Search results for: Autonomous hovering control

Authors: M. P. Nanda Kumar, K. Dheeraj

Abstract:

The design of a feedback controller, so as to minimize a given performance criterion, for a general non-linear dynamical system is difficult; if not impossible. But for a large class of non-linear dynamical systems, the open loop control that minimizes a performance criterion can be obtained using calculus of variations and Pontryagin’s minimum principle. In this paper, the open loop optimal trajectories, that minimizes a given performance measure, is used to train the neural network whose inputs are state variables of non-linear dynamical systems and the open loop optimal control as the desired output. This trained neural network is used as the feedback controller. In other words, attempts are made here to solve the “inverse optimal control problem” by using the state and control trajectories that are optimal in an open loop sense.

Keywords: Inverse Optimal Control, Radial basis function neural network, Controller Design.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2288

Authors: Mansoor Ahsan, Khalid Rafique, Farrukh Mazhar

Abstract:

Unmanned Aerial Vehicles (UAVs) have gained tremendous importance, in both Military and Civil, during first decade of this century. In a UAV, onboard computer (autopilot) autonomously controls the flight and navigation of the aircraft. Based on the aircraft role and flight envelope, basic to complex and sophisticated controllers are used to stabilize the aircraft flight parameters. These controllers constitute the autopilot system for UAVs. The autopilot systems, most commonly, provide lateral and longitudinal control through Proportional-Integral-Derivative (PID) controllers or Phase-lead or Lag Compensators. Various techniques are commonly used to ‘tune’ gains of these controllers. Some techniques used are, in-flight step-by-step tuning, software-in-loop or hardware-in-loop tuning methods. Subsequently, numerous in-flight tests are required to actually ‘fine-tune’ these gains. However, an optimization-based tuning of these PID controllers or compensators, as presented in this paper, can greatly minimize the requirement of in-flight ‘tuning’ and substantially reduce the risks and cost involved in flight-testing.

Keywords: Unmanned aerial vehicle (UAV), autopilot, autonomous controls, PID controler gains tuning, optimization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3657

Authors: S. Gherbi, F. Bouchareb

Abstract:

This paper deals with the novel intelligent bio-inspired control strategies, it presents a novel approach based on an optimal fuzzy immune PID parameters tuning, it is a combination of a PID controller, inspired by the human immune mechanism with fuzzy logic. Such controller offers more possibilities to deal with the delayed systems control difficulties due to the delay term. Indeed, we use an optimization approach to tune the four parameters of the controller in addition to the fuzzy function; the obtained controller is implemented in a modified Smith predictor structure, which is well known that it is the most efficient to the control of delayed systems. The application of the presented approach to control a three tank delay system shows good performances and proves the efficiency of the method.

Keywords: Delayed systems, Fuzzy Immune PID, Optimization, Smith predictor.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2221

Authors: N. Tadrisi Parsa, A. R. Vali, R. Ghasemi

Abstract:

Diabetes is a growing health problem in worldwide. Especially, the patients with Type 1 diabetes need strict glycemic control because they have deficiency of insulin production. This paper attempts to control blood glucose based on body mathematical body model. The Bergman minimal mathematical model is used to develop the nonlinear controller. A novel back-stepping based sliding mode control (B-SMC) strategy is proposed as a solution that guarantees practical tracking of a desired glucose concentration. In order to show the performance of the proposed design, it is compared with conventional linear and fuzzy controllers which have been done in previous researches. The numerical simulation result shows the advantages of sliding mode back stepping controller design to linear and fuzzy controllers.

Keywords: Back stepping, Bergman Model, Nonlinear control, Sliding mode control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3536

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

Abstract:

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.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1645

Authors: Seongchan Kang, Hongsik Yun, Hyukgil Kim, Minwoo Park

Abstract:

For this study, this researcher conducted a precision network adjustment with QOCA, the precision network adjustment software developed by Jet Propulsion Laboratory, to perform an integrated network adjustment on the Unified Control Points managed by the National Geographic Information Institute. Towards this end, 275 Unified Control Points observed in 2008 were selected before a network adjustment is performed on those 275 Unified Control Points. The RMSE on the discrepancies of coordinates as compared to the results of GLOBK was ±6.07mm along the N axis, ±2.68mm along the E axis and ±6.49mm along the U axis.

Keywords: Network adjustment, QOCA, unified control point.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1848

Authors: Do-Woo Kim, Geon Woo Kim, Jun-Ho Lee, Jong-Wook Han

Abstract:

The home in these days has not one computer connected to the Internet but rather a network of many devices within the home, and that network might be connected to the Internet. In such an environment, the potential for attacks is greatly increased. The general security technology can not apply because of the use of various wired and wireless network, middleware and protocol in digital home environment and a restricted system resource of home information appliances. To offer secure home services home network environments have need of access control for various home devices and information when users want to access. Therefore home network access control for user authorization is a very important issue. In this paper we propose access control model using RBAC in home network environments to provide home users with secure home services.

Keywords: Home network, access control, RBAC, security.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1911

Authors: Francisco José Plácido da Cunha, Tassio Ferenzini Martins Sirqueira, Marx Leles Viana, Carlos José Pereira de Lucena

Abstract:

Open Multiagent Systems (MASs) are societies in which heterogeneous and independently designed entities (agents) work towards similar, or different ends. Software agents are autonomous and the diversity of interests among different members living in the same society is a fact. In order to deal with this autonomy, these open systems use mechanisms of social control (norms) to ensure a desirable social order. This paper considers the following types of norms: (i) obligation — agents must accomplish a specific outcome; (ii) permission — agents may act in a particular way, and (iii) prohibition — agents must not act in a specific way. All of these characteristics mean to encourage the fulfillment of norms through rewards and to discourage norm violation by pointing out the punishments. Once the software agent decides that its priority is the satisfaction of its own desires and goals, each agent must evaluate the effects associated to the fulfillment of one or more norms before choosing which one should be fulfilled. The same applies when agents decide to violate a norm. This paper also introduces a framework for the development of MASs that provide support mechanisms to the agent’s decision-making, using norm-based reasoning. The applicability and validation of this approach is demonstrated applying a traffic intersection scenario.

Keywords: BDI aAgent, BDI4JADE framework, multiagent system, normative agents.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 998

Authors: Bibhya Sharma, Jito Vanualailai, Jai Raj

Abstract:

In this paper, we propose a solution to the motion planning and control problem for a swarm of three-dimensional boids. The swarm exhibit collective emergent behaviors within the vicinity of the workspace. The capability of biological systems to autonomously maneuver, track and pursue evasive targets in a cluttered environment is vastly superior to any engineered system. It is considered an emergent behavior arising from simple rules that are followed by individuals and may not involve any central coordination. A generalized, yet scalable algorithm for attraction to the centroid and inter-individual swarm avoidance is proposed. We present a set of new continuous time-invariant velocity control laws, formulated via the Lyapunov-based control scheme for target attraction and collision avoidance. The controllers provide a collision-free trajectory. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the control laws is demonstrated via computer simulations.

Keywords: Swarm, Practical stability, Motion planning.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1914

Authors: K. Diwakar, N. Vasudevan, C. Senthilpari

Abstract:

This paper presents MOSFET based analog to digital converter which is simple in design, has high resolution, and conversion rate better than dual slope ADC. It has no DAC which will limit the performance, no error in conversion, can operate for wide range of inputs and never become unstable. One of the industrial applications, where the proposed high resolution MOSFET ADC can be used is, for the positioning of control valves in a multi channel data acquisition and control system (DACS), using stepper motors as actuators of control valves. It is observed that in a DACS having ten control valves, 0.02% of positional accuracy of control valves can be achieved with the data update period of 250ms and with stepper motors of maximum pulse rate 20 Kpulses per sec. and minimum pulse width of 2.5 μsec. The reported accuracy so far by other authors is 0.2%, with update period of 255 ms and with 8 bit DAC. The accuracy in the proposed configuration is limited by the available precision stepper motor and not by the MOSFET based ADC.

Keywords: MOSFET based ADC, Actuators, Positional accuracy, Stepper Motors.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2611

Authors: E. E. El-Kholy, Ahamed Kalas, Mahmoud Fauzy, M. El-Shahat Dessouki, Abdou. M. El-Refay, Mohammed El-Zefery

Abstract:

Direct Torque Control (DTC) is an AC drive control method especially designed to provide fast and robust responses. In this paper a progressive algorithm for direct torque control of threephase induction drive system supplied by photovoltaic arrays using voltage source inverter to control motor torque and flux with maximum power point tracking at different level of insolation is presented. Experimental results of the new DTC method obtained by an experimental rapid prototype system for drives are presented. Simulation and experimental results confirm that the proposed system gives quick, robust torque and speed responses at constant switching frequencies.

Keywords: Photovoltaic (PV) array, direct torque control (DTC), constant switching frequency, induction motor, maximum power point tracking (MPPT).

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2257

Authors: Renkai Wang, Tingcun Wei

Abstract:

In this paper, a digital control algorithm based on delta-operator is presented for high-frequency digitally-controlled DC-DC switching converters. The stability and the controlling accuracy of the DC-DC switching converters are improved by using the digital control algorithm based on delta-operator without increasing the hardware circuit scale. The design method of voltage compensator in delta-domain using PID (Proportion-Integration- Differentiation) control is given in this paper, and the simulation results based on Simulink platform are provided, which have verified the theoretical analysis results very well. It can be concluded that, the presented control algorithm based on delta-operator has better stability and controlling accuracy, and easier hardware implementation than the existed control algorithms based on z-operator, therefore it can be used for the voltage compensator design in high-frequency digitally- controlled DC-DC switching converters.

Keywords: Digitally-controlled DC-DC switching converter, finite word length, control algorithm based on delta-operator, high-frequency, stability.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1262

Authors: Stephanie Russo Fabris, Edmara Thays Neres Menezes, Ruirogeres dos Santos Cruz, Lucio Leonardo Siqueira Santos, Suzana Leitao Russo

Abstract:

The statistical process control (SPC) is one of the most powerful tools developed to assist ineffective control of quality, involves collecting, organizing and interpreting data during production. This article aims to show how the use of CEP industries can control and continuously improve product quality through monitoring of production that can detect deviations of parameters representing the process by reducing the amount of off-specification products and thus the costs of production. This study aimed to conduct a technological forecasting in order to characterize the research being done related to the CEP. The survey was conducted in the databases Spacenet, WIPO and the National Institute of Industrial Property (INPI). Among the largest are the United States depositors and deposits via PCT, the classification section that was presented in greater abundance to F.

Keywords: Statistical Process Control, Industries

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1535

Authors: Jae Kyung Son, Wan Shik Jang, Sung hyun Shim, Yoon Gyung Sung

Abstract:

This paper is concerned with the application of the vision control algorithm for robot's point placement task in discontinuous trajectory caused by obstacle. The presented vision control algorithm consists of four models, which are the robot kinematic model, vision system model, parameters estimation model, and robot joint angle estimation model.When the robot moves toward a target along discontinuous trajectory, several types of obstacles appear in two obstacle regions. Then, this study is to investigate how these changes will affect the presented vision control algorithm.Thus, the practicality of the vision control algorithm is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.

Keywords: Vision control algorithm, location of obstacle region, range of obstacle region, point placement.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1402

Authors: Eleni Aggelogiannaki, Haralambos Sarimveis

Abstract:

In this work, a radial basis function (RBF) neural network is developed for the identification of hyperbolic distributed parameter systems (DPSs). This empirical model is based only on process input-output data and used for the estimation of the controlled variables at specific locations, without the need of online solution of partial differential equations (PDEs). The nonlinear model that is obtained is suitably transformed to a nonlinear state space formulation that also takes into account the model mismatch. A stable robust control law is implemented for the attenuation of external disturbances. The proposed identification and control methodology is applied on a long duct, a common component of thermal systems, for a flow based control of temperature distribution. The closed loop performance is significantly improved in comparison to existing control methodologies.

Keywords: Hyperbolic Distributed Parameter Systems, Radial Basis Function Neural Networks, H∞ control, Thermal systems.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1420

Authors: Soltani Amir, Wang Xuan

Abstract:

The advantage of using non-linear passive damping  system in vibration control of two adjacent structures is investigated  under their base excitation. The base excitation is El Centro  earthquake record acceleration. The damping system is considered as  an optimum and effective non-linear viscous damper that is  connected between two adjacent structures. A MATLAB program is  developed to produce the stiffness and damping matrices and to  determine a time history analysis of the dynamic motion of the  system. One structure is assumed to be flexible while the other has a  rule as laterally supporting structure with rigid frames. The response  of the structure has been calculated and the non-linear damping  coefficient is determined using optimum LQR algorithm in an  optimum vibration control system. The non-linear parameter of  damping system is estimated and it has shown a significant advantage  of application of this system device for vibration control of two  adjacent tall building.

Keywords: Structural Control, Active and passive damping, Vibration control, Seismic isolation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2408

Authors: Alluri Swaroopa, Lakkakula Venkata Narasimha Prasad

Abstract:

Alone with fast urbanization in world, traffic control became a big issue in urban construction. Having an efficient and reliable traffic control system is crucial to macro-traffic control. Traffic signal is used to manage conflicting requirement by allocating different sets of mutually compatible traffic movement during distinct time interval. Many approaches have been made proposed to solve this discrete stochastic problem. Recognizing the need to minimize right-of-way impacts while efficiently handling the anticipated high traffic volumes, the proposed alternative system gives effective design. This model allows for increased traffic capacity and reduces delays by eliminating a step in maneuvering through the freeway interchange. The concept proposed in this paper involves construction of bridges and ramps at intersection of four roads to control the vehicular congestion and to prevent traffic breakdown.

Keywords: Bridges, junctions, ramps, urban traffic control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3182

Authors: Alexandre M. Brighenti

Abstract:

One of the most damaging species in sunflower crops in Brazil is the hairy beggarticks (Bidens pilosa L.). The large number of seeds, the various vegetative cycles during the year, the staggered germination and the scarcity of selective and effective herbicides to control this weed in sunflower are some of attributes that hinder the effectiveness in controlling hairy beggarticks populations. The experiment was carried out with the objectives of evaluating the control of hairy beggarticks plants in sunflower crops, and to assess sunflower tolerance to residual herbicides. The treatments were as follows: S-metolachlor (1,200 and 2,400 g ai ha^-1), flumioxazin (60 and 120 g ai ha^-1), sulfentrazone (150 and 300 g ai ha^-1) and two controls (weedy and weed-free check). Phytotoxicity on sunflower plants, percentage of control and density of hairy beggarticks plants, sunflower stand and plant height, head diameter, oil content and sunflower yield were evaluated. The herbicides flumioxazin and sulfentrazone were the most efficient in hairy beggarticks control. S-metolachlor provided acceptable control levels. S-metolachlor (1,200 g ha^-1), flumioxazin (60 g ha^-1) and sulfentrazone (150 g ha^-1) were the most selective doses for sunflower crop.

Keywords: Flumioxazin, Helianthus annuus, S-metolachlor, sulfentrazone, weeds.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 615

Authors: N. Katemee, T. Mayureesawan

Abstract:

This paper developed the c-Chart based on a Zero- Inflated Poisson (ZIP) processes that approximated by a geometric distribution with parameter p. The p estimated that fit for ZIP distribution used in calculated the mean, median, and variance of geometric distribution for constructed the c-Chart by three difference methods. For cg-Chart, developed c-Chart by used the mean and variance of the geometric distribution constructed control limits. For cmg-Chart, the mean used for constructed the control limits. The cme- Chart, developed control limits of c-Chart from median and variance values of geometric distribution. The performance of charts considered from the Average Run Length and Average Coverage Probability. We found that for an in-control process, the cg-Chart is superior for low level of mean at all level of proportion zero. For an out-of-control process, the cmg-Chart and cme-Chart are the best for mean = 2, 3 and 4 at all level of parameter.

Keywords: average coverage probability, average run length, geometric distribution, zero-inflated poisson distribution

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2411

Authors: Y. J. Huang, T. C. Kuo, B. W. Hong, B. C. Wu

Abstract:

This paper presents a robust proportionalderivative (PD) based cerebellar model articulation controller (CMAC) for vertical take-off and landing flight control systems. Successful on-line training and recalling process of CMAC accompanying the PD controller is developed. The advantage of the proposed method is mainly the robust tracking performance against aerodynamic parametric variation and external wind gust. The effectiveness of the proposed algorithm is validated through the application of a vertical takeoff and landing aircraft control system.

Keywords: vertical takeoff and landing, cerebellar modelarticulation controller, proportional-derivative control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1633

Authors: Jinsiang Shaw, Ray Pan, Yin-Chieh Chang

Abstract:

In this paper, an magnetorheological (MR) mount with fuzzy sliding mode controller (FSMC) is studied for vibration suppression when the system is subject to base excitations. In recent years, magnetorheological fluids are becoming a popular material in the field of the semi-active control. However, the dynamic equation of an MR mount is highly nonlinear and it is difficult to identify. FSMC provides a simple method to achieve vibration attenuation of the nonlinear system with uncertain disturbances. This method is capable of handling the chattering problem of sliding mode control effectively and the fuzzy control rules are obtained by using the Lyapunov stability theory. The numerical simulations using one-dimension and two-dimension FSMC show effectiveness of the proposed controller for vibration suppression. Further, the well-known skyhook control scheme and an adaptive sliding mode controller are also included in the simulation for comparison with the proposed FSMC.

Keywords: adaptive sliding mode controller, fuzzy sliding modecontroller, magnetorheological mount, skyhook control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1795

Authors: A. Ribeiro, N. Valério, C. Vilarinho, J. Araujo, J. Carvalho

Abstract:

Res2ValHUM project involves institutions from the Spanish Autonomous Region of Galicia and the north of Portugal (districts of Porto and Braga) and has as overall objectives of promotion of composting as an process for the correct managing of organic waste, valorization of compost in different fields or applications for the constitution of products with high added value, reducing of raw materials losses, and reduction of the amount of waste throw in landfills. Three main actions were designed to achieve the objectives: development of a management tool to improve collection and residue channeling for composting, sensibilization of the population for composting and characterization of the chemical and biological properties of compost and humic and fulvic substances to envisage high-value applications of compost. Here we present the cooperative activity of Galician and northern Portuguese institutions to valorize organic waste in both regions with common socio-economic characteristics and residue management problems. Results from the creation of the resource manage tool proved the existence of a large number of agricultural wastes that could be valorized. In the North of Portugal, the wastes from maize, oats, potato, apple, grape pomace, rye, and olive pomace can be highlighted. In the Autonomous Region of Galicia the wastes from maize, wheat, potato, apple, and chestnuts can be emphasized. Regarding the isolation and identification of microbial consortia from compost samples, results proved microorganisms belong mainly to the genus Bacillus spp. Among all the species identified in compost samples, Bacillus licheniformis can be highlighted in the production of humic and fulvic acids.

Keywords: Agricultural wastes, Bacillus licheniformis, Bacillus spp., Humic-acids, Fulvic-acids.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 696

Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoidance a turning angle is designed, which when incorporated into the control laws ensures that the entire robot arm avoids any number of fixed obstacles along its path enroute the target. The control laws proposed in this paper also ensure that the equilibrium point of the system is asymptotically stable. Computer simulations of the proposed technique are presented.

Keywords: 2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2851

Authors: Raied Salman, Nazar Younis

Abstract:

In a none-super-competitive environment the concepts of closed system, management control remains to be the dominant guiding concept to management. The merits of closed loop have been the sources of most of the management literature and culture for many decades. It is a useful exercise to investigate and poke into the dynamics of the control loop phenomenon and draws some lessons to use for refining the practice of management. This paper examines the multitude of lessons abstracted from the behavior of the Input /output /feedback control loop model, which is the core of control theory. There are numerous lessons that can be learned from the insights this model would provide and how it parallels the management dynamics of the organization. It is assumed that an organization is basically a living system that interacts with the internal and external variables. A viable control loop is the one that reacts to the variation in the environment and provide or exert a corrective action. In managing organizations this is reflected in organizational structure and management control practices. This paper will report findings that were a result of examining several abstract scenarios that are exhibited in the design, operation, and dynamics of the control loop and how they are projected on the functioning of the organization. Valuable lessons are drawn in trying to find parallels and new paradigms, and how the control theory science is reflected in the design of the organizational structure and management practices. The paper is structured in a logical and perceptive format. Further research is needed to extend these findings.

Keywords: Management theory, control theory, feed back, input/output, strategy, change, information technology, informationsystems, IS, organizational environment, organizations, opensystems, closed systems.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1433

Authors: Atilla Bayram

Abstract:

This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors.

Keywords: Computed force control method, genetic algorithm, hybrid manipulator, inverse kinematics of redundant manipulators, variable geometry truss.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1573

Authors: Sunglim Lee, Susumu Fujii, Koji Okamura

Abstract:

Smart grid is a new approach for electric power grid that uses information and communications technology to control the electric power grid. Smart grid provides real-time control of the electric power grid, controlling the direction of power flow or time of the flow. Control devices are installed on the power lines of the electric power grid to implement smart grid. The number of the control devices should be determined, in relation with the area one control device covers and the cost associated with the control devices. One approach to determine the number of the control devices is to use the data on the surplus power generated by home solar generators. In current implementations, the surplus power is sent all the way to the power plant, which may cause power loss. To reduce the power loss, the surplus power may be sent to a control device and sent to where the power is needed from the control device. Under assumption that the control devices are installed on a lattice of equal size squares, our goal is to figure out the optimal spacing between the control devices, where the power sharing area (the area covered by one control device) is kept small to avoid power loss, and at the same time the power sharing area is big enough to have no surplus power wasted. To achieve this goal, a simulation using landscape ecology method is conducted on a sample area. First an aerial photograph of the land of interest is turned into a mosaic map where each area is colored according to the ratio of the amount of power production to the amount of power consumption in the area. The amount of power consumption is estimated according to the characteristics of the buildings in the area. The power production is calculated by the sum of the area of the roofs shown in the aerial photograph and assuming that solar panels are installed on all the roofs. The mosaic map is colored in three colors, each color representing producer, consumer, and neither. We started with a mosaic map with 100 m grid size, and the grid size is grown until there is no red grid. One control device is installed on each grid, so that the grid is the area which the control device covers. As the result of this simulation we got 350m as the optimal spacing between the control devices that makes effective use of the surplus power for the sample area.

Keywords: Landscape ecology, IT, smart grid, aerial photograph, simulation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1967

Authors: S. Hajeb, M. Javadi, S. M. Hashemi, P. Parvizi

Abstract:

Road Traffic Accidents are a major cause of disability and death throughout the world. The control of intelligent vehicles in order to reduce human error and boost ease congestion is not accomplished solely by the aid of human resources. The present article is an attempt to introduce an intelligent control system based on RFID technology. By the help of RFID technology, vehicles are connected to computerized systems, intelligent light poles and other available hardware along the way. In this project, intelligent control system is capable of tracking all vehicles, crisis management and control, traffic guidance and recording Driving offences along the highway.

Keywords: RFID, Intelligent highway, Traffic violation

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13979

Authors: Aymen Rhouma, Khaled Hcheichi, Sami Hafsi

Abstract:

The article presents an application of Fractional Model Predictive Control (FMPC) to a fractional order thermal system using Controlled Auto Regressive Integrated Moving Average (CARIMA) model obtained by discretization of a continuous fractional differential equation. Moreover, the output deviation approach is exploited to design the K -step ahead output predictor, and the corresponding control law is obtained by solving a quadratic cost function. Experiment results onto a thermal system are presented to emphasize the performances and the effectiveness of the proposed predictive controller.

Keywords: Fractional model predictive control, fractional order systems, thermal system.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1226

Authors: Abdul Rashid Husain, Mohamad Noh Ahmad, Abdul Halim Mohd Yatim

Abstract:

In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respectively, while the chattering effect in the input is attenuated. This is proven to be advantageous for AMB system since minimization of chattering results in optimized control effort. The performance of each controller is demonstrated via result of simulation in which the measurement of the total consumed energy and maximum control magnitude of each controller illustrates the effectiveness of the proposed controllers.

Keywords: Active Magnetic Bearing (AMB), Sliding Mode Control (SMC), chattering-free SMC.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2142

Authors: Ján Haščík, Štefan Čerba, Jakub Lüley, Branislav Vrban

Abstract:

The presented paper is related to the design methods and neutronic characterization of the reactivity control system in the large power unit of Generation IV Gas cooled Fast Reactor – GFR2400. The reactor core is based on carbide pin fuel type with the application of refractory metallic liners used to enhance the fission product retention of the SiCcladding. The heterogeneous design optimization of control rod is presented and the results of rods worth and their interferences in a core are evaluated. In addition, the idea of reflector removal as an additive reactivity management option is investigated and briefly described.

Keywords: Control rods design, GFR2400, hot spot, movable reflector, reactivity.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1808