MATLAB simulations.

Keywords: Fuzzy logic controller, rule base, membership functions, dual active bridge converter, bidirectional power flow, duty ratio, extended phase shift, state of charge.

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Authors: Masood Roohi, Amir Taghavipour

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This paper describes a strategy to develop an energy management system (EMS) for a charge-sustaining power-split hybrid electric vehicle. This kind of hybrid electric vehicles (HEVs) benefit from the advantages of both parallel and series architecture. However, it gets relatively more complicated to manage power flow between the battery and the engine optimally. The applied strategy in this paper is based on nonlinear model predictive control approach. First of all, an appropriate control-oriented model which was accurate enough and simple was derived. Towards utilization of this controller in real-time, the problem was solved off-line for a vast area of reference signals and initial conditions and stored the computed manipulated variables inside look-up tables. Look-up tables take a little amount of memory. Also, the computational load dramatically decreased, because to find required manipulated variables the controller just needed a simple interpolation between tables.

Keywords: Hybrid electric vehicles, energy management system, nonlinear model predictive control, real-time.

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Authors: Watcharachan Sukcharoenvipharat, Prathuang Usaborisut, Sirisak Choedkiatphon

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Farmers try to reduce steps of soil preparation by using subsoiler and then following by equipment for soil pulverization such as a rotary tiller and a power harrow which take advantage of using a power take-off of a tractor. Therefore, this study was conducted to compare the tilling performances of a rotary tiller and a power harrow applying after subsoiling. The results showed that both the rotary tiller and the power harrow had negative slip, indicating that they generated force to push a tractor. The rotary tiller created negative vertical force to lift up the tractor whereas opposite result was found when using the power harrow. Since working depths were different, vertical forces, torques and PTO powers for two equipment types were significantly different. However, no significant differences were found for the forward speeds, slips, drawbar pulls and drawbar powers. Comparative analysis showed that two equipment types had significant difference in PTO power to working depth, drawbar power to working depth, PTO power to working area, drawbar power to working area and soil pulverization.

Keywords: Rotary tiller, power harrow, drawbar pull, drawbar power, PTO power.

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Authors: Pardeep Singh, Sanjay Sharma, Parvinder S. Sandhu

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This work aims to reduce the read power consumption as well as to enhance the stability of the SRAM cell during the read operation. A new 10-transisor cell is proposed with a new read scheme to minimize the power consumption within the memory core. It has separate read and write ports, thus cell read stability is significantly improved. A 16Kb SRAM macro operating at 1V supply voltage is demonstrated in 65 nm CMOS process. Its read power consumption is reduced to 24% of the conventional design. The new cell also has lower leakage current due to its special bit-line pre-charge scheme. As a result, it is suitable for low-power mobile applications where power supply is restricted by the battery.

Keywords: A 16Kb 10T-SRAM, 4x Read-Power Reduction

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Authors: N. Nandan A. M. Nagaraj, L. Sanjeev Kumar

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In the rapidly growing population, the requirement of electrical power is increasing day by day. In order to meet the needs, we need to generate the power using alternate method. In this paper, a presentable approach is developed by analysis and can be implemented by utilizing heat energy, which is generated in numerous ways in some of the rural areas in India. The thermoelectric generator unit will be developed by combing with control circuits and converts, which is used to light the LED lamps. The temperature difference which is available in the kitchens, especially the exhaust pipes/chimneys of wooden fire stoves, where more heat is dissipated into the atmosphere, can be utilized for electrical power generation. Hence, the temperature rise of surroundings atmosphere can be reduced.

Keywords: Thermoelectric generator, LED, converts, temperature.

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Authors: D. R. Patil, U. Gudaru

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Most electrical distribution systems are incurring large losses as the loads are wide spread, inadequate reactive power compensation facilities and their improper control. A typical static VAR compensator consists of capacitor bank in binary sequential steps operated in conjunction with a thyristor controlled reactor of the smallest step size. This SVC facilitates stepless control of reactive power closely matching with load requirements so as to maintain power factor nearer to unity. This type of SVC-s requiring a appropriately controlled TCR. This paper deals with an air cored reactor suitable for distribution transformer of 3phase, 50Hz, Dy11, 11KV/433V, 125 KVA capacity. Air cored reactors are designed, built, tested and operated in conjunction with capacitor bank in five binary sequential steps. It is established how the delta connected TCR minimizes the harmonic components and the operating range for various electrical quantities as a function of firing angle is investigated. In particular firing angle v/s line & phase currents, D.C. components, THD-s, active and reactive powers, odd and even triplen harmonics, dominant characteristic harmonics are all investigated and range of firing angle is fixed for satisfactory operation. The harmonic spectra for phase and line quantities at specified firing angles are given. In case the TCR is operated within the bound specified in this paper established through simulation studies are yielding the best possible operating condition particularly free from all dominant harmonics.

Keywords: Binary Sequential switched capacitor bank, TCR, Nontriplen harmonics, step less Q control, Active and Reactivepower, Simulink

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Authors: Maged A. Mossallam

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The objective from this paper is to design a solar thermal engine for space vehicles orbital control and electricity generation. A computational model is developed for the prediction of the solar thermal engine performance for different design parameters and conditions in order to enhance the engine efficiency. The engine is divided into two main subsystems. First, the concentrator dish which receives solar energy from the sun and reflects them to the cavity receiver. The second one is the cavity receiver which receives the heat flux reflected from the concentrator and transfers heat to the fluid passing over. Other subsystems depend on the application required from the engine. For thrust application, a nozzle is introduced to the system for the fluid to expand and produce thrust. Hydrogen is preferred as a working fluid in the thruster application. Results model developed is used to determine the thrust for a concentrator dish 4 meters in diameter (provides 10 kW of energy), focusing solar energy to a 10 cm aperture diameter cavity receiver. The cavity receiver outer length is 50 cm and the internal cavity is 47 cm in length. The suggested design material of the internal cavity is tungsten to withstand high temperature. The thermal model and analysis shows that the hydrogen temperature at the plenum reaches 2000oK after about 250 seconds for hot start operation for a flow rate of 0.1 g/sec.Using solar thermal engine as an electricity generation device on earth is also discussed. In this case a compressor and turbine are used to convert the heat gained by the working fluid (air) into mechanical power. This mechanical power can be converted into electrical power by using a generator.

Keywords: Concentrated Solar Energy, Orbital Control, Power Generation, Solar Thermal Engine, Space Vehicles Propulsion

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Authors: Nahid Ardalani, Ahmadreza Khoogar, H. Roohi

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In this paper we compare the response of linear and nonlinear neural network-based prediction schemes in prediction of received Signal-to-Interference Power Ratio (SIR) in Direct Sequence Code Division Multiple Access (DS/CDMA) systems. The nonlinear predictor is Multilayer Perceptron MLP and the linear predictor is an Adaptive Linear (Adaline) predictor. We solve the problem of complexity by using the Minimum Mean Squared Error (MMSE) principle to select the optimal predictors. The optimized Adaline predictor is compared to optimized MLP by employing noisy Rayleigh fading signals with 1.8 GHZ carrier frequency in an urban environment. The results show that the Adaline predictor can estimates SIR with the same error as MLP when the user has the velocity of 5 km/h and 60 km/h but by increasing the velocity up-to 120 km/h the mean squared error of MLP is two times more than Adaline predictor. This makes the Adaline predictor (with lower complexity) more suitable than MLP for closed-loop power control where efficient and accurate identification of the time-varying inverse dynamics of the multi path fading channel is required.

Keywords: Power control, neural networks, DS/CDMA mobilecommunication systems.

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Authors: Nan-Chyuan Tsai, Sheng-Liang Hsu

Abstract:

An innovative tri-axes micro-power receiver is proposed. The tri-axes micro-power receiver consists of two sets 3-D micro-solenoids and one set planar micro-coils in which iron core is embedded. The three sets of micro-coils are designed to be orthogonal to each other. Therefore, no matter which direction the flux is present along, the magnetic energy can be harvested and transformed into electric power. Not only dead space of receiving power is mostly reduced, but also transformation efficiency of electromagnetic energy to electric power can be efficiently raised. By employing commercial software, Ansoft Maxwell, the preliminary simulation results verify that the proposed micro-power receiver can efficiently pick up the energy transmitted by magnetic power source. As to the fabrication process, the isotropic etching technique is employed to micro-machine the inverse-trapezoid fillister so that the copper wire can be successfully electroplated. The adhesion between micro-coils and fillister is much enhanced.

Keywords: Wireless Power Transmission, Magnetic Flux, Tri-axes Micro-power Receiver

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Authors: Kang Chia Yang, Hushairi HJ Zen, Nur Ikhmar@Najemeen Binti Ayob

Abstract:

Power quality is used to describe the degree of consistency of electrical energy expected from generation source to point of use. The term power quality refers to a wide variety of electromagnetic phenomena that characterize the voltage and current at a given time and at a given location on the power system. Power quality problems can be defined as problem that results in failure of customer equipments, which manifests itself as an economic burden to users, or produces negative impacts on the environment. Voltage stability, power factor, harmonics pollution, reactive power and load unbalance are some of the factors that affect the consistency or the quality level. This research proposal proposes to investigate and analyze the causes and effects of power quality to homes and industries in Sarawak. The increasing application of electronics equipment used in the industries and homes has caused a big impact on the power quality. Many electrical devices are now interconnected to the power network and it can be observed that if the power quality of the network is good, then any loads connected to it will run smoothly and efficiently. On the other hand, if the power quality of the network is bad, then loads connected to it will fail or may cause damage to the equipments and reduced its lifetime. The outcome of this research will enable better and novel solutions of poor power quality to small industries and reduce damage of electrical devices and products in the industries.

Keywords: Power quality, power network, voltage dip.

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Authors: Kejun Zhuang, Hailong Zhu

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In this paper, stability and Hopf bifurcation analysis of a novel hyperchaotic system are investigated. Four feedback control strategies, the linear feedback control method, enhancing feedback control method, speed feedback control method and delayed feedback control method, are used to control the hyperchaotic attractor to unstable equilibrium. Moreover numerical simulations are given to verify the theoretical results.

Keywords: Feedback control, Hopf bifurcation, hyperchaotic system, stability.

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Authors: Ismail Saritas, Abdullah Adiyaman

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In this study, a fuzzy-logic based control system was designed to ensure that time and energy is saved during the operation of load elevators which are used during the construction of tall buildings. In the control system that was devised, for the load elevators to work more efficiently, the energy interval where the motor worked was taken as the output variable whereas the amount of load and the building height were taken as input variables. The most appropriate working intervals depending on the characteristics of these variables were defined by the help of an expert. Fuzzy expert system software was formed using Delphi programming language. In this design, mamdani max-min inference mechanism was used and the centroid method was employed in the clarification procedure. In conclusion, it is observed that the system that was designed is feasible and this is supported by statistical analyses..

Keywords: Fuzzy Logic Control, DC Motor, Load Elevators, Power Control.

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Authors: Jong-Bae Lee, Seongsoo Lee

Abstract:

This paper proposes an adaptive discharge time control method to balance cell voltages in alternating battery cell discharging method. In the alternating battery cell discharging method, battery cells are periodically discharged in turn. Recovery effect increases battery output voltage while the given battery cell rests without discharging, thus battery operation time of target system increases. However, voltage mismatch between cells leads two problems. First, voltage difference between cells induces inter-cell current with wasted power. Second, it degrades battery operation time, since system stops when any cell reaches to the minimum system operation voltage. To solve this problem, the proposed method adaptively controls cell discharge time to equalize both cell voltages. In the proposed method, battery operation time increases about 19%, while alternating battery cell discharging method shows about 7% improvement.

Keywords: Battery, Recovery Effect, Low-Power, Alternating Battery Cell Discharging, Adaptive Discharge Time Control.

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Authors: A. Izadbakhsh, M. M. Fateh

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A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications. KeywordsModel-free, robust control, position control, PUMA 560.

Keywords: Model-free, robust control, position control, PUMA 560.

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Authors: M. Honarpardaz, Z. Zhang, J. Derkx, A. Trangärd, J. Larsson

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Pilot stages are one of the most common positioners and regulators in industry. In this paper, we present two novel concepts for pilot stages with low power consumption to regulate a pneumatic device. Pilot 1, first concept, is designed based on a conventional frame core electro-magnetic actuator and a leaf spring to control the air flow and pilot 2 has an axisymmetric actuator and spring made of non-oriented electrical steel. Concepts are simulated in a system modeling tool to study their dynamic behavior. Both concepts are prototyped and tested. Experimental results are comprehensively analyzed and compared. The most promising concept that consumes less than 8 mW is highlighted and presented.

Keywords: Electro-magnetic actuator, multidisciplinary system, low power consumption, pilot stage.

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