Search results for: two stage control.

Authors: O. Ejale, N.B. Siddique, R. Seals

Abstract:

The purpose of this study was to present a reliable mean for human-computer interfacing based on finger gestures made in two dimensions, which could be interpreted and adequately used in controlling a remote robot's movement. The gestures were captured and interpreted using an algorithm based on trigonometric functions, in calculating the angular displacement from one point of touch to another as the user-s finger moved within a time interval; thereby allowing for pattern spotting of the captured gesture. In this paper the design and implementation of such a gesture based user interface was presented, utilizing the aforementioned algorithm. These techniques were then used to control a remote mobile robot's movement. A resistive touch screen was selected as the gesture sensor, then utilizing a programmed microcontroller to interpret them respectively.

Keywords: 2-Dimensional interface, finger gesture, mobile robot control, touch screen.

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Authors: Pradip Deb

Abstract:

Quantitative radiobiological models can be used to assess the optimum clinical outcome from sophisticated therapeutic modalities by calculating tumor control probability (TCP) and normal tissue complication probability (NTCP). In this study two 3D-CRT and an IMRT treatment plans were developed with an initial prescription dose of 60 Gy in 2 Gy/fraction to prostate. Sensitivity of TCP and Complication free tumor control probability (P+) to the different values of α/β ratio was investigated for various prescription doses planned to be delivered in either a fixed number of fractions (I) or in a fixed dose per fraction (II) in each of the three different treatment plans. High dose/fraction and high α/β value result in comparatively smaller P+ and IMRT plans resulted in the highest P+, mainly due to the decrease in NTCP. If α/β is lower than expected, better tumor control can be achieved by increasing dose/fraction but decreasing the number of fractions.

Keywords: Linear Quadratic Model, TCP, NTCP, α/β ratio.

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Authors: B. Lonla Moffo, J. Mbihi, L. Nneme Nneme

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In this paper, a low cost duty-cycle modulation scheme is studied in depth and compared to the standard pulse width modulation technique. Using a mix of analytical reasoning and electronics simulation tools, it is shown that under the same operating conditions, most characteristics of the proposed duty-cycle modulation scheme are better than those provided by a standard pulse width modulation technique. The simulation results obtained when testing both modulation control policies on prototyping systems, indicate that the proposed duty-cycle modulation approach, appears to be a high quality control policy in a wide variety of application areas, including A/D and D/A conversion, signal transmission and switching control in power electronics.

Keywords: Duty-cycle Modulation, Operational amplifiers, Pulse width modulation, Power electronics, Signal processing.

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Authors: Husam Kaid, Abdulrahman Al-Ahmari, Zhiwu Li

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This paper develops a robust deadlock control technique for shared and unreliable resources in automated manufacturing systems (AMSs) based on structural analysis and colored Petri nets, which consists of three steps. The first step involves using strict minimal siphon control to create a live (deadlock-free) system that does not consider resource failure. The second step uses an approach based on colored Petri net, in which all monitors designed in the first step are merged into a single monitor. The third step addresses the deadlock control problems caused by resource failures. For all resource failures in the Petri net model a common recovery subnet based on colored petri net is proposed. The common recovery subnet is added to the obtained system at the second step to make the system reliable. The proposed approach is evaluated using an AMS from the literature. The results show that the proposed approach can be applied to an unreliable complex Petri net model, has a simpler structure and less computational complexity, and can obtain one common recovery subnet to model all resource failures.

Keywords: Automated manufacturing system, colored Petri net, deadlock, siphon.

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Authors: H.S. Kim

Abstract:

In this study, control performance of a smart base isolation system consisting of a friction pendulum system (FPS) and a magnetorheological (MR) damper has been investigated. A fuzzy logic controller (FLC) is used to modulate the MR damper so as to minimize structural acceleration while maintaining acceptable base displacement levels. To this end, a multi-objective optimization scheme is used to optimize parameters of membership functions and find appropriate fuzzy rules. To demonstrate effectiveness of the proposed multi-objective genetic algorithm for FLC, a numerical study of a smart base isolation system is conducted using several historical earthquakes. It is shown that the proposed method can find optimal fuzzy rules and that the optimized FLC outperforms not only a passive control strategy but also a human-designed FLC and a conventional semi-active control algorithm.

Keywords: Fuzzy logic controller, genetic algorithm, MR damper, smart base isolation system

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Authors: Ender Bulgun, Arzu Vuruskan

Abstract:

Apparel product development is an important stage in the life cycle of a product. Shortening this stage will help to reduce the costs of a garment. The aim of this study is to examine the production parameters in knitwear apparel companies by defining the unit costs, and developing a software to calculate the unit costs of garments and make the cost estimates. In this study, with the help of a questionnaire, different companies- systems of unit cost estimating and cost calculating were tried to be analyzed. Within the scope of the questionnaire, the importance of cost estimating process for apparel companies and the expectations from a new cost estimating program were investigated. According to the results of the questionnaire, it was seen that the majority of companies which participated to the questionnaire use manual cost calculating methods or simple Microsoft Excel spreadsheets to make cost estimates. Furthermore, it was discovered that many companies meet with difficulties in archiving the cost data for future use and as a solution to that problem, it is thought that prior to making a cost estimate, sub units of garment costs which are fabric, accessory and the labor costs should be analyzed and added to the database of the programme beforehand. Another specification of the cost estimating unit prepared in this study is that the programme was designed to consist of two main units, one of which makes the product specification and the other makes the cost calculation. The programme is prepared as a web-based application in order that the supplier, the manufacturer and the customer can have the opportunity to communicate through the same platform.

Keywords: Apparel, cost estimating, design archive.

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Authors: Azizan Bin Saaban, Adyda Binti Ibrahim, Mohammad Shehzad, Israr Ahmad

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In chaos synchronization, the main goal is to design such controller(s) that synchronizes the states of master and slave system asymptotically globally. This paper studied and investigated the synchronization problem of two identical Chen, and identical Tigan chaotic systems and two non-identical Chen and Tigan chaotic systems using Non-linear active control algorithm. In this study, based on Lyapunov stability theory and using non-linear active control algorithm, it has been shown that the proposed schemes have excellent transient performance using only two nonlinear controllers and have shown analytically as well as graphically that synchronization is asymptotically globally stable.

Keywords: Nonlinear Active Control, Chen and Tigan Chaotic systems, Lyapunov Stability theory, Synchronization.

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Authors: Nemat Abazari, Ilgin Sager

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In this paper smooth trajectories are computed in the Lie group SO(2, 1) as a motion planning problem by assigning a Frenet frame to the rigid body system to optimize the cost function of the elastic energy which is spent to track a timelike curve in Minkowski space. A method is proposed to solve a motion planning problem that minimize the integral of the square norm of Darboux vector of a timelike curve. This method uses the coordinate free Maximum Principle of Optimal control and results in the theory of integrable Hamiltonian systems. The presence of several conversed quantities inherent in these Hamiltonian systems aids in the explicit computation of the rigid body motions.

Keywords: Optimal control, Hamiltonian vector field, Darboux vector, maximum principle, lie group, Rigid body motion, Lorentz metric.

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Authors: Andrés Carrión García, Aura López de Murillo, José Jabaloyes Vivas, Angela Grisales del Río

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Some quality control tools use non metric subjective information coming from experts, who qualify the intensity of relations existing inside processes, but without quantifying them. In this paper we have developed a quality control analytic tool, measuring the impact or strength of the relationship between process operations and product characteristics. The tool includes two models: a qualitative model, allowing relationships description and analysis; and a formal quantitative model, by means of which relationship quantification is achieved. In the first one, concepts from the Graphs Theory were applied to identify those process elements which can be sources of variation, that is, those quality characteristics or operations that have some sort of prelacy over the others and that should become control items. Also the most dependent elements can be identified, that is those elements receiving the effects of elements identified as variation sources. If controls are focused in those dependent elements, efficiency of control is compromised by the fact that we are controlling effects, not causes. The second model applied adapts the multivariate statistical technique of Covariance Structural Analysis. This approach allowed us to quantify the relationships. The computer package LISREL was used to obtain statistics and to validate the model.

Keywords: Characteristics matrix, covariance structure analysis, LISREL.

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Authors: Emilija Miletic, Milos Krstic, Maxim Piz, Michael Methfessel

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In this work we present a solution for DAGC (Digital Automatic Gain Control) in WLAN receivers compatible to IEEE 802.11a/g standard. Those standards define communication in 5/2.4 GHz band using Orthogonal Frequency Division Multiplexing OFDM modulation scheme. WLAN Transceiver that we have used enables gain control over Low Noise Amplifier (LNA) and a Variable Gain Amplifier (VGA). The control over those signals is performed in our digital baseband processor using dedicated hardware block DAGC. DAGC in this process is used to automatically control the VGA and LNA in order to achieve better signal-to-noise ratio, decrease FER (Frame Error Rate) and hold the average power of the baseband signal close to the desired set point. DAGC function in baseband processor is done in few steps: measuring power levels of baseband samples of an RF signal,accumulating the differences between the measured power level and actual gain setting, adjusting a gain factor of the accumulation, and applying the adjusted gain factor the baseband values. Based on the measurement results of RSSI signal dependence to input power we have concluded that this digital AGC can be implemented applying the simple linearization of the RSSI. This solution is very simple but also effective and reduces complexity and power consumption of the DAGC. This DAGC is implemented and tested both in FPGA and in ASIC as a part of our WLAN baseband processor. Finally, we have integrated this circuit in a compact WLAN PCMCIA board based on MAC and baseband ASIC chips designed from us.

Keywords: WLAN, AGC, RSSI, baseband processor

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Authors: Kyung-Jung Lee, Hyun-Sik Ahn

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This paper suggests a design methodology for the hardware and software of the electronic control unit (ECU) of safety-critical vehicle applications such as braking and steering. The architecture of the hardware is a high integrity system such thatit incorporates a high performance 32-bit CPU and a separate peripheral controlprocessor (PCP) together with an external watchdog CPU. Communication between the main CPU and the PCP is executed via a common area of RAM and events on either processor which are invoked by interrupts. Safety-related software is also implemented to provide a reliable, self-testing computing environment for safety critical and high integrity applications. The validity of the design approach is shown by using the hardware-in-the-loop simulation (HILS)for electric power steering(EPS) systemswhich consists of the EPS mechanism, the designed ECU, and monitoring tools.

Keywords: Electronic control unit, electric power steering, functional safety, hardware-in-the-loop simulation.

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Authors: Ganesh Kothapalli, Mohammed Y. Hassan

Abstract:

The hydraulic actuated excavator, being a non-linear mobile machine, encounters many uncertainties. There are uncertainties in the hydraulic system in addition to the uncertain nature of the load. The simulation results obtained in this study show that there is a need for intelligent control of such machines and in particular interval type-2 fuzzy controller is most suitable for minimizing the position error of a typical excavator-s bucket under load variations. We consider the model parameter uncertainties such as hydraulic fluid leakage and friction. These are uncertainties which also depend up on the temperature and alter bulk modulus and viscosity of the hydraulic fluid. Such uncertainties together with the load variations cause chattering of the bucket position. The interval type-2 fuzzy controller effectively eliminates the chattering and manages to control the end-effecter (bucket) position with positional error in the order of few millimeters.

Keywords: excavator, fuzzy control, hydraulics, mining, type-2

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Authors: Ghaffari, H., Changi Ashtiani, A., Younessi, A.

Abstract:

There are three distinct stages in the evolution of economic thought, namely: 1. in the first stage, the major concern was to accelerate economic growth with increased availability of material goods, especially in developing economies with very low living standards, because poverty eradication meant faster economic growth. 2. in the second stage, economists made distinction between growth and development. Development was seen as going beyond economic growth, and bringing certain changes in the structure of the economy with more equitable distribution of the benefits of growth, with the growth coming automatic and sustained. 3. the third stage is now reached. Our concern is now with “sustainable development", that is, development not only for the present but also of the future. Thus the focus changed from “sustained growth" to “sustained development". Sustained development brings to the fore the long term relationship between the ecology and economic development. Since the creation of UNEP in 1972 it has worked for development without destruction for environmentally sound and sustained development. It was realised that the environment cannot be viewed in a vaccum, it is not separate from development, nor is it competing. It suggested for the integration of the environment with development whereby ecological factors enter development planning, socio-economic policies, cost-benefit analysis, trade, technology transfer, waste management, educational and other specific areas. Industrialisation has contributed to the growth of economy of several countries. It has improved the standards of living of its people and provided benefits to the society. It has also created in the process great environmental problems like climate change, forest destruction and denudation, soil erosion and desertification etc. On the other hand, industry has provided jobs and improved the prospects of wealth for the industrialists. The working class communities had to simply put up with the high levels of pollution in order to keep up their jobs and also to save their income. There are many roots of the environmental problem. They may be political, economic, cultural and technological conditions of the modern society. The experts concede that industrial growth lies somewhere close to the heart of the matter. Therefore, the objective of this paper is not to document all roots of an environmental crisis but rather to discuss the effects of industrial growth and development. We have come to the conclusion that although public intervention is often unnecessary to ensure that perfectly competitive markets will function in society-s best interests, such intervention is necessary when firms or consumers pollute.

Keywords: Development, Environment, Industrial Development, Iran, Occupational problems, Pollution.

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Authors: Kaveh Qaderi Bagajan, Osman Khanahmadi, Ziba Mamaghani Chaharborj, Majid Chenaparchi

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The purpose of this study is to investigate the efficacy of the solution-focused brief therapy on improving the psychological wellbeing of family supervisor woman. This study has been carried out by semi-experimental method and in the form of pre-test, post-test performance on two groups (experimental and control), so that one sample group of 30 individuals was randomly achieved and were randomly divided in two groups of experimental (n=15) and control (n=15). To collect data, Ryff scale psychological wellbeing was used. After conducting pre-test (RSPWB) for two experimental and control groups, Solution-focused brief therapy interference was conducted on the experimental group during five two-hour sessions. Finally, Ryff scale psychological wellbeing was reused for the two groups as post-test and achieved outcomes that were analyzed using covariance. The results indicated that the significant increase of average marks of the experimental group in psychological wellbeing had better function than that of the control group. Finally, solution-focused brief therapy for improving psychological well-being of family supervisor women has a suitable capability and could be used in this way.

Keywords: Solution-Focused Brief Therapy, Short-term Therapy, Family Supervisor Women, Psychological Wellbeing.

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Authors: Ahmad Gholami , Saeed Sharafi, Hamid Abbasdokht

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The effect of magnetic field on germination characteristics of two wheat Seeds has been studied under laboratory conditions. Seeds were magnetically exposed to magnetic field strengths, 125 or 250mT for different periods of time. Mean germination time and the time required to obtain 10, 25, 50, 75 and 90%of seeds to germinate were calculated. The germination time for each treatment were in general, higher than corresponding control values, in the other word in treated seeds time required for mean seed germination time increased nearly 3 hours in compared non treated control seeds. T10 for doses D5, D6, D11 and D12 significantly higher than the control values for both cultivars. Mean germination time (MGT) in both cultivars significantly increased when the time of seed exposed at magnetic field treatments increased , about 3 and 2 hour respectively for Omid and BCR cultivars.

Keywords: wheat, cultivar, germination test, magnetic field

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Authors: Kiwon Rhee, Kyung-Jin You, Hyun-Chool Shin

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This paper proposes a method of remotely controlling robots with arm gestures using surface electromyography (EMG) and accelerometer sensors attached to the operator’s wrists. The EMG and accelerometer sensors receive signals from the arm gestures of the operator and infer the corresponding movements to execute the command to control the robot. The movements of the robot include moving forward and backward and turning left and right. The accuracy is over 99% and movements can be controlled in real time.

Keywords: EMG, accelerometer, K-nn, entropy.

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Authors: Sanjay Baburao Kulkarni

Abstract:

Exact solution of an unsteady MHD flow of elasticoviscous fluid through a porous media in a tube of spherical cross section under the influence of magnetic field and constant pressure gradient has been obtained in this paper. Initially, the flow is generated by a constant pressure gradient. After attaining the steady state, the pressure gradient is suddenly withdrawn and the resulting fluid motion in a tube of spherical cross section by taking into account of the porosity factor and magnetic parameter of the bounding surface is investigated. The problem is solved in two-stages the first stage is a steady motion in tube under the influence of a constant pressure gradient, the second stage concern with an unsteady motion. The problem is solved employing separation of variables technique. The results are expressed in terms of a non-dimensional porosity parameter (K), magnetic parameter (m) and elasticoviscosity parameter (β), which depends on the Non-Newtonian coefficient. The flow parameters are found to be identical with that of Newtonian case as elastic-viscosity parameter and magnetic parameter tends to zero and porosity tends to infinity. It is seen that the effect of elastico-viscosity parameter, porosity parameter and magnetic parameter of the bounding surface has significant effect on the velocity parameter.

Keywords: Elastico-viscous fluid, Porous media, Second order fluids, Spherical cross-section, Magnetic parameter.

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Authors: Nopparat Pochai, Rujira Deepana

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Water pollution assessment problems arise frequently in environmental science. In this research, a finite difference method for solving the one-dimensional steady convection-diffusion equation with variable coefficients is proposed; it is then used to optimize water treatment costs.

Keywords: Finite difference, One-dimensional, Steady state, Waterpollution control, Optimization, Convection-diffusion equation.

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Authors: M. R. Rouhi, S. Shafiei, A. Taghavipour, H. Adibi-Asl, A. Doosthoseini

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This research targets at alleviating the problem of range anxiety associated with the battery electric vehicles (BEVs) by considering mechanical and control aspects of the powertrain. In this way, all the energy consuming components and their effect on reducing the range of the BEV and battery life index are identified. On the other hand, an appropriate control strategy is designed to guarantee the performance of the BEV and the extended electric range which is evaluated by an extensive simulation procedure and a real-world driving schedule.

Keywords: Battery, electric vehicles EV, ultra-capacitor.

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Authors: Zheni S. Stefanova, Kandethody M. Ramachandran

Abstract:

With the increasing dependency on our computer devices, we face the necessity of adequate, efficient and effective mechanisms, for protecting our network. There are two main problems that Intrusion Detection Systems (IDS) attempt to solve. 1) To detect the attack, by analyzing the incoming traffic and inspect the network (intrusion detection). 2) To produce a prompt response when the attack occurs (intrusion prevention). It is critical creating an Intrusion detection model that will detect a breach in the system on time and also challenging making it provide an automatic and with an acceptable delay response at every single stage of the monitoring process. We cannot afford to adopt security measures with a high exploiting computational power, and we are not able to accept a mechanism that will react with a delay. In this paper, we will propose an intrusion response mechanism that is based on artificial intelligence, and more precisely, reinforcement learning techniques (RLT). The RLT will help us to create a decision agent, who will control the process of interacting with the undetermined environment. The goal is to find an optimal policy, which will represent the intrusion response, therefore, to solve the Reinforcement learning problem, using a Q-learning approach. Our agent will produce an optimal immediate response, in the process of evaluating the network traffic.This Q-learning approach will establish the balance between exploration and exploitation and provide a unique, self-learning and strategic artificial intelligence response mechanism for IDS.

Keywords: Intrusion prevention, network security, optimal policy, Q-learning.

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Authors: Aleksandar Dedić, Duško Salemović, Matilda Lazić, Dragan Halas

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The aim of the paper was the thermal balance control of vertical kiln dryer indirect type (VSU-36) for drying sunflower seed, produced by “Cer” - Cacak, capacity 39 [t/h]. The balance control was executed because the dryer was damaged by NATO bombing in 1999, and it was planned for its reconstruction. The structural and geometric characteristics of the dryer were known, and it was necessary to determine the parameters of wet air as a drying agent and the sunflower seeds. The thermal balance control was the basis for the replacement of damaged parts of the dryer during its reconstruction. After that, it was necessary to perform the subsequent calculation of strength. The accuracy of strength had a large influence on the cost-effectiveness and safety of a single drying chamber. Also, the work provides guidelines for the regimes of drying grain crops with an explanation of the specificity of drying sunflowers.

Keywords: Sunflower seeds, regimes of drying, vertical kiln dryer, thermal analysis.

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Authors: H. Mansor, S. B. Mohd-Noor, T. S. Gunawan, S. Khan, N. I. Othman, N. Tazali, R. B. Islam

Abstract:

This paper provides a comparative study on the performances of standard PID and adaptive PID controllers tested on travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top helicopter. Quanser, a well-known manufacturer of educational bench-top helicopter has developed Proportional Integration Derivative (PID) controller with Linear Quadratic Regulator (LQR) for all travel, pitch and yaw angle of the bench-top helicopter. The performance of the PID controller is relatively good; however, its performance could also be improved if the controller is combined with adaptive element. The objective of this research is to design adaptive PID controller and then compare the performances of the adaptive PID with the standard PID. The controller design and test is focused on travel angle control only. Adaptive method used in this project is self-tuning controller, which controller’s parameters are updated online. Two adaptive algorithms those are pole-placement and deadbeat have been chosen as the method to achieve optimal controller’s parameters. Performance comparisons have shown that the adaptive (deadbeat) PID controller has produced more desirable performance compared to standard PID and adaptive (poleplacement). The adaptive (deadbeat) PID controller attained very fast settling time (5 seconds) and very small percentage of overshoot (5% to 7.5%) for 10° to 30° step change of travel angle.

Keywords: Adaptive control, bench-top helicopter, deadbeat, pole-placement, self-tuning control.

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Authors: Zarabizan Zakaria, Syuhaida Ismail, Aminah Md Yusof

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Project management process starts from the planning stage up to the stage of completion (handover of buildings, preparation of the final accounts and the closing balance). Seeing as this process is not easy to be implemented efficiently and effectively, the issue of unsuccessful delivery as per contract in construction has become a major problem for construction projects. These issues have been blamed mainly on inefficient traditional construction practices that continue to dominate the current industry. This is due to several factors, such as environments of construction technology, sophisticated design and customer demand, that are constantly changing and influencing, either directly or indirectly, to the practice of management. Among the identified influences are physical environment, social environment, information environment, political and moral atmosphere. Therefore, this paper is emerged to determine the fundamental variables in the final account closing success in construction project. This aim can be achieved via its objectives of identifying the key constraints to the closing of final accounts in construction projects in Malaysia, investigating solutions to the identified constraints and analysing the relative levels of impact of the identified constraints. It is expected that this paper provides effective measures to avoid or at least reduce the problems in final account closing to the optimum level. It is also anticipated that the finding or outcome reported in this paper could address the unsuccessful contributors in final account closing and define tools for their mitigation for the better development of construction project.

Keywords: Fundamental variables, closing of final account, construction project, Malaysia.

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Authors: K. Petcharat, Y. Areepong, S. Sukparungsri, G. Mititelu

Abstract:

These paper, we approximate the average run length (ARL) for CUSUM chart when observation are an exponential first order moving average sequence (EMA1). We used Gauss-Legendre numerical scheme for integral equations (IE) method for approximate ARL0 and ARL1, where ARL in control and out of control, respectively. We compared the results from IE method and exact solution such that the two methods perform good agreement.

Keywords: Cumulative Sum Chart, Moving Average Observation, Average Run Length, Numerical Approximations.

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Authors: A. Soualem

Abstract:

The design of multi stage deep drawing processes requires the evaluation of many process parameters such as the intermediate die geometry, the blank shape, the sheet thickness, the blank holder force, friction, lubrication etc..These process parameters have to be determined for the optimum forming conditions before the process design. In general sheet metal forming may involve stretching drawing or various combinations of these basic modes of deformation. It is important to determine the influence of the process variables in the design of sheet metal working process. Especially, the punch and die corner for deep drawing will affect the formability. At the same time the prediction of sheet metals springback after deep drawing is an important issue to solve for the control of manufacturing processes. Nowadays, the importance of this problem increases because of the use of steel sheeting with high stress and also aluminum alloys.

The aim of this paper is to give a better understanding of the springback and its effect in various sheet metals forming process such as expansion and restreint deep drawing in the cup drawing process, by varying radius die, lubricant for two commercially available materials e.g. galvanized steel and Aluminum sheet. To achieve these goals experiments were carried out and compared with other results. The original of our purpose consist on tests which are ensured by adapting a U-type stretching-bending device on a tensile testing machine, where we studied and quantified the variation of the springback.

Keywords: Deep drawing, Expansion, Restreint deep drawing, Springback.

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Authors: Guangyu Liu

Abstract:

In the last decade, energy based control theory has undergone a significant breakthrough in dealing with underactated mechanical systems with two successful and similar tools, controlled Lagrangians and controlled Hamiltanians (IDA-PBC). However, because of the complexity of these tools, successful case studies are lacking, in particular, MIMO cases. The seminal theoretical paper of controlled Lagrangians proposed by Bloch and his colleagues presented a benchmark example–a 4 d.o.f underactuated pendulum on a cart but a detailed and completed design is neglected. To compensate this ignorance, the note revisit their design idea by addressing explicit control functions for a similar device motivated by a vector thrust body hovering in the air. To the best of our knowledge, this system is the first MIMO, underactuated example that is stabilized by using energy based tools at the courtesy of the original design idea. Some observations are given based on computer simulation.

Keywords: Controlled Lagrangian, Energy Shaping, Spherical Inverted Pendulum, Controlled Hamiltonian.

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Authors: Yuki Kondo, Takanori Nagano, Yuki Takeda, Young-Bok Choi, Hiromi Okada

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Optical burst switching(OBS) is considered as one of preferable network technologies for the next generation Internet. The Internet has two traffic classes, i.e. real-time bursts and reliable bursts. It is an important subject for OBS to achieve cooperated operation of real-time bursts and reliable bursts. In this paper, we proposes a new effective traffic control method named Separate TB+LB (Token Bucket + Leaky Bucket : TB+LB) method. The proposed method presents a new Token Bucket scheme for real-time bursts called as RBO-TB (Real-time Bursts Oriented Token Bucket). The method also applies the LB method to reliable bursts for obtaining better performance. This paper verifies the effectiveness of the Separate TB+LB method through the performance evaluation.

Keywords: leaky bucket, OBS, traffic control, token bucket.

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Authors: R. Pudasaini, R. B. Thapa, P. R. Poudel

Abstract:

An experiment was conducted to determine the effect of pollination on seed quality of rapeseed in Chitwan, Nepal during 2012-2013. The experiment was designed in Randomized Complete Block with four replications and five treatments. The rapeseed plots were caged with mosquito nets at 10% flowering except natural pollination. Two-framed colonies of Apis mellifera L. and Apis cerana F. were introduced separately for pollination, and control plot caged without pollinators. The highest germination percent was observed on Apis cerana F. pollinated plot seeds (90.50% germination) followed by Apis mellifera L. pollinated plots (87.25 %) and lowest on control plots (42.00% germination) seeds. Similarly, seed test weight of Apis cerana F. pollinated plots (3.22 gm/ 1000 seed) and Apis mellifera L. pollinated plots (2.93 gm/1000 seed) were and lowest on control plots (2.26 gm/ 1000 seed) recorded. Likewise, oil content was recorded highest on pollinated by Apis cerana F. (36.1%) followed by pollinated by Apis mellifera L. (35.4%) and lowest on control plots (32.8%). This study clearly indicated pollination increases the seed quality of rapeseed and therefore, management of honeybee is necessary for producing higher quality of rapeseed under Chitwan condition.

Keywords: Apis cerana, Apis mellifera, rapeseed pollination, seed quality.

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Authors: P. Parvizi, F. Norouzifard, S.Mohammadi

Abstract:

The need to implement intelligent highways is much more emphasized with the growth of vehicle production line as well as vehicle intelligence. 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 a single central computer. In this project, central computer, without utilizing Global Positioning System (GPS), is capable of tracking all vehicles, crisis management and control, traffic guidance and recording traffic crimes along the highway. By the help of RFID technology, vehicles are connected to computerized systems, intelligent light poles and other available hardware along the way. By the aid of Wimax communicative technology, all components of the system are virtually connected together through local and global networks devised in them and the energy of the network is provided by the solar cells installed on the intelligent light poles.

Keywords: intelligent highway, intelligent light pole, highway automation

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Authors: M. Nayeripour, T. Niknam

Abstract:

Nonlinear and unbalance loads in three phase networks create harmonics and losses. Active and passive filters are used for elimination or reduction of these effects. Passive filters have some limitations. For example, they are designed only for a specific frequency and they may cause to resonance in the network at the point of common coupling. The other drawback of a passive filter is that the sizes of required elements are normally large. The active filter can improve some of limitations of passive filter for example; they can eliminate more than one harmonic and don't cause resonance in the network. In this paper inverter analysis have been done simultaneously in three phase and the RL impedance of the line have been considered. A sliding mode control based on energy feedback of capacitors is employed in the design with this method, the dynamic speed of the filter is improved effectively and harmonics and load unbalance is compensating quickly.

Keywords: Shunt active filter, harmonic, inverter, sliding mode control, energy feedback.

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