Search results for: real time control

Authors: A. A. Penin, A. S. Sidorenko

Abstract:

A convenient and physically sound mathematical model of the external or I - V characteristic of solar cells generators is presented in this paper. This model is compared with the traditional model of p-n junction. The direct analytical calculation of load regime leads to a quadratic equation, which is importantly to simplify the calculations in the real time.

Keywords: A solar cell generator, I−V characteristic, activetwo-pole.

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Authors: Chunling Cong, Chris.P.Tsokos

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The objective of the present research manuscript is to perform parametric, nonparametric, and decision tree analysis to evaluate two treatments that are being used for breast cancer patients. Our study is based on utilizing real data which was initially used in “Tamoxifen with or without breast irradiation in women of 50 years of age or older with early breast cancer" [1], and the data is supplied to us by N.A. Ibrahim “Decision tree for competing risks survival probability in breast cancer study" [2]. We agree upon certain aspects of our findings with the published results. However, in this manuscript, we focus on relapse time of breast cancer patients instead of survival time and parametric analysis instead of semi-parametric decision tree analysis is applied to provide more precise recommendations of effectiveness of the two treatments with respect to reoccurrence of breast cancer.

Keywords: decision tree, breast cancer treatments, parametricanalysis, non-parametric analysis

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Authors: Tianchai Suksri, U-thai Sritheeravirojana, Arjin Numsomran, Viriya Kongrattana, Thongchai Werataweemart

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A control system design with Characteristic Ratio Assignment (CRA) is proven that effective for SISO control design. But the control system design for MIMO via CRA is not concrete procedure. In this paper presents the control system design method for quadruple-tank process via CRA. By using the decentralized method for both minimum phase and non-minimum phase are made. The results from PI and PID controller design via CRA can be illustrated the validity of our approach by MATLAB.

Keywords: CRA, Quadruple-Tank.

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

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The fractional–order proportional integral (FOPI) controller tuning rules based on the fractional calculus for the cascade control system are systematically proposed in this paper. Accordingly, the ideal controller is obtained by using internal model control (IMC) approach for both the inner and outer loops, which gives the desired closed-loop responses. On the basis of the fractional calculus, the analytical tuning rules of FOPI controller for the inner loop can be established in the frequency domain. Besides, the outer loop is tuned by using any integer PI/PID controller tuning rules in the literature. The simulation study is considered for the stable process model and the results demonstrate the simplicity, flexibility, and effectiveness of the proposed method for the cascade control system in compared with the other methods.

Keywords: Fractional calculus, fractional–order proportional integral controller, cascade control system, internal model control approach.

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Authors: M. P. Nanda Kumar, K. Dheeraj

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The design of a feedback controller, so as to minimize a given performance criterion, for a general non-linear dynamical system is difficult; if not impossible. But for a large class of non-linear dynamical systems, the open loop control that minimizes a performance criterion can be obtained using calculus of variations and Pontryagin’s minimum principle. In this paper, the open loop optimal trajectories, that minimizes a given performance measure, is used to train the neural network whose inputs are state variables of non-linear dynamical systems and the open loop optimal control as the desired output. This trained neural network is used as the feedback controller. In other words, attempts are made here to solve the “inverse optimal control problem” by using the state and control trajectories that are optimal in an open loop sense.

Keywords: Inverse Optimal Control, Radial basis function neural network, Controller Design.

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Authors: Jheng-Long Wu, Pei-Chann Chang, Yi-Fang Pan

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This research focus on developing a new segmentation method for improving forecasting model which is call trend based segmentation method (TBSM). Generally, the piece-wise linear representation (PLR) can finds some of pair of trading points is well for time series data, but in the complicated stock environment it is not well for stock forecasting because of the stock has more trends of trading. If we consider the trends of trading in stock price for the trading signal which it will improve the precision of forecasting model. Therefore, a TBSM with SVR model used to detect the trading points for various stocks of Taiwanese and America under different trend tendencies. The experimental results show our trading system is more profitable and can be implemented in real time of stock market

Keywords: Trend based segmentation method, support vector machine, turning detection, stock forecasting.

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Authors: S. Gherbi, F. Bouchareb

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This paper deals with the novel intelligent bio-inspired control strategies, it presents a novel approach based on an optimal fuzzy immune PID parameters tuning, it is a combination of a PID controller, inspired by the human immune mechanism with fuzzy logic. Such controller offers more possibilities to deal with the delayed systems control difficulties due to the delay term. Indeed, we use an optimization approach to tune the four parameters of the controller in addition to the fuzzy function; the obtained controller is implemented in a modified Smith predictor structure, which is well known that it is the most efficient to the control of delayed systems. The application of the presented approach to control a three tank delay system shows good performances and proves the efficiency of the method.

Keywords: Delayed systems, Fuzzy Immune PID, Optimization, Smith predictor.

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Authors: N. Tadrisi Parsa, A. R. Vali, R. Ghasemi

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Diabetes is a growing health problem in worldwide. Especially, the patients with Type 1 diabetes need strict glycemic control because they have deficiency of insulin production. This paper attempts to control blood glucose based on body mathematical body model. The Bergman minimal mathematical model is used to develop the nonlinear controller. A novel back-stepping based sliding mode control (B-SMC) strategy is proposed as a solution that guarantees practical tracking of a desired glucose concentration. In order to show the performance of the proposed design, it is compared with conventional linear and fuzzy controllers which have been done in previous researches. The numerical simulation result shows the advantages of sliding mode back stepping controller design to linear and fuzzy controllers.

Keywords: Back stepping, Bergman Model, Nonlinear control, Sliding mode control.

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Authors: Samuel O. Alamu, Seong W. Lee, Blaise Kalmia, Marc J. Louise Caballes, Xuejun Qian

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The application of combustion technologies for thermal conversion of biomass and solid wastes to energy has been a major solution to the effective handling of wastes over a long period of time. Lab-scale biomass combustion systems have been observed to be economically viable and socially acceptable, but major concerns are the environmental impacts of the process and deviation of temperature distribution within the combustion chamber. Both high and low combustion chamber temperature may affect the overall combustion efficiency and gaseous emissions. Therefore, there is an urgent need to develop a control system which measures the deviations of chamber temperature from set target values, sends these deviations (which generates disturbances in the system) in the form of feedback signal (as input), and control operating conditions for correcting the errors. In this research study, major components of the feedback control system were determined, assembled, and tested. In addition, control algorithms were developed to actuate operating conditions (e.g., air velocity, fuel feeding rate) using ladder logic functions embedded in the Programmable Logic Controller (PLC). The developed control algorithm having chamber temperature as a feedback signal is integrated into the lab-scale swirling fluidized bed combustor (SFBC) to investigate the temperature distribution at different heights of the combustion chamber based on various operating conditions. The air blower rates and the fuel feeding rates obtained from automatic control operations were correlated with manual inputs. There was no observable difference in the correlated results, thus indicating that the written PLC program functions were adequate in designing the experimental study of the lab-scale SFBC. The experimental results were analyzed to study the effect of air velocity operating at 222-273 ft/min and fuel feeding rate of 60-90 rpm on the chamber temperature. The developed temperature-based feedback control system was shown to be adequate in controlling the airflow and the fuel feeding rate for the overall biomass combustion process as it helps to minimize the steady-state error.

Keywords: Air flow, biomass combustion, feedback control system, fuel feeding, ladder logic, programmable logic controller, temperature.

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Authors: Han-wool Lee, Chin-suk Hong, Weui-bong Jung

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In this study, noise characteristics of structure were analyzed in an effort to reduce noise passing through an opening of an enclosure surrounding the structure that generates noise. Enclosures are essential measure to protect noise propagation from operating machinery. Access openings of the enclosures are important path of noise leakage. First, noise characteristics of structure were analyzed and feed-forward noise control was performed using simulation in order to reduce noise passing through the opening of enclosure, which surrounds a structure generating noise. We then implemented a feed-forward controller to actively control the acoustic power through the opening. Finally, we conducted optimization of placement of the reference sensors for several cases of the number of sensors. Good control performances were achieved using the minimum number of microphones arranged an optimal placement.

Keywords: Active Noise Control, Feed-forward Control, Noise Attenuation, Position Optimization.

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Authors: Pierre Kancir, Jean-Philippe Diguet, Marc Sevaux

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One of the main difficulties in developing multi-robot systems (MRS) is related to the simulation and testing tools available. Indeed, if the differences between simulations and real robots are too significant, the transition from the simulation to the robot won’t be possible without another long development phase and won’t permit to validate the simulation. Moreover, the testing of different algorithmic solutions or modifications of robots requires a strong knowledge of current tools and a significant development time. Therefore, the availability of tools for MRS, mainly with flying drones, is crucial to enable the industrial emergence of these systems. This research aims to present the most commonly used tools for MRS simulations and their main shortcomings and presents complementary tools to improve the productivity of designers in the development of multi-vehicle solutions focused on a fast learning curve and rapid transition from simulations to real usage. The proposed contributions are based on existing open source tools as Gazebo simulator combined with ROS (Robot Operating System) and the open-source multi-platform autopilot ArduPilot to bring them to a broad audience.

Keywords: ROS, ArduPilot, MRS, simulation, drones, Gazebo.

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Authors: Seongchan Kang, Hongsik Yun, Hyukgil Kim, Minwoo Park

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For this study, this researcher conducted a precision network adjustment with QOCA, the precision network adjustment software developed by Jet Propulsion Laboratory, to perform an integrated network adjustment on the Unified Control Points managed by the National Geographic Information Institute. Towards this end, 275 Unified Control Points observed in 2008 were selected before a network adjustment is performed on those 275 Unified Control Points. The RMSE on the discrepancies of coordinates as compared to the results of GLOBK was ±6.07mm along the N axis, ±2.68mm along the E axis and ±6.49mm along the U axis.

Keywords: Network adjustment, QOCA, unified control point.

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Authors: Gyo Woo Lee, Man Young Kim

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A mathematical heat transfer model for the prediction of transient heating of the slab in a direct-fired walking beam type reheating furnace has been developed by considering the nongray thermal radiation with given furnace environments. The furnace is modeled as radiating nongray medium with carbon dioxide and water with five-zoned gas temperature and the furnace wall is considered as a constant temperature lower than furnace gas one. The slabs are moving with constant velocity depending on the residence time through the non-firing, charging, preheating, heating, and final soaking zones. Radiative heat flux obtained by considering the radiative heat exchange inside the furnace as well as convective one from the surrounding hot gases are introduced as boundary condition of the transient heat conduction within the slab. After validating thermal radiation model adopted in this work, thermal fields in both model and real reheating furnace are investigated in terms of radiative heat flux in the furnace and temperature inside the slab. The results show that the slab in the furnace can be more heated with higher slab emissivity and residence time.

Keywords: Reheating Furnace, Steel Slab, Radiative Heat Transfer, WSGGM, Emissivity, Residence Time.

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Authors: Do-Woo Kim, Geon Woo Kim, Jun-Ho Lee, Jong-Wook Han

Abstract:

The home in these days has not one computer connected to the Internet but rather a network of many devices within the home, and that network might be connected to the Internet. In such an environment, the potential for attacks is greatly increased. The general security technology can not apply because of the use of various wired and wireless network, middleware and protocol in digital home environment and a restricted system resource of home information appliances. To offer secure home services home network environments have need of access control for various home devices and information when users want to access. Therefore home network access control for user authorization is a very important issue. In this paper we propose access control model using RBAC in home network environments to provide home users with secure home services.

Keywords: Home network, access control, RBAC, security.

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Authors: Shahrol Mohamaddan, Keith Case, Ana Sakura Zainal Abidin

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Human movement in the real world provides important information for developing human behaviour models and simulations. However, it is difficult to assess ‘real’ human behaviour since there is no established method available. As part of the AUNTSUE (Accessibility and User Needs in Transport – Sustainable Urban Environments) project, this research aimed to propose a method to assess human movement and behaviour in crowded areas. The method is based on the three major steps of video recording, conceptual behavior modelling and video analysis. The focus is on individual human movement and behaviour in normal situations (panic situations are not considered) and the interactions between individuals in localized areas. Emphasis is placed on gaining knowledge of characteristics of human movement and behaviour in the real world that can be modelled in the virtual environment.

Keywords: Video observation, Human movement, Behaviour, Crowds, Ergonomics, AUNT-SUE

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Authors: Anjana Goen, D. C. Tiwari

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Myoelectric control system is the fundamental component of modern prostheses, which uses the myoelectric signals from an individual’s muscles to control the prosthesis movements. The surface electromyogram signal (sEMG) being noninvasive has been used as an input to prostheses controllers for many years. Recent technological advances has led to the development of implantable myoelectric sensors which enable the internal myoelectric signal (MES) to be used as input to these prostheses controllers. The intramuscular measurement can provide focal recordings from deep muscles of the forearm and independent signals relatively free of crosstalk thus allowing for more independent control sites. However, little work has been done to compare the two inputs. In this paper we have compared the classification accuracy of six pattern recognition based myoelectric controllers which use surface myoelectric signals recorded using untargeted (symmetric) surface electrode arrays to the same controllers with multichannel intramuscular myolectric signals from targeted intramuscular electrodes as inputs. There was no significant enhancement in the classification accuracy as a result of using the intramuscular EMG measurement technique when compared to the results acquired using the surface EMG measurement technique. Impressive classification accuracy (99%) could be achieved by optimally selecting only five channels of surface EMG.

Keywords: Discriminant Locality Preserving Projections (DLPP), myoelectric signal (MES), Sparse Principal Component Analysis (SPCA), Time Frequency Representations (TFRs).

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Authors: A. Budiyono

Abstract:

The control design for unmanned underwater vehicles (UUVs) is challenging due to the uncertainties in the complex dynamic modeling of the vehicle as well as its unstructured operational environment. To cope with these difficulties, a practical robust control is therefore desirable. The paper deals with the application of coefficient diagram method (CDM) for a robust control design of an autonomous underwater vehicle. The CDM is an algebraic approach in which the characteristic polynomial and the controller are synthesized simultaneously. Particularly, a coefficient diagram (comparable to Bode diagram) is used effectively to convey pertinent design information and as a measure of trade-off between stability, response speed and robustness. In the polynomial ring, Kharitonov polynomials are employed to analyze the robustness of the controller due to parametric uncertainties.

Keywords: coefficient diagram method, robust control, Kharitonov polynomials, unmanned underwater vehicles.

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Authors: K. Diwakar, N. Vasudevan, C. Senthilpari

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This paper presents MOSFET based analog to digital converter which is simple in design, has high resolution, and conversion rate better than dual slope ADC. It has no DAC which will limit the performance, no error in conversion, can operate for wide range of inputs and never become unstable. One of the industrial applications, where the proposed high resolution MOSFET ADC can be used is, for the positioning of control valves in a multi channel data acquisition and control system (DACS), using stepper motors as actuators of control valves. It is observed that in a DACS having ten control valves, 0.02% of positional accuracy of control valves can be achieved with the data update period of 250ms and with stepper motors of maximum pulse rate 20 Kpulses per sec. and minimum pulse width of 2.5 μsec. The reported accuracy so far by other authors is 0.2%, with update period of 255 ms and with 8 bit DAC. The accuracy in the proposed configuration is limited by the available precision stepper motor and not by the MOSFET based ADC.

Keywords: MOSFET based ADC, Actuators, Positional accuracy, Stepper Motors.

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Authors: Yuri Boiko, Ci Lin, Iluju Kiringa, Tet Yeap

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The performance of a permanent magnet brushless direct current (BLDC) motor controlled by the Kalman filter based position-sensorless drive is studied in terms of its dependence from the system’s parameters variations. The effects of the system’s parameters changes on the dynamic behavior of state variables are verified. Simulated is the closed loop control scheme with Kalman filter in the feedback line. Distinguished are two separate data sampling modes in analyzing feedback output from the BLDC motor: (1) equal angular separation and (2) equal time intervals. In case (1), the data are collected via equal intervals  of rotor’s angular position i, i.e. keeping  = const. In case (2), the data collection time points ti are separated by equal sampling time intervals t = const. Demonstrated are the effects of the parameters changes on the sensorless control flow, in particular, reduction of the instability torque ripples, switching spikes, and torque load balancing. It is specifically shown that an efficient suppression of commutation induced instability torque ripples is an achievable selection of the sampling rate in the Kalman filter settings above a certain critical value. The computational cost of such suppression is shown to be higher for the motors with lower induction values of the windings.

Keywords: BLDC motor, Kalman filter, sensorless drive, state variables, instability torque ripples reduction, sampling rate.

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Authors: Vinh Quang La, Dirk Jansen

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There are some existing Java benchmarks, application benchmarks as well as micro benchmarks or mixture both of them,such as: Java Grande, Spec98, CaffeMark, HBech, etc. But none of them deal with behaviors of multi tasks operating systems. As a result, the achieved outputs are not satisfied for performance evaluation engineers. Behaviors of multi tasks operating systems are based on a schedule management which is employed in these systems. Different processes can have different priority to share the same resources. The time is measured by estimating from applications started to it is finished does not reflect the real time value which the system need for running those programs. New approach to this problem should be done. Having said that, in this paper we present a new Java benchmark, named FHOJ benchmark, which directly deals with multi tasks behaviors of a system. Our study shows that in some cases, results from FHOJ benchmark are far more reliable in comparison with some existing Java benchmarks.

Keywords: Java Virtual Machine, Java benchmark, FHOJ framework.

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Authors: Ying Huang, Zhiliang Wang, An Ping

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With advances in computer vision, non-contact gaze tracking systems are heading towards being much easier to operate and more comfortable for use, the technique proposed in this paper is specially designed for achieving these goals. For the convenience in operation, the proposal aims at the system with simple configuration which is composed of a fixed wide angle camera and dual infrared illuminators. Then in order to enhance the usability of the system based on single camera, a self-adjusting method which is called Real-time gaze Tracking Algorithm with head movement Compensation (RTAC) is developed for estimating the gaze direction under natural head movement and simplifying the calibration procedure at the same time. According to the actual evaluations, the average accuracy of about 1° is achieved over a field of 20×15×15 cm3.

Keywords: computer vision, gaze tracking, human-computer interaction.

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Authors: E. E. El-Kholy, Ahamed Kalas, Mahmoud Fauzy, M. El-Shahat Dessouki, Abdou. M. El-Refay, Mohammed El-Zefery

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Direct Torque Control (DTC) is an AC drive control method especially designed to provide fast and robust responses. In this paper a progressive algorithm for direct torque control of threephase induction drive system supplied by photovoltaic arrays using voltage source inverter to control motor torque and flux with maximum power point tracking at different level of insolation is presented. Experimental results of the new DTC method obtained by an experimental rapid prototype system for drives are presented. Simulation and experimental results confirm that the proposed system gives quick, robust torque and speed responses at constant switching frequencies.

Keywords: Photovoltaic (PV) array, direct torque control (DTC), constant switching frequency, induction motor, maximum power point tracking (MPPT).

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Authors: Rao Fu, Jie Chen, Shutian Zeng, Yiping Zhuang, Agus Sudjianto

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Generative Adversarial Net (GAN) has proved to be a powerful machine learning tool in image data analysis and generation. In this paper, we propose to use Conditional Generative Adversarial Net (CGAN) to learn and simulate time series data. The conditions include both categorical and continuous variables with different auxiliary information. Our simulation studies show that CGAN has the capability to learn different types of normal and heavy-tailed distributions, as well as dependent structures of different time series. It also has the capability to generate conditional predictive distributions consistent with training data distributions. We also provide an in-depth discussion on the rationale behind GAN and the neural networks as hierarchical splines to establish a clear connection with existing statistical methods of distribution generation. In practice, CGAN has a wide range of applications in market risk and counterparty risk analysis: it can be applied to learn historical data and generate scenarios for the calculation of Value-at-Risk (VaR) and Expected Shortfall (ES), and it can also predict the movement of the market risk factors. We present a real data analysis including a backtesting to demonstrate that CGAN can outperform Historical Simulation (HS), a popular method in market risk analysis to calculate VaR. CGAN can also be applied in economic time series modeling and forecasting. In this regard, we have included an example of hypothetical shock analysis for economic models and the generation of potential CCAR scenarios by CGAN at the end of the paper.

Keywords: Conditional Generative Adversarial Net, market and credit risk management, neural network, time series.

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Authors: Abdellah Chehri, Hussein Mouftah, Paul Fortier, Hasnaa Aniss

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Wireless sensor network has recently emerged as enablers of several areas. Real applications of WSN are being explored and some of them are yet to come. While the potential of sensor networks has been only beginning to be realized, several challenges still remain. One of them is the experimental evaluation of WSN. Therefore, deploying and operating a testbed to study the real behavior of WSN become more and more important. The main contribution of this work is to analysis the RF link budget behavior of wireless sensor networks in underground mine gallery.

Keywords: Sensor networks, RF Link, path loss.

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Authors: Eatedal A. Alabdulkreem, Hamed S. Al-Raweshidy, Maysam F. Abbod

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Border Gateway Protocol (BGP) is the standard routing protocol between various autonomous systems (AS) in the internet. In the event of failure, a considerable delay in the BGP convergence has been shown by empirical measurements. During the convergence time the BGP will repeatedly advertise new routes to some destination and withdraw old ones until it reach a stable state. It has been found that the KEEPALIVE message timer and the HOLD time are tow parameters affecting the convergence speed. This paper aims to find the optimum value for the KEEPALIVE timer and the HOLD time that maximally reduces the convergence time without increasing the traffic. The KEEPALIVE message timer optimal value founded by this paper is 30 second instead of 60 seconds, and the optimal value for the HOLD time is 90 seconds instead of 180 seconds.

Keywords: BGP, Convergence Time, HOLD time, Keep alive.

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Authors: Ons Sassi, Wahiba Ramdane Cherif-Khettaf, Ammar Oulamara

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In this paper, we consider the vehicle routing problem with mixed fleet of conventional and heterogenous electric vehicles and time dependent charging costs, denoted VRP-HFCC, in which a set of geographically scattered customers have to be served by a mixed fleet of vehicles composed of a heterogenous fleet of Electric Vehicles (EVs), having different battery capacities and operating costs, and Conventional Vehicles (CVs). We include the possibility of charging EVs in the available charging stations during the routes in order to serve all customers. Each charging station offers charging service with a known technology of chargers and time dependent charging costs. Charging stations are also subject to operating time windows constraints. EVs are not necessarily compatible with all available charging technologies and a partial charging is allowed. Intermittent charging at the depot is also allowed provided that constraints related to the electricity grid are satisfied. The objective is to minimize the number of employed vehicles and then minimize the total travel and charging costs. In this study, we present a Mixed Integer Programming Model and develop a Charging Routing Heuristic and a Local Search Heuristic based on the Inject-Eject routine with different insertion methods. All heuristics are tested on real data instances.

Keywords: charging problem, electric vehicle, heuristics, local search, optimization, routing problem.

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Authors: Renkai Wang, Tingcun Wei

Abstract:

In this paper, a digital control algorithm based on delta-operator is presented for high-frequency digitally-controlled DC-DC switching converters. The stability and the controlling accuracy of the DC-DC switching converters are improved by using the digital control algorithm based on delta-operator without increasing the hardware circuit scale. The design method of voltage compensator in delta-domain using PID (Proportion-Integration- Differentiation) control is given in this paper, and the simulation results based on Simulink platform are provided, which have verified the theoretical analysis results very well. It can be concluded that, the presented control algorithm based on delta-operator has better stability and controlling accuracy, and easier hardware implementation than the existed control algorithms based on z-operator, therefore it can be used for the voltage compensator design in high-frequency digitally- controlled DC-DC switching converters.

Keywords: Digitally-controlled DC-DC switching converter, finite word length, control algorithm based on delta-operator, high-frequency, stability.

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Authors: Stephanie Russo Fabris, Edmara Thays Neres Menezes, Ruirogeres dos Santos Cruz, Lucio Leonardo Siqueira Santos, Suzana Leitao Russo

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The statistical process control (SPC) is one of the most powerful tools developed to assist ineffective control of quality, involves collecting, organizing and interpreting data during production. This article aims to show how the use of CEP industries can control and continuously improve product quality through monitoring of production that can detect deviations of parameters representing the process by reducing the amount of off-specification products and thus the costs of production. This study aimed to conduct a technological forecasting in order to characterize the research being done related to the CEP. The survey was conducted in the databases Spacenet, WIPO and the National Institute of Industrial Property (INPI). Among the largest are the United States depositors and deposits via PCT, the classification section that was presented in greater abundance to F.

Keywords: Statistical Process Control, Industries

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Authors: Jae Kyung Son, Wan Shik Jang, Sung hyun Shim, Yoon Gyung Sung

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This paper is concerned with the application of the vision control algorithm for robot's point placement task in discontinuous trajectory caused by obstacle. The presented vision control algorithm consists of four models, which are the robot kinematic model, vision system model, parameters estimation model, and robot joint angle estimation model.When the robot moves toward a target along discontinuous trajectory, several types of obstacles appear in two obstacle regions. Then, this study is to investigate how these changes will affect the presented vision control algorithm.Thus, the practicality of the vision control algorithm is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.

Keywords: Vision control algorithm, location of obstacle region, range of obstacle region, point placement.

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Authors: Eleni Aggelogiannaki, Haralambos Sarimveis

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In this work, a radial basis function (RBF) neural network is developed for the identification of hyperbolic distributed parameter systems (DPSs). This empirical model is based only on process input-output data and used for the estimation of the controlled variables at specific locations, without the need of online solution of partial differential equations (PDEs). The nonlinear model that is obtained is suitably transformed to a nonlinear state space formulation that also takes into account the model mismatch. A stable robust control law is implemented for the attenuation of external disturbances. The proposed identification and control methodology is applied on a long duct, a common component of thermal systems, for a flow based control of temperature distribution. The closed loop performance is significantly improved in comparison to existing control methodologies.

Keywords: Hyperbolic Distributed Parameter Systems, Radial Basis Function Neural Networks, H∞ control, Thermal systems.

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