Search results for: stability constraints

Authors: Tooraj Hakim Elahi, Abdolamir Nekoubin

Abstract:

In many applications, magnetic suspension systems are required to operate over large variations in air gap. As a result, the nonlinearities inherent in most types of suspensions have a significant impact on performance. Specifically, it may be difficult to design a linear controller which gives satisfactory performance, stability, and disturbance rejection over a wide range of operating points. in this paper an optimal controller based on discontinuous mathematical model of the system for an electromagnetic suspension system which is applied in magnetic trains has been designed . Simulations show that the new controller can adapt well to the variance of suspension mass and gap, and keep its dynamic performance, thus it is superior to the classic controller.

Keywords: Magnetic Levitation, optimal controller, mass and gap

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Authors: E. Movahednejad, F. Ommi

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Droplet size distributions in the cold spray of a fuel are important in observed combustion behavior. Specification of droplet size and velocity distributions in the immediate downstream of injectors is also essential as boundary conditions for advanced computational fluid dynamics (CFD) and two-phase spray transport calculations. This paper describes the development of a new model to be incorporated into maximum entropy principle (MEP) formalism for prediction of droplet size distribution in droplet formation region. The MEP approach can predict the most likely droplet size and velocity distributions under a set of constraints expressing the available information related to the distribution. In this article, by considering the mechanisms of turbulence generation inside the nozzle and wave growth on jet surface, it is attempted to provide a logical framework coupling the flow inside the nozzle to the resulting atomization process. The purpose of this paper is to describe the formulation of this new model and to incorporate it into the maximum entropy principle (MEP) by coupling sub-models together using source terms of momentum and energy. Comparison between the model prediction and experimental data for a gas turbine swirling nozzle and an annular spray indicate good agreement between model and experiment.

Keywords: Droplet, instability, Size Distribution, Turbulence, Maximum Entropy

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Authors: Lianglin Xiong, Shouming Zhong, Mao Ye

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This paper addresses the stabilization issues for a class of uncertain switched neutral systems with nonlinear perturbations. Based on new classes of piecewise Lyapunov functionals, the stability assumption on all the main operators or the convex combination of coefficient matrices is avoid, and a new switching rule is introduced to stabilize the neutral systems. The switching rule is designed from the solution of the so-called Lyapunov-Metzler linear matrix inequalities. Finally, three simulation examples are given to demonstrate the significant improvements over the existing results.

Keywords: Switched neutral system, piecewise Lyapunov functional, nonlinear perturbation, Lyapunov-Metzler linear matrix inequality.

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Authors: M. Zarebnia, R. Parvaz

Abstract:

In this paper the Kuramoto-Sivashinsky equation is solved numerically by collocation method. The solution is approximated as a linear combination of septic B-spline functions. Applying the Von-Neumann stability analysis technique, we show that the method is unconditionally stable. The method is applied on some test examples, and the numerical results have been compared with the exact solutions. The global relative error and L∞ in the solutions show the efficiency of the method computationally.

Keywords: Kuramoto-Sivashinsky equation, Septic B-spline, Collocation method, Finite difference.

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Authors: Jožef Ritonja, Bojan Grčar, Boštjan Polajžer

Abstract:

In recent years, electricity trade between neighboring countries has become increasingly intense. Increasing power transmission over long distances has resulted in an increase in the oscillations of the transmitted power. The damping of the oscillations can be carried out with the reconfiguration of the network or the replacement of generators, but such solution is not economically reasonable. The only cost-effective solution to improve the damping of power oscillations is to use power system stabilizers. Power system stabilizer represents a part of synchronous generator control system. It utilizes semiconductor’s excitation system connected to the rotor field excitation winding to increase the damping of the power system. The majority of the synchronous generators are equipped with the conventional power system stabilizers with fixed parameters. The control structure of the conventional power system stabilizers and the tuning procedure are based on the linear control theory. Conventional power system stabilizers are simple to realize, but they show non-sufficient damping improvement in the entire operating conditions. This is the reason that advanced control theories are used for development of better power system stabilizers. In this paper, the adaptive control theory for power system stabilizers design and synthesis is studied. The presented work is focused on the use of model reference adaptive control approach. Control signal, which assures that the controlled plant output will follow the reference model output, is generated by the adaptive algorithm. Adaptive gains are obtained as a combination of the "proportional" term and with the σ-term extended "integral" term. The σ-term is introduced to avoid divergence of the integral gains. The necessary condition for asymptotic tracking is derived by means of hyperstability theory. The benefits of the proposed model reference adaptive power system stabilizer were evaluated as objectively as possible by means of a theoretical analysis, numerical simulations and laboratory realizations. Damping of the synchronous generator oscillations in the entire operating range was investigated. Obtained results show the improved damping in the entire operating area and the increase of the power system stability. The results of the presented work will help by the development of the model reference power system stabilizer which should be able to replace the conventional stabilizers in power systems.

Keywords: Power system, stability, oscillations, power system stabilizer, model reference adaptive control.

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Authors: Omid Mirmotahari, Yngvar Berg, Ahmad Habibizad Navin

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Reversible logic is becoming more and more prominent as the technology sets higher demands on heat, power, scaling and stability. Reversible gates are able at any time to "undo" the current step or function. Multiple-valued logic has the advantage of transporting and evaluating higher bits each clock cycle than binary. Moreover, we demonstrate in this paper, combining these disciplines we can construct powerful multiple-valued reversible logic structures. In this paper a reversible block implemented by pseudo floatinggate can perform AD-function and a DA-function as its reverse application.

Keywords: Reversible logic, bi-directional, Pseudo floating-gate(PFG), multiple-valued logic (MVL).

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Authors: M. Khoshab, M. J. Sedigh

Abstract:

Dynamic systems, which in mathematical point of view are those governed by differential equations, are much more difficult to study and to predict their behavior in comparison with static systems which are governed by algebraic equations. Economical systems such as market are among complicated dynamic systems. This paper tries to adopt a very simple mathematical model for market and to study effect of supply and demand function on behavior of the market while the supply side experiences a lag due to production restrictions.

Keywords: Dynamic System, Lag on Supply Demand, Market Stability, Supply Demand Model.

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Authors: R. Loukil, M. Chtourou, T. Damak

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In this work, we use the Fault detection and isolation and the Fault tolerant control based on sliding mode observer in order to introduce the well diagnosis of a nonlinear system. The robustness of the proposed observer for the two techniques is tested through a physical example. The results in this paper show the interaction between the Fault tolerant control and the Diagnosis procedure.

Keywords: Fault detection and isolation “FDI”, Fault tolerant control “FTC”, sliding mode observer, nonlinear system, robustness, stability.

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Authors: Hadia Abdel Aziz, Raghda El Ebrashi

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Business models are shaped by their design space or the environment they are designed to be implemented in. The rapidly changing economic, technological, political, regulatory and market external environment severely affects business logic. This is particularly true for social enterprises whose core mission is to transform their environments, and thus, their whole business logic revolves around the interchange between the enterprise and the environment. The context in which social business operates imposes different business design constraints while at the same time, open up new design opportunities. It is also affected to a great extent by the impact that successful enterprises generate; a continuous loop of interaction that needs to be managed through a dynamic capability in order to generate a lasting powerful impact. This conceptual research synthesizes and analyzes literature on social enterprise, social enterprise business models, business model innovation, business model design, and the open system view theory to propose a new business model design process for social enterprises that takes into account the critical role of environmental factors. This process would help the social enterprise develop a dynamic capability that ensures the alignment of its business model to its environmental context, thus, maximizing its probability of success.

Keywords: Social enterprise, business model, business model design.

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Authors: J. Kala, J. Melcher, M. Škaloud, Z. Kala

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In the paper, the results of sensitivity analysis of the influence of initial imperfections on the web stress state of a thinwalled girder are presented. The results of the study corroborate a very good and effective agreement of experiments with theory. Most input random quantities were found experimentally. The change of sensitivity coefficients in dependence on working load value is analysed. The stress was analysed by means of a geometrically and materially non-linear solution by applying the program ANSYS. This research study offers important background for theoretical studies of stability problems, post-critical effects and limit states of thin-walled steel structures.

Keywords: Buckling, Fatigue, Imperfection, Steel, Sensitivity analysis.

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Authors: Donna M. G. Comissiong, Tyrone D. Dass, Harold Ramkissoon, Alana R. Sankar

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The B'enard-Marangoni thermal instability problem for a viscoelastic Jeffreys- fluid layer with internal heat generation is investigated. The fluid layer is bounded above by a realistic free deformable surface and by a plane surface below. Our analysis shows that while the internal heat generation and the relaxation time both destabilize the fluid layer, its stability may be enhanced by an increased retardation time.

Keywords: Viscoelastic fluid, Jeffreys' model, Maxwell model, internal heat generation, retardation time, relaxation time.

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Authors: Banaja Mohanty, Prakash Kumar Hota

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This paper presents a differential evolution algorithm to design a robust PI and PID controllers for Load Frequency Control (LFC) of nonlinear interconnected power systems considering the boiler dynamics, Governor Dead Band (GDB), Generation Rate Constraint (GRC). Differential evolution algorithm is employed to search for the optimal controller parameters. The proposed method easily copes of with nonlinear constraints. Further the proposed controller is simple, effective and can ensure the desirable overall system performance. The superiority of the proposed approach has been shown by comparing the results with published fuzzy logic controller for the same power systems. The comparison is done using various performance measures like overshoot, settling time and standard error criteria of frequency and tie-line power deviation following a 1% step load perturbation in hydro area. It is noticed that, the dynamic performance of proposed controller is better than fuzzy logic controller. Furthermore, it is also seen that the proposed system is robust and is not affected by change in the system parameters.

Keywords: Automatic Generation control (AGC), Generation Rate Constraint (GRC), Governor Dead Band (GDB), Differential Evolution (DE)

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Authors: H. Ifassiouen, M. Guisser, H.Medromi

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This paper presents an investigation into the design of a flight control system, using a robust sliding mode control structure, designed using the exact feedback linearization procedure of the dynamic of a small-size autonomous helicopter in hover. The robustness of the controller in the context of stabilization and trajectory tracking with respect to small body forces and air resistance on the main and tail rotor, is analytically proved using Lyapunov approach. Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.

Keywords: Robust control, sliding mode, stability, Lyapunovapproach.

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Authors: Perumal, V., Hassan, H., Bolong, J., Osman, M. N.

Abstract:

Film, as an art form playing a vital role and is a powerful tool in documenting, influencing and shaping the society. Films are the collective creation of a large number of separate individuals, each contributing with creative input, unique talents, and technical expertise to the project. Recently, the Malaysian Independent (or “Indie") filmmakers have made their presence felt by winning awards at various international film festivals. Working in the digital video (DV) format, a number of independent filmmakers really hit their stride with a range of remarkably strong titles and international recognition has been quick in coming and their works are now regularly in exhibition or in competition, winning many top prizes at prestigious festivals around the world. The interaction factors among crewmembers are emphasized as imperative for group success. An in-depth interview is conducted to analyze the social interactions and exchanges between filmmakers through Social Exchanges Theory (SET). Certainly the new millennium that was marked as the digital technology revolution has changed the face of filmmaking in Malaysia. There is a clear need to study the Malaysian independent cinema especially from the perspective of understanding what causes the independent filmmakers to work so well given all of the difficulties and constraints.

Keywords: Digital filmmaking, technology, interaction, crewmembers, cinema, independent filmmaker.

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Authors: Hesam Sedaghat Nejad, Navid Hosseini, Arash Nikvar Hassani

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Determination of the optimum block size with high profitability is one of the significant parameters in designation of the building stone mines. The aim of this study was to determine the optimum dimensions of building stone blocks in Delichai travertine mine of Damavand in Tehran province through combining the effective parameters proven in determination of the optimum dimensions in building stones such as the spacing of joints and gaps, extraction tools constraints with the help of modeling by Gemcom software. To this end, following simulation of the topography of the mine, the block model was prepared and then in order to use spacing joints and discontinuities as a limiting factor, the existing joints set was added to the model. Since only one almost horizontal joint set with a slope of 5 degrees was available, this factor was effective only in determining the optimum height of the block, and thus to determine the longitudinal and transverse optimum dimensions of the extracted block, the power of available loader in the mine was considered as the secondary limiting factor. According to the aforementioned factors, the optimal block size in this mine was measured as 3.4×4×7 meter.

Keywords: Building stone, optimum block size, Delichai Travertine Mine, loader power.

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Authors: Nickolay Jelev, Andy Keane, Carren Holden, András Sóbester

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In aircraft design, the jump from the conceptual to preliminary design stage introduces a level of complexity which cannot be realistically handled by a single optimiser, be that a human (chief engineer) or an algorithm. The design process is often partitioned along disciplinary lines, with each discipline given a level of autonomy. This introduces a number of challenges including, but not limited to: coupling of design variables; coordinating disciplinary teams; handling of large amounts of analysis data; reaching an acceptable design within time constraints. A number of classical Multidisciplinary Design Optimisation (MDO) architectures exist in academia specifically designed to address these challenges. Their limited use in the industrial aircraft design process has inspired the authors of this paper to develop an alternative strategy based on well established ideas from Decision Support Systems. The proposed rule based architecture sacrifices possibly elusive guarantees of convergence for an attractive return in simplicity. The method is demonstrated on analytical and aircraft design test cases and its performance is compared to a number of classical distributed MDO architectures.

Keywords: Multidisciplinary design optimisation, rule based architecture, aircraft design, decision support system.

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Authors: O. Eisa, M. Shuhaimi

Abstract:

This paper presents a study on the thermodynamics and transport properties of hot potassium carbonate aqueous system (HPC) using electrolyte non-random two liquid, (ELECNRTL) model. The operation conditions are varied to determine the system liquid phase stability range at the standard and critical conditions. A case study involving 30 wt% K2CO3, H2O standard system at pressure of 1 bar and temperature range from 280.15 to 366.15 K has been studied. The estimated solubility index, viscosity, water activity, and density which obtained from the simulation showed a good agreement with the experimental work. Furthermore, the saturation temperature of the solution has been estimated.

Keywords: Viscosity, Saturation index, Activity coefficient, Density.

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Authors: V.Sekar, T.G.Palanivelu, B.Revathi

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Electromagnetic interference (EMI) is one of the serious problems in most electrical and electronic appliances including fluorescent lamps. The electronic ballast used to regulate the power flow through the lamp is the major cause for EMI. The interference is because of the high frequency switching operation of the ballast. Formerly, some EMI mitigation techniques were in practice, but they were not satisfactory because of the hardware complexity in the circuit design, increased parasitic components and power consumption and so on. The majority of the researchers have their spotlight only on EMI mitigation without considering the other constraints such as cost, effective operation of the equipment etc. In this paper, we propose a technique for EMI mitigation in fluorescent lamps by integrating Frequency Modulation and Evolutionary Programming. By the Frequency Modulation technique, the switching at a single central frequency is extended to a range of frequencies, and so, the power is distributed throughout the range of frequencies leading to EMI mitigation. But in order to meet the operating frequency of the ballast and the operating power of the fluorescent lamps, an optimal modulation index is necessary for Frequency Modulation. The optimal modulation index is determined using Evolutionary Programming. Thereby, the proposed technique mitigates the EMI to a satisfactory level without disturbing the operation of the fluorescent lamp.

Keywords: Ballast, Electromagnetic interference (EMI), EMImitigation, Evolutionary programming (EP), Fluorescent lamp, Frequency Modulation (FM), Modulation index.

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Authors: S. Ritddech, P. Aroonjarattham, K. Aroonjarattham

Abstract:

The pullout strength had an effect on the stability of plate screw fixation when inserted in the cervical spine. Nine different titanium alloy bone screws were used to test the pullout strength through finite element analysis. The result showed that the Moss Miami I can bear the highest pullout force at 1,075 N, which causes the maximum von Mises stress at 858.87 MPa, a value over the yield strength of titanium. The bone screw should have large outer diameter, core diameter and proximal root radius to increase the pullout strength.

Keywords: Pullout strength, Screw parameter, Cervical spine, Finite element analysis.

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Authors: Andhe Dharani, P. S. Satyanarayana, Andhe Pallavi

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Considering payload, reliability, security and operational lifetime as major constraints in transmission of images we put forward in this paper a steganographic technique implemented at the physical layer. We suggest transmission of Halftoned images (payload constraint) in wireless sensor networks to reduce the amount of transmitted data. For low power and interference limited applications Turbo codes provide suitable reliability. Ensuring security is one of the highest priorities in many sensor networks. The Turbo Code structure apart from providing forward error correction can be utilized to provide for encryption. We first consider the Halftoned image and then the method of embedding a block of data (called secret) in this Halftoned image during the turbo encoding process is presented. The small modifications required at the turbo decoder end to extract the embedded data are presented next. The implementation complexity and the degradation of the BER (bit error rate) in the Turbo based stego system are analyzed. Using some of the entropy based crypt analytic techniques we show that the strength of our Turbo based stego system approaches that found in the OTPs (one time pad).

Keywords: Halftoning, Turbo codes, security, operationallifetime, Turbo based stego system.

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Authors: Robersy Sánchez, Ricardo Grau

Abstract:

A plausible architecture of an ancient genetic code is derived from an extended base triplet vector space over the Galois field of the extended base alphabet {D, G, A, U, C}, where the letter D represent one or more hypothetical bases with unspecific pairing. We hypothesized that the high degeneration of a primeval genetic code with five bases and the gradual origin and improvements of a primitive DNA repair system could make possible the transition from the ancient to the modern genetic code. Our results suggest that the Watson-Crick base pairing and the non-specific base pairing of the hypothetical ancestral base D used to define the sum and product operations are enough features to determine the coding constraints of the primeval and the modern genetic code, as well as the transition from the former to the later. Geometrical and algebraic properties of this vector space reveal that the present codon assignment of the standard genetic code could be induced from a primeval codon assignment. Besides, the Fourier spectrum of the extended DNA genome sequences derived from the multiple sequence alignment suggests that the called period-3 property of the present coding DNA sequences could also exist in the ancient coding DNA sequences.

Keywords: Genetic code vector space, primeval genetic code, power spectrum.

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Authors: Fabian Horn, Reinhard Guthke

Abstract:

In molecular biology, microarray technology is widely and successfully utilized to efficiently measure gene activity. If working with less studied organisms, methods to design custom-made microarray probes are available. One design criterion is to select probes with minimal melting temperature variances thus ensuring similar hybridization properties. If the microarray application focuses on the investigation of metabolic pathways, it is not necessary to cover the whole genome. It is more efficient to cover each metabolic pathway with a limited number of genes. Firstly, an approach is presented which minimizes the overall melting temperature variance of selected probes for all genes of interest. Secondly, the approach is extended to include the additional constraints of covering all pathways with a limited number of genes while minimizing the overall variance. The new optimization problem is solved by a bottom-up programming approach which reduces the complexity to make it computationally feasible. The new method is exemplary applied for the selection of microarray probes in order to cover all fungal secondary metabolite gene clusters for Aspergillus terreus.

Keywords: bottom-up approach, gene clusters, melting temperature, metabolic pathway, microarray probe design, probe selection

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Authors: A. El Shahat, A. Keyhani, H. El Shewy

Abstract:

High Speed PM Generators driven by micro-turbines are widely used in Smart Grid System. So, this paper proposes comparative study among six classical, optimized and genetic analytical design cases for 400 kW output power at tip speed 200 m/s. These six design trials of High Speed Permanent Magnet Synchronous Generators (HSPMSGs) are: Classical Sizing; Unconstrained optimization for total losses and its minimization; Constrained optimized total mass with bounded constraints are introduced in the problem formulation. Then a genetic algorithm is formulated for obtaining maximum efficiency and minimizing machine size. In the second genetic problem formulation, we attempt to obtain minimum mass, the machine sizing that is constrained by the non-linear constraint function of machine losses. Finally, an optimum torque per ampere genetic sizing is predicted. All results are simulated with MATLAB, Optimization Toolbox and its Genetic Algorithm. Finally, six analytical design examples comparisons are introduced with study of machines waveforms, THD and rotor losses.

Keywords: High Speed, Micro - Turbines, Optimization, PM Generators, Smart Grid, MATLAB.

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Authors: M. Zarebnia, R. Parvaz

Abstract:

In this paper, numerical solutions of the nonlinear Benjamin-Bona-Mahony-Burgers (BBMB) equation are obtained by a method based on collocation of cubic B-splines. Applying the Von-Neumann stability analysis, the proposed method is shown to be unconditionally stable. The method is applied on some test examples, and the numerical results have been compared with the exact solutions. The L∞ and L2 in the solutions show the efficiency of the method computationally.

Keywords: Benjamin-Bona-Mahony-Burgers equation, Cubic Bspline, Collocation method, Finite difference.

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Authors: Zdravka Aljinović, Snježana Pivac, Boško Šego

Abstract:

According to the interaction of inflation and unemployment, expectation of the rate of inflation in Croatia is estimated. The interaction between inflation and unemployment is shown by model based on three first-order differential i.e. difference equations: Phillips relation, adaptive expectations equation and monetary-policy equation. The resulting equation is second order differential i.e. difference equation which describes the time path of inflation. The data of the rate of inflation and the rate of unemployment are used for parameters estimation. On the basis of the estimated time paths, the stability and convergence analysis is done for the rate of inflation.

Keywords: Differencing, inflation, time path, unemployment.

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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: Tien-Tung Chung, Chin-Te Lin, Chung-Yun Lee, Kuang-Chao Fan, Shou-Heng Chen

Abstract:

This paper studies the optimum design for reducing optical loss of an 8x8 mechanical type optical switch due to the temperature change. The 8x8 optical switch is composed of a base, 8 input fibers, 8 output fibers, 3 fixed mirrors and 17 movable mirrors. First, an innovative switch configuration is proposed with thermal-compensated design. Most mechanical type optical switches have a disadvantage that their precision and accuracy are influenced by the ambient temperature. Therefore, the thermal-compensated design is to deal with this situation by using materials with different thermal expansion coefficients (α). Second, a parametric modeling program is developed to generate solid models for finite element analysis, and the thermal and structural behaviors of the switch are analyzed. Finally, an integrated optimum design program, combining Autodesk Inventor Professional software, finite element analysis software, and genetic algorithms, is developed for improving the thermal behaviors that the optical loss of the switch is reduced. By changing design parameters of the switch in the integrated design program, the final optimum design that satisfies the design constraints and specifications can be found.

Keywords: Optical switch, finite element analysis, thermal-compensated design, optimum design.

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

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: Debabrata Das, Pankaj Dutta

Abstract:

Along with forward supply chain organization needs to consider the impact of reverse logistics due to its economic advantage, social awareness and strict legislations. In this paper, we develop a system dynamics framework for a closed-loop supply chain with fuzzy demand and fuzzy collection rate by incorporating product exchange policy in forward channel and various recovery options in reverse channel. The uncertainty issues associated with acquisition and collection of used product have been quantified using possibility measures. In the simulation study, we analyze order variation at both retailer and distributor level and compare bullwhip effects of different logistics participants over time between the traditional forward supply chain and the closed-loop supply chain. Our results suggest that the integration of reverse logistics can reduce order variation and bullwhip effect of a closed-loop system. Finally, sensitivity analysis is performed to examine the impact of various parameters on recovery process and bullwhip effect.

Keywords: Bullwhip Effect, Fuzzy Possibility Measures, Reverse Supply Chain, System Dynamics.

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Authors: Santosh Kr. Choudhary

Abstract:

In this article, LQR based PID controller design for 3DOF helicopter system is investigated. The 3-DOF helicopter system is a benchmark laboratory model having strongly nonlinear characteristics and unstable dynamics which make the control of such system a challenging task. This article first presents the mathematical model of the 3DOF helicopter system and then illustrates the basic idea and technical formulation for controller design. The paper explains the simple approach for the approximation of PID design parameters from the LQR controller gain matrix. The simulation results show that the investigated controller has both static and dynamic performance, therefore the stability and the quick control effect can be obtained simultaneously for the 3DOF helicopter system.

Keywords: 3DOF helicopter system, PID controller, LQR controller, modeling, simulation.

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