Search results for: intelligent control.

Authors: Mohammed Qasim, Kyoung-Dae Kim

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In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: Artificial potential function, autonomy, collision avoidance, teleoperation, quadrotor, UAV.

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Authors: Shyue-Ran Li, Kuohsiang Chen

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The study explored varied types of human smiles and extracted most of the key factors affecting the smiles. These key factors then were converted into a set of control points which could serve to satisfy the needs for creation of facial expression for 3D animators and be further applied to the face simulation for robots in the future. First, hundreds of human smile pictures were collected and analyzed to identify the key factors for face expression. Then, the factors were converted into a set of control points and sizing parameters calculated proportionally. Finally, two different faces were constructed for validating the parameters via the process of simulating smiles of the same type as the original one.

Keywords: 3D animation, facial expression, numerical, robot, smile parameter.

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Authors: Eqbal M. A. Dauqan, A. Aminah

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The aim of the present study was to evaluate the blood lipid profile and liver lipid peroxidation in normal rat fed with different concentrations of Acacia senegal and Acacia seyal. Thirty six Sprague Dawley male rats each weighing between 180-200g were randomly divided into two groups. Each group contains eighteen rats and were divided into three groups of 6 rats per group. The rats were fed ad libitum with commercial rat’s feed and tap water containing different concentrations of Acacia senegal and Acacia seyal (3% and 6%) for 4 weeks. The results at 4 weeks showed that there was no significant difference (p≤0.05) in the total cholesterol (TC) and triglycerides (TG) between the control group and treated groups while the results for the high density lipoprotein (HDL-C) showed a significant decrease (P≥0.05) at the 3% and 6% of gum arabic treated groups compared to control group. There was a significant increase (P≥0.05) in low density lipoprotein (LDL-C) with 3% and 6% of gum Arabic (GA) groups compared to the control group. The study indicated that there was no significant (p≤0.05) effect on TC and TG but there was significant effect (P≥0.05) on HDL-C and LDL-C in blood lipid profile of normal rat. The results showed that after 4 weeks of treatment the malondialdehyde (MDA) value in rat fed with 6% of A. seyal group was significantly higher (P≥0.05) than control or other treated groups of A. seyal and A. senegal studied. Thus, the two species of gum arabic did not have beneficial effect on blood lipid profile and lipid peroxidation.

Keywords: Acacia senegal, Acacia seyal, lipid profile, lipid peroxidation, malondialdehyde (MDA).

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Authors: K. Dimitropoulos, N. Grammalidis, I. Gragopoulos, H. Gao, Th. Heuer, M. Weinmann, S. Voit, C. Stockhammer, U. Hartmann, N. Pavlidou

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Existing ground movement surveillance technologies at airports are subjected to limitations due to shadowing effects or multiple reflections. Therefore, there is a strong demand for a new sensing technology, which will be cost effective and will provide detection of non-cooperative targets under any weather conditions. This paper aims to present a new intelligent system, developed within the framework of the EC-funded ISMAEL project, which is based on a new magnetic sensing technology and provides detection, tracking and automatic classification of targets moving on the airport surface. The system is currently being installed at two European airports. Initial experimental results under real airport traffic demonstrate the great potential of the proposed system.

Keywords: Air traffic management, magnetic sensors, multitracking, A-SMGCS.

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Authors: D. Biswas, Sang H. Hyun

Abstract:

In mammalian reproductive tract, the oviduct secretes huge number of growth factors and cytokines that create an optimal micro-environment for the initial stages of preimplantation embryos. Secretion of these growth factors is stage-specific. Among them, VEGF is a potent mitogen for vascular endothelium and stimulates vascular permeability. Apart from angiogenesis, VEGF in the oviduct may be involved in regulating the oocyte maturation and subsequent developmental process during embryo production in vitro. In experiment 1, to evaluate the effect of VEGF during IVM of porcine COC and subsequent developmental ability after PA and SCNT. The results from these experiments indicated that maturation rates among the different VEGF concentrations were not significant different. In experiment 2, total intracellular GSH concentrations of oocytes matured with VEGF (5-50 ng/ml) were increased significantly compared to a control and VEGF group (500 ng/ml). In experiment 3, the blastocyst formation rates and total cell number per blastocyst after parthenogenesis of oocytes matured with VEGF (5-50 ng/ml) were increased significantly compared to a control and VEGF group (500 ng/ml). Similarly, in experiment 4, the blastocyst formation rate and total cell number per blastocyst after SCNT and IVF of oocytes matured with VEGF (5 ng/ml) were significantly higher than that of oocytes matured without VEGF group. In experiment 5, at 10 hour after the onset of IVF, pronuclear formation rate was evaluated. Monospermy was significantly higher in VEGF-matured oocytes than in the control, and polyspermy and sperm penetration per oocyte were significantly higher in the control group than in the VEGFmatured oocytes. Supplementation with VEGF during IVM significantly improved male pronuclear formation as compared with the control. In experiment 6, type III cortical granule distribution in oocytes was more common in VEGF-matured oocytes than in the control. In conclusion, the present study suggested that supplementation of VEGF during IVM may enhance the developmental potential of porcine in vitro embryos through increase of the intracellular GSH level, higher MPN formation and increased fertilization rate as a consequence of an improved cytoplasmic maturation.

Keywords: angiogenesis, GSH, monospermy, VEGF

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Authors: Alexander S. Andreev, Olga A. Peregudova

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In this paper we propose a discrete tracking control of nonholonomic mobile robots with two degrees of freedom. The electromechanical model of a mobile robot moving on a horizontal surface without slipping, with two rear wheels controlled by two independent DC electric, and one front roal wheel is considered. We present backstepping design based on the Euler approximate discretetime model of a continuous-time plant. Theoretical considerations are verified by numerical simulation.

Keywords: Actuator Dynamics, Backstepping, Discrete-Time Controller, Lyapunov Function, Wheeled Mobile Robot.

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Authors: Fuzhang Zhao

Abstract:

Particle swarm optimization (PSO) is becoming one of the most important swarm intelligent paradigms for solving global optimization problems. Although some progress has been made to improve PSO algorithms over the last two decades, additional work is still needed to balance parameters to achieve better numerical properties of accuracy, efficiency, and stability. In the optimal PSO algorithm, the optimal weightings of (√ 5 − 1)/2 and (3 − √5)/2 are used for the cognitive factor and the social factor, respectively. By the same token, the same optimal weightings have been applied for intensification searches and diversification searches, respectively. Perturbation and constriction effects are optimally balanced. Simulations of the de Jong, the Rosenbrock, and the Griewank functions show that the optimal PSO algorithm indeed achieves better numerical properties and outperforms the canonical PSO algorithm.

Keywords: Diversification search, intensification search, optimal weighting, particle swarm optimization.

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Authors: M. Stewart, Ameer Al-Khaykan, J. M. Counsell

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Emissions are a consequence of electricity generation. A major option for low carbon generation, local energy systems featuring Combined Heat and Power with solar PV (CHPV) has significant potential to increase energy performance, increase resilience, and offer greater control of local energy prices while complementing the UK’s emissions standards and targets. Recent advances in dynamic modelling and simulation of buildings and clusters of buildings using the IDEAS framework have successfully validated a novel multi-vector (simultaneous control of both heat and electricity) approach to integrating the wide range of primary and secondary plant typical of local energy systems designs including CHP, solar PV, gas boilers, absorption chillers and thermal energy storage, and associated electrical and hot water networks, all operating under a single unified control strategy. Results from this work indicate through simulation that integrated control of thermal storage can have a pivotal role in optimizing system performance well beyond the present expectations. Environmental impact analysis and reporting of all energy systems including CHPV LES presently employ a static annual average carbon emissions intensity for grid supplied electricity. This paper focuses on establishing and validating CHPV environmental performance against conventional emissions values and assessment benchmarks to analyze emissions performance without and with an active thermal store in a notional group of non-domestic buildings. Results of this analysis are presented and discussed in context of performance validation and quantifying the reduced environmental impact of CHPV systems with active energy storage in comparison with conventional LES designs.

Keywords: CHPV, thermal storage, control, dynamic simulation.

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Authors: Masood Roohi, Amir Taghavipour

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This paper describes a strategy to develop an energy management system (EMS) for a charge-sustaining power-split hybrid electric vehicle. This kind of hybrid electric vehicles (HEVs) benefit from the advantages of both parallel and series architecture. However, it gets relatively more complicated to manage power flow between the battery and the engine optimally. The applied strategy in this paper is based on nonlinear model predictive control approach. First of all, an appropriate control-oriented model which was accurate enough and simple was derived. Towards utilization of this controller in real-time, the problem was solved off-line for a vast area of reference signals and initial conditions and stored the computed manipulated variables inside look-up tables. Look-up tables take a little amount of memory. Also, the computational load dramatically decreased, because to find required manipulated variables the controller just needed a simple interpolation between tables.

Keywords: Hybrid electric vehicles, energy management system, nonlinear model predictive control, real-time.

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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

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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: Ali Ameur Haj Salah, Tarek Garna, Hassani Messaoud

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This paper attempts to define the validity domain of LSDP (Loop Shaping Design Procedure) controller system, by determining the suitable uncertainty region, so that linear system be stable. Indeed the LSDP controller cannot provide stability for any perturbed system. For this, we will use the gap metric tool that is introduced into the control literature for studying robustness properties of feedback systems with uncertainty. A 2nd order electric linear system example is given to define the validity domain of LSDP controller and effectiveness gap metric.

Keywords: LSDP, Gap metric, Robust Control.

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Authors: R. Farkh, K. Laabidi, M. Ksouri

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In this paper, we consider the control of time delay system by Proportional-Integral (PI) controller. By Using the Hermite- Biehler theorem, which is applicable to quasi-polynomials, we seek a stability region of the controller for first order delay systems. The essence of this work resides in the extension of this approach to second order delay system, in the determination of its stability region and the computation of the PI optimum parameters. We have used the genetic algorithms to lead the complexity of the optimization problem.

Keywords: Genetic algorithm, Hermit-Biehler theorem, optimization, PI controller, second order delay system, stability region.

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Authors: Bhaveshkumar P. Patel, J. M. Prajapati

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Excavators are high power machines used in the mining, agricultural and construction industry whose principal functions are digging (material removing), ground leveling and material transport operations. During the digging task there are certain unknown forces exerted by the bucket on the soil and the digging operation is repetitive in nature. Automation of the digging task can be performed by an automatically controlled excavator system, which is not only control the forces but also follow the planned digging trajectories. To develop such a controller for automated excavation, it is required to develop a dynamic model to describe the behavior of the control system during digging operation and motion of excavator with time. The presented work described a dynamic model needed for controller design and which is derived by applying Lagrange-Euler approach. The developed dynamic model is intended for further development of an automated excavation control system for light duty construction work and can be applied for heavy duty or all types of backhoe excavators.

Keywords: Backhoe excavator, controller, digging, excavation, trajectory.

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Authors: V. Golubeva, A. Korableva, O. Anischenko, A. Nemova, N. Yegorushina, L. Kustov, G. Kapustin, U.S.Rohatgi

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The implementation of Super-Ultra Low Emission Vehicle standards requires more efficient exhaust gas purification. To increase the efficiency of exhaust gas purification, an the adsorbent capable of holding hydrocarbons up to 250-300 ОС should be developed. The possibility to design such adsorbents by modification of zeolites of mordenite type, ZSM-5 and NaY, using different metals cations has been studied. It has been shown that introducing Cr, Cs, Zn, Ni, Co, Li, Mn in zeolites results in modification of the toluene TPD and toluene sorption capacity. 5%LiZSM-5 zeolite exhibits the most attractive TPD curve, with toluene desorption temperature ranging from 250 to 350ОС. The sorption capacity of 5%Li-ZSM-5 is 0.4 mmol/g. NaY zeolite has the highest sorption capacity, up to 2 mmol/g, and holds toluene up to 350ОС, but at 120ОС toluene desorption starts, which is not desirable, since the adsorbent of cold start hydrocarbons should retain them until 250-300ОС. Therefore 5%LiZSM-5 zeolite was found to be the most promising to control the cold-start hydrocarbon emissions among the samples studied.

Keywords: Hydrocarbon emission control, adsorbents, zeolites, temperature-programmed desorption.

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Authors: Manolo Dulva Hina, Clement Thierry, Assia Soukane, Amar Ramdane-Cherif

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In this paper, we presented our innovative way of determining the driving context for a driving assistance system. We invoke the fusion of all parameters that describe the context of the environment, the vehicle and the driver to obtain the driving context. We created a training set that stores driving situation patterns and from which the system consults to determine the driving situation. A machine-learning algorithm predicts the driving situation. The driving situation is an input to the fission process that yields the action that must be implemented when the driver needs to be informed or assisted from the given the driving situation. The action may be directed towards the driver, the vehicle or both. This is an ongoing work whose goal is to offer an alternative driving assistance system for safe driving, green driving and comfortable driving. Here, ontologies are used for knowledge representation.

Keywords: Cognitive driving, intelligent transportation system, multimodal system, ontology, machine learning.

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Authors: Alexandre Rabaseda, Emelie Seguin, Marc Doumit

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Human mobility exoskeletons have been in development for several years and are becoming increasingly efficient. Unfortunately, user comfort was not always a priority design criterion throughout their development. To further improve this technology, exoskeletons should operate and deliver assistance without causing discomfort to the user. For this, improvements are necessary from an ergonomic point of view. The device’s control method is important when endeavoring to enhance user comfort. Exoskeleton or rehabilitation device controllers use methods of control called interaction controls (admittance and impedance controls). This paper proposes an extended version of an admittance controller to enhance user comfort. The control method used consists of adding an inner loop that is controlled by a proportional-integral-derivative (PID) controller. This allows the interaction force to be kept as close as possible to the desired force trajectory. The force-tracking admittance controller modifies the actuation force of the system in order to follow both the desired motion trajectory and the desired relative force between the user and the exoskeleton.

Keywords: Mobility assistive device, exoskeleton, force-tracking admittance controller, user comfort.

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Authors: Muhammad Rizwan Azhar, Emadadeen Ali

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In this paper, periodic force operation of a wastewater treatment process has been studied for the improved process performance. A previously developed dynamic model for the process is used to conduct the performance analysis. The static version of the model was utilized first to determine the optimal productivity conditions for the process. Then, feed flow rate in terms of dilution rate i.e. (D) is transformed into sinusoidal function. Nonlinear model predictive control algorithm is utilized to regulate the amplitude and period of the sinusoidal function. The parameters of the feed cyclic functions are determined which resulted in improved productivity than the optimal productivity under steady state conditions. The improvement in productivity is found to be marginal and is satisfactory in substrate conversion compared to that of the optimal condition and to the steady state condition, which corresponds to the average value of the periodic function. Successful results were also obtained in the presence of modeling errors and external disturbances.

Keywords: Dilution rate, nonlinear model predictive control, sinusoidal function, wastewater treatment.

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Authors: Mahsa Tavakoli, Seyed Mohammad Hojjati, Yahya Kooch

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Considering that coal mining is one of the important industrial activities, it may cause damages to environment. According to the author’s best knowledge, the effect of traditional coal mining activities on plant biodiversity has not been investigated in the Hyrcanian forests. Therefore, in this study, the effect of coal mining activities on vegetation and tree diversity was investigated in Hyrcanian forest, North Iran. After filed visiting and determining the mine, 16 plots (20×20 m²) were established by systematic-randomly (60×60 m²) in an area of 4 ha (200×200 m²-mine entrance placed at center). An area adjacent to the mine was not affected by the mining activity, and it is considered as the control area. In each plot, the data about trees such as number and type of species were recorded. The biodiversity of vegetation cover was considered 5 square sub-plots (1 m²) in each plot. PAST software and Ecological Methodology were used to calculate Biodiversity indices. The value of Shannon Wiener and Simpson diversity indices for tree cover in control area (1.04±0.34 and 0.62±0.20) was significantly higher than mining area (0.78±0.27 and 0.45±0.14). The value of evenness indices for tree cover in the mining area was significantly lower than that of the control area. The value of Shannon Wiener and Simpson diversity indices for vegetation cover in the control area (1.37±0.06 and 0.69±0.02) was significantly higher than the mining area (1.02±0.13 and 0.50±0.07). The value of evenness index in the control area was significantly higher than the mining area. Plant communities are a good indicator of the changes in the site. Study about changes in vegetation biodiversity and plant dynamics in the degraded land can provide necessary information for forest management and reforestation of these areas.

Keywords: Vegetation biodiversity, species composition, traditional coal mining, caspian forest.

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Authors: Oktavian Muhammad Rizki, Appiah Rita, Lastres Oscar, Miller True, Chapman Alec, Tsoukalas Lefteri H.

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The Purdue University Research Reactor-1 (PUR-1) is a 10 kWth pool-type research reactor located at Purdue University’s West Lafayette campus. The reactor was recently upgraded to use entirely digital instrumentation and control systems. However, currently, there is no automated control system to regulate the power in the reactor. We propose a fuzzy logic controller as a form of digital twin to complement the existing digital instrumentation system to monitor and stabilize power control using existing experimental data. This work assesses the feasibility of a power controller based on a Fuzzy Rule-Based System (FRBS) by modelling and simulation with a MATLAB algorithm. The controller uses power error and reactor period as inputs and generates reactivity insertion as output. The reactivity insertion is then converted to control rod height using a logistic function based on information from the recorded experimental reactor control rod data. To test the capability of the proposed fuzzy controller, a point-kinetic reactor model is utilized based on the actual PUR-1 operation conditions and a Monte Carlo N-Particle simulation result of the core to numerically compute the neutronics parameters of reactor behavior. The Point Kinetic Equation (PKE) was employed to model dynamic characteristics of the research reactor since it explains the interactions between the spatial and time varying input and output variables efficiently. The controller is demonstrated computationally using various cases: startup, power maneuver, and shutdown. From the test results, it can be proved that the implemented fuzzy controller can satisfactorily regulate the reactor power to follow demand power without compromising nuclear safety measures.

Keywords: Fuzzy logic controller, power controller, reactivity, research reactor.

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Authors: Andrzej Śluzek

Abstract:

To illustrate diversity of methods used to extract relevant (where the concept of relevance can be differently defined for different applications) visual data, the paper discusses three groups of such methods. They have been selected from a range of alternatives to highlight how hardware and software tools can be complementarily used in order to achieve various functionalities in case of different specifications of “relevant data". First, principles of gated imaging are presented (where relevance is determined by the range). The second methodology is intended for intelligent intrusion detection, while the last one is used for content-based image matching and retrieval. All methods have been developed within projects supervised by the author.

Keywords: Relevant visual data, gated imaging, intrusion detection, image matching.

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Authors: Prasun Hajra, Ranjan Dasgupta

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Petri Net being one of the most useful graphical tools for modelling complex asynchronous systems, we have used Petri Net to model multi-track railway level crossing system. The roadway has been augmented with four half-size barriers. For better control, a three stage control mechanism has been introduced to ensure that no road-vehicle is trapped on the level crossing. Timed Petri Net is used to include the temporal nature of the signalling system. Safeness analysis has also been included in the discussion section.

Keywords: Modelling, Timed Petri Net, Railway Level Crossing, Safeness Condition.

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Authors: Prajna Metta, Yanti Rusyanti, Nunung Rusminah, Bremmy Laksono

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The decrease of neutrophil chemotaxis function may cause increased susceptibility to aggressive periodontitis (AP). Neutrophil chemotaxis is affected by formyl peptide receptor 1 (FPR1), which when activated will respond to bacterial chemotactic peptide formyl methionyl leusyl phenylalanine (FMLP). FPR1 protein value is decreased in response to a wide number of inflammatory stimuli in AP patients. This study was aimed to assess the alteration of FPR1 protein value in AP patients and if FPR1 protein value could be used as an indicator of neutrophil chemotaxis dysfunction in AP. This is a case control study with 20 AP patients and 20 control subjects. Three milliliters of peripheral blood were drawn and analyzed for FPR1 protein value with ELISA. The data were statistically analyzed with Mann-Whitney test (p>0,05). Results showed that the mean value of FPR1 protein value in AP group is 0,353 pg/mL (0,11 to 1,18 pg/mL) and the mean value of FPR1 protein value in control group is 0,296 pg/mL (0,05 to 0,88 pg/mL). P value 0,787 > 0,05 suggested that there is no significant difference of FPR1 protein value in both groups. The present study suggests that FPR1 protein value has no significance alteration in AP patients and could not be used as an indicator of neutrophil chemotaxis dysfunction.

Keywords: Aggressive periodontitis, chemotaxis dysfunction, FPR1 protein value, neutrophil.

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Authors: É. Kónya, E. Szabó, I. Bata-Vidács, T. Deák, M. Ottucsák, N. Adányi, A. Székács

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Spice paprika is a major spice commodity in the European Union (EU), produced locally and imported from non-EU countries, reported not only for chemical and microbiological contamination, but also for fraud. The effective interaction between producers’ quality management practices and government and EU activities is described on the example of spice paprika production and control in Hungary, a country of leading spice paprika producer and per capita consumer in Europe. To demonstrate the importance of various contamination factors in the Hungarian production and EU trade of spice paprika, several aspects concerning food safety of this commodity are presented. Alerts in the Rapid Alert System for Food and Feed (RASFF) of the EU between 2005 and 2013, as well as Hungarian state inspection results on spice paprika in 2004 are discussed, and quality non-compliance claims regarding spice paprika among EU member states are summarized in by means of network analysis. Quality assurance measures established along the spice paprika production technology chain at the leading Hungarian spice paprika manufacturer, Kalocsai Fűszerpaprika Zrt. are surveyed with main critical control points identified. The structure and operation of the Hungarian state food safety inspection system is described. Concerted performance of the latter two quality management systems illustrates the effective interaction between internal (manufacturer) and external (state) quality control measures.

Keywords: Spice paprika, quality control, reporting mechanisms, RASFF, vulnerable points, HACCP, BRC Global Standard.

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Authors: J. C. Cabanillas-Noris, M. I. Martínez-Hernández, I. León-Monzón

Abstract:

The selection of diffractive events in the ALICE experiment during the first data taking period (RUN-I) of the Large Hadron Collider (LHC) was limited by the range over which rapidity gaps occur. It would be possible to achieve better measurements by expanding the range in which the production of particles can be detected. For this purpose, the ALICE Diffractive (AD0) detector has been installed and commissioned for the second phase (RUN-II). Any new detector should be able to take the data synchronously with all other detectors and be operated through the ALICE central systems. One of the key elements that must be developed for the AD0 detector is the Detector Control System (DCS). The DCS must be designed to operate safely and correctly this detector. Furthermore, the DCS must also provide optimum operating conditions for the acquisition and storage of physics data and ensure these are of the highest quality. The operation of AD0 implies the configuration of about 200 parameters, from electronics settings and power supply levels to the archiving of operating conditions data and the generation of safety alerts. It also includes the automation of procedures to get the AD0 detector ready for taking data in the appropriate conditions for the different run types in ALICE. The performance of AD0 detector depends on a certain number of parameters such as the nominal voltages for each photomultiplier tube (PMT), their threshold levels to accept or reject the incoming pulses, the definition of triggers, etc. All these parameters define the efficiency of AD0 and they have to be monitored and controlled through AD0 DCS. Finally, AD0 DCS provides the operator with multiple interfaces to execute these tasks. They are realized as operating panels and scripts running in the background. These features are implemented on a SCADA software platform as a distributed control system which integrates to the global control system of the ALICE experiment.

Keywords: AD0, ALICE, DCS, LHC.

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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Authors: Samir Avdakovic, Amir Nuhanovic

Abstract:

Low frequency power oscillations may be triggered by many events in the system. Most oscillations are damped by the system, but undamped oscillations can lead to system collapse. Oscillations develop as a result of rotor acceleration/deceleration following a change in active power transfer from a generator. Like the operations limits, the monitoring of power system oscillating modes is a relevant aspect of power system operation and control. Unprevented low-frequency power swings can be cause of cascading outages that can rapidly extend effect on wide region. On this regard, a Wide Area Monitoring, Protection and Control Systems (WAMPCS) help in detecting such phenomena and assess power system dynamics security. The monitoring of power system electromechanical oscillations is very important in the frame of modern power system management and control. In first part, this paper compares the different technique for identification of power system oscillations. Second part analyzes possible identification some power system dynamics behaviors Using Wide Area Monitoring Systems (WAMS) based on Phasor Measurement Units (PMUs) and wavelet technique.

Keywords: Power system oscillations, Modal analysis, Prony, Wavelet, PMU, Wide Area Monitoring System.

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Authors: Ravit Gautam, Dipen A. Mistry, Manmohan Singh Meena, Bhupelly Dheeraj, Suresh Mikkili

Abstract:

Due to the increased use of the power electronic equipment, harmonics in the power system has increased to a greater extent. These harmonics results a poor power quality causing a major effect on the customers. Shunt active filters (SHAF) are used for the mitigations of the current harmonics and to maintain constant DC link voltage. PI and Fuzzy logic controllers (FLC) were used to control the performance of the shunt active filter under both balance and unbalance source voltage condition. The results found were not satisfying the IEEE-519 standards of THD to be less than 5%. Hysteresis band current control was used to obtain the gating signals for SHAF, though it has some drawbacks and thus to obtain a better performance of the SHAF to mitigate the harmonics, adaptive hysteresis band current control scheme is implemented. Adaptive hysteresis based SHAF is used to obtain better compensation of current harmonics and to regulate the DC link voltage in a better way.

Keywords: DC Link Voltage, Fuzzy Logic Controller, Adaptive Hysteresis, Harmonics, Shunt Active Filter.

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Authors: Jian Yao

Abstract:

The purpose of this paper is to investigate the adjust- ment of solar shading devices in office buildings in two different seasons by occupants, and its influence on the lighting control and indoor illuminance levels. The results show that occupants take inappropriate measures both in reducing solar radiation in summer and in admitting solar gains in winter, resulting in an increase in lighting energy and a reduction in indoor illuminance. Therefore, movable shading devices, controlled automatically, are suitable for building applications to reduce energy consumption.

Keywords: Solar shading, adjustment, lighting control, indoor illuminance.

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Authors: R. Sharma, M. Gopal

Abstract:

Markov games can be effectively used to design controllers for nonlinear systems. The paper presents two novel controller design algorithms by incorporating ideas from gametheory literature that address safety and consistency issues of the 'learned' control strategy. A more widely used approach for controller design is the H∞ optimal control, which suffers from high computational demand and at times, may be infeasible. We generate an optimal control policy for the agent (controller) via a simple Linear Program enabling the controller to learn about the unknown environment. The controller is facing an unknown environment and in our formulation this environment corresponds to the behavior rules of the noise modeled as the opponent. Proposed approaches aim to achieve 'safe-consistent' and 'safe-universally consistent' controller behavior by hybridizing 'min-max', 'fictitious play' and 'cautious fictitious play' approaches drawn from game theory. We empirically evaluate the approaches on a simulated Inverted Pendulum swing-up task and compare its performance against standard Q learning.

Keywords: Fictitious Play, Cautious Fictitious Play, InvertedPendulum, Controller, Markov Games, Mobile Robot.

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