Search results for: command and control system

Authors: Seong-Mo An, Rohit Ramesh, Young-Sook Lee, Wan-Young Chung

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The proper assessment of interaxial distance and convergence control are important factors in stereoscopic imaging technology to make an efficient 3D image. To control interaxial distance and convergence for efficient 3D shooting, horizontal 3D camera rig is designed using some hardware components like 'LM Guide', 'Goniometer' and 'Rotation Stage'. The horizontal 3D camera rig system can be properly aligned by moving the two cameras horizontally in same or opposite directions, by adjusting the camera angle and finally considering horizontal swing as well as vertical swing. In this paper, the relationship between interaxial distance and convergence angle control are discussed and intensive experiments are performed in order to demonstrate an easy and effective 3D shooting.

Keywords: Interaxial, Convergence, Stereoscopic, Horizontal 3D Camera Rig

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Authors: Hasanifard Goran, Habib Nejad Korayem Moharam, Nikoobin Amin

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A new robust nonlinear control scheme of a manipulator is proposed in this paper which is robust against modeling errors and unknown disturbances. It is based on the principle of variable structure control, with sliding mode control (SMC) method. The variable structure control method is a robust method that appears to be well suited for robotic manipulators because it requers only bounds on the robotic arm parameters. But there is no single systematic procedure that is guaranteed to produce a suitable control law. Also, to reduce chattring of the control signal, we replaced the sgn function in the control law by a continuous approximation such as tangant function. We can compute the maximum load with regard to applied torque into joints. The effectivness of the proposed approach has been evaluated analitically demonstrated through computer simulations for the cases of variable load and robot arm parameters.

Keywords: Variable structure control, robust control, switching surface, robot manipulator.

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Authors: Reza Sedaghati, Mojtaba Hakimzadeh, Abdolmohamad Davodi, Navid Javidtash

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The advent of Flexible AC Transmission Systems (FACTS) is giving rise to a new family of power electronic equipment emerging for controlling and optimizing the performance of power system, e.g. STATCOM. Static synchronous Compensator (STATCOM) is a commonly used FACTS device and has been successfully applied in power systems. In this sense, superconducting magnetic energy storage (SMES) in integration with a static synchronous compensator (STATCOM) is capable of supplying power systems with both active and reactive powers simultaneously and very rapidly, and thus is able to enhance the security dramatically. In this paper the structure and characteristics of the STATCOM/SMES is proposed. In addition, using a proper control scheme, STATCOM/ SMES is tested on an IEEE 3-bus system and more effective performance of the presented STATCOM/SMES compensator is evaluated with alone STATCOM through the dynamic simulation by using PSCAD/EMTDC software.

Keywords: STATCOM/SMES, Oscillation Damping, Control, Power System.

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Authors: Wei Lifan, Zhang Huaiyu, Yang Yunbin, Li Jia

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Through the analysis of the process digital design based on digital mockup, the fact indicates that a distributed cooperative supporting environment is the foundation conditions to adopt design approach based on DMU. Data access authorization is concerned firstly because the value and sensitivity of the data for the enterprise. The access control for administrators is often rather weak other than business user. So authors established an enhanced system to avoid the administrators accessing the engineering data by potential approach and without authorization. Thus the data security is improved.

Keywords: access control, DMU, PLM, virtual prototype.

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Authors: Amon Tunwannarux, Supanunt Tunwannarux

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This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.

Keywords: Controlling, monitoring, rescue robot, mechanicalarm.

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Authors: Omid Borazjani, Mahmoud Roosta, Khodakhast Isapour, Ali Reza Rajabi

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This paper presents an application of Artificial Neural Network (ANN) algorithm for improving power system voltage stability. The training data is obtained by solving several normal and abnormal conditions using the Linear Programming technique. The selected objective function gives minimum deviation of the reactive power control variables, which leads to the maximization of minimum Eigen value of load flow Jacobian. The considered reactive power control variables are switchable VAR compensators, OLTC transformers and excitation of generators. The method has been implemented on a modified IEEE 30-bus test system. The results obtain from the test clearly show that the trained neural network is capable of improving the voltage stability in power system with a high level of precision and speed.

Keywords: Artificial Neural Network (ANN), Load Flow, Voltage Stability, Power Systems.

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Authors: Jasmin Velagic, Nedim Osmic, Bakir Lacevic

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In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Keywords: Mobile robot, kinematic model, neural network, motion control, adaptive learning rate.

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Authors: C. Pacheco, A. Cipriano

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A new concept of response system is proposed for filling the gap that exists in reducing vulnerability during immediate response to natural disasters. Real Time Early Response Systems (RTERSs) incorporate real time information as feedback data for closing control loop and for generating real time situation assessment. A review of the state of the art on works that fit the concept of RTERS is presented, and it is found that they are mainly focused on manmade disasters. At the same time, in response phase of natural disaster management many works are involved in creating early warning systems, but just few efforts have been put on deciding what to do once an alarm is activated. In this context a RTERS arises as a useful tool for supporting people in their decision making process during natural disasters after an event is detected, and also as an innovative context for applying well-known automation technologies and automatic control concepts and tools.

Keywords: Disaster management, emergency response system, natural disasters, real time.

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Authors: Ben Hamed M., Sbita L

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This paper presents a new method for the implementation of a direct rotor flux control (DRFOC) of induction motor (IM) drives. It is based on the rotor flux components regulation. The d and q axis rotor flux components feed proportional integral (PI) controllers. The outputs of which are the target stator voltages (vdsref and vqsref). While, the synchronous speed is depicted at the output of rotor speed controller. In order to accomplish variable speed operation, conventional PI like controller is commonly used. These controllers provide limited good performances over a wide range of operations even under ideal field oriented conditions. An alternate approach is to use the so called fuzzy logic controller. The overall investigated system is implemented using dSpace system based on digital signal processor (DSP). Simulation and experimental results have been presented for a one kw IM drives to confirm the validity of the proposed algorithms.

Keywords: DRFOC, fuzzy logic, variable speed drives, control, IM and real time.

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Authors: Reza Ghasemi, Negin Amiri Hazaveh

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In this paper, control methodology based on the selection of the type of traffic light and the period of the green phase to accomplish an optimum balance at intersections is proposed. This balance should be flexible to the static behavior of time, and randomness in a traffic situation; the goal of the proposed method is to reduce traffic volume in transportation, the average delay for each vehicle, and control over the crash of cars. The proposed method was specifically investigated at the intersection through an appropriate timing of traffic lights by sampling a multi-agent system. It consists of a large number of intersections, each of which is considered as an independent agent that exchanges information with each other, and the stability of each agent is provided separately. The robustness against uncertainties, scalability, and stability of the closed-loop overall system are the main merits of the proposed methodology. The simulation results show that the fuzzy intelligent controller in this multi-factor system which is a Takagi-Sugeno (TS) fuzzy is more useful than scheduling in the fixed-time method and it reduces the lengths of vehicles queuing.

Keywords: Fuzzy intelligent controller, traffic-light control, multi-agent systems, state space equations, stability.

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Authors: Ji-Hye Kim, Sung-Gaun Kim

Abstract:

Electro-hydraulic power steering (EHPS) system for the fuel rate reduction and steering feel improvement is comprised of ECU including the logic which controls the steering system and BL DC motor and produces the best suited cornering force, BLDC motor, high pressure pump integrated module and basic oil-hydraulic circuit of the commercial HPS system. Electro-hydraulic system can be studied in two ways such as experimental and computer simulation. To get accurate results in experimental study of EHPS system, the real boundary management is necessary which is difficult task. And the accuracy of the experimental results depends on the preparation of the experimental setup and accuracy of the data collection. The computer simulation gives accurate and reliable results if the simulation is carried out considering proper boundary conditions. So, in this paper, each component of EHPS was modeled, and the model-based analysis and control logic was designed by using AMESim

Keywords: Power steering system, Electro-Hydraulic power steering (EHPS) system, Modeling of EHPS system, Analysis modeling.

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Authors: Dong Sang Yoo

Abstract:

We consider nonlinear uncertain systems such that a  priori information of the uncertainties is not available. For such  systems, we assume that the upper bound of the uncertainties is  represented as a Fredholm integral equation of the first kind and we  propose an adaptation law that is capable of estimating the upper  bound and design a continuous robust control which renders nonlinear  uncertain systems ultimately bounded.

 

Keywords: Adaptive Control, Estimation, Fredholm Integral, Uncertain System.

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Authors: T. Abdelkrim, K. Benamrane, B. Bezza, Aeh Benkhelifa, A. Borni

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This paper proposes a regulation method of back-to-back connected three-level converters in order to reduce the torque ripple in induction motor. First part is dedicated to the presentation of the feedback control of three-level PWM rectifier. In the second part, three-level NPC voltage source inverter balancing DC bus algorithm is presented. A theoretical analysis with a complete simulation of the system is presented to prove the excellent performance of the proposed technique.

Keywords: Back-to-back connection, Feedback control, Neutral-point balance, Three-level converter, Torque ripple.

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Authors: Abdelsalam A. Ahmed

Abstract:

Fast speed drives for Permanent Magnet Synchronous Motor (PMSM) is a crucial performance for the electric traction systems. In this paper, PMSM is derived with a Model-based Predictive Control (MPC) technique. Fast speed tracking is achieved through optimization of the DC source utilization using MPC. The technique is based on predicting the optimum voltage vector applied to the driver. Control technique is investigated by comparing to the cascaded PI control based on Space Vector Pulse Width Modulation (SVPWM). MPC and SVPWM-based FOC are implemented with the TMS320F2812 DSP and its power driver circuits. The designed MPC for a PMSM drive is experimentally validated on a laboratory test bench. The performances are compared with those obtained by a conventional PI-based system in order to highlight the improvements, especially regarding speed tracking response.

Keywords: Permanent magnet synchronous motor, mode predictive control, optimization of DC source utilization, cascaded PI control, space vector pulse width modulation, TMS320F2812 DSP.

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Authors: A. Maddi, A. Guessoum, D. Berkani

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The purpose of this paper is to provide a practical example to the Linear Quadratic Gaussian (LQG) controller. This method includes a description and some discussion of the discrete Kalman state estimator. One aspect of this optimality is that the estimator incorporates all information that can be provided to it. It processes all available measurements, regardless of their precision, to estimate the current value of the variables of interest, with use of knowledge of the system and measurement device dynamics, the statistical description of the system noises, measurement errors, and uncertainty in the dynamics models. Since the time of its introduction, the Kalman filter has been the subject of extensive research and application, particularly in the area of autonomous or assisted navigation. For example, to determine the velocity of an aircraft or sideslip angle, one could use a Doppler radar, the velocity indications of an inertial navigation system, or the relative wind information in the air data system. Rather than ignore any of these outputs, a Kalman filter could be built to combine all of this data and knowledge of the various systems- dynamics to generate an overall best estimate of velocity and sideslip angle.

Keywords: Aircraft motion, Kalman filter, LQG control, Lateral stability, State estimator.

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Authors: T.C. Manjunath, B. Bandyopadhyay

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This paper features the proposed modeling and design of a Robust Decentralized Periodic Output Feedback (RDPOF) control technique for the active vibration control of smart flexible multimodel Euler-Bernoulli cantilever beams for a multivariable (MIMO) case by retaining the first 6 vibratory modes. The beam structure is modeled in state space form using the concept of piezoelectric theory, the Euler-Bernoulli beam theory and the Finite Element Method (FEM) technique by dividing the beam into 4 finite elements and placing the piezoelectric sensor / actuator at two finite element locations (positions 2 and 4) as collocated pairs, i.e., as surface mounted sensor / actuator, thus giving rise to a multivariable model of the smart structure plant with two inputs and two outputs. Five such multivariable models are obtained by varying the dimensions (aspect ratios) of the aluminum beam, thus giving rise to a multimodel of the smart structure system. Using model order reduction technique, the reduced order model of the higher order system is obtained based on dominant eigen value retention and the method of Davison. RDPOF controllers are designed for the above 5 multivariable-multimodel plant. The closed loop responses with the RDPOF feedback gain and the magnitudes of the control input are observed and the performance of the proposed multimodel smart structure system with the controller is evaluated for vibration control.

Keywords: Smart structure, Euler-Bernoulli beam theory, Periodic output feedback control, Finite Element Method, State space model, SISO, Embedded sensors and actuators, Vibration control, Reduced order model

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Authors: Shu-Hui Jan, Hui-Ping Tserng, Shih-Ping Ho

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Construction project control attempts to obtain real-time as-built schedule information and to eliminate project delays by effectively enhancing dynamic schedule control and management. Suitable platforms for enhancing an as-built schedule visually during the construction phase are necessary and important for general contractors. As the application of building information modeling (BIM) becomes more common, schedule management integrated with the BIM approach becomes essential to enhance visual construction management implementation for the general contractor during the construction phase. To enhance visualization of the updated as-built schedule for the general contractor, this study presents a novel system called the Construction BIM-assisted Schedule Management (ConBIM-SM) system for general contractors in Taiwan. The primary purpose of this study is to develop a web ConBIM-SM system for the general contractor to enhance visual as-built schedule information sharing and efficiency in tracking construction as-built schedule. Finally, the ConBIM-SM system is applied to a case study of a commerce building project in Taiwan to verify its efficacy and demonstrate its effectiveness during the construction phase. The advantages of the ConBIM-SM system lie in improved project control and management efficiency for general contractors, and in providing BIM-assisted as-built schedule tracking and management, to access the most current as-built schedule information through a web browser. The case study results show that the ConBIM-SM system is an effective visual as-built schedule management platform integrated with the BIM approach for general contractors in a construction project.

Keywords: BIM, Building information modeling, construction schedule management, as-built schedule management, BIM schedule updating mechanism.

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Authors: Kamil Aida-zade, C. Ardil

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We study the problem of synthesis of lumped sources control for the objects with distributed parameters on the basis of continuous observation of phase state at given points of object. In the proposed approach the phase state space (phase space) is beforehand somehow partitioned at observable points into given subsets (zones). The synthesizing control actions therewith are taken from the class of piecewise constant functions. The current values of control actions are determined by the subset of phase space that contains the aggregate of current states of object at the observable points (in these states control actions take constant values). In the paper such synthesized control actions are called zone control actions. A technique to obtain optimal values of zone control actions with the use of smooth optimization methods is given. With this aim, the formulas of objective functional gradient in the space of zone control actions are obtained.

Keywords: Feedback control, distributed systems, smooth optimization methods, lumped control synthesis.

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Authors: Kyung-Jung Lee, Young-Hun Ki, Hyun-Sik Ahn

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In this paper, we propose a hardware and software design method for automotive Electronic Control Units (ECU) considering the functional safety. The proposed ECU is considered for the application to Electro-Mechanical Actuator systems and the validity of the design method is shown by the application to the Electro-Mechanical Brake (EMB) control system which is used as a brake actuator in Brake-By-Wire (BBW) systems. The importance of a functional safety-based design approach to EMB ECU design has been emphasized because of its safety-critical functions, which are executed with the aid of many electric actuators, sensors, and application software. Based on hazard analysis and risk assessment according to ISO26262, the EMB system should be ASIL-D-compliant, the highest ASIL level. To this end, an external signature watchdog and an Infineon 32-bit microcontroller TriCore are used to reduce risks considering common-cause hardware failure. Moreover, a software design method is introduced for implementing functional safety-oriented monitoring functions based on an asymmetric dual core architecture considering redundancy and diversity. The validity of the proposed ECU design approach is verified by using the EMB Hardware-In-the-Loop (HILS) system, which consists of the EMB assembly, actuator ECU, a host PC, and a few debugging devices. Furthermore, it is shown that the existing sensor fault tolerant control system can be used more effectively for mitigating the effects of hardware and software faults by applying the proposed ECU design method.

Keywords: BBW (Brake-By-wire), EMB (Electro-Mechanical Brake), Functional Safety, ISO26262.

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Authors: Robson C. Santos, Christian N. Barreto, Gerson G. Cunha, Severino J. C. Neto

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This paper aims to project the construction of a prototype azimuthal thruster, mounted with materials of low cost and easy access, testing in a controlled environment to measure their performance, characteristics and feasibility of future projects. The construction of the simulation of dynamic positioning software, responsible for simulating a vessel and reposition it when necessary. Validation tests were performed in the form of partial or complete system. These tests validate the system manually or automatically. The system provides an interface to the user and simulates the conditions unfavorable positioning of a vessel, accurately calculates the azimuth angle, the direction of rotation of the helix and the time that this should be turned on so that the vessel back to position original. A serial communication connects the Simulation Dynamic Positioning System with Embedded System causing the usergenerated data to simulate the DP system arrives in the form of control signals to the motors of the propellant. This article addresses issues in the marine industry employees.

Keywords: Azimuthal Thruster, Dynamic Positioning, Embedded System.

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Authors: M. G. Papoutsidakis, G. Chamilothoris, A Pipe

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Due to their high power-to-weight ratio and low cost, pneumatic actuators are attractive for robotics and automation applications; however, achieving fast and accurate control of their position have been known as a complex control problem. The paper presents a methodology for obtaining controllers that achieve high position accuracy and preserve the closed-loop characteristics over a broad operating range. Experimentation with a number of conventional (or "classical") three-term controllers shows that, as repeated operations accumulate, the characteristics of the pneumatic actuator change requiring frequent re-tuning of the controller parameters (PID gains). Furthermore, three-term controllers are found to perform poorly in recovering the closed-loop system after the application of load or other external disturbances. The key reason for these problems lies in the non-linear exchange of energy inside the cylinder relating, in particular, to the complex friction forces that develop on the piston-wall interface. In order to overcome this problem but still remain within the boundaries of classical control methods, we designed an auto selective classicaql controller so that the system performance would benefit from all three control gains (KP, Kd, Ki) according to system requirements and the characteristics of each type of controller. This challenging experimentation took place for consistent performance in the face of modelling imprecision and disturbances. In the work presented, a selective PID controller is presented for an experimental rig comprising an air cylinder driven by a variable-opening pneumatic valve and equipped with position and pressure sensors. The paper reports on tests carried out to investigate the capability of this specific controller to achieve consistent control performance under, repeated operations and other changes in operating conditions.

Keywords: Classical selective controller, long-termexperimentation, pneumatic actuator, position accuracy.

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Authors: Yung-Yuan Chen, Kuen-Long Leu

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FlexRay, as a communication protocol for automotive control systems, is developed to fulfill the increasing demand on the electronic control units for implementing systems with higher safety and more comfort. In this work, we study the impact of radiation-induced soft errors on FlexRay-based steer-by-wire system. We injected the soft errors into general purpose register set of FlexRay nodes to identify the most critical registers, the failure modes of the steer-by-wire system, and measure the probability distribution of failure modes when an error occurs in the register file.

Keywords: Soft errors, FlexRay, fault injection, steer-by-wirer

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Authors: T. C. Manjunath, C. Ardil

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This paper deals with the design and the implementation of an automatic task planner for a robot, irrespective of whether it is a stationary robot or a mobile robot. The aim of the task planner nothing but, they are planning systems which are used to plan a particular task and do the robotic manipulation. This planning system is embedded into the system software in the computer, which is interfaced to the computer. When the instructions are given using the computer, this is transformed into real time application using the robot. All the AI based algorithms are written and saved in the control software, which acts as the intelligent task planning system.

Keywords: AI, Robot, Task Planner, RT, Algorithm, Specs, Controller.

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Authors: Lobat Taghavi, Najaf Hedayat

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Renewable water resources are crucial production variables in arid and semi-arid regions where intensive agriculture is practiced to meet ever-increasing demand for food and fiber. This is crucial for the Dez and Moghan command areas where water delivery problems and adverse environmental issues are widespread. This paper aims to identify major problems areas using on-farm surveys of 200 farmers, agricultural extensionists and water suppliers which was complemented by secondary data and field observations during 2010- 2011 cultivating season. The SPSS package was used to analyze and synthesis data. Results indicated inappropriate canal operations in both schemes, though there was no unanimity about the underlying causes. Inequitable and inflexible distribution was found to be rooted in deficient hydraulic structures particularly in the main and secondary canals. The inadequacy and inflexibility of water scheduling regime was the underlying causes of recurring pest and disease spread which often led to the decline of crop yield and quality, although these were not disputed, the water suppliers were not prepared to link with the deficiencies in the operation of the main and secondary canals. They rather attributed these to the prevailing salinity; alkalinity, water table fluctuations and leaching of the valuable agro-chemical inputs from the plants- route zone with farreaching consequences. Examples of these include the pollution of ground and surface resources due to over-irrigation at the farm level which falls under the growers- own responsibility. Poor irrigation efficiency and adverse environmental problems were attributed to deficient and outdated farming practices that were in turn rooted in poor extension programs and irrational water charges.

Keywords: water delivery, inequity, inflexibility, conflicts, environmental impact, Dez and Moghan

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Authors: Z. Abdollahi Biron, P. Pisu

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

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

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Authors: Ning Gong, Michael Korostelev, Qiangguo Ren, Li Bai, Saroj Biswas, Frank Ferrese

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This paper investigates the joint effect of the interconnected (n,k)-star network topology and Multi-Agent automated control on restoration and reconfiguration of power systems. With the increasing trend in development in Multi-Agent control technologies applied to power system reconfiguration in presence of faulty components or nodes. Fault tolerance is becoming an important challenge in the design processes of the distributed power system topology. Since the reconfiguration of a power system is performed by agent communication, the (n,k)-star interconnected network topology is studied and modeled in this paper to optimize the process of power reconfiguration. In this paper, we discuss the recently proposed (n,k)-star topology and examine its properties and advantages as compared to the traditional multi-bus power topologies. We design and simulate the topology model for distributed power system test cases. A related lemma based on the fault tolerance and conditional diagnosability properties is presented and proved both theoretically and practically. The conclusion is reached that (n,k)-star topology model has measurable advantages compared to standard bus power systems while exhibiting fault tolerance properties in power restoration, as well as showing efficiency when applied to power system route discovery.

Keywords: (n, k)-star Topology, Fault Tolerance, Conditional Diagnosability, Multi-Agent System, Automated Power System.

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Authors: M. Ndaw, G. Mendy, S. Ouya

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Risk management in banking sector is a key issue linked to financial system stability and its importance has been elevated by technological developments and emergence of new financial instruments. In this paper, we improve the model previously defined for quantifying internal control impact on banking risks by automatizing the residual criticality estimation step of FMECA. For this, we defined three equations and a maturity coefficient to obtain a mathematical model which is tested on all banking processes and type of risks. The new model allows an optimal assessment of residual criticality and improves the correlation rate that has become 98%.

Keywords: Risk, Control, Banking, FMECA.

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Authors: Rajeshwari Madli, Santhosh Hebbar, Vishwanath Heddoori, G. V. Prasad

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Agriculture is the major occupation in India and forms the backbone of Indian economy in which irrigation plays a crucial role for increasing the quality and quantity of crop yield. In spite of many revolutionary advancements in agriculture, there has not been a dramatic increase in agricultural performance. Lack of irrigation infrastructure and agricultural knowledge are the critical factors influencing agricultural performance. However, by using advanced agricultural equipment, the effect of these factors can be curtailed.  The presented system aims at increasing the yield of crops by using an intelligent irrigation controller that makes use of wireless sensors. Sensors are used to monitor primary parameters such as soil moisture, soil pH, temperature and humidity. Irrigation decisions are taken based on the sensed data and the type of crop being grown. The system provides a mobile application in which farmers can remotely monitor and control the irrigation system. Also, the water pump is protected against damages due to voltage variations and dry running.

Keywords: Android application, Bluetooth, humidity, irrigation, soil moisture, soil pH, temperature, wireless sensors.

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Authors: A. Bazoula, H. Maaref

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In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.

Keywords: Autonomous mobile robot, Formation control, Fuzzy logic control, Multiple robots, Leader-Follower.

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Authors: Doaa M. Atia, Faten H. Fahmy, Ninet M. Ahmed, Hassen T. Dorrah

Abstract:

In this paper, the optimum design for renewable energy system powered an aquaculture pond was determined. Hybrid Optimization Model for Electric Renewable (HOMER) software program, which is developed by U.S National Renewable Energy Laboratory (NREL), is used for analyzing the feasibility of the stand alone and hybrid system in this study. HOMER program determines whether renewable energy resources satisfy hourly electric demand or not. The program calculates energy balance for every 8760 hours in a year to simulate operation of the system. This optimization compares the demand for the electrical energy for each hour of the year with the energy supplied by the system for that hour and calculates the relevant energy flow for each component in the model. The essential principle is to minimize the total system cost while HOMER ensures control of the system. Moreover the feasibility analysis of the energy system is also studied. Wind speed, solar irradiance, interest rate and capacity shortage are the parameters which are taken into consideration. The simulation results indicate that the hybrid system is the best choice in this study, yielding lower net present cost. Thus, it provides higher system performance than PV or wind stand alone systems.

Keywords: Wind stand-alone system, Photovoltaic stand-alone system, Hybrid system, Optimum system sizing, feasibility, Cost analysis.

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