Search results for: skew upwind differencing scheme

Authors: Bibhya Sharma, Jito Vanualailai, Jai Raj

Abstract:

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

Keywords: Swarm, Practical stability, Motion planning.

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Authors: F. Esmaeilzadeh, M. E. Zeighami, J. Fathi

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This paper describes a one-dimensional numerical model for natural gas production from the dissociation of methane hydrate in hydrate-capped gas reservoir under depressurization and thermal stimulation. Some of the hydrate reservoirs discovered are overlying a free-gas layer, known as hydrate-capped gas reservoirs. These reservoirs are thought to be easiest and probably the first type of hydrate reservoirs to be produced. The mathematical equations that can be described this type of reservoir include mass balance, heat balance and kinetics of hydrate decomposition. These non-linear partial differential equations are solved using finite-difference fully implicit scheme. In the model, the effect of convection and conduction heat transfer, variation change of formation porosity, the effect of using different equations of state such as PR and ER and steam or hot water injection are considered. In addition distributions of pressure, temperature, saturation of gas, hydrate and water in the reservoir are evaluated. It is shown that the gas production rate is a sensitive function of well pressure.

Keywords: Hydrate reservoir, numerical modeling, depressurization, thermal stimulation, gas generation.

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Authors: Sherin M. Youssef, Ahmed Abouelfarag, Noha M. Ghatwary

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An adaptive Fuzzy Inference Perceptual model has been proposed for watermarking of digital images. The model depends on the human visual characteristics of image sub-regions in the frequency multi-resolution wavelet domain. In the proposed model, a multi-variable fuzzy based architecture has been designed to produce a perceptual membership degree for both candidate embedding sub-regions and strength watermark embedding factor. Different sizes of benchmark images with different sizes of watermarks have been applied on the model. Several experimental attacks have been applied such as JPEG compression, noises and rotation, to ensure the robustness of the scheme. In addition, the model has been compared with different watermarking schemes. The proposed model showed its robustness to attacks and at the same time achieved a high level of imperceptibility.

Keywords: Watermarking, The human visual system (HVS), Fuzzy Inference System (FIS), Local Binary Pattern (LBP), Discrete Wavelet Transform (DWT).

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Authors: Ahmad Rouhani, Masoud Jabbari, Sima Honarmand

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This paper introduces a method to optimal design of a hybrid Wind/Photovoltaic/Fuel cell generation system for a typical domestic load that is not located near the electricity grid. In this configuration the combination of a battery, an electrolyser, and a hydrogen storage tank are used as the energy storage system. The aim of this design is minimization of overall cost of generation scheme over 20 years of operation. The Matlab/Simulink is applied for choosing the appropriate structure and the optimization of system sizing. A teaching learning based optimization is used to optimize the cost function. An overall power management strategy is designed for the proposed system to manage power flows among the different energy sources and the storage unit in the system. The results have been analyzed in terms of technical and economic. The simulation results indicate that the proposed hybrid system would be a feasible solution for stand-alone applications at remote locations.

Keywords: Hybrid energy system, optimum sizing, power management, TLBO.

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Authors: Dr. N.H. Mvungi

Abstract:

The control of commutation of switched reluctance (SR) motor has nominally depended on a physical position detector. The physical rotor position sensor limits robustness and increases size and inertia of the SR drive system. The paper describes a method to overcome these limitations by using magnetization characteristics of the motor to indicate rotor and stator teeth overlap status. The method is using active current probing pulses of same magnitude that is used to simulate flux linkage in the winding being probed. A microprocessor is used for processing magnetization data to deduce rotor-stator teeth overlap status and hence rotor position. However, the back-of-core saturation and mutual coupling introduces overlap detection errors, hence that of commutation control. This paper presents the concept of the detection scheme and the effects of backof core saturation.

Keywords: Microprocessor control, rotor position, sensorless, switched reluctance.

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Authors: Xia Cui, Guang-wei Yuan, Jing-yan Yue

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A Picard-Newton iteration method is studied to accelerate the numerical solution procedure of a class of two-dimensional nonlinear coupled parabolic-hyperbolic system. The Picard-Newton iteration is designed by adding higher-order terms of small quantity to an existing Picard iteration. The discrete functional analysis and inductive hypothesis reasoning techniques are used to overcome difficulties coming from nonlinearity and coupling, and theoretical analysis is made for the convergence and approximation properties of the iteration scheme. The Picard-Newton iteration has a quadratic convergent ratio, and its solution has second order spatial approximation and first order temporal approximation to the exact solution of the original problem. Numerical tests verify the results of the theoretical analysis, and show the Picard-Newton iteration is more efficient than the Picard iteration.

Keywords: Nonlinearity, iterative acceleration, coupled parabolic hyperbolic system, quadratic convergence, numerical analysis.

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Authors: Marwa Ben Abdessalem, Amin Zribi, Ammar Bouallègue

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In this paper, a Joint Source Channel coding scheme based on LDPC codes is investigated. We consider two concatenated LDPC codes, one allows to compress a correlated source and the second to protect it against channel degradations. The original information can be reconstructed at the receiver by a joint decoder, where the source decoder and the channel decoder run in parallel by transferring extrinsic information. We investigate the performance of the JSC LDPC code in terms of Bit-Error Rate (BER) in the case of transmission over an Additive White Gaussian Noise (AWGN) channel, and for different source and channel rate parameters. We emphasize how JSC LDPC presents a performance tradeoff depending on the channel state and on the source correlation. We show that, the JSC LDPC is an efficient solution for a relatively low Signal-to-Noise Ratio (SNR) channel, especially with highly correlated sources. Finally, a source-channel rate optimization has to be applied to guarantee the best JSC LDPC system performance for a given channel.

Keywords: AWGN channel, belief propagation, joint source channel coding, LDPC codes.

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Authors: J. K. Alhassan, S. A. Lawal

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This work is on decision tree-based classification for the disbursement of scholarship. Tree-based data mining classification technique is used in other to determine the generic rule to be used to disburse the scholarship. The system based on the defined rules from the tree is able to determine the class (status) to which an applicant shall belong whether Granted or Not Granted. The applicants that fall to the class of granted denote a successful acquirement of scholarship while those in not granted class are unsuccessful in the scheme. An algorithm that can be used to classify the applicants based on the rules from tree-based classification was also developed. The tree-based classification is adopted because of its efficiency, effectiveness, and easy to comprehend features. The system was tested with the data of National Information Technology Development Agency (NITDA) Abuja, a Parastatal of Federal Ministry of Communication Technology that is mandated to develop and regulate information technology in Nigeria. The system was found working according to the specification. It is therefore recommended for all scholarship disbursement organizations.

Keywords: Decision tree, classification, data mining, scholarship.

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Authors: I. Algul, G. Akgun, H. Kurtaran

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Dynamic analysis of composite doubly curved panels with variable thickness subjected to different pulse types using Generalized Differential Quadrature method (GDQ) is presented in this study. Panels with variable thickness are used in the construction of aerospace and marine industry. Giving variable thickness to panels can allow the designer to get optimum structural efficiency. For this reason, estimating the response of variable thickness panels is very important to design more reliable structures under dynamic loads. Dynamic equations for composite panels with variable thickness are obtained using virtual work principle. Partial derivatives in the equation of motion are expressed with GDQ and Newmark average acceleration scheme is used for temporal discretization. Several examples are used to highlight the effectiveness of the proposed method. Results are compared with finite element method. Effects of taper ratios, boundary conditions and loading type on the response of composite panel are investigated.

Keywords: Generalized differential quadrature method, doubly curved panels, laminated composite materials, small displacement.

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Authors: Samba Raju, Chiluveru, Manoj Tripathy

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Intelligibility is an essential characteristic of a speech signal, which is used to help in the understanding of information in speech signal. Background noise in the environment can deteriorate the intelligibility of a recorded speech. In this paper, we presented a simple variance subtracted - variable level discrete wavelet transform, which improve the intelligibility of speech. The proposed algorithm does not require an explicit estimation of noise, i.e., prior knowledge of the noise; hence, it is easy to implement, and it reduces the computational burden. The proposed algorithm decides a separate decomposition level for each frame based on signal dominant and dominant noise criteria. The performance of the proposed algorithm is evaluated with speech intelligibility measure (STOI), and results obtained are compared with Universal Discrete Wavelet Transform (DWT) thresholding and Minimum Mean Square Error (MMSE) methods. The experimental results revealed that the proposed scheme outperformed competing methods

Keywords: Discrete Wavelet Transform, speech intelligibility, STOI, standard deviation.

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Authors: Bothinah Altaf, Gary Montague, Elaine B. Martin

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This study involves the modeling and monitoring of an ammonia synthesis fixed-bed reactor using partial least squares (PLS) and its variants. The process exhibits complex dynamic behavior due to the presence of heat recycling and feed quench. One limitation of static PLS model in this situation is that it does not take account of the process dynamics and hence dynamic PLS was used. Although it showed, superior performance to static PLS in terms of prediction, the monitoring scheme was inappropriate hence adaptive PLS was considered. A limitation of adaptive PLS is that non-conforming observations also contribute to the model, therefore, a new adaptive approach was developed, robust adaptive dynamic PLS. This approach updates a dynamic PLS model and is robust to non-representative data. The developed methodology showed a clear improvement over existing approaches in terms of the modeling of the reactor and the detection of faults.

Keywords: Ammonia synthesis fixed-bed reactor, dynamic partial least squares modeling, recursive partial least squares, robust modeling.

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Authors: Oğuzhan Hasançebi, Saeid Kazemzadeh Azad

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Keywords: Structural design optimization, optimal sizing, metaheuristics, self-adaptive step-size search, steel trusses, steel frames.}

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Authors: Ying-jie Zhang, Li-ling Ge

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This paper presents an improved image segmentation model with edge preserving regularization based on the piecewise-smooth Mumford-Shah functional. A level set formulation is considered for the Mumford-Shah functional minimization in segmentation, and the corresponding partial difference equations are solved by the backward Euler discretization. Aiming at encouraging edge preserving regularization, a new edge indicator function is introduced at level set frame. In which all the grid points which is used to locate the level set curve are considered to avoid blurring the edges and a nonlinear smooth constraint function as regularization term is applied to smooth the image in the isophote direction instead of the gradient direction. In implementation, some strategies such as a new scheme for extension of u+ and u- computation of the grid points and speedup of the convergence are studied to improve the efficacy of the algorithm. The resulting algorithm has been implemented and compared with the previous methods, and has been proved efficiently by several cases.

Keywords: Energy minimization, image segmentation, level sets, edge regularization.

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Authors: Ching-Fen Jiang

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Edge detection is usually the first step in medical image processing. However, the difficulty increases when a conventional kernel-based edge detector is applied to ultrasonic images with a textural pattern and speckle noise. We designed an adaptive diffusion filter to remove speckle noise while preserving the initial edges detected by using a Sobel edge detector. We also propose a genetic algorithm for edge selection to form complete boundaries of the detected entities. We designed two fitness functions to evaluate whether a criterion with a complex edge configuration can render a better result than a simple criterion such as the strength of gradient. The edges obtained by using a complex fitness function are thicker and more fragmented than those obtained by using a simple fitness function, suggesting that a complex edge selecting scheme is not necessary for good edge detection in medical ultrasonic images; instead, a proper noise-smoothing filter is the key.

Keywords: edge detection, ultrasonic images, speckle noise

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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: V. Paployan, K. Madoyan, A. Melikyan, H. Minassian

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In this paper, we calculate the two-photon ionization (TPI) cross-section for pump-probe scheme in Ag neutral cluster. The pump photon energy is assumed to be close to the surface plasmon (SP) energy of cluster in dielectric media. Due to this choice, the pump wave excites collective oscillations of electrons-SP and the probe wave causes ionization of the cluster. Since the interband transition energy in Ag exceeds the SP resonance energy, the main contribution into the TPI comes from the latter. The advantage of Ag clusters as compared to the other noble metals is that the SP resonance in silver cluster is much sharper because of peculiarities of its dielectric function. The calculations are performed by separating the coordinates of electrons corresponding to the collective oscillations and the individual motion that allows taking into account the resonance contribution of excited SP oscillations. It is shown that the ionization cross section increases by two orders of magnitude if the energy of the pump photon matches the surface plasmon energy in the cluster.

Keywords: Resonance enhancement, silver clusters, surface plasmon, two-photon ionization.

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Authors: Amir Badkoubeh, Guchuan Zhu

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This paper addresses the problem of asymptotic tracking control of a linear parabolic partial differential equation with indomain point actuation. As the considered model is a non-standard partial differential equation, we firstly developed a map that allows transforming this problem into a standard boundary control problem to which existing infinite-dimensional system control methods can be applied. Then, a combination of energy multiplier and differential flatness methods is used to design an asymptotic tracking controller. This control scheme consists of stabilizing state-feedback derived from the energy multiplier method and feed-forward control based on the flatness property of the system. This approach represents a systematic procedure to design tracking control laws for a class of partial differential equations with in-domain point actuation. The applicability and system performance are assessed by simulation studies.

Keywords: Tracking Control, In-domain point actuation, PartialDifferential Equations.

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Authors: Simon Lessard, Pascal Bigras, Caroline Lau, Daniel Roy, Gilles Soulez, Jacques A. de Guise

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The segmentation of endovascular tools in fluoroscopy images can be accurately performed automatically or by minimum user intervention, using known modern techniques. It has been proven in literature, but no clinical implementation exists so far because the computational time requirements of such technology have not yet been met. A classical segmentation scheme is composed of edge enhancement filtering, line detection, and segmentation. A new method is presented that consists of a vector that propagates in the image to track an edge as it advances. The filtering is performed progressively in the projected path of the vector, whose orientation allows for oriented edge detection, and a minimal image area is globally filtered. Such an algorithm is rapidly computed and can be implemented in real-time applications. It was tested on medical fluoroscopy images from an endovascular cerebral intervention. Ex- periments showed that the 2D tracking was limited to guidewires without intersection crosspoints, while the 3D implementation was able to cope with such planar difficulties.

Keywords: Edge detection, Line Enhancement, Segmentation, Fluoroscopy.

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Authors: S.M. Bahri, F.T. Bendimerad

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We propose a downlink multiple-input multipleoutput (MIMO) multi-carrier code division multiple access (MCCDMA) system with adaptive beamforming algorithm for smart antennas. The algorithm used in this paper is based on the Least Mean Square (LMS), with pilot channel estimation (PCE) and the zero forcing equalizer (ZFE) in the receiver, requiring reference signal and no knowledge channel. MC-CDMA is studied in a multiple antenna context in order to efficiently exploit robustness against multipath effects and multi-user flexibility of MC-CDMA and channel diversity offered by MIMO systems for radio mobile channels. Computer simulations, considering multi-path Rayleigh Fading Channel, interference inter symbol and interference are presented to verify the performance. Simulation results show that the scheme achieves good performance in a multi-user system.

Keywords: Adaptive Beamforming, LMS Algorithm, MCCDMA, MIMO System, Smart Antenna.

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

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

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

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Authors: K. Singh, T. P. Sharma

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In wireless sensor network (WSN) the use of mobile sink has been attracting more attention in recent times. Mobile sinks are more effective means of balancing load, reducing hotspot problem and elongating network lifetime. The sensor nodes in WSN have limited power supply, computational capability and storage and therefore for continuous data delivery reliability becomes high priority in these networks. In this paper, we propose a Reliable Energy-efficient Data Dissemination (REDD) scheme for WSNs with multiple mobile sinks. In this strategy, sink first determines the location of source and then directly communicates with the source using geographical forwarding. Every forwarding node (FN) creates a local zone comprising some sensor nodes that can act as representative of FN when it fails. Analytical and simulation study reveals significant improvement in energy conservation and reliable data delivery in comparison to existing schemes.

Keywords: Energy Efficient, REED, Sink Mobility, WSN.

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Authors: J. Chelladurai, G. Saravana Ilango, C. Nagamani, S. Senthil Kumar

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Pulse width modulation (PWM) techniques have been the subject of intensive research for different industrial and power sector applications. A large variety of methods, different in concept and performance, have been newly developed and described. This paper analyzes the comparative merits of Sinusoidal Pulse Width Modulation (SPWM) and Space Vector Pulse Width Modulation (SVPWM) techniques and the suitability of these techniques in a Shunt Active Filter (SAF). The objective is to select the scheme that offers effective utilization of DC bus voltage and also harmonic reduction at the input side. The effectiveness of the PWM techniques is tested in the SAF configuration with a non linear load. The performance of the SAF with the SPWM and (SVPWM) techniques are compared with respect to the THD in source current. The study reveals that in the context of closed loop SAF control with the SVPWM technique there is only a minor improvement in THD. The utilization of the DC bus with SVPWM is also not significant compared to that with SPWM because of the non sinusoidal modulating signal from the controller in SAF configuration.

Keywords: Voltage source inverter, Shunt active filter, SPWM, SVPWM, Matlab/SIMULINK.

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Authors: Mohammadreza Nezamirad, Sepideh Amirahmadian, Nasim Sabetpour, Azadeh Yazdi, Amirmasoud Hamedi

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Cavitation inside a diesel injector nozzle is investigated numerically in this study. The Reynolds Stress Navier Stokes set of equations (RANS) are utilized to investigate flow behavior inside the nozzle numerically. Moreover, K-ε turbulent model is found to be a better approach comparing to K-ω turbulent model. The Winklhofer rectangular shape nozzle is also simulated in order to verify the current numerical scheme, and with the mass flow rate approach, the current solution is verified. Afterward, a six-hole real size nozzle was simulated and it was found that among the different fuels used in this study with the same condition, diesel fuel provides the largest length of cavitation. Also, it was found that at the same boundary condition, rapeseed methyl ester (RME) fuel leads to the highest value of discharge coefficient and mass flow rate.

Keywords: cavitation, diesel fuel, CFD, real size nozzle, discharge coefficient

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Authors: Shiuh-Jer Huang, Ming-Tien Su

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Since the driving speed and control accuracy of commercial optical disk are increasing significantly, it needs an efficient controller to monitor the track seeking and following operations of the servo system for achieving the desired data extracting response. The nonlinear behaviors of the actuator and servo system of the optical disk drive will influence the laser spot positioning. Here, the model-free fuzzy control scheme is employed to design the track seeking servo controller for a d.c. motor driving optical disk drive system. In addition, the sliding model control strategy is introduced into the fuzzy control structure to construct a 1-D adaptive fuzzy rule intelligent controller for simplifying the implementation problem and improving the control performance. The experimental results show that the steady state error of the track seeking by using this fuzzy controller can maintain within the track width (1.6 μm ). It can be used in the track seeking and track following servo control operations.

Keywords: Fuzzy control, gain tuning and optical disk drive.

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Authors: Grouz Faten, Sbita Lassaâd

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In this paper, Speed Sensorless Indirect Field Oriented Control (IFOC) of a Permanent Magnet Synchronous machine (PMSM) is studied. The closed loop scheme of the drive system utilizes fuzzy speed and current controllers. Due to the well known drawbacks of the speed sensor, an algorithm is proposed in this paper to eliminate it. In fact, based on the model of the PMSM, the stator currents and rotor speed are estimated simultaneously using adaptive Luenberger observer for currents and MRAS (Model Reference Adaptive System) observer for rotor speed. To overcome the sensivity of this algorithm against parameter variation, adaptive for on line stator resistance tuning is proposed. The validity of the proposed method is verified by an extensive simulation work.

Keywords: PMSM, Indirect Field Oriented Control, fuzzy speed and currents controllers, Adaptive Luenberger observer, MRAS.

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Authors: Sun Lim, Sewoong Jun, Il-Kyun Jung

Abstract:

This paper presents a wrap-around view system with 4 smart cameras module and remote motion mobile robot control equipped with smart camera module system. The two-level scheme for remote motion control with smart-pad(IPAD) is introduced on this paper. In the low-level, the wrap-around view system is controlled or operated to keep the reference points lying around top view image plane. On the higher level, a robot image based motion controller is utilized to drive the mobile platform to reach the desired position or track the desired motion planning through image feature feedback. The design wrap-around view system equipped on presents such advantages as follows: 1) a satisfactory solution for the FOV and affine problem; 2) free of any complex and constraint with robot pose. The performance of the wrap-around view equipped on mobile robot remote control is proven by experimental results.

Keywords: four smart camera, wrap-around view, remote mobile robot control

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Authors: Sasitharan Ambicapathy, J. Vignesh, P. Sivaraj, Godfrey Derek Sams, K. Sabarinath, V. R. Sanal Kumar

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The external flow simulation of a flying car at take off phase is a daunting task owing to the fact that the prediction of the transient unsteady flow features during its deployment phase is very complex. In this paper 3D numerical simulations of external flow of Ferrari F430 proposed flying car with different NACA 9618 rectangular wings have been carried. Additionally, the aerodynamics characteristics have been generated for optimizing its geometry for achieving the minimum take off velocity with better overall performance in both road and air. The three-dimensional standard k-omega turbulence model has been used for capturing the intrinsic flow physics during the take off phase. In the numerical study, a fully implicit finite volume scheme of the compressible, Reynolds-Averaged, Navier-Stokes equations is employed. Through the detailed parametric analytical studies we have conjectured that Ferrari F430 flying car facilitated with high wings having three different deployment histories during the take off phase is the best choice for accomplishing its better performance for the commercial applications.

Keywords: Aerodynamics of flying car, air taxi, negative lift. roadable airplane.

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Authors: Hyun-Woo Cho

Abstract:

The early diagnostic decision making in industrial processes is absolutely necessary to produce high quality final products. It helps to provide early warning for a special event in a process, and finding its assignable cause can be obtained. This work presents a hybrid diagnostic schmes for batch processes. Nonlinear representation of raw process data is combined with classification tree techniques. The nonlinear kernel-based dimension reduction is executed for nonlinear classification decision boundaries for fault classes. In order to enhance diagnosis performance for batch processes, filtering of the data is performed to get rid of the irrelevant information of the process data. For the diagnosis performance of several representation, filtering, and future observation estimation methods, four diagnostic schemes are evaluated. In this work, the performance of the presented diagnosis schemes is demonstrated using batch process data.

Keywords: Diagnostics, batch process, nonlinear representation, data filtering, multivariate statistical approach

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Authors: M. Polanský

Abstract:

This paper introduces a new method called ARPDC (Advanced Robust Parallel Distributed Compensation) for automatic control of nonlinear systems. This method improves a quality of robust control by interpolating of robust and optimal controller. The weight of each controller is determined by an original criteria function for model validity and disturbance appreciation. ARPDC method is based on nonlinear Takagi-Sugeno (T-S) fuzzy systems and Parallel Distributed Compensation (PDC) control scheme. The relaxed stability conditions of ARPDC control of nominal system have been derived. The advantages of presented method are demonstrated on the inverse pendulum benchmark problem. From comparison between three different controllers (robust, optimal and ARPDC) follows, that ARPDC control is almost optimal with the robustness close to the robust controller. The results indicate that ARPDC algorithm can be a good alternative not only for a robust control, but in some cases also to an adaptive control of nonlinear systems.

Keywords: Robust control, optimal control, Takagi–Sugeno (TS) fuzzy models, linear matrix inequality (LMI), observer, Advanced Robust Parallel Distributed Compensation (ARPDC).

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Authors: G. Santamato, M. Solazzi, A. Frisoli

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Systems for detection of damages in railway pantographs effectively reduce the cost of maintenance and improve time scheduling. In this paper, we present an approach to design a monitoring tool fitting strong customer requirements such as portability and ease of use. Pantograph has been modeled to estimate its dynamical properties, since no data are available. With the aim to focus on suspensions health, a two Degrees of Freedom (DOF) scheme has been adopted. Parameters have been calculated by means of analytical dynamics. A Finite Element Method (FEM) modal analysis verified the former model with an acceptable error. The detection strategy seeks phase-plots topology alteration, induced by defects. In order to test the suitability of the method, leakage in the dashpot was simulated on the lumped model. Results are interesting because changes in phase plots are more appreciable than frequency-shift. Further calculations as well as experimental tests will support future developments of this smart strategy.

Keywords: Pantograph models, phase-plots, structural health monitoring, vibration-based condition monitoring.

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