Search results for: Control System Design

Authors: Shih-Hsu Wang, Yuan-Yuan Cheng, Ming-Tsung Lee, Wei-Chih Wang

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Determining reasonable fees is the main objective of designing the cost estimation and payment systems for consultant contracts. However, project clients utilize different cost estimation and payment systems because of their varying views on the reasonableness of consultant fees. This study reviews the cost estimation and payment systems of consultant contracts for five countries, including the US (Washington State Department of Transportation), Japan (Ministry of Land, Infrastructure, Transport and Tourism), China (Engineering Design Charging Standard) and UK (Her Majesty's Treasure). Specifically, this work investigates the budgeting process, contractor selection method, contractual price negotiation process, cost review, and cost-control concept of the systems used in these countries. The main finding indicates that that project client-s view on whether the fee is high will affect the way he controls it. In the US, the fee is commonly considered to be high. As a result, stringent auditing system (low flexibility given to the consultant) is then applied. In the UK, the fee is viewed to be low by comparing it to the total life-cycle project cost. Thus, a system that has high flexibility in budgeting and cost reviewing is given to the consultant. In terms of the flexibility allowed for the consultant, the systems applied in Japan and China fall between those of the US and UK. Both the US and UK systems are helpful in determining a reasonable fee. However, in the US system, rigid auditing standards must be established and additional cost-audit manpower is required. In the UK system, sufficient historical cost data should be needed to evaluate the reasonableness of the consultant-s proposed fee

Keywords: Consultant Services, Cost Estimation and Payment System, Payment Flexibility, Cost-control Concept

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Authors: A. D. Parekh, P. R. Tailor, Tejendra Patel

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Capacity and efficiency of any refrigerating system diminish rapidly as the difference between the evaporating and condensing temperature is increased by a reduction in the evaporator temperature. The single stage vapour compression refrigeration system using various refrigerants are limited to an evaporator temperature of -40 0C. Below temperature of -40 0C the either cascade refrigeration system or multi stage vapour compression system is employed. Present work describes thermal design of condenser (HTS), cascade condenser and evaporator (LTS) of R404A-R508B and R410A-R23 cascade refrigeration system. Heat transfer area of condenser, cascade condenser and evaporator for both systems are compared and the effect of condenser and evaporator temperature on heat-transfer area for both systems is studied under same operating condition. The results shows that the required heat-transfer area of condenser and cascade condenser for R410A-R23 cascade system is lower than the R404A-R508B cascade system but heat transfer area of evaporator is similar for both the system. The heat transfer area of condenser and cascade condenser decreases with increase in condenser temperature (Tc), whereas the heat transfer area of cascade condenser and evaporator increases with increase in evaporator temperature (Te).

Keywords: Heat-transfer area, R410A, R404A, R508B, R23, Refrigeration system, Thermal design

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Authors: Dangjun Zhao, Yongji Wang, Lei Liu

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Based on general proportional integral (GPI) observers and sliding mode control technique, a robust control method is proposed for the master-slave synchronization of chaotic systems in the presence of parameter uncertainty and with partially measurable output signal. By using GPI observer, the master dynamics are reconstructed by the observations from a measurable output under the differential algebraic framework. Driven by the signals provided by GPI observer, a sliding mode control technique is used for the tracking control and synchronization of the master-slave dynamics. The convincing numerical results reveal the proposed method is effective, and successfully accommodate the system uncertainties, disturbances, and noisy corruptions.

Keywords: GPI observer, sliding mode control, master-slave synchronization, chaotic systems.

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Authors: Jaimala Gambhir, Tilak Thakur, Puneet Chawla

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As per the statistical data, the Doubly-fed Induction Generator (DFIG) based wind turbine with variable speed and variable pitch control is the most common wind turbine in the growing wind market. This machine is usually used on the grid connected wind energy conversion system to satisfy grid code requirements such as grid stability, Fault Ride Through (FRT), power quality improvement, grid synchronization and power control etc. Though the requirements are not fulfilled directly by the machine, the control strategy is used in both the stator as well as rotor side along with power electronic converters to fulfil the requirements stated above. To satisfy the grid code requirements of wind turbine, usually grid side converter is playing a major role. So in order to improve the operation capacity of wind turbine under critical situation, the intensive study of both machine side converter control and grid side converter control is necessary In this paper DFIG is modeled using power components as variables and the performance of the DFIG system is analysed under grid voltage fluctuations. The voltage fluctuations are made by lowering and raising the voltage values in the utility grid intentionally for the purpose of simulation keeping in view of different grid disturbances.

Keywords: DFIG, dynamic modeling, DPC, sag, swell, voltage fluctuations, FRT.

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Authors: Namal A. Senanayake, Khoo B. How, Quah W. Wai

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In this project, a tele-operated anthropomorphic robotic arm and hand is designed and built as a versatile robotic arm system. The robot has the ability to manipulate objects such as pick and place operations. It is also able to function by itself, in standalone mode. Firstly, the robotic arm is built in order to interface with a personal computer via a serial servo controller circuit board. The circuit board enables user to completely control the robotic arm and moreover, enables feedbacks from user. The control circuit board uses a powerful integrated microcontroller, a PIC (Programmable Interface Controller). The PIC is firstly programmed using BASIC (Beginner-s All-purpose Symbolic Instruction Code) and it is used as the 'brain' of the robot. In addition a user friendly Graphical User Interface (GUI) is developed as the serial servo interface software using Microsoft-s Visual Basic 6. The second part of the project is to use speech recognition control on the robotic arm. A speech recognition circuit board is constructed with onboard components such as PIC and other integrated circuits. It replaces the computers- Graphical User Interface. The robotic arm is able to receive instructions as spoken commands through a microphone and perform operations with respect to the commands such as picking and placing operations.

Keywords: Tele-operated Anthropomorphic Robotic Arm and Hand, Robot Motion System, Serial Servo Controller, Speech Recognition Controller.

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Authors: O. S. Ebrahim, M. A. Badr, Kh. H. Gharib, H. K. Temraz

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This paper presents a methodology based on genetic algorithm (GA) to tune the parameters of proportional-integral-differential (PID) controllers utilized in the automatic voltage regulator (AVR) and speed governor of a brushless synchronous generator driven by three-stage steam turbine. The parameter tuning is represented as a nonlinear optimization problem solved by GA to minimize the integral of absolute error (IAE). The problem of integral windup due to physical system limitations is solved using simple anti-windup scheme. The obtained controllers are compared to those designed using classical Ziegler-Nichols technique and constrained optimization. Results show distinct superiority of the proposed method.

Keywords: Brushless synchronous generator, Genetic Algorithm, GA, Proportional-Integral-Differential control, PID control, automatic voltage regulator, AVR.

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Authors: N. Pekin Alakoç, A. Apaydın

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Quality control charts indicate out of control conditions if any nonrandom pattern of the points is observed or any point is plotted beyond the control limits. Nonrandom patterns of Shewhart control charts are tested with sensitizing rules. When the processes are defined with fuzzy set theory, traditional sensitizing rules are insufficient for defining all out of control conditions. This is due to the fact that fuzzy numbers increase the number of out of control conditions. The purpose of the study is to develop a set of fuzzy sensitizing rules, which increase the flexibility and sensitivity of fuzzy control charts. Fuzzy sensitizing rules simplify the identification of out of control situations that results in a decrease in the calculation time and number of evaluations in fuzzy control chart approach.

Keywords: Fuzzy set theory, Quality control charts, Run Rules, Unnatural patterns.

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Authors: Heide Lukosch, Roy Van Bussel, Sebastiaan Meijer

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Serious games have proven to be a useful instrument to engage learners and increase motivation. Nevertheless, a broadly accepted, practical instructional design approach to serious games does not exist. In this paper, we introduce the use of an instructional design model that has not been applied to serious games yet, and has some advantages compared to other design approaches. We present the case of mechanics mechatronics education to illustrate the close match with timing and role of knowledge and information that the instructional design model prescribes and how this has been translated to a rigidly structured game design. The structured approach answers the learning needs of applicable knowledge within the target group. It combines advantages of simulations with strengths of entertainment games to foster learner-s motivation in the best possible way. A prototype of the game will be evaluated along a well-respected evaluation method within an advanced test setting including test and control group.

Keywords: Serious Gaming, Simulation, Complex Learning.

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Authors: A. Abbasi Moshaii, M. Soltan Rezaee, M. Mohammadi Moghaddam

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Control of some mechanisms is hard because of their complex dynamic equations. If part of the complexity is resulting from uncertainties, an efficient way for solving that is robust control. By this way, the control procedure could be simple and fast and finally, a simple controller can be designed. One kind of these mechanisms is 3-RRR which is a parallel mechanism and has three revolute joints. This paper aims to robust control a 3-RRR planner mechanism and it presents that this could be used for other mechanisms. So, a significant problem in mechanisms control could be solved. The relevant diagrams are drawn and they show the correctness of control process.

Keywords: 3-RRR, dynamic equations, mechanisms control, structural uncertainty.

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Authors: Jingjing Lan, Jun Yu, Muthukumaraswamy Annamalai Arasu

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This paper presents a digital non-linear pulse-width modulation (PWM) controller in a high-voltage (HV) buck-boost DC-DC converter for the piezoelectric transducer of the down-hole acoustic telemetry system. The proposed design controls the generation of output signal with voltage higher than the supply voltage and is targeted to work under high temperature. To minimize the power consumption and silicon area, a simple and efficient design scheme is employed to develop the PWM controller. The proposed PWM controller consists of serial to parallel (S2P) converter, data assign block, a mode and duty cycle controller (MDC), linearly PWM (LPWM) and noise shaper, pulse generator and clock generator. To improve the reliability of circuit operation at higher temperature, this design is fabricated with the 1.0-μm silicon-on-insulator (SOI) CMOS process. The implementation results validated that the proposed design has the advantages of smaller size, lower power consumption and robust thermal stability.

Keywords: DC-DC power conversion, digital control, high temperatures, pulse-width modulation.

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Authors: A. Tellaeche, R. Arana

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Injection molding is a very complicated process to monitor and control. With its high complexity and many process parameters, the optimization of these systems is a very challenging problem. To meet the requirements and costs demanded by the market, there has been an intense development and research with the aim to maintain the process under control. This paper outlines the latest advances in necessary algorithms for plastic injection process and monitoring, and also a flexible data acquisition system that allows rapid implementation of complex algorithms to assess their correct performance and can be integrated in the quality control process. This is the main topic of this paper. Finally, to demonstrate the performance achieved by this combination, a real case of use is presented.

Keywords: Plastic injection, machine learning, rapid complex algorithm prototyping.

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Authors: Lorenzo Daghini, Andreas Archenti, Cornel Mihai Nicolescu

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This paper introduces a novel design for boring bar with enhanced damping capability. The principle followed in the design phase was to enhance the damping capability minimizing the loss in static stiffness through implementation of composite material interfaces. The newly designed tool has been compared to a conventional tool. The evaluation criteria were the dynamic characteristics, frequency and damping ratio, of the machining system, as well as the surface roughness of the machined workpieces. The use of composite material in the design of damped tool has been demonstrated effective. Furthermore, the autoregressive moving average (ARMA) models presented in this paper take into consideration the interaction between the elastic structure of the machine tool and the cutting process and can therefore be used to characterize the machining system in operational conditions.

Keywords: ARMA, cutting stability, damped tool, machining.

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Authors: Fayssal Amrane, Azeddine Chaiba

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In this paper, type-2 fuzzy logic control (T2FLC) and neuro-fuzzy control (NFC) for a doubly fed induction generator (DFIG) based on direct power control (DPC) with a fixed switching frequency is proposed for wind generation application. First, a mathematical model of the doubly-fed induction generator implemented in d-q reference frame is achieved. Then, a DPC algorithm approach for controlling active and reactive power of DFIG via fixed switching frequency is incorporated using PID. The performance of T2FLC and NFC, which is based on the DPC algorithm, are investigated and compared to those obtained from the PID controller. Finally, simulation results demonstrate that the NFC is more robust, superior dynamic performance for wind power generation system applications.

Keywords: Doubly fed induction generetor, direct power control, space vector modulation, type-2 fuzzy logic control, neuro-fuzzy control, maximum power point tracking.

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Authors: Mubina Nazmeen, Iram Rubab

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Formal Specification languages are being widely used for system specification and testing. Highly critical systems such as real time systems, avionics, and medical systems are represented using Formal specification languages. Formal specifications based testing is mostly performed using black box testing approaches thus testing only the set of inputs and outputs of the system. The formal specification language such as VDMµ can be used for white box testing as they provide enough constructs as any other high level programming language. In this work, we perform data and control flow analysis of VDMµ class specifications. The proposed work is discussed with an example of SavingAccount.

Keywords: VDM-SL, VDMµ, data flow graph, control flowgraph, testing, formal specification.

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Authors: Mathias Marquardt, Peter Dünow, Sandra Baßler

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The paper describes the use of subspace based identification methods for auto tuning of a state space control system. The plant is an unstable but self balancing transport robot. Because of the unstable character of the process it has to be identified from closed loop input-output data. Based on the identified model a state space controller combined with an observer is calculated. The subspace identification algorithm and the controller design procedure is combined to a auto tuning method. The capability of the approach was verified in a simulation experiments under different process conditions.

Keywords: Auto tuning, balanced robot, closed loop identification, subspace identification.

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Authors: Indrasen Raghupatruni, Michael Glora, Ralf Diekmann, Thomas Demmer

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As the trend in automotive technology is fast moving towards hybridization and electrification to curb emissions as well as to improve the fuel efficiency, air-conditioning systems in passenger cars have not caught up with this trend and still remain as the major energy consumers amongst others. Adsorption based air-conditioning systems, e.g. with silica-gel water pair, which are already in use for residential and commercial applications, are now being considered as a technology leap once proven feasible for the passenger cars. In this paper we discuss a methodology, challenges and feasibility of implementing an adsorption based air-conditioning system in a passenger car utilizing the exhaust waste heat. We also propose an optimized control strategy with interfaces to the engine control unit of the vehicle for operating this system with reasonable efficiency supported by our simulation and validation results in a prototype vehicle, additionally comparing to existing implementations, simulation based as well as experimental. Finally we discuss the influence of start-stop and hybrid systems on the operation strategy of the adsorption air-conditioning system.

Keywords: Adsorption air-conditioning, feasibility study, optimized control strategy, prototype vehicle.

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Authors: Lütfü Saribulut, Mehmet Tümay, İlyas Eker

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FACTS devices are used to control the power flow, to increase the transmission capacity and to optimize the stability of the power system. One of the most widely used FACTS devices is Unified Power Flow Controller (UPFC). The controller used in the control mechanism has a significantly effects on controlling of the power flow and enhancing the system stability of UPFC. According to this, the capability of UPFC is observed by using different control mechanisms based on P, PI, PID and fuzzy logic controllers (FLC) in this study. FLC was developed by taking consideration of Takagi- Sugeno inference system in the decision process and Sugeno-s weighted average method in the defuzzification process. Case studies with different operating conditions are applied to prove the ability of UPFC on controlling the power flow and the effectiveness of controllers on the performance of UPFC. PSCAD/EMTDC program is used to create the FLC and to simulate UPFC model.

Keywords: FACTS, Fuzzy Logic Controller, UPFC.

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Authors: Naci Kalkan, Ihsan Dagtekin

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This research presents the design and analysis of solar air-conditioning systems particularly solar chimney which is a passive strategy for natural ventilation, and demonstrates the structures of these systems’ using Computational Fluid Dynamic (CFD) and finally compares the results with several examples, which have been studied experimentally and carried out previously. In order to improve the performance of solar chimney system, highly efficient sub-system components are considered for the design. The general purpose of the research is to understand how efficiently solar chimney systems generate cooling, and is to improve the efficient of such systems for integration with existing and future domestic buildings.

Keywords: Solar cooling system, solar chimney, active and passive solar technologies, natural ventilation, cavity depth, CFD models for solar chimney.

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Authors: Allouche Moez, Souissi Mansour, Chaabane Mohamed, Mehdi Driss

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This paper deals with the synthesis of fuzzy state feedback controller of induction motor with optimal performance. First, the Takagi-Sugeno (T-S) fuzzy model is employed to approximate a non linear system in the synchronous d-q frame rotating with electromagnetic field-oriented. Next, a fuzzy controller is designed to stabilise the induction motor and guaranteed a minimum disturbance attenuation level for the closed-loop system. The gains of fuzzy control are obtained by solving a set of Linear Matrix Inequality (LMI). Finally, simulation results are given to demonstrate the controller-s effectiveness.

Keywords: Rejection disturbance, fuzzy modelling, open-loop control, Fuzzy feedback controller, fuzzy observer, Linear Matrix Inequality (LMI)

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Authors: László Lengyel, Tihamér Levendovszky, Gergely Mezei, Hassan Charaf

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Graph rewriting-based visual model processing is a widely used technique for model transformation. Visual model transformations often need to follow an algorithm that requires a strict control over the execution sequence of the transformation steps. Therefore, in Visual Model Processors (VMPs) the execution order of the transformation steps is crucial. This paper presents the visual control flow support of Visual Modeling and Transformation System (VMTS), which facilitates composing complex model transformations of simple transformation steps and executing them. The VMTS Visual Control Flow Language (VCFL) uses stereotyped activity diagrams to specify control flow structures and OCL constraints to choose between different control flow branches. This paper introduces VCFL, discusses its termination properties and provides an algorithm to support the termination analysis of VCFL transformations.

Keywords: Control Flow, Metamodel-Based Visual ModelTransformation, OCL, Termination Properties, UML.

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Authors: Regius Asiimwe, Amir Anvar

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This paper describes the process used in the automation of the Maritime UAV commands using the Kinect sensor. The AR Drone is a Quadrocopter manufactured by Parrot [1] to be controlled using the Apple operating systems such as iPhones and Ipads. However, this project uses the Microsoft Kinect SDK and Microsoft Visual Studio C# (C sharp) software, which are compatible with Windows Operating System for the automation of the navigation and control of the AR drone. The navigation and control software for the Quadrocopter runs on a windows 7 computer. The project is divided into two sections; the Quadrocopter control system and the Kinect sensor control system. The Kinect sensor is connected to the computer using a USB cable from which commands can be sent to and from the Kinect sensors. The AR drone has Wi-Fi capabilities from which it can be connected to the computer to enable transfer of commands to and from the Quadrocopter. The project was implemented in C#, a programming language that is commonly used in the automation systems. The language was chosen because there are more libraries already established in C# for both the AR drone and the Kinect sensor. The study will contribute toward research in automation of systems using the Quadrocopter and the Kinect sensor for navigation involving a human operator in the loop. The prototype created has numerous applications among which include the inspection of vessels such as ship, airplanes and areas that are not accessible by human operators.

Keywords: UAV, AR drone, Kinect Sensors, Automation, Real time, C sharp, Microsoft Kinect SDK.

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Authors: Sana Bembli, Nahla Khraief Haddad, Safya Belghith

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This paper deals with a robust model free terminal sliding mode with gravity compensation approach used to control an exoskeleton-upper limb system. The considered system is a 2-DoF robot in interaction with an upper limb used for rehabilitation. The aim of this paper is to control the flexion/extension movement of the shoulder and the elbow joints in presence of matched disturbances. In the first part, we present the exoskeleton-upper limb system modeling. Then, we controlled the considered system by the model free terminal sliding mode with gravity compensation. A stability study is realized. To prove the controller performance, a robustness analysis was needed. Simulation results are provided to confirm the robustness of the gravity compensation combined with to the Model free terminal sliding mode in presence of uncertainties.

Keywords: Exoskeleton-upper limb system, gravity compensation, model free terminal sliding mode, robustness analysis, Monte Carlo, H∞ methods.

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Authors: M. Nayeripour, T. Niknam

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Nonlinear and unbalance loads in three phase networks create harmonics and losses. Active and passive filters are used for elimination or reduction of these effects. Passive filters have some limitations. For example, they are designed only for a specific frequency and they may cause to resonance in the network at the point of common coupling. The other drawback of a passive filter is that the sizes of required elements are normally large. The active filter can improve some of limitations of passive filter for example; they can eliminate more than one harmonic and don't cause resonance in the network. In this paper inverter analysis have been done simultaneously in three phase and the RL impedance of the line have been considered. A sliding mode control based on energy feedback of capacitors is employed in the design with this method, the dynamic speed of the filter is improved effectively and harmonics and load unbalance is compensating quickly.

Keywords: Shunt active filter, harmonic, inverter, sliding mode control, energy feedback.

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Authors: A. K. Kamath, N. M. Singh, R. Pasumarthy

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This paper investigates the control of a bouncing ball using Model Predictive Control. Bouncing ball is a benchmark problem for various rhythmic tasks such as juggling, walking, hopping and running. Humans develop intentions which may be perceived as our reference trajectory and tries to track it. The human brain optimizes the control effort needed to track its reference; this forms the central theme for control of bouncing ball in our investigations.

Keywords: Bouncing Ball, impact dynamics, intermittent control, model predictive control.

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Authors: Sidhartha Panda, N. P. Padhy

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Recently, genetic algorithms (GA) and particle swarm optimization (PSO) technique have attracted considerable attention among various modern heuristic optimization techniques. Since the two approaches are supposed to find a solution to a given objective function but employ different strategies and computational effort, it is appropriate to compare their performance. This paper presents the application and performance comparison of PSO and GA optimization techniques, for Thyristor Controlled Series Compensator (TCSC)-based controller design. The design objective is to enhance the power system stability. The design problem of the FACTS-based controller is formulated as an optimization problem and both the PSO and GA optimization techniques are employed to search for optimal controller parameters. The performance of both optimization techniques in terms of computational time and convergence rate is compared. Further, the optimized controllers are tested on a weakly connected power system subjected to different disturbances, and their performance is compared with the conventional power system stabilizer (CPSS). The eigenvalue analysis and non-linear simulation results are presented and compared to show the effectiveness of both the techniques in designing a TCSC-based controller, to enhance power system stability.

Keywords: Thyristor Controlled Series Compensator, geneticalgorithm; particle swarm optimization; Phillips-Heffron model;power system stability.

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Authors: Y. Areepong

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The objective of this paper is to present explicit analytical formulas for evaluating important characteristics of Double Moving Average control chart (DMA) for Poisson distribution. The most popular characteristics of a control chart are Average Run Length ( 0 ARL ) - the mean of observations that are taken before a system is signaled to be out-of control when it is actually still incontrol, and Average Delay time ( 1 ARL ) - mean delay of true alarm times. An important property required of 0 ARL is that it should be sufficiently large when the process is in-control to reduce a number of false alarms. On the other side, if the process is actually out-ofcontrol then 1 ARL should be as small as possible. In particular, the explicit analytical formulas for evaluating 0 ARL and 1 ARL be able to get a set of optimal parameters which depend on a width of the moving average ( w ) and width of control limit ( H ) for designing DMA chart with minimum of 1 ARL

Keywords: Optimal parameters, Average Run Length, Average Delay time, Double Moving Average chart.

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Authors: I. López , J. Garay, R. Carreño, Z. Varga

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Monitoring of ecological systems is one of the major issues in ecosystem research. The concepts and methodology of mathematical systems theory provide useful tools to face this problem. In many cases, state monitoring of a complex ecological system consists in observation (measurement) of certain state variables, and the whole state process has to be determined from the observed data. The solution proposed in the paper is the design of an observer system, which makes it possible to approximately recover the state process from its partial observation. The method is illustrated with a trophic chain of resource – producer – primary consumer type and a numerical example is also presented.

Keywords: Monitoring, observer system, trophic chain

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Authors: Keisuke Nakamura, Kiyoshi Akama, Hiroshi Mabuchi

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E-Learning systems are used by many learners and teachers. The developer is developing the e-Learning system. However, the developer cannot do system construction to satisfy all of users- demands. We discuss a method of constructing e-Learning systems where learners and teachers can design, try to use, and share extending system functions that they want to use; which may be nally added to the system by system managers.

Keywords: Clause-Rule-Model, database-access, e-Learning, Web-Application.

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Authors: Raghad Alhusari, Farag Omar, Moustafa Fadel

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A traditional greenhouse is a metal frame agricultural building used for cultivation plants in a controlled environment isolated from external climatic changes. Using greenhouses in agriculture is an efficient way to reduce the water consumption, where agriculture field is considered the biggest water consumer world widely. Controlling greenhouse environment yields better productivity of plants but demands an increase of electric power. Although various control approaches have been used towards greenhouse automation, most of them are applied to traditional greenhouses with ventilation fans and/or evaporation cooling system. Such approaches are still demanding high energy and water consumption. The aim of this research is to develop a fuzzy control system that minimizes water and energy consumption by utilizing outside weather conditions and underground heat exchanger to maintain the optimum climate of the greenhouse. The proposed control system is implemented on an experimental model of thermally isolated greenhouse structure with dimensions of 6x5x2.8 meters. It uses fans for extracting heat from the ground heat exchanger system, motors for automatic open/close of the greenhouse windows and LED as lighting system. The controller is integrated also with environmental condition sensors. It was found that using the air-to-air horizontal ground heat exchanger with 90 mm diameter and 2 mm thickness placed 2.5 m below the ground surface results in decreasing the greenhouse temperature of 3.28 ˚C which saves around 3 kW of consumed energy. It also eliminated the water consumption needed in evaporation cooling systems which are traditionally used for cooling the greenhouse environment.

Keywords: Automation, earth-to-air heat exchangers, fuzzy control, greenhouse, sustainable buildings.

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Authors: Omid Heydarnia, Akbar Allahverdizadeh, Behnam Dadashzadeh, M. R. Sayyed Noorani

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Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: Underactuated system, biped robot, fuzzy control, partial feedback linearization.

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