Search results for: engine control
3071 Assessment of Diagnostic Enzymes as Indices of Heavy Metal Pollution in Tilapia Fish
Authors: Justina I. R. Udotong
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Diagnostic enzymes like aspartate aminotransferase (AST), alanine aminotransferase (ALT) and alkaline phosphatase (ALP) were determined as indices of heavy metal pollution in Tilapia guinensis. Three different sets of fishes treated with lead (Pb), iron (Fe) and copper (Cu) were used for the study while a fourth group with no heavy metal served as a control. Fishes in each of the groups were exposed to 2.65mg/l of Pb, 0.85mg/l of Fe and 0.35 mg/l of Cu in aerated aquaria for 96 hours. Tissue fractionation of the liver tissues was carried out and the three diagnostic enzymes (AST, ALT, and ALP) were estimated. Serum levels of the same diagnostic enzymes were also measured. The mean values of the serum enzyme activity for ALP in each experimental group were 19.5±1.62, 29.67±2.17 and 1.15±0.27 IU/L for Pb, Fe and Cu groups compared with 9.99±1.34 IU/L enzyme activity in the control. This result showed that Pb and Fe caused increased release of the enzyme into the blood circulation indicating increased tissue damage while Cu caused a reduction in the serum level as compared with the level in the control group. The mean values of enzyme activity obtained in the liver were 102.14±6.12, 140.17±2.06 and 168.23±3.52 IU/L for Pb, Fe and Cu groups, respectively compared to 91.20±9.42 IU/L enzyme activity for the control group. The serum and liver AST and ALT activities obtained in Pb, Fe, Cu and control groups are reported. It was generally noted that the presence of the heavy metal caused liver tissues damage and consequent increased level of the diagnostic enzymes in the serum.Keywords: Diagnostic enzymes, enzyme activity, heavy metals, tissues investigations.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23283070 Flow Control around Bluff Bodies by Attached Permeable Plates
Authors: G. M. Ozkan, H. Akilli
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The aim of present study is to control the unsteady flow structure downstream of a circular cylinder by use of attached permeable plates. Particle image velocimetry (PIV) technique and dye visualization experiments were performed in deep water and the flow characteristics were evaluated by means of time-averaged streamlines, Reynolds Shear Stress and Turbulent Kinetic Energy concentrations. The permeable plate was made of a chrome-nickel screen having a porosity value of β=0.6 and it was attached on the cylinder surface along its midspan. Five different angles were given to the plate (θ=0o, 15o, 30o, 45o, 60o) with respect to the centerline of the cylinder in order to examine its effect on the flow control. It was shown that the permeable plate is effective on elongating the vortex formation length and reducing the fluctuations in the wake region. Compared to the plain cylinder, the reductions in the values of maximum Reynolds shear stress and Turbulent Kinetic Energy were evaluated as 72.5% and 66%, respectively for the plate angles of θ=45oand 60o which were also found to be suggested for applications concerning the vortex shedding and consequent Vortex-Induced Vibrations.
Keywords: Bluff body, flow control, permeable plate, PIV, VIV, vortex shedding.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25783069 The Effectiveness of Metaphor Therapy on Depression among Female Students
Authors: Marzieh Talebzadeh Shoushtari
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The present study aimed to determine the effectiveness of Metaphor therapy on depression among female students. The sample included 60 female students with depression symptoms selected by simple sampling and randomly divided into two equal groups (experimental and control groups). Beck Depression Inventory was used to measure the variables. This was an experimental study with a pre-test/post-test design with control group. Eight metaphor therapy sessions were held for the experimental group. A post-test was administered to both groups. Data were analyzed using multivariate analysis of covariance (MANCOVA). Results showed that the Metaphor therapy decreased depression in the experimental group compared to the control group.Keywords: Metaphor therapy, depression, female, students.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27323068 Nonlinear Observer Design and Sliding Mode Control of Four Rotors Helicopter
Authors: H. Bouadi, M. Tadjine
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In this paper; we are interested in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation and new control scheme. We present after the development and the synthesis of a stabilizing control laws design based on sliding mode in order to perform best tracking results. It ensures locally asymptotic stability and desired tracking trajectories. Nonlinear observer is then synthesized in order to estimate the unmeasured states and the effects of the external disturbances such as wind and noise. Finally simulation results are also provided in order to illustrate the performances of the proposed controllers.
Keywords: Dynamic modelling, nonholonomic constraints, sliding mode, nonlinear observer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29503067 DODR : Delay On-Demand Routing
Authors: Dong Wan-li, Gu Nai-jie, Tu Kun, Bi Kun, Liu Gang
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As originally designed for wired networks, TCP (transmission control protocol) congestion control mechanism is triggered into action when packet loss is detected. This implicit assumption for packet loss mostly due to network congestion does not work well in Mobile Ad Hoc Network, where there is a comparatively high likelihood of packet loss due to channel errors and node mobility etc. Such non-congestion packet loss, when dealt with by congestion control mechanism, causes poor TCP performance in MANET. In this study, we continue to investigate the impact of the interaction between transport protocols and on-demand routing protocols on the performance and stability of 802.11 multihop networks. We evaluate the important wireless networking events caused routing change, and propose a cross layer method to delay the unnecessary routing changes, only need to add a sensitivity parameter α , which represents the on-demand routing-s reaction to link failure of MAC layer. Our proposal is applicable to the plain 802.11 networking environment, the simulation results that this method can remarkably improve the stability and performance of TCP without any modification on TCP and MAC protocol.
Keywords: Mobile ad hoc networks (MANET), on-demandrouting, performance, transmission control protocol (TCP).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17803066 Effects of Ultrasonic Treatment on Germination of Synthetic Sunflower Seeds
Authors: Thitiporn Machikowa, Thanawit Kulrattanarak, Sodchol Wonprasaid
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One problem of synthetic sunflower cultivation is an erratic germination of the seeds. To improve the germination, presowing seed treatment with an ultrasound was tested. All treatments were carried out at 40 kHz frequency with the intensities of 40, 60, 80 and 100% of the ultrasonic generator total power (250 W) for the durations of 5, 10, 15 and 20 minutes. Data on seed germination percentage, seed vigor index (SVI), root and shoot lengths of seedlings were collected. The results showed that germination, SVI, root and shoot lengths of ultrasonic treated seedlings were different from the control, depending on intensity of the ultrasound. The effects of ultrasonic treatment were significant on germination, resulting in a maximum increase of 43% at 40 and 60% intensities compared to that of the control seeds. In addition, seedlings of these 2 treatments had higher SVI and longer root and shoot lengths than that of the control seedlings. All treatment durations resulted in higher germination and SVI, longer root and higher shoot lenghts of seedlings than the control. Among the duration treatments, only SVI and seedling root length were significantly different.Keywords: Ultrasonic, germination, root length, shoot length, Helianthus annuus L.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 34443065 Robust Fuzzy Control of Nonlinear Fuzzy Impulsive Singular Perturbed Systems with Time-varying Delay
Authors: Caigen Zhou, Haibo Jiang
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The problem of robust fuzzy control for a class of nonlinear fuzzy impulsive singular perturbed systems with time-varying delay is investigated by employing Lyapunov functions. The nonlinear delay system is built based on the well-known T–S fuzzy model. The so-called parallel distributed compensation idea is employed to design the state feedback controller. Sufficient conditions for global exponential stability of the closed-loop system are derived in terms of linear matrix inequalities (LMIs), which can be easily solved by LMI technique. Some simulations illustrate the effectiveness of the proposed method.Keywords: T–S fuzzy model, singular perturbed systems, time-varying delay, robust control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16883064 Sliding Mode Control of an Internet Teleoperated PUMA 600 Robot
Authors: Abdallah Ghoul, Bachir Ouamri, Ismail Khalil Bousserhane
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In this paper, we have developed a sliding mode controller for PUMA 600 manipulator robot, to control the remote robot a teleoperation system was developed. This system includes two sites, local and remote. The sliding mode controller is installed at the remote site. The client asks for a position through an interface and receives the real positions after running of the task by the remote robot. Both sites are interconnected via the Internet. In order to verify the effectiveness of the sliding mode controller, that is compared with a classic PID controller. The developed approach is tested on a virtual robot. The results confirmed the high performance of this approach.Keywords: Internet, manipulator robot, PID controller, remote control, sliding mode, teleoperation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9483063 Cloud Computing Databases: Latest Trends and Architectural Concepts
Authors: Tarandeep Singh, Parvinder S. Sandhu
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The Economic factors are leading to the rise of infrastructures provides software and computing facilities as a service, known as cloud services or cloud computing. Cloud services can provide efficiencies for application providers, both by limiting up-front capital expenses, and by reducing the cost of ownership over time. Such services are made available in a data center, using shared commodity hardware for computation and storage. There is a varied set of cloud services available today, including application services (salesforce.com), storage services (Amazon S3), compute services (Google App Engine, Amazon EC2) and data services (Amazon SimpleDB, Microsoft SQL Server Data Services, Google-s Data store). These services represent a variety of reformations of data management architectures, and more are on the horizon.Keywords: Data Management in Cloud, AWS, EC2, S3, SQS, TQG.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19733062 Kinematics and Control System Design of Manipulators for a Humanoid Robot
Authors: S. Parasuraman
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In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the development of a controller, a simulation of the manipulator is designed for Humanoid robot. This simulation is developed through the use of the Virtual Reality Toolbox and Simulink in Matlab. The Virtual Reality Toolbox in Matlab provides the interfacing and controls to an environment which is developed based on the Virtual Reality Modeling Language (VRML). Chains of bones were used to represent the robot.Keywords: Mobile robot, Robot Kinematics, Robot Navigation, MATLAB.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15883061 Fuzzy Predictive Pursuit Guidance in the Homing Missiles
Authors: Mustafa Resa Becan, Ahmet Kuzucu
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A fuzzy predictive pursuit guidance is proposed as an alternative to the conventional methods. The purpose of this scheme is to obtain a stable and fast guidance. The noise effects must be reduced in homing missile guidance to get an accurate control. An aerodynamic missile model is simulated first and a fuzzy predictive pursuit control algorithm is applied to reduce the noise effects. The performance of this algorithm is compared with the performance of the classical proportional derivative control. Stability analysis of the proposed guidance method is performed and compared with the stability properties of other guidance methods. Simulation results show that the proposed method provides the satisfying performance.Keywords: Fuzzy, noise effect, predictive, pursuit.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18763060 Development of a Novel Pneumatic Hybrid Engine
Authors: Yu-Ta Shen, Yean-Ren Hwang
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Although electrical motors are still the main devices used in vehicular exhaust comprises more than 95 percent of the air pollution in Taiwan's largest city, Taipei. On average, all commuters in Taipei travel 13.6 km daily, while motorcycle commuters travel 12.2 km. The convenience and mobility of motorcycles makes them irreplaceable in Taiwan city traffic but they add significantly to air pollution problems. In order to improve air pollution conditions, some new types of vehicles have been proposed, such as fuel cell driven and hybrid energy vehicles. In this study, we develop a model pneumatic hybrid motorcycle system and simulate its acceleration and mileage (km/L) performance. The results show that the pneumatic hybrid motorcycle can improve efficiency.Keywords: vehicular, exhaust, air pollution, pneumatic, hybrid, motorcycle
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20463059 Hysteresis Modulation Based Sliding Mode Control for Positive Output Elementary Super Lift Luo Converter
Authors: K. Ramash Kumar, S. Jeevananthan
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The Object of this paper is to design and analyze a Hysteresis modulation based sliding mode control (HMSMC) for positive output elementary super lift Luo converter (POESLLC), which is the start-of-the-art DC-DC converter. The positive output elementary super lift Luo converter performs the voltage conversion from positive source voltage to positive load voltage. This paper proposes a HMSMC capable of providing the good steady state and dynamic performance compared to conventional controllers. Dynamic equations describing the positive output elementary super lift luo converter are derived by using state space average method. The simulation model of the positive output elementary super lift Luo converter with its control circuit is implemented in Matlab/Simulink. The HMSMC for positive output elementary super lift Luo converter is tested for line changes, load changes and also for components variations.Keywords: DC-DC converter, Positive output elementarysuper lift Luo converter (POESLLC), Hysteresis modulation basedsliding mode control (HMSMC).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22393058 Swarmed Discriminant Analysis for Multifunction Prosthesis Control
Authors: Rami N. Khushaba, Ahmed Al-Ani, Adel Al-Jumaily
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One of the approaches enabling people with amputated limbs to establish some sort of interface with the real world includes the utilization of the myoelectric signal (MES) from the remaining muscles of those limbs. The MES can be used as a control input to a multifunction prosthetic device. In this control scheme, known as the myoelectric control, a pattern recognition approach is usually utilized to discriminate between the MES signals that belong to different classes of the forearm movements. Since the MES is recorded using multiple channels, the feature vector size can become very large. In order to reduce the computational cost and enhance the generalization capability of the classifier, a dimensionality reduction method is needed to identify an informative yet moderate size feature set. This paper proposes a new fuzzy version of the well known Fisher-s Linear Discriminant Analysis (LDA) feature projection technique. Furthermore, based on the fact that certain muscles might contribute more to the discrimination process, a novel feature weighting scheme is also presented by employing Particle Swarm Optimization (PSO) for estimating the weight of each feature. The new method, called PSOFLDA, is tested on real MES datasets and compared with other techniques to prove its superiority.Keywords: Discriminant Analysis, Pattern Recognition, SignalProcessing.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15443057 Numerical Analysis for the Performance of a Thermoelectric Generator According to Engine Exhaust Gas Thermal Conditions
Authors: Jinkyu Park, Yungjin Kim, Byungdeok In, Sangki Park, Kihyung Lee
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Internal combustion engines rejects 30-40% of the energy supplied by fuel to the environment through exhaust gas. thus, there is a possibility for further significant improvement of efficiency with the utilization of exhaust gas energy and its conversion to mechanical energy or electrical energy. The Thermo-Electric Generator (TEG) will be located in the exhaust system and will make use of an energy flow between the warmer exhaust gas and the external environment. Predict to th optimum position of temperature distribution and the performance of TEG through numerical analysis. The experimental results obtained show that the power output significantly increases with the temperature difference between cold and hot sides of a thermoelectric generator.Keywords: Thermoelectric generator, Numerical analysis, Seebeck coefficient, Figure of merit
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22623056 Ride Control of Passenger Cars with Semi-active Suspension System Using a Linear Quadratic Regulator and Hybrid Optimization Algorithm
Authors: Ali Fellah Jahromi, Wen Fang Xie, Rama B. Bhat
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A semi-active control strategy for suspension systems of passenger cars is presented employing Magnetorheological (MR) dampers. The vehicle is modeled with seven DOFs including the, roll pitch and bounce of car body, and the vertical motion of the four tires. In order to design an optimal controller based on the actuator constraints, a Linear-Quadratic Regulator (LQR) is designed. The design procedure of the LQR consists of selecting two weighting matrices to minimize the energy of the control system. This paper presents a hybrid optimization procedure which is a combination of gradient-based and evolutionary algorithms to choose the weighting matrices with regards to the actuator constraint. The optimization algorithm is defined based on maximum comfort and actuator constraints. It is noted that utilizing the present control algorithm may significantly reduce the vibration response of the passenger car, thus, providing a comfortable ride.Keywords: Full car model, Linear Quadratic Regulator, Sequential Quadratic Programming, Genetic Algorithm
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29243055 A Design of the Organic Rankine Cycle for the Low Temperature Waste Heat
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A presentation of the design of the Organic Rankine cycle (ORC) with heat regeneration and superheating processes is a subject of this paper. The maximum temperature level in the ORC is considered to be 110°C and the maximum pressure varies up to 2.5MPa. The selection process of the appropriate working fluids, thermal design and calculation of the cycle and its components are described. With respect to the safety, toxicity, flammability, price and thermal cycle efficiency, the working fluid selected is R134a. As a particular example, the thermal design of the condenser used for the ORC engine with a theoretical thermal power of 179 kW was introduced. The minimal heat transfer area for a completed condensation was determined to be approximately 520m2.
Keywords: Organic Rankine Cycle, thermal efficiency, working fluids.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 40463054 Analysis and Control of Camera Type Weft Straightener
Authors: Jae-Yong Lee, Gyu-Hyun Bae, Yun-Soo Chung, Dae-Sub Kim, Jae-Sung Bae
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In general, fabric is heat-treated using a stenter machine in order to dry and fix its shape. It is important to shape before the heat treatment because it is difficult to revert back once the fabric is formed. To produce the product of right shape, camera type weft straightener has been applied recently to capture and process fabric images quickly. It is more powerful in determining the final textile quality rather than photo-sensor. Positioning in front of a stenter machine, weft straightener helps to spread fabric evenly and control the angle between warp and weft constantly as right angle by handling skew and bow rollers. To process this tricky procedure, the structural analysis should be carried out in advance, based on which, its control technology can be drawn. A structural analysis is to figure out the specific contact/slippage characteristics between fabric and roller. We already examined the applicability of camera type weft straightener to plain weave fabric and found its possibility and the specific working condition of machine and rollers. In this research, we aimed to explore another applicability of camera type weft straightener. Namely, we tried to figure out camera type weft straightener can be used for fabrics. To find out the optimum condition, we increased the number of rollers. The analysis is done by ANSYS software using Finite Element Analysis method. The control function is demonstrated by experiment. In conclusion, the structural analysis of weft straightener is done to identify a specific characteristic between roller and fabrics. The control of skew and bow roller is done to decrease the error of the angle between warp and weft. Finally, it is proved that camera type straightener can also be used for the special fabrics.
Keywords: Camera type weft straightener, structure analysis, control, skew and bow roller.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14393053 Evaluation of Power Factor Corrected AC - DC Converters and Controllers to meet UPS Performance Index
Authors: A. Muthuramalingam, S. Himavathi
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Harmonic pollution and low power factor in power systems caused by power converters have been of great concern. To overcome these problems several converter topologies using advanced semiconductor devices and control schemes have been proposed. This investigation is to identify a low cost, small size, efficient and reliable ac to dc converter to meet the input performance index of UPS. The performance of single phase and three phase ac to dc converter along with various control techniques are studied and compared. The half bridge converter topology with linear current control is identified as most suitable. It is simple, energy efficient because of single switch power loss and transformer-less operation of UPS. The results are validated practically using a prototype built using IGBT and analog controller. The performance for both single and three-phase system is verified. Digital implementation of closed loop control achieves higher reliability. Its cost largely depends on chosen bit precision. The minimal bit precision for optimum converter performance is identified as 16-bit with fixed-point operation. From the investigation and practical implementation it is concluded that half bridge ac – dc converter along with digital linear controller meets the performance index of UPS for single and three phase systems.Keywords: PFC, energy efficient, half bridge, ac-dc converter, boost topology, linear current control, digital bit precision.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 30243052 Double Manifold Sliding Mode Observer for Sensorless Control of Multiphase Induction Machine under Fault Condition
Authors: Mohammad Jafarifar
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Multiphase Induction Machine (IM) is normally controlled using rotor field oriented vector control. Under phase(s) loss, the machine currents can be optimally controlled to satisfy certain optimization criteria. In this paper we discuss the performance of double manifold sliding mode observer (DM-SMO) in Sensorless control of multiphase induction machine under unsymmetrical condition (one phase loss). This observer is developed using the IM model in the stationary reference frame. DM-SMO is constructed by adding extra feedback term to conventional single mode sliding mode observer (SM-SMO) which proposed in many literature. This leads to a fully convergent observer that also yields an accurate estimate of the speed and stator currents. It will be shown by the simulation results that the estimated speed and currents by the method are very well and error between real and estimated quantities is negligible. Also parameter sensitivity analysis shows that this method is rather robust against parameter variation.Keywords: Multiphase induction machine, field oriented control, sliding mode, unsymmetrical condition, manifold.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18053051 An Optimal Bayesian Maintenance Policy for a Partially Observable System Subject to Two Failure Modes
Authors: Akram Khaleghei Ghosheh Balagh, Viliam Makis, Leila Jafari
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In this paper, we present a new maintenance model for a partially observable system subject to two failure modes, namely a catastrophic failure and a failure due to the system degradation. The system is subject to condition monitoring and the degradation process is described by a hidden Markov model. A cost-optimal Bayesian control policy is developed for maintaining the system. The control problem is formulated in the semi-Markov decision process framework. An effective computational algorithm is developed, illustrated by a numerical example.
Keywords: Partially observable system, hidden Markov model, competing risks, multivariate Bayesian control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21793050 Reductive Control in the Management of Redundant Actuation
Authors: Mkhinini Maher, Knani Jilani
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We present in this work the performances of a mobile omnidirectional robot through evaluating its management of the redundancy of actuation. Thus we come to the predictive control implemented.
The distribution of the wringer on the robot actions, through the inverse pseudo of Moore-Penrose, corresponds to a « geometric ›› distribution of efforts. We will show that the load on vehicle wheels would not be equi-distributed in terms of wheels configuration and of robot movement.
Thus, the threshold of sliding is not the same for the three wheels of the vehicle. We suggest exploiting the redundancy of actuation to reduce the risk of wheels sliding and to ameliorate, thereby, its accuracy of displacement. This kind of approach was the subject of study for the legged robots.
Keywords: Mobile robot, actuation, redundancy, omnidirectional, inverse pseudo Moore-Penrose, reductive control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17703049 Dynamic Model of a Buck Converter with a Sliding Mode Control
Authors: S. Chonsatidjamroen , K-N. Areerak, K-L. Areerak
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This paper presents the averaging model of a buck converter derived from the generalized state-space averaging method. The sliding mode control is used to regulate the output voltage of the converter and taken into account in the model. The proposed model requires the fast computational time compared with those of the full topology model. The intensive time-domain simulations via the exact topology model are used as the comparable model. The results show that a good agreement between the proposed model and the switching model is achieved in both transient and steady-state responses. The reported model is suitable for the optimal controller design by using the artificial intelligence techniques.Keywords: Generalized state-space averaging method, buck converter, sliding mode control, modeling, simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29763048 Nonlinear Controller Design for Active Front Steering System
Authors: Iman Mousavinejad, Reza Kazemi, , Mohsen Bayani Khaknejad
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Active Front Steering system (AFS) provides an electronically controlled superposition of an angle to the steering wheel angle. This additional degree of freedom enables a continuous and driving-situation dependent on adaptation of the steering characteristics. In an active steering system, there needs be no fixed relationship between the steering wheel and the angle of the road wheels. Not only can the effective steering ratio be varied with speed, for example, but also the road wheel angles can be controlled by a combination of driver and computer inputs. Features like steering comfort, effort and steering dynamics are optimized and stabilizing steering interventions can be performed. In contrast to the conventional stability control, the yaw rate was fed back to AFS controller and the stability performance was optimized with Sliding Mode control (SMC) method. In addition, tire uncertainties have been taken into account in SM controller to provide the control robustness. In this paper, 3-DOF nonlinear model is used to design the AFS controller and 8-DOF nonlinear model is used to model the controlled vehicle.
Keywords: Active Front Steering (AFS), Sliding Mode Control method (SMC), Yaw rate, Vehicle Stability, Robustness
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 33193047 Real Time Data Communication with FlightGear Using Simulink over a UDP Protocol
Authors: Adil Loya, Ali Haider, Arslan A. Ghaffor, Abubaker Siddique
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Simulation and modelling of Unmanned Aerial Vehicle (UAV) has gained wide popularity in front of aerospace community. The demand of designing and modelling optimized control system for UAV has increased ten folds since last decade, as next generation warfare is dependent on unmanned technologies. Therefore, this research focuses on the simulation of nonlinear UAV dynamics on Simulink and its integration with Flightgear. There has been lots of research on implementation of optimizing control using Simulink, however, there are fewer known techniques to simulate these dynamics over Flightgear and a tedious technique of acquiring data has been tackled in this research horizon. Sending data to Flightgear is easy but receiving it from Simulink is not that straight forward, i.e. we can only receive control data on the output. However, in this research we have managed to get the data out from the Flightgear by implementation of level 2 s-function block within Simulink. Moreover, the results captured from Flightgear over a Universal Datagram Protocol (UDP) communication are then compared with the attitude signal that were sent previously. This provide useful information regarding the difference in outputs attained from Simulink to Flightgear. It was found that values received on Simulink were in high agreement with that of the Flightgear output. And complete study has been conducted in a discrete way.
Keywords: aerospace, flight control, FlightGear, communication, Simulink
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11163046 Active Linear Quadratic Gaussian Secondary Suspension Control of Flexible Bodied Railway Vehicle
Authors: Kaushalendra K. Khadanga, Lee Hee Hyol
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Passenger comfort has been paramount in the design of suspension systems of high speed cars. To analyze the effect of vibration on vehicle ride quality, a vertical model of a six degree of freedom railway passenger vehicle, with front and rear suspension, is built. It includes car body flexible effects and vertical rigid modes. A second order linear shaping filter is constructed to model Gaussian white noise into random rail excitation. The temporal correlation between the front and rear wheels is given by a second order Pade approximation. The complete track and the vehicle model are then designed. An active secondary suspension system based on a Linear Quadratic Gaussian (LQG) optimal control method is designed. The results show that the LQG control method reduces the vertical acceleration, pitching acceleration and vertical bending vibration of the car body as compared to the passive system.
Keywords: Active suspension, bending vibration, railway vehicle, vibration control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7113045 The Importance of Development in Laboratory Diagnosis at the Intersection
Authors: Agus Sahri, Cahya Putra Dinata, Faishal Andhi Rokhman
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Intersection is a critical area on a highway which is a place of conflict points and congestion due to the meeting of two or more roads. Conflicts that occur at the intersection include diverging, merging, weaving, and crossing. To deal with these conflicts, a crossing control system is needed, at a plot of intersection there are two control systems namely signal intersections and non-signalized intersections. The control system at a plot of intersection can affect the intersection performance. In Indonesia there are still many intersections with poor intersection performance. In analyzing the parameters to measure the performance of a plot of intersection in Indonesia, it is guided by the 1997 Indonesian Road Capacity Manual. For this reason, this study aims to develop laboratory diagnostics at plot intersections to analyze parameters that can affect the performance of an intersection. The research method used is research and development. The laboratory diagnosis includes anamnesis, differential diagnosis, inspection, diagnosis, prognosis, specimens, analysis and sample data analysts. It is expected that this research can encourage the development and application of laboratory diagnostics at a plot of intersection in Indonesia so that intersections can function optimally.
Keywords: Intersection, laboratory diagnostic, control systems, Indonesia.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7393044 Hand Controlled Mobile Robot Applied in Virtual Environment
Authors: Jozsef Katona, Attila Kovari, Tibor Ujbanyi, Gergely Sziladi
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By the development of IT systems, human-computer interaction is also developing even faster and newer communication methods become available in human-machine interaction. In this article, the application of a hand gesture controlled human-computer interface is being introduced through the example of a mobile robot. The control of the mobile robot is implemented in a realistic virtual environment that is advantageous regarding the aspect of different tests, parallel examinations, so the purchase of expensive equipment is unnecessary. The usability of the implemented hand gesture control has been evaluated by test subjects. According to the opinion of the testing subjects, the system can be well used, and its application would be recommended on other application fields too.
Keywords: Human-machine interface, hand control, mobile robot, virtual environment.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9983043 Iterative Estimator-Based Nonlinear Backstepping Control of a Robotic Exoskeleton
Authors: Brahmi Brahim, Mohammad Habibur Rahman, Maarouf Saad, Cristóbal Ochoa Luna
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A repetitive training movement is an efficient method to improve the ability and movement performance of stroke survivors and help them to recover their lost motor function and acquire new skills. The ETS-MARSE is seven degrees of freedom (DOF) exoskeleton robot developed to be worn on the lateral side of the right upper-extremity to assist and rehabilitate the patients with upper-extremity dysfunction resulting from stroke. Practically, rehabilitation activities are repetitive tasks, which make the assistive/robotic systems to suffer from repetitive/periodic uncertainties and external perturbations induced by the high-order dynamic model (seven DOF) and interaction with human muscle which impact on the tracking performance and even on the stability of the exoskeleton. To ensure the robustness and the stability of the robot, a new nonlinear backstepping control was implemented with designed tests performed by healthy subjects. In order to limit and to reject the periodic/repetitive disturbances, an iterative estimator was integrated into the control of the system. The estimator does not need the precise dynamic model of the exoskeleton. Experimental results confirm the robustness and accuracy of the controller performance to deal with the external perturbation, and the effectiveness of the iterative estimator to reject the repetitive/periodic disturbances.Keywords: Backstepping control, iterative control, rehabilitation, ETS-MARSE.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13623042 Heterogeneous Artifacts Construction for Software Evolution Control
Authors: Mounir Zekkaoui, Abdelhadi Fennan
Abstract:
The software evolution control requires a deep understanding of the changes and their impact on different system heterogeneous artifacts. And an understanding of descriptive knowledge of the developed software artifacts is a prerequisite condition for the success of the evolutionary process. The implementation of an evolutionary process is to make changes more or less important to many heterogeneous software artifacts such as source code, analysis and design models, unit testing, XML deployment descriptors, user guides, and others. These changes can be a source of degradation in functional, qualitative or behavioral terms of modified software. Hence the need for a unified approach for extraction and representation of different heterogeneous artifacts in order to ensure a unified and detailed description of heterogeneous software artifacts, exploitable by several software tools and allowing to responsible for the evolution of carry out the reasoning change concerned.
Keywords: Heterogeneous software artifacts, Software evolution control, Unified approach, Meta Model, Software Architecture.
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