Search results for: Sliding Mode Control method (SMC)

Authors: I. Abuiziah, A. Oulhaj, K. Sebari, D. Ouazar, A. A. Saber

Abstract:

Fluid transient analysis is one of the more challenging and complicated flow problems in the design and the operation of water pipeline systems (wps). When transient conditions "water hammer" exists, the life expectancy of the wps can be adversely impacted, resulting in pump and valve failures and catastrophic pipe ruptures. Transient control has become an essential requirement for ensuring safe operation of wps. An accurate analysis and suitable protection devices should be used to protect wps. This paper presents the problem of modeling and simulation of transient phenomena in wps based on the characteristics method. Also, it provides the influence of using the protection devices to control the adverse effects due to excessive and low pressure occur in the transient. The developed model applied for main wps: pump combined with closed surge tank connected to a reservoir. The results obtained provide that the model is an efficient tool for water hammer analysis. Moreover; using the closed surge tank reduces the unfavorable effects of transients.

Keywords: Flow Transient, Water hammer, Pipeline System, Closed Surge Tank, Simulation Model, Protection Devices, Characteristics Method.

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Authors: Abdulrahman M. Homadi

Abstract:

This study focuses on how to control the outlet temperature of a solar air heater in a way simpler than the existing methods. In this work, five cases have been studied by using ANSYS Fluent based on a CFD numerical method. All the cases have been simulated by utilizing the same criteria and conditions like the temperature, materials, areas except the geometry. The case studies are conducted in Little Rock (LR), AR, USA during the winter time supposedly on 15^th of December. A fresh air that is flowing with a velocity of 0.5 m/s and a flow rate of 0.009 m³/s. The results prove the possibility of achieving a controlled temperature just by changing the geometric shape of the heater. This geometry guarantees that the absorber plate always has a normal component of the solar radiation at any time during the day. The heater has a sectarian shape with a radius of 150 mm where the outlet temperature remains almost constant for six hours.

Keywords: Solar energy, air heater, control of temperature, CFD.

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Authors: Humberto N. Teixeira, Isabel S. Lopes, Sérgio D. Sousa

Abstract:

This article proposes a new methodology to be used by SMEs (Small and Medium enterprises) to characterize their performance in quality, highlighting weaknesses and area for improvement. The methodology aims to identify the principal causes of quality problems and help to prioritize improvement initiatives. This is a self-assessment methodology that intends to be easy to implement by companies with low maturity level in quality. The methodology is organized in six different steps which includes gathering information about predetermined processes and subprocesses of quality management, defined based on the well-known Juran-s trilogy for quality management (Quality planning, quality control and quality improvement) and, predetermined results categories, defined based on quality concept. A set of tools for data collecting and analysis, such as interviews, flowcharts, process analysis diagrams and Failure Mode and effects Analysis (FMEA) are used. The article also presents the conclusions obtained in the application of the methodology in two cases studies.

Keywords: Continuous improvement, Diagnosis, Quality Management, Self-assessment, SMEs

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Authors: Faroogh Khakzad, Marzieh Dehghani, Elahe Hejazi

Abstract:

The present study investigates the effect of teaching a Thinking and Research lesson by cooperative and traditional methods on the creativity of sixth-grade students in Piranshahr province. The statistical society includes all the sixth-grade students of Piranshahr province. The sample of this studytable was selected by available sampling from among male elementary schools of Piranshahr. They were randomly assigned into two groups of cooperative teaching method and traditional teaching method. The design of the study is quasi-experimental with a control group. In this study, to assess students’ creativity, Abedi’s creativity questionnaire was used. Based on Cronbach’s alpha coefficient, the reliability of the factor flow was 0.74, innovation was 0.61, flexibility was 0.63, and expansion was 0.68. To analyze the data, t-test, univariate and multivariate covariance analysis were used for evaluation of the difference of means and the pretest and posttest scores. The findings of the research showed that cooperative teaching method does not significantly increase creativity (p > 0.05). Moreover, cooperative teaching method was found to have significant effect on flow factor (p < 0.05), but in innovation and expansion factors no significant effect was observed (p < 0.05).

Keywords: Cooperative teaching method, traditional teaching method, creativity, flow, innovation, flexibility, expansion, thinking and research lesson.

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Authors: Ching M. Hsu, Rong F. Huang, Michael E. Loretero

Abstract:

Shear-layer instabilities of a pulsed stack-issued transverse jet were studied experimentally in a wind tunnel. Jet pulsations were induced by means of acoustic excitation. Streak pictures of the smoke-flow patterns illuminated by the laser-light sheet in the median plane were recorded with a high-speed digital camera. Instantaneous velocities of the shear-layer instabilities in the flow were digitized by a hot-wire anemometer. By analyzing the streak pictures of the smoke-flow visualization, three characteristic flow modes, synchronized flapping jet, transition, and synchronized shear-layer vortices, are identified in the shear layer of the pulsed stack-issued transverse jet at various excitation Strouhal numbers. The shear-layer instabilities of the pulsed stack-issued transverse jet are synchronized by acoustic excitation except for transition mode. In transition flow mode, the shear-layer vortices would exhibit a frequency that would be twice as great as the acoustic excitation frequency.

Keywords: Acoustic excitation, jet in crossflow, shear-layer instability.

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoidance a turning angle is designed, which when incorporated into the control laws ensures that the entire robot arm avoids any number of fixed obstacles along its path enroute the target. The control laws proposed in this paper also ensure that the equilibrium point of the system is asymptotically stable. Computer simulations of the proposed technique are presented.

Keywords: 2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.

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Authors: N. M. Kamoh, M. C. Soomiyol

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In this work, a five step continuous method for the solution of third order ordinary differential equations was developed in block form using collocation and interpolation techniques of the shifted Legendre polynomial basis function. The method was found to be zero-stable, consistent and convergent. The application of the method in solving third order initial value problem of ordinary differential equations revealed that the method compared favorably with existing methods.

Keywords: Shifted Legendre polynomials, third order block method, discrete method, convergent.

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Authors: Kevin Spencer G. Anglim, Zhenyu Zhang, Qingbin Gao

Abstract:

Reusable launch vehicles (RLVs) present a more environmentally-friendly approach to accessing space when compared to traditional launch vehicles that are discarded after each flight. This paper studies the recyclable nature of RLVs by presenting a solution method for determining minimum-fuel optimal trajectories using principles from optimal control theory and particle swarm optimization (PSO). This problem is formulated as a minimum-landing error powered descent problem where it is desired to move the RLV from a fixed set of initial conditions to three different sets of terminal conditions. However, unlike other powered descent studies, this paper considers the highly nonlinear effects caused by atmospheric drag, which are often ignored for studies on the Moon or on Mars. Rather than optimizing the controls directly, the throttle control is assumed to be bang-off-bang with a predetermined thrust direction for each phase of flight. The PSO method is verified in a one-dimensional comparison study, and it is then applied to the two-dimensional cases, the results of which are illustrated.

Keywords: Minimum-fuel optimal trajectory, particle swarm optimization, reusable rocket, SpaceX.

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Authors: Alia Alghosoun, Nabil El Moçayd, Mohammed Seaid

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Modeling dam-break flows over non-flat beds requires an accurate representation of the topography which is the main source of uncertainty in the model. Therefore, developing robust and accurate techniques for reconstructing topography in this class of problems would reduce the uncertainty in the flow system. In many hydraulic applications, experimental techniques have been widely used to measure the bed topography. In practice, experimental work in hydraulics may be very demanding in both time and cost. Meanwhile, computational hydraulics have served as an alternative for laboratory and field experiments. Unlike the forward problem, the inverse problem is used to identify the bed parameters from the given experimental data. In this case, the shallow water equations used for modeling the hydraulics need to be rearranged in a way that the model parameters can be evaluated from measured data. However, this approach is not always possible and it suffers from stability restrictions. In the present work, we propose an adaptive optimal control technique to numerically identify the underlying bed topography from a given set of free-surface observation data. In this approach, a minimization function is defined to iteratively determine the model parameters. The proposed technique can be interpreted as a fractional-stage scheme. In the first stage, the forward problem is solved to determine the measurable parameters from known data. In the second stage, the adaptive control Ensemble Kalman Filter is implemented to combine the optimality of observation data in order to obtain the accurate estimation of the topography. The main features of this method are on one hand, the ability to solve for different complex geometries with no need for any rearrangements in the original model to rewrite it in an explicit form. On the other hand, its achievement of strong stability for simulations of flows in different regimes containing shocks or discontinuities over any geometry. Numerical results are presented for a dam-break flow problem over non-flat bed using different solvers for the shallow water equations. The robustness of the proposed method is investigated using different numbers of loops, sensitivity parameters, initial samples and location of observations. The obtained results demonstrate high reliability and accuracy of the proposed techniques.

Keywords: Optimal control, ensemble Kalman Filter, topography reconstruction, data assimilation, shallow water equations.

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Authors: Yanru Wu, Qing Sun

Abstract:

Sightseeing glass bridges located in steep valley area are being built on a large scale owing to the development of tourism. Consequently, their aerostatic stability is seriously affected by the wind field characteristics created by strong wind and special terrain, such as wind speed and wind attack angle. For instance, a cable-stayed pedestrian bridge without backstays comprised of a 60-m cantilever girder and the glass bridge deck is located in an abrupt valley, acting as a viewing platform. The bridge’s nonlinear aerostatic stability was analyzed by the segmental model test and numerical simulation in this paper. Based on aerostatic coefficients of the main girder measured in wind tunnel tests, nonlinear influences caused by the structure and aerostatic load, inhomogeneous distribution of torsion angle along the bridge axis, and the influence of initial attack angle were analyzed by using the incremental double iteration method. The results show that the aerostatic response varying with speed shows an obvious nonlinearity, and the aerostatic instability mode is of the characteristic of space deformation of bending-twisting coupling mode. The vertical and torsional deformation of the main girder is larger than its lateral deformation, with the wind speed approaching the critical wind speed. The flow of negative attack angle will reduce the bridges’ critical stability wind speed, but the influence of the negative attack angle on the aerostatic stability is more significant than that of the positive attack angle. The critical wind speeds of torsional divergence and lateral buckling are both larger than 200 m/s; namely, the bridge will not occur aerostatic instability under the action of various wind attack angles.

Keywords: Aerostatic nonlinearity, cable-stayed pedestrian bridge, numerical simulation, nonlinear aerostatic stability.

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Authors: Raied Salman, Nazar Younis

Abstract:

In a none-super-competitive environment the concepts of closed system, management control remains to be the dominant guiding concept to management. The merits of closed loop have been the sources of most of the management literature and culture for many decades. It is a useful exercise to investigate and poke into the dynamics of the control loop phenomenon and draws some lessons to use for refining the practice of management. This paper examines the multitude of lessons abstracted from the behavior of the Input /output /feedback control loop model, which is the core of control theory. There are numerous lessons that can be learned from the insights this model would provide and how it parallels the management dynamics of the organization. It is assumed that an organization is basically a living system that interacts with the internal and external variables. A viable control loop is the one that reacts to the variation in the environment and provide or exert a corrective action. In managing organizations this is reflected in organizational structure and management control practices. This paper will report findings that were a result of examining several abstract scenarios that are exhibited in the design, operation, and dynamics of the control loop and how they are projected on the functioning of the organization. Valuable lessons are drawn in trying to find parallels and new paradigms, and how the control theory science is reflected in the design of the organizational structure and management practices. The paper is structured in a logical and perceptive format. Further research is needed to extend these findings.

Keywords: Management theory, control theory, feed back, input/output, strategy, change, information technology, informationsystems, IS, organizational environment, organizations, opensystems, closed systems.

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Authors: Ahmed Hossam-Eldin, Ahmed Elserougi, Ahmed Massoud, Shehab Ahmed

Abstract:

The Inter feeder Power Flow Regulator (IFPFR) proposed in this paper consists of several voltage source inverters with common dc bus; each inverter is connected in series with one of different independent distribution feeders in the power system. This paper is concerned with how to transfer power between the feeders for load sharing purpose. The power controller of each inverter injects the power (for sending feeder) or absorbs the power (for receiving feeder) via injecting suitable voltage; this voltage injection is simulated by voltage drop across series virtual impedance, the impedance value is selected to achieve the concept of power exchange between the feeders without perturbing the load voltage magnitude of each feeder. In this paper a new control scheme for load sharing using IFPFR is proposed.

Keywords: IFPFR, Load sharing, Power transfer

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Authors: Wen W. Zhang, Qian Chen

Abstract:

Electron multiplying charge coupled devices (EMCCDs) have revolutionized the world of low light imaging by introducing on-chip multiplication gain based on the impact ionization effect in the silicon. They combine the sub-electron readout noise with high frame rates. Signal-to-noise Ratio (SNR) is an important performance parameter for low-light-level imaging systems. This work investigates the SNR performance of an EMCCD operated in Non-inverted Mode (NIMO) and Inverted Mode (IMO). The theory of noise characteristics and operation modes is presented. The results show that the SNR of is determined by dark current and clock induced charge at high gain level. The optimum SNR performance is provided by an EMCCD operated in NIMO in short exposure and strong cooling applications. In contrast, an IMO EMCCD is preferable.

Keywords: electron multiplying charge coupled devices, noise characteristics, operation modes, signal-to-noise ratioperformance

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Authors: S. Hajeb, M. Javadi, S. M. Hashemi, P. Parvizi

Abstract:

Road Traffic Accidents are a major cause of disability and death throughout the world. The control of intelligent vehicles in order to reduce human error and boost ease congestion is not accomplished solely by the aid of human resources. The present article is an attempt to introduce an intelligent control system based on RFID technology. By the help of RFID technology, vehicles are connected to computerized systems, intelligent light poles and other available hardware along the way. In this project, intelligent control system is capable of tracking all vehicles, crisis management and control, traffic guidance and recording Driving offences along the highway.

Keywords: RFID, Intelligent highway, Traffic violation

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Authors: I. Abuiziah, A. Oulhaj, K. Sebari, D. Ouazar

Abstract:

Desurging tank with automatic air control “DTAAC” is a water hammer protection device, operates either an open or closed surge tank according to the water level inside the surge tank, with the volume of air trapped in the filling phase, this protection device has the advantages of its easy maintenance, and does not need to run any external energy source (air compressor). A computer program has been developed based on the characteristic method to simulate flow transient phenomena in pressurized water pipeline systems, it provides the influence of using the protection devices to control the adverse effects due to excessive and low pressure occurring in this phenomena. The developed model applied to a simple main water pipeline system: pump combined with DTAAC connected to a reservoir.  The results obtained provide that the model is an efficient tool for water hammer analysis. Moreover; using the DTAAC reduces the unfavorable effects of the transients.

Keywords: DTAAC, Flow transient, Numerical model, Pipeline system, Protection devices.

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Authors: T. O. Olwal, K. Djouani, B. J. van Wyk, Y. Hamam, P. Siarry, N. Ntlatlapa

Abstract:

Multi-Radio Multi-Channel (MRMC) systems are key to power control problems in wireless mesh networks (WMNs). In this paper, we present asynchronous multiple-state based power control for MRMC WMNs. First, WMN is represented as a set of disjoint Unified Channel Graphs (UCGs). Second, each network interface card (NIC) or radio assigned to a unique UCG adjusts transmission power using predicted multiple interaction state variables (IV) across UCGs. Depending on the size of queue loads and intra- and inter-channel states, each NIC optimizes transmission power locally and asynchronously. A new power selection MRMC unification protocol (PMMUP) is proposed that coordinates interactions among radios. The efficacy of the proposed method is investigated through simulations.

Keywords: Asynchronous convergence, Multi-Radio Multi-Channel (MRMC), Power Selection Multi-Radio Multi-Channel Unification Protocol (PMMUP) and Wireless Mesh Networks(WMNs)

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Authors: Aymen Rhouma, Khaled Hcheichi, Sami Hafsi

Abstract:

The article presents an application of Fractional Model Predictive Control (FMPC) to a fractional order thermal system using Controlled Auto Regressive Integrated Moving Average (CARIMA) model obtained by discretization of a continuous fractional differential equation. Moreover, the output deviation approach is exploited to design the K -step ahead output predictor, and the corresponding control law is obtained by solving a quadratic cost function. Experiment results onto a thermal system are presented to emphasize the performances and the effectiveness of the proposed predictive controller.

Keywords: Fractional model predictive control, fractional order systems, thermal system.

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Authors: Khaled A. Madi

Abstract:

Induction motors are being used in greater numbers throughout a wide variety of industrial and commercial applications because it provides many benefits and reliable device to convert the electrical energy into mechanical motion. In some application it-s desired to control the speed of the induction motor. Because of the physics of the induction motor the preferred method of controlling its speed is to vary the frequency of the AC voltage driving the motor. In recent years, with the microcontroller incorporated into an appliance it becomes possible to use it to generate the variable frequency AC voltage to control the speed of the induction motor. This study investigates the microcontroller based variable frequency power inverter. the microcontroller is provide the variable frequency pulse width modulation (PWM) signal that control the applied voltage on the gate drive, which is provides the required PWM frequency with less harmonics at the output of the power inverter. The fully controlled bridge voltage source inverter has been implemented with semiconductors power devices isolated gate bipolar transistor (IGBT), and the PWM technique has been employed in this inverter to supply the motor with AC voltage. The proposed drive system for three & single phase power inverter is simulated using Matlab/Simulink. The Matlab Simulation Results for the proposed system were achieved with different SPWM. From the result a stable variable frequency inverter over wide range has been obtained and a good agreement has been found between the simulation and hardware of a microcontroller based single phase inverter.

Keywords: Power, inverter, PWM, microcontroller.

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Authors: Djamal Atlaoui, Youcef Bouafia

Abstract:

This work deals with the experimental study of the mechanical behavior, by shear tests (fracture shear), elements of concrete beams reinforced with fibers in chips. These fibers come from the machining waste of the steel parts. The shear tests are carried out on prismatic specimens of dimensions 10 x 20 x 120 cm³. The fibers are characterized by mechanical resistance and tearing. The optimal composition of the concrete was determined by the workability test. Two fiber contents are selected for this study (W = 0.6% and W = 0.8%) and a BT control concrete (W = 0%) of the same composition as the matrix is developed to serve as a reference with a sand-to-gravel ratio (S/G) of concrete matrix equal to 1. The comparison of the different results obtained shows that the chips fibers confer a significant ductility to the material after cracking of the concrete. Also, the fibers used limit diagonal cracks in shear and improve strength and rigidity.

Keywords: Characterization, chips fibers, cracking mode, ductility, undulation, shear.

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Authors: Ján Haščík, Štefan Čerba, Jakub Lüley, Branislav Vrban

Abstract:

The presented paper is related to the design methods and neutronic characterization of the reactivity control system in the large power unit of Generation IV Gas cooled Fast Reactor – GFR2400. The reactor core is based on carbide pin fuel type with the application of refractory metallic liners used to enhance the fission product retention of the SiCcladding. The heterogeneous design optimization of control rod is presented and the results of rods worth and their interferences in a core are evaluated. In addition, the idea of reflector removal as an additive reactivity management option is investigated and briefly described.

Keywords: Control rods design, GFR2400, hot spot, movable reflector, reactivity.

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Authors: Jasmin Velagic

Abstract:

This paper addresses the design of predictive networked controller with adaptation of a communication delay. The networked control system contains random delays from sensor to controller and from controller to actuator. The proposed predictive controller includes an adaptation loop which decreases the influence of communication delay on the control performance. Also, the predictive controller contains a filter which improves the robustness of the control system. The performance of the proposed adaptive predictive controller is demonstrated by simulation results in comparison with PI controller and predictive controller with constant delay.

Keywords: Predictive control, adaptation, communication delay, communication network.

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Authors: S. Abdollahi Pour, M. Saneei

Abstract:

This paper propose a new circuit design which monitor total leakage current during standby mode and generates the optimal reverse body bias voltage, by using the adaptive body bias (ABB) technique to compensate die-to-die parameter variations. Design details of power monitor are examined using simulation framework in 65nm and 32nm BTPM model CMOS process. Experimental results show the overhead of proposed circuit in terms of its power consumption is about 10 μW for 32nm technology and about 12 μW for 65nm technology at the same power supply voltage as the core power supply. Moreover the results show that our proposed circuit design is not far sensitive to the temperature variations and also process variations. Besides, uses the simple blocks which offer good sensitivity, high speed, the continuously feedback loop.

Keywords: leakage current, leakage power monitor, body biasing, low power

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Authors: Amon Tunwannarux, Supanunt Tunwannarux

Abstract:

This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.

Keywords: Controlling, monitoring, rescue robot, mechanicalarm.

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Authors: Ghassan A. Abed, Akbal O. Salman, Bayan M. Sabbar

Abstract:

Transmission Control Protocol (TCP) among the wired and wireless networks, it still has a practical problem; where the congestion control mechanism does not permit the data stream to get complete bandwidth over the existing network links. To solve this problem, many TCP protocols have been introduced with high speed performance. Therefore, an enhanced congestion window (cwnd) for the congestion control mechanism is proposed in this article to improve the performance of TCP by increasing the number of cycles of the new window to improve the transmitted packet number. The proposed algorithm used a new mechanism based on the available bandwidth of the connection to detect the capacity of network path in order to improve the regular clocking of congestion avoidance mechanism. The work in this paper based on using Network Simulator 2 (NS-2) to simulate the proposed algorithm.

Keywords: TCP, cwnd, Congestion Control, NS-2.

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Authors: Davod Khojasteh Salkuyeh

Abstract:

An important task in solving second order linear ordinary differential equations by the finite difference is to choose a suitable stepsize h. In this paper, by using the stochastic arithmetic, the CESTAC method and the CADNA library we present a procedure to estimate the optimal stepsize hopt, the stepsize which minimizes the global error consisting of truncation and round-off error.

Keywords: Ordinary differential equations, optimal stepsize, error, stochastic arithmetic, CESTAC, CADNA.

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Authors: Mathias Marquardt, Peter Dünow, Sandra Baßler

Abstract:

The paper describes the use of subspace based identification methods for auto tuning of a state space control system. The plant is an unstable but self balancing transport robot. Because of the unstable character of the process it has to be identified from closed loop input-output data. Based on the identified model a state space controller combined with an observer is calculated. The subspace identification algorithm and the controller design procedure is combined to a auto tuning method. The capability of the approach was verified in a simulation experiments under different process conditions.

Keywords: Auto tuning, balanced robot, closed loop identification, subspace identification.

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Authors: Jun Liu, Feihang Zhou, Gungyi Wang

Abstract:

This paper expounds on the direct-driven PMSG wind power system control strategy, and analyses the stability conditions of the system. The direct-driven PMSG wind power system may generate the intense mechanical vibration, when wind speed changes dramatically. This paper proposes a new type of torque control strategy, which increases the system damping effectively, mitigates mechanical vibration of the system, and enhances the stability conditions of the system. The simulation results verify the reliability of the new torque control strategy.

Keywords: Damping, direct-driven PMSG wind power system, mechanical vibration, torque control.

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Authors: Travis Wiens, Greg Schoenau, Rich Burton

Abstract:

It is well known that a linear dynamic system including a delay will exhibit limit cycle oscillations when a bang-bang sensor is used in the feedback loop of a PID controller. A similar behaviour occurs when a delayed feedback signal is used to train a neural network. This paper develops a method of predicting this behaviour by linearizing the system, which can be shown to behave in a manner similar to an integral controller. Using this procedure, it is possible to predict the characteristics of the neural network driven limit cycle to varying degrees of accuracy, depending on the information known about the system. An application is also presented: the intelligent control of a spark ignition engine.

Keywords: Control and automation, artificial neural networks, limit cycle

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Authors: Prakash Persad, Kelvin Loutan, Jr., Trichelle Seepersad

Abstract:

The Finite Element Method is commonly used in the analysis of flexible manipulators to predict elastic displacements and develop joint control schemes for reducing positioning error. In order to preserve simplicity, regular geometries, ideal joints and connections are assumed. This paper presents the dynamic FE analysis of a 4- degrees of freedom open chain manipulator, intended for striking a curved 3D surface percussion musical instrument. This was done utilizing the new MultiBody Dynamics Module in COMSOL, capable of modeling the elastic behavior of a body undergoing rigid body type motion.

Keywords: Dynamic modeling, Entertainment robots, Finite element method, Flexible robot manipulators, Multibody dynamics, Musical robots.

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Authors: J. Kasigwa, V. Baryamureeba, D. Williams

Abstract:

The goal of admission control is to support the Quality of Service demands of real-time applications via resource reservation in IP networks. In this paper we introduce a novel Dynamic Admission Control (DAC) mechanism for IP networks. The DAC dynamically allocates network resources using the previous network pattern for each path and uses the dynamic admission algorithm to improve bandwidth utilization using bandwidth brokers. We evaluate the performance of the proposed mechanism through trace-driven simulation experiments in view point of blocking probability, throughput and normalized utilization.

Keywords: Bandwidth broker, dynamic admission control(DAC), IP networks, quality of service, real-time flows.

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