Search results for: control structures

Authors: Chien-Chun Kung, Feng-Lung Chiang, Kuei-Yi Chen

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In this paper, we will implement three-dimensional pursuit guidance law with feedback linearization control method and study the effects of parameters. First, we introduce guidance laws and equations of motion of a missile. Pursuit guidance law is our highlight. We apply feedback linearization control method to obtain the accelerations to implement pursuit guidance law. The solution makes warhead direction follow with line-of-sight. Final, the simulation results show that the exact solution derived in this paper is correct and some factors e.g. control gain, time delay, are important to implement pursuit guidance law.

Keywords: Pursuit guidance law, feedback linearization.

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Authors: Devdutt, M. L. Aggarwal

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In this paper, passenger ride comfort issues are studied taking active quarter car model with three degrees of freedom. A hybrid fuzzy – PID controller with coupled rules (HFPIDCR) is designed for vibration control of passenger seat. Three different control strategies are considered. In first case, main suspension is controlled. In second case, passenger seat suspension is controlled. In third case, both main suspension and passenger seat suspensions are controlled. Passenger seat acceleration and displacement results are obtained using bump and sinusoidal type road disturbances. Finally, obtained simulation results of designed uncontrolled and controlled quarter car models are compared and discussed to select best control strategy for achieving high level of passenger ride comfort.

Keywords: Active suspension system, HFPIDCR controller, passenger ride comfort, quarter car model.

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Authors: Qintao Shen, Lei Luo, Jun Ma, Jie Yu, Qingbo Wu, Yongqi Ma, Zhengji Liu

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Control Flow Integrity (CFI) is one of the most promising technique to defend Code-Reuse Attacks (CRAs). Traditional CFI Systems and recent Context-Sensitive CFI use coarse control flow graphs (CFGs) to analyze whether the control flow hijack occurs, left vast space for attackers at indirect call-sites. Coarse CFGs make it difficult to decide which target to execute at indirect control-flow transfers, and weaken the existing CFI systems actually. It is an unsolved problem to extract CFGs precisely and perfectly from binaries now. In this paper, we present an algorithm to get a more precise CFG from binaries. Parameters are analyzed at indirect call-sites and functions firstly. By comparing counts of parameters prepared before call-sites and consumed by functions, targets of indirect calls are reduced. Then the control flow would be more constrained at indirect call-sites in runtime. Combined with CCFI, we implement our policy. Experimental results on some popular programs show that our approach is efficient. Further analysis show that it can mitigate COOP and other advanced attacks.

Keywords: Contex-sensitive, CFI, binary analysis, code reuse attack.

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Authors: HoYoung Son, DongHoon Shin, WooYoung Jung

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This study presented the seismic fragility framework of concrete weir structure subjected to strong seismic ground motions and in particular, concrete aging condition of the weir structure was taken into account in this study. In order to understand the influence of concrete aging on the weir structure, by using probabilistic risk assessment, the analytical seismic fragility of the weir structure was derived for pre- and post-deterioration of concrete. The performance of concrete weir structure after five years was assumed for the concrete aging or deterioration, and according to after five years’ condition, the elastic modulus was simply reduced about one–tenth compared with initial condition of weir structures. A 2D nonlinear finite element analysis was performed considering the deterioration of concrete in weir structures using ABAQUS platform, a commercial structural analysis program. Simplified concrete degradation was resulted in the increase of almost 45% of the probability of failure at Limit State 3, in comparison to initial construction stage, by analyzing the seismic fragility.

Keywords: Weir, FEM, concrete, fragility, aging

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Authors: Le Linh, Truong Nguyen Luan Vu, Le Hieu Giang

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In this work, the IMC-PID controller cascaded filter based on Internal Model Control (IMC) scheme is systematically proposed for the simplified decoupling control system. The simplified decoupling is firstly introduced for multivariable processes by using coefficient matching to obtain a stable, proper, and causal simplified decoupler. Accordingly, transfer functions of decoupled apparent processes can be expressed as a set of n equivalent independent processes and then derived as a ratio of the original open-loop transfer function to the diagonal element of the dynamic relative gain array. The IMC-PID controller in series with filter is then directly employed to enhance the overall performance of the decoupling control system while avoiding difficulties arising from properties inherent to simplified decoupling. Some simulation studies are considered to demonstrate the simplicity and effectiveness of the proposed method. Simulations were conducted by tuning various controllers of the multivariate processes with multiple time delays. The results indicate that the proposed method consistently performs well with fast and well-balanced closed-loop time responses.

Keywords: Coefficient matching method, internal model control scheme, PID controller cascaded filter, simplified decoupler.

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Authors: Kamran Turkoglu, Ugur Ozdemir, Melike Nikbay, Elbrous M. Jafarov

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In this paper, an automatic control system design based on Integral Squared Error (ISE) parameter optimization technique has been implemented on longitudinal flight dynamics of an UAV. It has been aimed to minimize the error function between the reference signal and the output of the plant. In the following parts, objective function has been defined with respect to error dynamics. An unconstrained optimization problem has been solved analytically by using necessary and sufficient conditions of optimality, optimum PID parameters have been obtained and implemented in control system dynamics.

Keywords: Optimum Design, KKT Conditions, UAV, Longitudinal Flight Dynamics, ISE Parameter Optimization.

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Authors: Faizal A. Samman, Thomas Hollstein, Manfred Glesner

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This paper presents design trade-off and performance impacts of the amount of pipeline phase of control path signals in a wormhole-switched network-on-chip (NoC). The numbers of the pipeline phase of the control path vary between two- and one-cycle pipeline phase. The control paths consist of the routing request paths for output selection and the arbitration paths for input selection. Data communications between on-chip routers are implemented synchronously and for quality of service, the inter-router data transports are controlled by using a link-level congestion control to avoid lose of data because of an overflow. The trade-off between the area (logic cell area) and the performance (bandwidth gain) of two proposed NoC router microarchitectures are presented in this paper. The performance evaluation is made by using a traffic scenario with different number of workloads under 2D mesh NoC topology using a static routing algorithm. By using a 130-nm CMOS standard-cell technology, our NoC routers can be clocked at 1 GHz, resulting in a high speed network link and high router bandwidth capacity of about 320 Gbit/s. Based on our experiments, the amount of control path pipeline stages gives more significant impact on the NoC performance than the impact on the logic area of the NoC router.

Keywords: Network-on-Chip, Synchronous Parallel Pipeline, Router Architecture, Wormhole Switching

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Authors: Hisham A. Elfergani, Ayad A. Abdalla, Ahmed R. Ballil

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Acoustic Emission (AE) is one of the most effective non-destructive tests that can be used to detect the defect process as it is occurring. AE techniques can be used to monitor a wide range of structures and materials such as metals, non-metals and combinations of these when load is applied. The current work investigates the effectiveness and accuracy of TOA method in AE tests involving reinforced composite concrete-mortar structures. A series of experimental tests were performed using the Hsu-Neilson (H-N) source to study 2-D location accuracy using this method on concrete-mortar (400×400 mm) specimens. Four AE sensors (R3I – resonant frequency 30 kHz) were mounted to the mortar surface and six sources were performed at each point of preselected locations on the upper surface of the mortar. Results show that the TOA method can be used effectively to locate signals on composite concrete/mortar specimen and has high accuracy.

Keywords: Acoustic emission, time of arrival, composite materials, reinforced concrete.

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Authors: Almutasim Billa A. Alanazi, Hal S. Tharp

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Artificial Intelligence (AI), specifically Reinforcement Learning (RL), has proven helpful in many control path planning technologies by maximizing and enhancing their performance, such as navigation systems. Since it learns from experience by interacting with the environment to determine the optimal policy, the optimal policy takes the best action in a particular state, accounting for the long-term rewards. Most navigation systems focus primarily on "arriving faster," overlooking safety and efficiency while estimating the optimum path, as safety and efficiency are essential factors when planning for a long-distance journey. This paper represents an RL control model that proposes a control mechanism for improving navigation systems. Also, the model could be applied to other control path planning applications because it is adjustable and can accept different properties and parameters. However, the navigation system application has been taken as a case and evaluation study for the proposed model. The model utilized a Q-learning algorithm for training and updating the policy. It allows the agent to analyze the quality of an action made in the environment to maximize rewards. The model gives the ability to update rewards regularly based on safety and efficiency assessments, allowing the policy to consider the desired safety and efficiency benefits while making decisions, which improves the quality of the decisions taken for path planning compared to the conventional RL approaches.

Keywords: Artificial intelligence, control system, navigation systems, reinforcement learning.

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Authors: Walid Chakroun, Sorour Alotaibi, Nesreen Ghaddar, Kamel Ghali

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This study aims at determining the extent to which occupant control of microenvironment influences, improves thermal sensation and comfort, and saves energy in spaces equipped with ceiling personalized ventilation (CPV) system assisted by chair fans (CF) and desk fans (DF) in 2 experiments in a climatic chamber equipped with two-station CPV systems, one that allows control of fan flow rate and the other is set to the fan speed of the selected participant in control. Each experiment included two participants each entering the cooled space from transitional environment at a conventional mixed ventilation (MV) at 24 °C. For CPV diffuser, fresh air was delivered at a rate of 20 Cubic feet per minute (CFM) and a temperature of 16 °C while the recirculated air was delivered at the same temperature but at a flow rate 150 CFM. The macroclimate air of the space was at 26 °C. The full speed flow rates for both the CFs and DFs were at 5 CFM and 20 CFM, respectively. Occupant 1 was allowed to operate the CFs or the DFs at (1/3 of the full speed, 2/3 of the full speed, and the full speed) while occupant 2 had no control on the fan speed and their fan speed was selected by occupant 1. Furthermore, a parametric study was conducted to study the effect of increasing the fresh air flow rate on the occupants’ thermal comfort and whole body sensations. The results showed that most occupants in the CPV+CFs, who did not control the CF flow rate, felt comfortable 6 minutes. The participants, who controlled the CF speeds, felt comfortable in around 24 minutes because they were preoccupied with the CFs. For the DF speed control experiments, most participants who did not control the DFs felt comfortable within the first 8 minutes. Similarly to the CPV+CFs, the participants who controlled the DF flow rates felt comfortable at around 26 minutes. When the CPV system was either supported by CFs or DFs, 93% of participants in both cases reached thermal comfort. Participants in the parametric study felt more comfortable when the fresh air flow rate was low, and felt cold when as the flow rate increased.

Keywords: Thermal comfort, thermal sensation, predicted mean vote, thermal environment.

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Authors: Emil Crişan, Matthias Klumpp

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This paper discusses the theory behind the existence of an idealistic model for business network governance and uses a clarifying case-study, containing governance structures and processes within a business network framework. The case study from a German pharmaceutical industry company complements existing literature by providing a comprehensive explanation of the relations between supply chains and business networks, and also between supply chain management and business network governance. Supply chains and supply chain management are only one side of the interorganizational relationships and ensure short-term performance, while real-world governance structures are needed for ensuring the long-term existence of a supply chain. Within this context, a comprehensive model for business governance is presented. An interesting finding from the case study is that multiple business network governance systems co-exist within the evaluated supply chain.

Keywords: Business network, pharmaceutical industry, supply chain governance, supply chain management.

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Authors: N. Arulanand, P. Dhara

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Optimizing the parameters in the controller plays a vital role in the control theory and its applications. Optimizing the PID parameters is finding out the best value from the feasible solutions. Finding the optimal value is an optimization problem. Inverted Pendulum is a very good platform for control engineers to verify and apply different logics in the field of control theory. It is necessary to find an optimization technique for the controller to tune the values automatically in order to minimize the error within the given bounds. In this paper, the algorithmic concepts of Harmony search (HS) and Genetic Algorithm (GA) have been analyzed for the given range of values. The experimental results show that HS performs well than GA.

Keywords: Genetic Algorithm, Harmony Search Algorithm, Inverted Pendulum, PID Controller.

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Authors: T. Penkova, A. Korobko, V. Nicheporchuk., L. Nozhenkova, A. Metus

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This paper presents an approach of on-line control of the state of technosphere and environment objects based on the integration of Data Warehouse, OLAP and Expert systems technologies. It looks at the structure and content of data warehouse that provides consolidation and storage of monitoring data. There is a description of OLAP-models that provide a multidimensional analysis of monitoring data and dynamic analysis of principal parameters of controlled objects. The authors suggest some criteria of emergency risk assessment using expert knowledge about danger levels. It is demonstrated now some of the proposed solutions could be adopted in territorial decision making support systems. Operational control allows authorities to detect threat, prevent natural and anthropogenic emergencies and ensure a comprehensive safety of territory.

Keywords: Decision making support systems, Emergency risk assessment, Natural and anthropogenic safety, On-line control, Territory.

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Authors: Ali Hemmati, Ali Kheyroddin

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Semnan is a city in semnan province, northern Iran with a population estimated at 119,778 inhabitants. It is the provincial capital of semnan province. Iran is a developing country and construction is a basic factor of developing too. Hence, Semnan city needs to a special programming for construction of buildings, structures and infrastructures. Semnan municipality tries to begin this program. In addition to, city has some historical monuments which can be interesting for tourists. Hence, Semnan inhabitants can benefit from tourist industry. Optimization of Energy in construction industry is another activity of this municipality and the inhabitants who execute these regulations receive some discounts. Many parts of Iran such as semnan are located in highly seismic zones and structures must be constructed safe e.g., according to recent seismic codes. In this paper opportunities of IT in construction industry of Iran are investigated in three categories. Pre-construction phase, construction phase and earthquake disaster mitigation are studied. Studies show that information technology can be used in these items for reducing the losses and increasing the benefits. Both government and private sectors must contribute to this strategic project for obtaining the best result.

Keywords: approval, building, construction, document, industry, IT, Semnan

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Authors: B. Selma, S. Chouraqui

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Nonlinear system identification is becoming an important tool which can be used to improve control performance. This paper describes the application of adaptive neuro-fuzzy inference system (ANFIS) model for controlling a car. The vehicle must follow a predefined path by supervised learning. Backpropagation gradient descent method was performed to train the ANFIS system. The performance of the ANFIS model was evaluated in terms of training performance and classification accuracies and the results confirmed that the proposed ANFIS model has potential in controlling the non linear system.

Keywords: Adaptive neuro-fuzzy inference system (ANFIS), Fuzzy logic, neural network, nonlinear system, control

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Authors: Amon Tunwannarux, Supanunt Tunwannarux

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This paper describes the design concepts and implementation of a 5-Joint mechanical arm for a rescue robot named CEO Mission II. The multi-joint arm is a five degree of freedom mechanical arm with a four bar linkage, which can be stretched to 125 cm. long. It is controlled by a teleoperator via the user-friendly control and monitoring GUI program. With Inverse Kinematics principle, we developed the method to control the servo angles of all arm joints to get the desired tip position. By clicking the determined tip position or dragging the tip of the mechanical arm on the computer screen to the desired target point, the robot will compute and move its multi-joint arm to the pose as seen on the GUI screen. The angles of each joint are calculated and sent to all joint servos simultaneously in order to move the mechanical arm to the desired pose at once. The operator can also use a joystick to control the movement of this mechanical arm and the locomotion of the robot. Many sensors are installed at the tip of this mechanical arm for surveillance from the high level and getting the vital signs of victims easier and faster in the urban search and rescue tasks. It works very effectively and easy to control. This mechanical arm and its software were developed as a part of the CEO Mission II Rescue Robot that won the First Runner Up award and the Best Technique award from the Thailand Rescue Robot Championship 2006. It is a low cost, simple, but functioning 5-Jiont mechanical arm which is built from scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont mechanical arm hardware concept and its software can also be used as the basic mechatronics to many real applications.

Keywords: Multi-joint, mechanical arm, inverse kinematics, rescue robot, GUI control program.

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Authors: Anas M. Fares

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The lateral stiffness of buildings is one of the most important properties which define resistance to displacements under lateral loads. Moreover, it has a great impact on the natural period of the structures. Different stiffness’s values can ultimately affect the behavior of the structure under the seismic load and the lateral forces that will be applied to it. In this study the effect of cracking is studied on 2D shell thin cantilever shear wall by using ETABS. Multi linear elastic analysis is conducted with the ACI stiffness modifiers for each analysis step. The results showed that the cracks affect the value of the drift especially at the top of the high rise buildings and this will change the lateral stiffness and so change the fundamental period of the structures which lead to change in the applied shear force that comes from the earthquake. Finally, this study emphasizes that the finite element method can be considered as a good tool to predict the tensile stresses in the elements.

Keywords: Lateral loads, lateral displacement, reinforced concrete, shear wall, Cracks, ETABS, ACI code, stiffness.

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Authors: J. P. P. Andrade, V. A. F. Campos

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This work presents an application of Linear Matrix Inequalities (LMI) for the robust control of an F-16 aircraft through an algorithm ensuring the damping factor to the closed loop system. The results show that the zero and gain settings are sufficient to ensure robust performance and stability with respect to various operating points. The technique used is the pole placement, which aims to put the system in closed loop poles in a specific region of the complex plane. Test results using a dynamic model of the F-16 aircraft are presented and discussed.

Keywords: F-16 Aircraft, linear matrix inequalities, pole placement, robust control.

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

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This paper proposes a solution to the motion planning and control problem of a point-mass robot which is required to move safely to a designated target in a priori known workspace cluttered with fixed elliptical obstacles of arbitrary position and sizes. A tailored and unique algorithm for target convergence and obstacle avoidance is proposed that will work for any number of fixed obstacles. The control laws proposed in this paper also ensures that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a planar (RP) manipulator will be presented.

Keywords: Point-mass Robot, Asymptotic stability, Motionplanning, Planar Robot Arm.

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Authors: Konstantin Movsovic, Emanuele Stomeo, Tatiana Kalganova

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The evolutionary design of electronic circuits, or evolvable hardware, is a discipline that allows the user to automatically obtain the desired circuit design. The circuit configuration is under the control of evolutionary algorithms. Several researchers have used evolvable hardware to design electrical circuits. Every time that one particular algorithm is selected to carry out the evolution, it is necessary that all its parameters, such as mutation rate, population size, selection mechanisms etc. are tuned in order to achieve the best results during the evolution process. This paper investigates the abilities of evolution strategy to evolve digital logic circuits based on programmable logic array structures when different mutation rates are used. Several mutation rates (fixed and variable) are analyzed and compared with each other to outline the most appropriate choice to be used during the evolution of combinational logic circuits. The experimental results outlined in this paper are important as they could be used by every researcher who might need to use the evolutionary algorithm to design digital logic circuits.

Keywords: Evolvable hardware, evolutionary algorithm, digitallogic circuit, mutation rate.

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Authors: Biao Ma, Jikai Liu, Man Chen, Jianpeng Wu, Liyong Wang, Changsong Zheng

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Proposing an appropriate control strategy is an effective and practical way to address the overheat problems of the wet multi-plate clutch in Direct Shift Gearbox under the long-time creeping condition. To do so, the temperature variation of the wet multi-plate clutch is investigated firstly by establishing a thermal resistance model for the gearbox cooling system. To calculate the generated heat flux and predict the clutch temperature precisely, the friction torque model is optimized by introducing an improved friction coefficient, which is related to the pressure, the relative speed and the temperature. After that, the heat transfer model and the reasonable friction torque model are employed by the vehicle powertrain model to construct a comprehensive co-simulation model for the Direct Shift Gearbox (DSG) vehicle. A creeping control strategy is then proposed and, to evaluate the vehicle performance, the safety temperature (250 ℃) is particularly adopted as an important metric. During the creeping process, the temperature of two clutches is always under the safety value (250 ℃), which demonstrates the effectiveness of the proposed control strategy in avoiding the thermal failures of clutches.

Keywords: Creeping control strategy, direct shift gearbox, temperature variation, wet clutch.

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Authors: Rosmina Bustami, Charles Bong, Darrien Mah, Afnie Hamzah, Marina Patrick

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The distressing flood scenarios that occur in recent years at the surrounding areas of Sarawak River have left damages of properties and indirectly caused disruptions of productive activities. This study is meant to reconstruct a 100-year flood event that took place in this river basin. Sarawak River Subbasin was chosen and modeled using the one-dimensional hydrodynamic modeling approach using InfoWorks River Simulation (RS), in combination with Geographical Information System (GIS). This produces the hydraulic response of the river and its floodplains in extreme flooding conditions. With different parameters introduced to the model, correlations of observed and simulated data are between 79% – 87%. Using the best calibrated model, flood mitigation structures are imposed along the sub-basin. Analysis is done based on the model simulation results. Result shows that the proposed retention ponds constructed along the sub-basin provide the most efficient reduction of flood by 34.18%.

Keywords: Flood, Flood mitigation structure, InfoWorks RS, Retention pond, Sarawak River sub-basin.

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Authors: Mylena McCoggle, Shyra Wilson, Andrea Rivera, Rocio Alba-Flores, Valentin Soloiu

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This work describes a system that uses electromyography (EMG) signals obtained from muscle sensors and an Artificial Neural Network (ANN) for signal classification and pattern recognition that is used to control a small unmanned aerial vehicle using specific arm movements. The main objective of this endeavor is the development of an intelligent interface that allows the user to control the flight of a drone beyond direct manual control. The sensor used were the MyoWare Muscle sensor which contains two EMG electrodes used to collect signals from the posterior (extensor) and anterior (flexor) forearm, and the bicep. The collection of the raw signals from each sensor was performed using an Arduino Uno. Data processing algorithms were developed with the purpose of classifying the signals generated by the arm’s muscles when performing specific movements, namely: flexing, resting, and motion of the arm. With these arm motions roll control of the drone was achieved. MATLAB software was utilized to condition the signals and prepare them for the classification. To generate the input vector for the ANN and perform the classification, the root mean square and the standard deviation were processed for the signals from each electrode. The neuromuscular information was trained using an ANN with a single 10 neurons hidden layer to categorize the four targets. The result of the classification shows that an accuracy of 97.5% was obtained. Afterwards, classification results are used to generate the appropriate control signals from the computer to the drone through a Wi-Fi network connection. These procedures were successfully tested, where the drone responded successfully in real time to the commanded inputs.

Keywords: Biosensors, electromyography, Artificial Neural Network, Arduino, drone flight control, machine learning.

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Authors: J. Kala, V. Salajka, P. Hradil

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Many footbridges have natural frequencies that coincide with the dominant frequencies of the pedestrian-induced load and therefore they have a potential to suffer excessive vibrations under dynamic loads induced by pedestrians. Some of the design standards introduce load models for pedestrian loads applicable for simple structures. Load modeling for more complex structures, on the other hand, is most often left to the designer. The main focus of this paper is on the human induced forces transmitted to a footbridge and on the ways these loads can be modeled to be used in the dynamic design of footbridges. Also design criteria and load models proposed by widely used standards were introduced and a comparison was made. The dynamic analysis of the suspension bridge in Kolin in the Czech Republic was performed on detailed FEM model using the ANSYS program system. An attempt to model the load imposed by a single person and a crowd of pedestrians resulted in displacements and accelerations that are compared with serviceability criteria.

Keywords: Footbridge, Serviceability, Pedestrian action, Numerical analysis.

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Authors: Zhan Haiyang, Zhang Lei, Ning Juan

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This paper presents a configuration software solution in Linux, which is used for the control of space environment simulator. After introducing the structure and basic principle, it is said that the developing of QT software frame and the dynamic data exchanging between PLC and computer. The OPC driver in Linux is also developed. This driver realizes many-to-many communication between hardware devices and SCADA software. Moreover, an algorithm named “Scan PRI” is put forward. This algorithm is much more optimizable and efficient compared with "Scan in sequence" in Windows. This software has been used in practical project. It has a good control effect and can achieve the expected goal.

Keywords: Linux OS, configuration software, OPC server driver, MYSQL database.

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Authors: Areej M. Abduldaim, Nadia M. G. Al-Saidi

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Algebra is one of the important fields of mathematics. It concerns with the study and manipulation of mathematical symbols. It also concerns with the study of abstractions such as groups, rings, and fields. Due to the development of these abstractions, it is extended to consider other structures, such as vectors, matrices, and polynomials, which are non-numerical objects. Computer algebra is the implementation of algebraic methods as algorithms and computer programs. Recently, many algebraic cryptosystem protocols are based on non-commutative algebraic structures, such as authentication, key exchange, and encryption-decryption processes are adopted. Cryptography is the science that aimed at sending the information through public channels in such a way that only an authorized recipient can read it. Ring theory is the most attractive category of algebra in the area of cryptography. In this paper, we employ the algebraic structure called skew -Armendariz rings to design a neoteric algorithm for zero knowledge proof. The proposed protocol is established and illustrated through numerical example, and its soundness and completeness are proved.

Keywords: Cryptosystem, identification, skew π-Armendariz rings, skew polynomial rings, zero knowledge protocol.

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Authors: J.Zouhair, D.Ellison

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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.

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Authors: Trung-Kien Pham, Yoonsu Nam, Hyungun Kim, Jaehoon Son

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This paper addresses linear quadratic regulation (LQR) for variable speed variable pitch wind turbines. Because of the inherent nonlinearity of wind turbine, a set of operating conditions is identified and then a LQR controller is designed for each operating point. The feedback controller gains are then interpolated linearly to get control law for the entire operating region. Besides, the aerodynamic torque and effective wind speed are estimated online to get the gain-scheduling variable for implementing the controller. The potential of the method is verified through simulation with the help of MATLAB/Simulink and GH Bladed. The performance and mechanical load when using LQR are also compared with that when using PI controller.

Keywords: variable speed variable pitch wind turbine, multi-MW size wind turbine, wind energy conversion system, LQR control.

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Authors: Norzita Jaafar, Nor Zaini Zakaria, Azni Zain Ahmed, Razidah Ismail

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The use of solar control film on windows as one of solar passive strategies for building have becoming important and is gaining recognition. Malaysia located close to equator is having warm humid climate with long sunshine hours and abundant solar radiation throughout the year. Hence, befitting solar control on windows is absolutely necessary to capture the daylight whilst moderating thermal impact and eliminating glare problems. This is one of the energy efficient strategies to achieve thermal and visual comfort in buildings. Therefore, this study was carried out to investigate the effect of window solar controls on thermal and visual performance of naturally ventilated buildings. This was conducted via field data monitoring using a test building facility. Four types of window glazing systems were used with three types of solar control films. Data were analysed for thermal and visual impact with reference to thermal and optical characteristics of the films. Results show that for each glazing system, the surface temperature of windows are influenced by the Solar Energy Absorption property, the indoor air temperature are influenced by the Solar Energy Transmittance and Solar Energy Reflectance, and the daylighting by Visible Light Transmission and Shading Coefficient. Further investigations are underway to determine the mathematical relation between thermal energy and visual performance with the thermal and optical characteristics of solar control films.

Keywords: window, solar control film, natural ventilation, thermal performance, visual performance

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Authors: C. S. Tsai, Yung-Chang Lin

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In order to upgrade the seismic resistibility of structures and enhance the functionality of an isolator, a new base isolator called the multiple trench friction pendulum system (MTFPS) is proposed in this study. The proposed MTFPS isolator is composed of a trench concave surface and several intermediate sliding plates in two orthogonal directions. Mathematical formulations have been derived to examine the characteristics of the proposed MTFPS isolator possessing multiple intermediate sliding plates. By means of mathematical formulations, it can be inferred that the natural period and damping effect of the MTFPS isolator with several intermediate sliding plates can be altered continually and controllably during earthquakes. Furthermore, results obtained from shaking table tests demonstrate that the proposed isolator provides good protection to structures for prevention of damage from strong earthquakes.

Keywords: Friction Pendulum System, Multiple Friction Pendulum System, Base Isolation, Earthquake Engineering

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