Search results for: control method.

Authors: A.Memari

Abstract:

In this article, a simulation method called the Homotopy Perturbation Method (HPM) is employed in the steady flow of a Walter's B' fluid in a vertical channel with porous wall. We employed Homotopy Perturbation Method to derive solution of a nonlinear form of equation obtained from exerting similarity transforming to the ordinary differential equation gained from continuity and momentum equations of this kind of flow. The results obtained from the Homotopy Perturbation Method are then compared with those from the Runge–Kutta method in order to verify the accuracy of the proposed method. The results show that the Homotopy Perturbation Method can achieve good results in predicting the solution of such problems. Ultimately we use this solution to obtain the other terms of velocities and physical discussion about it.

Keywords: Steady flow; Walter's B' Fluid;, vertical channel;porous media, Homotopy Perturbation Method (HPM), Numerical Solution (NS).

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Authors: Amit Sachan

Abstract:

The network designing and data modeling developments which are the two significant research tasks in direction to tolerate power control of Microgrid concluded using IEC 61850 data models and facilities. The current casing areas of IEC 61580 include infrastructures in substation automation systems, among substations and to DERs. So, for LV microgrid power control, previously using the IEC 61850 amenities to control the smart electrical devices, we have to model those devices as IEC 61850 data models and design a network topology to maintenance all-in-one communiqué amid those devices. In adding, though IEC 61850 assists modeling a portion by open-handed several object models for common functions similar measurement, metering, monitoring…etc., there are motionless certain missing smithereens for building a multiplicity of functions for household appliances like tuning the temperature of an electric heater or refrigerator.

Keywords: IEC 61850, RCMC, HCMC, DER Unit Controller.

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Authors: Sudha Bansal, Lalit Mohan Saini, Dheeraj Joshi

Abstract:

The controller is used to improve the dynamic performance of DC-DC converter by achieving a robust output voltage against load disturbances. This paper presents the performance of PI and Fuzzy controller for a phase- shifted zero-voltage switched full-bridge PWM (ZVS FB- PWM) converters with a closed loop control. The proposed converter is regulated with minimum overshoot and good stability. In this paper phase-shift control method is used as an effective tool to reduce switching losses and duty cycle losses. A 1kW/100KHz dc/dc converter is simulated and analyzed using MATLAB. The circuit is simulated for static and dynamic load (DC motor). It has been observed that performance of converter with fuzzy controller is better than that of PI controller. An efficiency comparison of the converter with a reported topology has also been carried out.

Keywords: Full-bridge converter, phase-shifted, synchronous rectifier (SR), zero-voltage switching (ZVS).

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Authors: Mustafa M. Donma, Erkut Karasu, Burcu Ozdilek, Burhan Turgut, Birol Topcu, Burcin Nalbantoglu, Orkide Donma

Abstract:

The mechanisms underlying the association between obesity and asthma may be related to a decreased immunological tolerance induced by a defective function of regulatory T cells (Tregs). The aim of this study is to establish the potential link between these diseases and CD4+, CD25+ FoxP3+ Tregs as well as T helper cells (Ths) in children. This is a prospective case control study. Obese (n:40), asthmatic (n:40), asthmatic obese (n:40) and healthy children (n:40), who don't have any acute or chronic diseases, were included in this study. Obese children were evaluated according to WHO criteria. Asthmatic patients were chosen based on GINA criteria. Parents were asked to fill up the questionnaire. Informed consent forms were taken. Blood samples were marked with CD4+, CD25+ and FoxP3+ in order to determine Tregs and Ths by flow cytometric method. Statistical analyses were performed. p≤0.05 was chosen as meaningful threshold. Tregs exhibiting anti-inflammatory nature were significantly lower in obese (0,16%; p≤0,001), asthmatic (0,25%; p≤0,01) and asthmatic obese (0,29%; p≤0,05) groups than the control group (0,38%). Ths were counted higher in asthma group than the control (p≤0,01) and obese (p≤0,001) groups. T cell immunity plays important roles in obesity and asthma pathogeneses. Decreased numbers of Tregs found in obese, asthmatic and asthmatic obese children may help to elucidate some questions in pathophysiology of these diseases. For HOMA-IR levels, any significant difference was not noted between control and obese groups, but statistically higher values were found for obese asthmatics. The values obtained in all groups were found to be below the critical cut off points. This finding has made the statistically significant difference observed between Tregs of obese, asthmatic, obese asthmatic and control groups much more valuable. These findings will be useful in diagnosis and treatment of these disorders and future studies are needed. The production and propagation of Tregs may be promising in alternative asthma and obesity treatments.

Keywords: Asthma, flow cytometry, pediatric obesity, T cells.

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Authors: Abdoulaye Diop, Nahid Emad, Thierry Winter, Mohamed Hilia

Abstract:

Data assets protection is a crucial issue in the cybersecurity field. Companies use logical access control tools to vault their information assets and protect them against external threats, but they lack solutions to counter insider threats. Nowadays, insider threats are the most significant concern of security analysts. They are mainly individuals with legitimate access to companies information systems, which use their rights with malicious intents. In several fields, behavior anomaly detection is the method used by cyber specialists to counter the threats of user malicious activities effectively. In this paper, we present the step toward the construction of a user and entity behavior analysis framework by proposing a behavior anomaly detection model. This model combines machine learning classification techniques and graph-based methods, relying on linear algebra and parallel computing techniques. We show the utility of an ensemble learning approach in this context. We present some detection methods tests results on an representative access control dataset. The use of some explored classifiers gives results up to 99% of accuracy.

Keywords: Cybersecurity, data protection, access control, insider threat, user behavior analysis, ensemble learning, high performance computing.

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Authors: Amer Ezoji, Mohammad Sedighi

Abstract:

In the article, the wire winding process for the reinforcement of a pressure vessel frame has been studied. Firstly, the importance of the wire winding method has been explained. The main step in the design process is the methodology axial force control and wire winding process. The hot isostatic press and wire winding process introduce. With use the equilibrium term in the pressure vessel and frame, stresses in the frame wires analyzed. A case study frame was studied to control axial force in the hot isostatic press. Frame and them wires simulated then friction effect and wires effect in elastic yoke in the simulation model considered. Then theoretical and simulate resulted compare and vessel pressure import to frame because we assurance wire wounded not received to yielding point.   

Keywords: Wire winding, Frame, stress, friction.

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Authors: Bharathi P. T, P. Subashini

Abstract:

Ice cover County has a significant impact on rivers as it affects with the ice melting capacity which results in flooding, restrict navigation, modify the ecosystem and microclimate. River ices are made up of different ice types with varying ice thickness, so surveillance of river ice plays an important role. River ice types are captured using infrared imaging camera which captures the images even during the night times. In this paper the river ice infrared texture images are analysed using first-order statistical methods and secondorder statistical methods. The second order statistical methods considered are spatial gray level dependence method, gray level run length method and gray level difference method. The performance of the feature extraction methods are evaluated by using Probabilistic Neural Network classifier and it is found that the first-order statistical method and second-order statistical method yields low accuracy. So the features extracted from the first-order statistical method and second-order statistical method are combined and it is observed that the result of these combined features (First order statistical method + gray level run length method) provides higher accuracy when compared with the features from the first-order statistical method and second-order statistical method alone.

Keywords: Gray Level Difference Method, Gray Level Run Length Method, Kurtosis, Probabilistic Neural Network, Skewness, Spatial Gray Level Dependence Method.

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Authors: A. Safaee, M. S. Mehrabani, M. B. Menhaj, V. Mousavi, S. Z. Moussavi

Abstract:

Monocopter is a single-wing rotary flying vehicle which has the capability of hovering. This flying vehicle includes two dynamic parts in which more efficiency can be expected rather than other Micro UAVs due to the extended area of wing compared to its fuselage. Low cost and simple mechanism in comparison to other vehicles such as helicopter are the most important specifications of this flying vehicle. In the previous paper we discussed the introduction of the final system but in this paper, the experimental design process of Monocopter and its control algorithm has been investigated in general. Also the editorial bugs in the previous article have been corrected and some translational ambiguities have been resolved. Initially by constructing several prototypes and carrying out many flight tests the main design parameters of this air vehicle were obtained by experimental measurements. Eventually the required main monocopter for this project was constructed. After construction of the monocopter in order to design, implementation and testing of control algorithms first a simple optic system used for determining the heading angle. After doing numerous tests on Test Stand, the control algorithm designed and timing of applying control inputs adjusted. Then other control parameters of system were tuned in flight tests. Eventually the final control system designed and implemented using the AHRS sensor and the final operational tests performed successfully.

Keywords: Monocopter, Flap, Heading Angle, AHRS, Cyclic, Photo Diode.

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Authors: Sh. Jamali, A. Eftekhari

Abstract:

Transmission control protocol (TCP) Vegas detects network congestion in the early stage and successfully prevents periodic packet loss that usually occurs in TCP Reno. It has been demonstrated that TCP Vegas outperforms TCP Reno in many aspects. However, TCP Vegas suffers several problems that affect its congestion avoidance mechanism. One of the most important weaknesses in TCP Vegas is that alpha and beta depend on a good expected throughput estimate, which as we have seen, depends on a good minimum RTT estimate. In order to make the system more robust alpha and beta must be made responsive to network conditions (they are currently chosen statically). This paper proposes a modified Vegas algorithm, which can be adjusted to present good performance compared to other transmission control protocols (TCPs). In order to do this, we use PSO algorithm to tune alpha and beta. The simulation results validate the advantages of the proposed algorithm in term of performance.

Keywords: Self-managing, Congestion control, TCP.

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Authors: Amin Lotfi Eghlim, Mehran pourgholi

Abstract:

Explosion occurs due to sudden release of energy. Common examples of explosion include chemical, atomic, heat, and pressure tank (due to ignition) explosions. Petroleum, gas, and petrochemical industries operations are threatened by natural risks and processes. Fires and explosions are the greatest process risks which cause financial damages. This study aims at designing a single-floor structure for the control room of a petroleum refinery to be resistant against gas explosion loads, and the information related to the structure specifications have been provided regarding the fact that the structure is made on the ground's surface. In this research, the lateral stiffness of single pile is calculated by SPPLN.FOR computer program, and its value for 13624 KN/m single pile has been assessed. The analysis used due to the loading conditions, is dynamic nonlinear analysis with direct integration method.

Keywords: Gas Explosion Load, Petroleum Refinery, Single-Floor Structure

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Authors: Young-Seok Choi

Abstract:

In healthy humans, the cortical brain rhythm shows specific mu (~6-14 Hz) and beta (~18-24 Hz) band patterns in the cases of both real and imaginary motor movements. As cerebellar ataxia is associated with impairment of precise motor movement control as well as motor imagery, ataxia is an ideal model system in which to study the role of the cerebellocortical circuit in rhythm control. We hypothesize that the EEG characteristics of ataxic patients differ from those of controls during the performance of a Brain-Computer Interface (BCI) task. Ataxia and control subjects showed a similar distribution of mu power during cued relaxation. During cued motor imagery, however, the ataxia group showed significant spatial distribution of the response, while the control group showed the expected decrease in mu-band power (localized to the motor cortex).

Keywords: Brain-computer interface, EEG, modulation, ataxia.

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Authors: Sunyoung Bu, Wonkyu Chung, Philsu Kim

Abstract:

In this paper, we introduce a method for improving the embedded Runge-Kutta-Fehlberg4(5) method. At each integration step, the proposed method is comprised of two equations for the solution and the error, respectively. These solution and error are obtained by solving an initial value problem whose solution has the information of the error at each integration step. The constructed algorithm controls both the error and the time step size simultaneously and possesses a good performance in the computational cost compared to the original method. For the assessment of the effectiveness, EULR problem is numerically solved.

Keywords: Embedded Runge-Kutta-Fehlberg method, Initial value problem.

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Authors: Saheed A. Gbadegeshin

Abstract:

Commercialization method is a means to make inventions available at the market for final consumption. It is described as an important tool for keeping business enterprises sustainable and improving national economic growth. Thus, there are several scholarly publications on it, either presenting or testing different methods for commercialization. However, young entrepreneurs, technologists and scientists would like to know the best method to commercialize their innovations. Then, this question arises: What is the best commercialization method? To answer the question, a systematic literature review was conducted, and practitioners were interviewed. The literary results revealed that there are many methods but new methods are needed to improve commercialization especially during these times of economic crisis and political uncertainty. Similarly, the empirical results showed there are several methods, but the best method is the one that reduces costs, reduces the risks associated with uncertainty, and improves customer participation and acceptability. Therefore, it was concluded that new commercialization method is essential for today's high technologies and a method was presented.

Keywords: Commercialization method, high technology, lean start-up methodology, technology, knowledge.

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Authors: H. Shayeghi, H.A. Shayanfar, A. Jalili

Abstract:

In the LFC problem, the interconnections among some areas are the input of disturbances, and therefore, it is important to suppress the disturbances by the coordination of governor systems. In contrast, tie-line power flow control by TCPS located between two areas makes it possible to stabilize the system frequency oscillations positively through interconnection, which is also expected to provide a new ancillary service for the further power systems. Thus, a control strategy using controlling the phase angle of TCPS is proposed for provide active control facility of system frequency in this paper. Also, the optimum adjustment of PID controller's parameters in a robust way under bilateral contracted scenario following the large step load demands and disturbances with and without TCPS are investigated by Particle Swarm Optimization (PSO), that has a strong ability to find the most optimistic results. This newly developed control strategy combines the advantage of PSO and TCPS and has simple stricture that is easy to implement and tune. To demonstrate the effectiveness of the proposed control strategy a three-area restructured power system is considered as a test system under different operating conditions and system nonlinearities. Analysis reveals that the TCPS is quite capable of suppressing the frequency and tie-line power oscillations effectively as compared to that obtained without TCPS for a wide range of plant parameter changes, area load demands and disturbances even in the presence of system nonlinearities.

Keywords: LFC, TCPS, Dregulated Power System, PowerSystem Control, PSO.

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Authors: Li Hao, Yan Zhang, Jingan Cui

Abstract:

The Eulerian numerical method is proposed to analyze the explosion in tunnel. Based on this method, an original software M-MMIC2D is developed by Cµ program language. With this software, the explosion problem in the tunnel with three expansion-chambers is numerically simulated, and the results are found to be in full agreement with the observed experimental data.

Keywords: Eulerian method, numerical simulation, shock wave, tunnel

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Authors: Reza Kazemi , Iman Mousavinejad

Abstract:

Steer-By-Wire ( SBW ) has several advantages of packaging flexibility , advanced vehicle control system ,and superior performance . SBW has no mechanical linkage between the steering gear and the steering column. It is possible to control the steering wheel and the front-wheel steering independently. SBW system is composed of two motors controlled by ECU. One motor in the steering wheel is to improve the driver's steering feel and the other motor in the steering linkage is to improve the vehicle maneuverability and stability. This paper shows a new approach at modeling of SBW system by Bond Graph theory. The mechanical parts , the steering wheel motor and the front wheel motor will be modeled by this theory. The work in the paper will help to guide further researches on control algorithm of the SBW system .

Keywords: Steer-By-Wire ( SBW ), Bond Graph theory, Electronic-Control-Unit ( ECU ) , Modeling

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Authors: Ali Reza Mehrabian, Caro Lucas

Abstract:

In this paper a new control strategy based on Brain Emotional Learning (BEL) model has been introduced. A modified BEL model has been proposed to increase the degree of freedom, controlling capability, reliability and robustness, which can be implemented in real engineering systems. The performance of the proposed BEL controller has been illustrated by applying it on different nonlinear uncertain systems, showing very good adaptability and robustness, while maintaining stability.

Keywords: Learning control systems, emotional decision making, nonlinear systems, adaptive control.

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Authors: Amit Kumar, Anila Gupta, Amarpreet Kaur

Abstract:

In this paper, a new method is proposed to find the fuzzy optimal solution of fuzzy assignment problems by representing all the parameters as triangular fuzzy numbers. The advantages of the pro-posed method are also discussed. To illustrate the proposed method a fuzzy assignment problem is solved by using the proposed method and the obtained results are discussed. The proposed method is easy to understand and to apply for finding the fuzzy optimal solution of fuzzy assignment problems occurring in real life situations.

Keywords: Fuzzy assignment problem, Ranking function, Triangular fuzzy numbers.

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Authors: Irtaza M. Syed, Kaamran Raahemifar

Abstract:

This paper presents a model predictive control (MPC) of a utility interactive (UI) single phase inverter (SPI) for a photovoltaic (PV) system at residential/distribution level. The proposed model uses single-phase phase locked loop (PLL) to synchronize SPI with the grid and performs MPC control in a dq reference frame. SPI model consists of boost converter (BC), maximum power point tracking (MPPT) control, and a full bridge (FB) voltage source inverter (VSI). No PI regulators to tune and carrier and modulating waves are required to produce switching sequence. Instead, the operational model of VSI is used to synthesize sinusoidal current and track the reference. Model is validated using a three kW PV system at the input of UI-SPI in Matlab/Simulink. Implementation and results demonstrate simplicity and accuracy, as well as reliability of the model.

Keywords: Matlab/Simulink, Model Predictive Control, Phase Locked Loop, Single Phase Inverter, Voltage Source Inverter.

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Authors: M. Bouri, S. Bourennane

Abstract:

In this paper, we propose a novel method for subspace estimation used high resolution method without eigendecomposition where the sample Cross-Spectral Matrix (CSM) is replaced by upper triangular matrix obtained from LU factorization. This novel method decreases the computational complexity. The method relies on a recently published result on Rank-Revealing LU (RRLU) factorization. Simulation results demonstrates that the new algorithm outperform the Householder rank-revealing QR (RRQR) factorization method and the MUSIC in the low Signal to Noise Ratio (SNR) scenarios.

Keywords: Factorization, Localization, Matrix, Signalsubspace.

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Authors: Zahzouh Zoubir, Bouzaouit Azzeddine, Gahgah Mounir

Abstract:

The use of more and more electronic power switches with a nonlinear behavior generates non-sinusoidal currents in distribution networks, which causes damage to domestic and industrial equipment. The multi-level shunt power active filter is subsequently shown to be an adequate solution to the problem raised. Nevertheless, the difficulty of adjusting the active filter DC supply voltage requires another technology to ensure it. In this article, a photovoltaic generator is associated with the DC bus power terminals of the active filter. The proposed system consists of a field of solar panels, three multi-level voltage inverters connected to the power grid and a non-linear load consisting of a six-diode rectifier bridge supplying a resistive-inductive load. Current control techniques of active and reactive power are used to compensate for both harmonic currents and reactive power as well as to inject active solar power into the distribution network. An algorithm of the search method of the maximum power point of type Perturb and observe is applied. Simulation results of the system proposed under the MATLAB/Simulink environment shows that the performance of control commands that reassure the solar power injection in the network, harmonic current compensation and power factor correction.

Keywords: MPPT, active power filter, PV array, perturb and observe algorithm, PWM-control.

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Authors: Farzaneh Ahmadzadeh

Abstract:

Quality control charts are very effective in detecting out of control signals but when a control chart signals an out of control condition of the process mean, searching for a special cause in the vicinity of the signal time would not always lead to prompt identification of the source(s) of the out of control condition as the change point in the process parameter(s) is usually different from the signal time. It is very important to manufacturer to determine at what point and which parameters in the past caused the signal. Early warning of process change would expedite the search for the special causes and enhance quality at lower cost. In this paper the quality variables under investigation are assumed to follow a multivariate normal distribution with known means and variance-covariance matrix and the process means after one step change remain at the new level until the special cause is being identified and removed, also it is supposed that only one variable could be changed at the same time. This research applies artificial neural network (ANN) to identify the time the change occurred and the parameter which caused the change or shift. The performance of the approach was assessed through a computer simulation experiment. The results show that neural network performs effectively and equally well for the whole shift magnitude which has been considered.

Keywords: Artificial neural network, change point estimation, monte carlo simulation, multivariate exponentially weighted movingaverage

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Authors: M. Senthil Arumugam, M.V.C. Rao

Abstract:

This paper presents a novel two-phase hybrid optimization algorithm with hybrid genetic operators to solve the optimal control problem of a single stage hybrid manufacturing system. The proposed hybrid real coded genetic algorithm (HRCGA) is developed in such a way that a simple real coded GA acts as a base level search, which makes a quick decision to direct the search towards the optimal region, and a local search method is next employed to do fine tuning. The hybrid genetic operators involved in the proposed algorithm improve both the quality of the solution and convergence speed. The phase–1 uses conventional real coded genetic algorithm (RCGA), while optimisation by direct search and systematic reduction of the size of search region is employed in the phase – 2. A typical numerical example of an optimal control problem with the number of jobs varying from 10 to 50 is included to illustrate the efficacy of the proposed algorithm. Several statistical analyses are done to compare the validity of the proposed algorithm with the conventional RCGA and PSO techniques. Hypothesis t – test and analysis of variance (ANOVA) test are also carried out to validate the effectiveness of the proposed algorithm. The results clearly demonstrate that the proposed algorithm not only improves the quality but also is more efficient in converging to the optimal value faster. They can outperform the conventional real coded GA (RCGA) and the efficient particle swarm optimisation (PSO) algorithm in quality of the optimal solution and also in terms of convergence to the actual optimum value.

Keywords: Hybrid systems, optimal control, real coded genetic algorithm (RCGA), Particle swarm optimization (PSO), Hybrid real coded GA (HRCGA), and Hybrid genetic operators.

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Authors: Bubaker M. F. Bushofa, Abdel Hafez A. Azab

Abstract:

This article is based on the technique which is called Discrete Parameter Tracking (DPT). First introduced by A. A. Azab [8] which is applicable for less order reference model. The order of the reference model is (n-l) and n is the number of the adjustable parameters in the physical plant. The technique utilizes a modified gradient method [9] where the knowledge of the exact order of the nonadaptive system is not required, so, as to eliminate the identification problem. The applicability of the mentioned technique (DPT) was examined through the solution of several problems. This article introduces the solution of a third order system with three adjustable parameters, controlled according to second order reference model. The adjustable parameters have great initial error which represent condition. Computer simulations for the solution and analysis are provided to demonstrate the simplicity and feasibility of the technique.

Keywords: Adaptive Control System, Discrete Parameter Tracking, Discrete Time Model.

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Authors: Denisa Ferenčíková, Petr Briš

Abstract:

Customer audits are generally used to ensure customer that supplier is continuously able to meet his requirements while supplying him required products and services. However, customer audits can be considered as a very useful quality control tool for suppliers as well. In our paper, we analyzed the process of customer audits realized in Czech companies from both perspectives: a supplier´s viewpoint and customer´s viewpoint. At the end, we tried to emphasize some areas that should not be omitted during the audit process.

Keywords: Customer Audit, Quality Control, Quality Management, Product Quality, Service Quality, Process Quality.

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Authors: Haijie Li, Xuping Zhang

Abstract:

This paper presents a computationally efficient method for the modeling of robot manipulators with flexible links and joints. This approach combines the Discrete Time Transfer Matrix Method with the Finite Segment Method, in which the flexible links are discretized by a number of rigid segments connected by torsion springs; and the flexibility of joints are modeled by torsion springs. The proposed method avoids the global dynamics and has the advantage of modeling non-uniform manipulators. Experiments and simulations of a single-link flexible manipulator are conducted for verifying the proposed methodologies. The simulations of a three-link robot arm with links and joints flexibility are also performed.

Keywords: Flexible manipulator, transfer matrix method, linearization, finite segment method.

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Authors: A. Kargar, A. Kianifar, H. Mohammadiun

Abstract:

Two-dimensional heat conduction within a composed solid material with a constant internal heat generation has been investigated numerically in a sector of the rotor a generator. The heat transfer between two adjacent materials is assumed to be purely conduction. Boundary conditions are assumed to be forced convection on the fluid side and adiabatic on symmetry lines. The control volume method is applied for the diffusion energy equation. Physical coordinates are transformed to the general curvilinear coordinates. Then by using a line-by-line method, the temperature distribution in a sector of the rotor has been determined. Finally, the results are normalized and the effect of cooling fluid on the maximum temperature of insulation is investigated.

Keywords: general curvilinear coordinates , jacobian, controlvolume.

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Authors: Mike Sewell, Jagath Samarabandu, Ranga Rodrigo, Kenneth McIsaac

Abstract:

A novel method of individual level adaptive mutation rate control called the rank-scaled mutation rate for genetic algorithms is introduced. The rank-scaled mutation rate controlled genetic algorithm varies the mutation parameters based on the rank of each individual within the population. Thereby the distribution of the fitness of the papulation is taken into consideration in forming the new mutation rates. The best fit mutate at the lowest rate and the least fit mutate at the highest rate. The complexity of the algorithm is of the order of an individual adaptation scheme and is lower than that of a self-adaptation scheme. The proposed algorithm is tested on two common problems, namely, numerical optimization of a function and the traveling salesman problem. The results show that the proposed algorithm outperforms both the fixed and deterministic mutation rate schemes. It is best suited for problems with several local optimum solutions without a high demand for excessive mutation rates.

Keywords: Genetic algorithms, mutation rate control, adaptive mutation.

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Authors: Jai Raj, Jito Vanualailai, Bibhya Sharma, Shonal Singh

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This paper proposes a solution to the motion planning and control problem of car-like mobile robots which is required to move safely to a designated target in a priori known workspace cluttered with swarm of boids exhibiting collective emergent behaviors. A generalized algorithm for target convergence and swarm avoidance is proposed that will work for any number of swarms. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws are demonstrated via computer simulations of an emergent behavior.

Keywords: Swarm, practical stability, motion planning, emergent.

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Authors: Igor Astrov, Andrus Pedai

Abstract:

This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a multirate neural control of an AUV trajectory for a nontrivial mid-small size AUV “r2D4" stochastic model. This control system has been demonstrated and evaluated by simulation of diving maneuvers using software package Simulink. From the simulation results it can be seen that the chosen AUV model is stable in the presence of noises, and also can be concluded that the proposed research technique will be useful for fast SA of similar AUV systems in real-time search-and-rescue operations.

Keywords: Autonomous underwater vehicles, multirate systems, neurocontrollers, situational awareness.

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