Search results for: Modeling
1185 Robust Adaptive Vibration Control with Application to a Robot Beam
Authors: J. Fei
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This paper presents the adaptive control scheme with sliding mode compensator for vibration control problem in the presence of disturbance. The dynamic model of the flexible cantilever beam using finite element modeling is derived. The adaptive control with sliding mode compensator using output feedback for output tracking is developed to reject the external disturbance, and to improve the tracking performance. Satisfactory simulation results verify that the effectiveness of adaptive control scheme with sliding mode compensator.Keywords: finite element model, adaptive control, sliding modecontrol, vibration suppression
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14171184 Satellite Rainfall Prediction Techniques - A State of the Art Review
Authors: S. Sarumathi, N. Shanthi, S. Vidhya
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In the present world, predicting rainfall is considered to be an essential and also a challenging task. Normally, the climate and rainfall are presumed to have non-linear as well as intricate phenomena. For predicting accurate rainfall, we necessitate advanced computer modeling and simulation. When there is an enhanced understanding of the spatial and temporal distribution of precipitation then it becomes enrichment to applications such as hydrologic, climatic and ecological. Conversely, there may be some kind of challenges occur in the community due to some application which results in the absence of consistent precipitation observation in remote and also emerging region. This survey paper provides a multifarious collection of methodologies which are epitomized by various researchers for predicting the rainfall. It also gives information about some technique to forecast rainfall, which is appropriate to all methods like numerical, traditional and statistical.
Keywords: Satellite Image, Segmentation, Feature Extraction, Classification, Clustering, Precipitation Estimation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 32061183 Capacity Enhancement in Wireless Networks using Directional Antennas
Authors: Sedat Atmaca, Celal Ceken, Ismail Erturk
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One of the biggest drawbacks of the wireless environment is the limited bandwidth. However, the users sharing this limited bandwidth have been increasing considerably. SDMA technique which entails using directional antennas allows to increase the capacity of a wireless network by separating users in the medium. In this paper, it has been presented how the capacity can be enhanced while the mean delay is reduced by using directional antennas in wireless networks employing TDMA/FDD MAC. Computer modeling and simulation of the wireless system studied are realized using OPNET Modeler. Preliminary simulation results are presented and the performance of the model using directional antennas is evaluated and compared consistently with the one using omnidirectional antennas.Keywords: Directional Antenna, TDMA, SDMA,
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22701182 Volatility Model with Markov Regime Switching to Forecast Baht/USD
Authors: N. Sopipan, A. Intarasit, K. Chuarkham
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In this paper, we forecast the volatility of Baht/USDs using Markov Regime Switching GARCH (MRS-GARCH) models. These models allow volatility to have different dynamics according to unobserved regime variables. The main purpose of this paper is to find out whether MRS-GARCH models are an improvement on the GARCH type models in terms of modeling and forecasting Baht/USD volatility. The MRS-GARCH is the best performance model for Baht/USD volatility in short term but the GARCH model is best perform for long term.
Keywords: Volatility, Markov Regime Switching, Forecasting.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19221181 PZ: A Z-based Formalism for Modeling Probabilistic Behavior
Authors: Hassan Haghighi
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Probabilistic techniques in computer programs are becoming more and more widely used. Therefore, there is a big interest in the formal specification, verification, and development of probabilistic programs. In our work-in-progress project, we are attempting to make a constructive framework for developing probabilistic programs formally. The main contribution of this paper is to introduce an intermediate artifact of our work, a Z-based formalism called PZ, by which one can build set theoretical models of probabilistic programs. We propose to use a constructive set theory, called CZ set theory, to interpret the specifications written in PZ. Since CZ has an interpretation in Martin-L¨of-s theory of types, this idea enables us to derive probabilistic programs from correctness proofs of their PZ specifications.Keywords: formal specification, formal program development, probabilistic programs, CZ set theory, type theory.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11911180 Unscented Grid Filtering and Smoothing for Nonlinear Time Series Analysis
Authors: Nikolay Nikolaev, Evgueni Smirnov
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This paper develops an unscented grid-based filter and a smoother for accurate nonlinear modeling and analysis of time series. The filter uses unscented deterministic sampling during both the time and measurement updating phases, to approximate directly the distributions of the latent state variable. A complementary grid smoother is also made to enable computing of the likelihood. This helps us to formulate an expectation maximisation algorithm for maximum likelihood estimation of the state noise and the observation noise. Empirical investigations show that the proposed unscented grid filter/smoother compares favourably to other similar filters on nonlinear estimation tasks. Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13201179 Modeling and Prediction of Zinc Extraction Efficiency from Concentrate by Operating Condition and Using Artificial Neural Networks
Authors: S. Mousavian, D. Ashouri, F. Mousavian, V. Nikkhah Rashidabad, N. Ghazinia
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PH, temperature and time of extraction of each stage, agitation speed and delay time between stages effect on efficiency of zinc extraction from concentrate. In this research, efficiency of zinc extraction was predicted as a function of mentioned variable by artificial neural networks (ANN). ANN with different layer was employed and the result show that the networks with 8 neurons in hidden layer has good agreement with experimental data.
Keywords: Zinc extraction, Efficiency, Neural networks, Operating condition.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15741178 Modeling and Simulation of Robotic Arm Movement using Soft Computing
Authors: V. K. Banga, Jasjit Kaur, R. Kumar, Y. Singh
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In this research paper we have presented control architecture for robotic arm movement and trajectory planning using Fuzzy Logic (FL) and Genetic Algorithms (GAs). This architecture is used to compensate the uncertainties like; movement, friction and settling time in robotic arm movement. The genetic algorithms and fuzzy logic is used to meet the objective of optimal control movement of robotic arm. This proposed technique represents a general model for redundant structures and may extend to other structures. Results show optimal angular movement of joints as result of evolutionary process. This technique has edge over the other techniques as minimum mathematics complexity used.Keywords: Kinematics, Genetic algorithms (GAs), Fuzzy logic(FL), Optimal control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29861177 Evaluation on Bearing Capacity of Ring Foundations on two-Layered Soil
Authors: R. Ziaie Moayed, V. Rashidian, E. Izadi
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This paper utilizes a finite element analysis to study the bearing capacity of ring footings on a two-layered soil. The upper layer, that the footing is placed on it, is soft clay and the underneath layer is a cohesionless sand. For modeling soils, Mohr–Coulomb plastic yield criterion is employed. The effects of two factors, the clay layer thickness and the ratio of internal radius of the ring footing to external radius of the ring, have been analyzed. It is found that the bearing capacity decreases as the value of ri / ro increases. Although, as the clay layer thickness increases the bearing capacity was alleviated gradually.Keywords: Bearing capacity, Ring footing, Two-layered soil
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 40241176 Study of a Four-Bed Pressure Swing Adsorption for Oxygen Separation from Air
Authors: Moghadazadeh Zahra, Towfighi Jafar, Mofarahi Masoud
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This article is presented an experimental and modeling study of a four-bed pressure swing adsorption process using zeolite13X to provide oxygen-enriched air. The binary mixture N2/O2 (79/21 vol %) was used as a feed stream. The effects of purge/feed ratio (P/F), adsorption pressure, cyclic time and product flow rate on product purity and recovery under nonisothermal condition were studied. The adsorption dynamics of process were determined using a mathematical model incorporated mass and energy balances. A Mathlab code using finite difference method was developed to solve the set of coupled differential-algebraic equations, and the simulation results are agreed well with experimental results.Keywords: Pressure swing adsorption (PSA), Oxygen, Zeolite 13X.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 38451175 Modeling the Time-Dependent Rheological Behavior of Clays Used in Fabrication of Ceramic
Authors: L. Hammadi, N. Boudjenane, R. Houdjedje, R. Reffis, M. Belhadri
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In this study, we investigated the thixotropic behavior of two clays used in fabrication of ceramic. The structural kinetic model (SKM) was used to characterize the thixotropic behavior of two different kinds of clays used in fabrication of ceramic. The SKM postulates that the change in the rheological behavior is associated with shear-induced breakdown of the internal structure of the clays. This model for the structure decay with time at constant shear rate assumes nth order kinetics for the decay of the material structure with a rate constant.Keywords: Ceramic, clays, structural kinetic model, thixotropy, viscosity.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12431174 Trade Policy and Economic Growth of Turkey in Global Economy: New Empirical Evidences
Authors: Pınar Yardımcı
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This paper tries to answer to the questions whether or not trade openness causes economic growth and trade policy changes are good for Turkey as a developing country in global economy before and after 1980. We employ Johansen co-integration and Granger causality tests with error correction modeling based on vector autoregressive. Using WDI data from the pre-1980 and the post-1980, we find that trade openness and economic growth are cointegrated in the second term only. Also the results suggest a lack of long-run causality between our two variables. These findings may imply that trade policy of Turkey should concentrate more on extra complementary economic reforms.Keywords: Globalization, Trade Policy, Economic Growth, Openness, Co-integration, Turkey.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19341173 Application of Adaptive Neuro-Fuzzy Inference System in Smoothing Transition Autoregressive Models
Authors: Ε. Giovanis
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In this paper we propose and examine an Adaptive Neuro-Fuzzy Inference System (ANFIS) in Smoothing Transition Autoregressive (STAR) modeling. Because STAR models follow fuzzy logic approach, in the non-linear part fuzzy rules can be incorporated or other training or computational methods can be applied as the error backpropagation algorithm instead to nonlinear squares. Furthermore, additional fuzzy membership functions can be examined, beside the logistic and exponential, like the triangle, Gaussian and Generalized Bell functions among others. We examine two macroeconomic variables of US economy, the inflation rate and the 6-monthly treasury bills interest rates.Keywords: Forecasting, Neuro-Fuzzy, Smoothing transition, Time-series
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16141172 Employing Operations Research at Universities to Build Management Systems
Authors: Abdallah A. Hlayel
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Operations research science (OR) deals with good success in developing and applying scientific methods for problem solving and decision-making. However, by using OR techniques, we can enhance the use of computer decision support systems to achieve optimal management for institutions. OR applies comprehensive analysis including all factors that effect on it and builds mathematical modeling to solve business or organizational problems. In addition, it improves decision-making and uses available resources efficiently. The adoption of OR by universities would definitely contributes to the development and enhancement of the performance of OR techniques. This paper provides an understanding of the structures, approaches and models of OR in problem solving and decisionmaking.
Keywords: Best candidates' method, decision making, decision support system, operations research.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18911171 Non-reflection Boundary Conditions for Numerical Simulation of Supersonic Flow
Authors: A. Abdalla, A. Kaltayev
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This article presents the boundary conditions for the problem of turbulent supersonic gas flow in a plane channel with a perpendicular injection jets. The non-reflection boundary conditions for direct modeling of compressible viscous gases are studied. A formulation using the NSCBC (Navier- Stocks characteristic boundary conditions) through boundaries is derived for the subsonic inflow and subsonic non-reflection outflow situations. Verification of the constructed algorithm of boundary conditions is carried out by solving a test problem of perpendicular sound of jets injection into a supersonic gas flow in a plane channel.
Keywords: WENO scheme, non-reflection boundary conditions, NSCBC, supersonic flow.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21841170 Analytical Estimation of Rotor Loss Due to Stator Slotting of Synchronous PM Machines
Authors: Adel Bettayeb, Robert Kaczmarek, Jean-Claude Vannier
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In this paper, we analyze the rotor eddy currents losses provoqued by the stator slot harmonics developed in the permanent magnets or pole pieces of synchronous machines. An analytical approach is presented to evaluate the effect of slot ripples on rotor field and losses calculation. This analysis is then tested on a model by 2D/3D finite element (FE) calculation. The results show a good agreement on loss calculations when skin effect is negligible and the magnet is considered.
Keywords: Analytical modeling, Eddy-currents, Finite-elementmethods, Power losses, Slot harmonics effect.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25401169 Assessment Tool for Social Responsibility Performance According to the ISO 26000
Authors: W. Fethallah, L. Chraibi, N. Sefiani
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The present paper is concerned with a statistical approach involving latent and manifest variables applied in order to assess the organization's social responsibility performance. The main idea is to develop an assessment tool and a measurement of the Social Responsibility Performance, enabling the company to characterize her performance regarding to the ISO 26000 standard's seven core subjects. For this, we conceptualize a structural equation modeling (SEM) which describes various causal connections between the Social Responsibility’s components. The SEM’s resolution is based on the Partial Least squares (PLS) method and the implementation is running in the XLSTAT software.Keywords: Corporate social responsibility, latent and manifest variable, partial least squares, structural equation model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12091168 Surface Topography Assessment Techniques based on an In-process Monitoring Approach of Tool Wear and Cutting Force Signature
Authors: A. M. Alaskari, S. E. Oraby
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The quality of a machined surface is becoming more and more important to justify the increasing demands of sophisticated component performance, longevity, and reliability. Usually, any machining operation leaves its own characteristic evidence on the machined surface in the form of finely spaced micro irregularities (surface roughness) left by the associated indeterministic characteristics of the different elements of the system: tool-machineworkpart- cutting parameters. However, one of the most influential sources in machining affecting surface roughness is the instantaneous state of tool edge. The main objective of the current work is to relate the in-process immeasurable cutting edge deformation and surface roughness to a more reliable easy-to-measure force signals using a robust non-linear time-dependent modeling regression techniques. Time-dependent modeling is beneficial when modern machining systems, such as adaptive control techniques are considered, where the state of the machined surface and the health of the cutting edge are monitored, assessed and controlled online using realtime information provided by the variability encountered in the measured force signals. Correlation between wear propagation and roughness variation is developed throughout the different edge lifetimes. The surface roughness is further evaluated in the light of the variation in both the static and the dynamic force signals. Consistent correlation is found between surface roughness variation and tool wear progress within its initial and constant regions. At the first few seconds of cutting, expected and well known trend of the effect of the cutting parameters is observed. Surface roughness is positively influenced by the level of the feed rate and negatively by the cutting speed. As cutting continues, roughness is affected, to different extents, by the rather localized wear modes either on the tool nose or on its flank areas. Moreover, it seems that roughness varies as wear attitude transfers from one mode to another and, in general, it is shown that it is improved as wear increases but with possible corresponding workpart dimensional inaccuracy. The dynamic force signals are found reasonably sensitive to simulate either the progressive or the random modes of tool edge deformation. While the frictional force components, feeding and radial, are found informative regarding progressive wear modes, the vertical (power) components is found more representative carrier to system instability resulting from the edge-s random deformation.
Keywords: Dynamic force signals, surface roughness (finish), tool wear and deformation, tool wear modes (nose, flank)
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13391167 Clustering Approach to Unveiling Relationships between Gene Regulatory Networks
Authors: Hiba Hasan, Khalid Raza
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Reverse engineering of genetic regulatory network involves the modeling of the given gene expression data into a form of the network. Computationally it is possible to have the relationships between genes, so called gene regulatory networks (GRNs), that can help to find the genomics and proteomics based diagnostic approach for any disease. In this paper, clustering based method has been used to reconstruct genetic regulatory network from time series gene expression data. Supercoiled data set from Escherichia coli has been taken to demonstrate the proposed method.
Keywords: Gene expression, gene regulatory networks (GRNs), clustering, data preprocessing, network visualization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21331166 Enabling Integration across Heterogeneous Care Networks
Authors: Federico Cabitza, Marco P. Locatelli, Marcello Sarini, Carla Simone
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The paper shows how the CASMAS modeling language, and its associated pervasive computing architecture, can be used to facilitate continuity of care by providing members of patientcentered communities of care with a support to cooperation and knowledge sharing through the usage of electronic documents and digital devices. We consider a scenario of clearly fragmented care to show how proper mechanisms can be defined to facilitate a better integration of practices and information across heterogeneous care networks. The scenario is declined in terms of architectural components and cooperation-oriented mechanisms that make the support reactive to the evolution of the context where these communities operate.Keywords: Pervasive Computing, Communities of Care, HeterogeneousCare Networks, Multi-Agent System.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13471165 Comparison of Material Constitutive Models Used in FEA of Low Volume Roads
Authors: Lenka Ševelová, Aleš Florian
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Appropriate and progressive tool for analyzing behavior of low volume roads are probabilistic models used in reliability analyses. The necessary part of the probabilistic model is the deterministic model of structural behavior. The FE model of low volume roads is created in the ANSYS software. It is able to determine the state of stress and deformation in any point of the structure and thus generate data required for the reliability analysis. The paper compares two material constitutive models used for modeling of unbound non-homogenous materials used in low volume roads. The first model is linear elastic model according to Hook theory (H model), the second one is nonlinear elastic-plastic Drucker-Prager model (D-P model).
Keywords: FEA, FEM, geotechnical materials, low volume roads, material constitutive models, pavement.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28711164 Object-Oriented Multivariate Proportional-Integral-Derivative Control of Hydraulic Systems
Authors: J. Fernandez de Canete, S. Fernandez-Calvo, I. García-Moral
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This paper presents and discusses the application of the object-oriented modelling software SIMSCAPE to hydraulic systems, with particular reference to multivariable proportional-integral-derivative (PID) control. As a result, a particular modelling approach of a double cylinder-piston coupled system is proposed and motivated, and the SIMULINK based PID tuning tool has also been used to select the proper controller parameters. The paper demonstrates the usefulness of the object-oriented approach when both physical modelling and control are tackled.
Keywords: Object-oriented modeling, multivariable hydraulic system, multivariable PID control, computer simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10941163 LQR Based PID Controller Design for 3-DOF Helicopter System
Authors: Santosh Kr. Choudhary
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In this article, LQR based PID controller design for 3DOF helicopter system is investigated. The 3-DOF helicopter system is a benchmark laboratory model having strongly nonlinear characteristics and unstable dynamics which make the control of such system a challenging task. This article first presents the mathematical model of the 3DOF helicopter system and then illustrates the basic idea and technical formulation for controller design. The paper explains the simple approach for the approximation of PID design parameters from the LQR controller gain matrix. The simulation results show that the investigated controller has both static and dynamic performance, therefore the stability and the quick control effect can be obtained simultaneously for the 3DOF helicopter system.
Keywords: 3DOF helicopter system, PID controller, LQR controller, modeling, simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 52101162 Adaptive Sampling Algorithm for ANN-based Performance Modeling of Nano-scale CMOS Inverter
Authors: Dipankar Dhabak, Soumya Pandit
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This paper presents an adaptive technique for generation of data required for construction of artificial neural network-based performance model of nano-scale CMOS inverter circuit. The training data are generated from the samples through SPICE simulation. The proposed algorithm has been compared to standard progressive sampling algorithms like arithmetic sampling and geometric sampling. The advantages of the present approach over the others have been demonstrated. The ANN predicted results have been compared with actual SPICE results. A very good accuracy has been obtained.Keywords: CMOS Inverter, Nano-scale, Adaptive Sampling, ArtificialNeural Network
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15991161 Defect Cause Modeling with Decision Tree and Regression Analysis
Authors: B. Bakır, İ. Batmaz, F. A. Güntürkün, İ. A. İpekçi, G. Köksal, N. E. Özdemirel
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The main aim of this study is to identify the most influential variables that cause defects on the items produced by a casting company located in Turkey. To this end, one of the items produced by the company with high defective percentage rates is selected. Two approaches-the regression analysis and decision treesare used to model the relationship between process parameters and defect types. Although logistic regression models failed, decision tree model gives meaningful results. Based on these results, it can be claimed that the decision tree approach is a promising technique for determining the most important process variables.Keywords: Casting industry, decision tree algorithm C5.0, logistic regression, quality improvement.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25021160 Real-Time Physics Simulation Packages: An Evaluation Study
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This paper includes a review of three physics simulation packages that can be used to provide researchers with a virtual ground for modeling, implementing and simulating complex models, as well as testing their control methods with less cost and time of development. The inverted pendulum model was used as a test bed for comparing ODE, DANCE and Webots, while Linear State Feedback was used to control its behavior. The packages were compared with respect to model creation, solving systems of differential equation, data storage, setting system variables, control the experiment and ease of use. The purpose of this paper is to give an overview about our experience with these environments and to demonstrate some of the benefits and drawbacks involved in practice for each package.
Keywords: DANCE, Inverted Pendulum, ODE, Simulation Packages, Webots.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15531159 On the Modeling and State Estimation for Dynamic Power System
Authors: A. Thabet, M. Boutayeb, M. N. Abdelkrim
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This paper investigates a method for the state estimation of nonlinear systems described by a class of differential-algebraic equation (DAE) models using the extended Kalman filter. The method involves the use of a transformation from a DAE to ordinary differential equation (ODE). A relevant dynamic power system model using decoupled techniques will be proposed. The estimation technique consists of a state estimator based on the EKF technique as well as the local stability analysis. High performances are illustrated through a simulation study applied on IEEE 13 buses test system.
Keywords: Power system, Dynamic decoupled model, Extended Kalman Filter, Convergence analysis, Time computing.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27201158 Analytical Study and Modeling of Free Vibrations of Functionally Graded Plates Using a Higher Shear Deformation Theory
Authors: A. Meftah, D. Zarga, M. Yahiaoui
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In this paper, we have used an analytical method to analyze the vibratory behavior of plates in materials with gradient of properties, simply supported, proposing a refined non polynomial theory. The number of unknown functions involved in this theory is only four, as compared to five in the case of other higher shear deformation theories. The transverse shearing effects are studied according to the thickness of the plate. The motion equations for the FGM plates are obtained by the Hamilton principle application, the solutions are obtained using the Navier method, and then the fundamental frequencies are found, solving an eigenvalue equation system, the results of this analysis are presented and compared to those available in the literature.Keywords: FGM plates, Navier method, vibratory behavior.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 6441157 Modeling and Analysis of the Effects of Nephrolithiasis in Kidney Using a Computational Tactile Sensing Approach
Authors: Elnaz Afshari, Siamak Najarian
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Having considered tactile sensing and palpation of a surgeon in order to detect kidney stone during open surgery; we present the 2D model of nephrolithiasis (two dimensional model of kidney containing a simulated stone). The effects of stone existence that appear on the surface of kidney (because of exerting mechanical load) are determined. Using Finite element method, it is illustrated that the created stress patterns on the surface of kidney and stress graphs not only show existence of stone inside kidney, but also show its exact location.Keywords: Nephrolithiasis, Minimally Invasive Surgery, Artificial Tactile Sensing, Finite Element Method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13461156 Sliding Mode Control Based on Backstepping Approach for an UAV Type-Quadrotor
Authors: H. Bouadi, M. Bouchoucha, M. Tadjine
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In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.
Keywords: Dynamic modeling, nonholonomic constraints, Backstepping, sliding mode.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5820