Search results for: motion control

Authors: Alaa E. Abdallah, Bajes Y. Alskarnah

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Ant colony based routing algorithms are known to grantee the packet delivery, but they suffer from the huge overhead of control messages which are needed to discover the route. In this paper we utilize the network nodes positions to group the nodes in connected clusters. We use clusters-heads only on forwarding the route discovery control messages. Our simulations proved that the new algorithm has decreased the overhead dramatically without affecting the delivery rate.

Keywords: Ant colony-based routing, position-based routing, MANET.

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Authors: Sergio Garcia, Alfredo Trueba, Luis M. Vega, Ernesto Madariaga

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Biofilms adhesion is one of the more important cost of industries plants on wide world, which use to water for cooling heat exchangers or are in contact with water. This study evaluated the effect of Electromagnetic Fields on biofilms in tubular heat exchangers using seawater cooling. The results showed an up to 40% reduction of the biofilm thickness compared to the untreated control tubes. The presence of organic matter was reduced by 75%, the inorganic mater was reduced by 87%, and 53% of the dissolved solids were eliminated. The biofilm thermal conductivity in the treated tube was reduced by 53% as compared to the control tube. The hardness in the effluent during the experimental period was decreased by 18% in the treated tubes compared with control tubes. Our results show that the electromagnetic fields treatment has a great potential in the process of removing biofilms in heat exchanger.

Keywords: Biofilm, heat exchanger, electromagnetic fields, seawater.

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Authors: M.Somjarod, V. Tanawat, l. Weerawat

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The understanding of knee movement during swing importance for golf swing improving and preventing injury. Thirty male professional and amateur golfers were assigned to swing time by time for 3 times. Data from a vedio-based motion capture were used to compute knee joint movement variables. The results showed that professional and amateur golfers were significantly in left knee flexion angle at the impact point and mid follow through phase. Nevertheless, left knee external rotation in both groups was also significant. The right knee were no significant different in all variable. However, pattern of knee joint movement are also likely between professional and amateur golfers.

Keywords: Golfer, Knee joint, Movement, Swing

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Authors: O. S. Ebrahim, M. A. Badr, Kh. H. Gharib, H. K. Temraz

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This paper presents a methodology based on genetic algorithm (GA) to tune the parameters of proportional-integral-differential (PID) controllers utilized in the automatic voltage regulator (AVR) and speed governor of a brushless synchronous generator driven by three-stage steam turbine. The parameter tuning is represented as a nonlinear optimization problem solved by GA to minimize the integral of absolute error (IAE). The problem of integral windup due to physical system limitations is solved using simple anti-windup scheme. The obtained controllers are compared to those designed using classical Ziegler-Nichols technique and constrained optimization. Results show distinct superiority of the proposed method.

Keywords: Brushless synchronous generator, Genetic Algorithm, GA, Proportional-Integral-Differential control, PID control, automatic voltage regulator, AVR.

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Authors: Aye Sandar Win

Abstract:

This paper demonstrates design and construction of microcontroller-based telephone exchange system and the aims of this paper is to study telecommunication, connection with PIC16F877A and DTMF MT8870D. In microcontroller system, PIC 16F877 microcontroller is used to control the call processing. Dial tone, busy tone and ring tone are provided during call progress. Instead of using ready made tone generator IC, oscillator based tone generator is used. The results of this telephone exchange system are perfect for homes and small businesses needing the extensions. It requires the phone operation control system, the analog interface circuit and the switching circuit. This exchange design will contain eight channels. It is the best low cost, good quality telephone exchange for today-s telecommunication needs. It offers the features available in much more expensive PBX units without using high-priced phones. It is for long distance telephone services.

Keywords: Control software, DTMF receiver and decoder, hooksensing, microcontroller system, power supply, ring generator andoscillator based tone generator.

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Authors: S. Fallah, M. Seifi, M. Firoozrai, T. Godarzi, M. Jafarzadeh, L. H. Ghohari

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The ε4 allele of the ε2, ε3 and ε4 protein isoform polymorphism in the gene encoding apolipoprotein E (Apo E) has previously been associated with increased cardiac artery disease (CAD); therefore to investigate the significance of this polymorphism in pathogenesis of CAD in Iranian patients with stenosis and control subjects. To investigate the association between  Apo E polymorphism and coronary artery disease we performed a comparative case control study of the frequency of Apo E  polymorphism in One hundred CAD patients with stenosis who underwent coronary angiography (>50% stenosis) and 100 control subjects (<10% stenosis). The Apo E alleles and genotypes were determined by polymerase chain reaction (PCR) and restriction fragment length polymorphism (RFLP). We observed an association between the Apo E polymorphism and CAD in this study. These data suggest that the Apo ε4 and ε2 alleles increase the risk for CAD in Iranian population (χ2 =4.26, p= 0.05, OR=2 and χ2 =0.38, p=0.53, OR=1.2). These results suggest that ε4 and ε2 alleles are risk factors for stenosis.

Keywords: Arterial blood vessels, atherosclerosis, cholesterol.

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Authors: E. Satoh, R. Kasahara, T. Aoki, K. Fukatsu, D. Venkata Ramanarao, H. Harayama, T. Murata, A. Suwa

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Rice plant hoppers (Hemiptera: Delphacidae) have been causing extensive economic damage in rice and are considered as serious threat in rice producing countries of Asia. They have developed resistance to major groups of chemical insecticide, and severe outbreaks occur commonly throughout Asia. To control these nuisance pests, Nihon Nohyaku Co., Ltd., recently discovered an insecticide, benzpyrimoxan (proposed ISO name), which is under development as NNI-1501 (development code). Benzpyrimoxan has a unique chemical structure which contains benzyloxy and cyclic acetal groups on pyrimidine moiety (5-(1,3-dioxan-2-yl)-4-[4- (trifluoromethyl)benzyloxy]pyrimidine). In order to clarify the biological properties of benzpyrimoxan, we conducted several experiments and found the following results. Benzpyrimoxan has high activity against nymphal stages of rice plant hoppers without any adulticidal activity. It provides excellent and long lasting control against rice plant hoppers, including populations that have developed resistance to several other chemical groups of insecticide. The study on its mode of action is undergoing. These features highlight the versatility of this insecticide as an effective and valuable tool from the viewpoints of insecticide resistance management and integrated pest management program. With the use of benzpyrimoxan, farmers shall be able to lead the best yield potential by keeping the population density of rice plant hoppers and associated virus diseases under control.

Keywords: Acetal, benzpyrimoxan, insecticide, NNI-1501, pyrimidine, rice plant hoppers.

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Authors: Shi Chen, Zi Y. Chen, Jian K. Dan, Jian F. Li

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Evolution of one-dimensional electron system under high-energy-density (HED) conditions is investigated, using the principle of least-action and variational method. In a single-mode modulation model, the amplitude and spatial wavelength of the modulation are chosen to be general coordinates. Equations of motion are derived by considering energy conservation and force balance. Numerical results show that under HED conditions, electron density modulation could exist. Time dependences of amplitude and wavelength are both positively related to the rate of energy input. Besides, initial loading speed has a significant effect on modulation amplitude, while wavelength relies more on loading duration.

Keywords: Electron density modulation, HED, nonlinearevolution, plasmas.

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Authors: Abdul Rashid Husain, Mohamad Noh Ahmad, Abdul Halim Mohd. Yatim

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In this paper, application of Sliding Mode Control (SMC) technique for an Active Magnetic Bearing (AMB) system with varying rotor speed is considered. The gyroscopic effect and mass imbalance inherited in the system is proportional to rotor speed in which this nonlinearity effect causes high system instability as the rotor speed increases. Transformation of the AMB dynamic model into regular system shows that these gyroscopic effect and imbalance lie in the mismatched part of the system. A H2-based sliding surface is designed which bound the mismatched parts. The solution of the surface parameter is obtained using Linear Matrix Inequality (LMI). The performance of the controller applied to the AMB model is demonstrated through simulation works under various system conditions.

Keywords: Active magnetic bearing, sliding mode control, linear matrix inequality, mismatched uncertainty and imbalance.

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Authors: Mohammad Taha, Dia abu al Nadi

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In this paper, the phase control antenna array synthesis is presented. The problem is formulated as a constrained optimization problem that imposes nulls with prescribed level while maintaining the sidelobe at a prescribed level. For efficient use of the algorithm memory, compared to the well known Particle Swarm Optimization (PSO), the Accelerated Particle Swarm Optimization (APSO) is used to estimate the phase parameters of the synthesized array. The objective function is formed using a main objective and set of constraints with penalty factors that measure the violation of each feasible solution in the search space to each constraint. In this case the obtained feasible solution is guaranteed to satisfy all the constraints. Simulation results have shown significant performance increases and a decreased randomness in the parameter search space compared to a single objective conventional particle swarm optimization.

Keywords: Array synthesis, Sidelobe level control, Constrainedoptimization, Accelerated Particle Swarm Optimization.

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Authors: A. Doaa M. Atia, Faten H. Fahmy, Ninet M. Ahmed, Hassen T. Dorrah

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Temperature is one of the most principle factors affects aquaculture system. It can cause stress and mortality or superior environment for growth and reproduction. This paper presents the control of pond water temperature using artificial intelligence technique. The water temperature is very important parameter for shrimp growth. The required temperature for optimal growth is 34oC, if temperature increase up to 38oC it cause death of the shrimp, so it is important to control water temperature. Solar thermal water heating system is designed to supply an aquaculture pond with the required hot water in Mersa Matruh in Egypt. Neural networks are massively parallel processors that have the ability to learn patterns through a training experience. Because of this feature, they are often well suited for modeling complex and non-linear processes such as those commonly found in the heating system. Artificial neural network is proposed to control water temperature due to Artificial intelligence (AI) techniques are becoming useful as alternate approaches to conventional techniques. They have been used to solve complicated practical problems. Moreover this paper introduces a complete mathematical modeling and MATLAB SIMULINK model for the aquaculture system. The simulation results indicate that, the control unit success in keeping water temperature constant at the desired temperature by controlling the hot water flow rate.

Keywords: artificial neural networks, aquaculture, forced circulation hot water system,

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Authors: R. N. Patel

Abstract:

This paper deals with the tuning of parameters for Automatic Generation Control (AGC). A two area interconnected hydrothermal system with PI controller is considered. Genetic Algorithm (GA) and Particle Swarm optimization (PSO) algorithms have been applied to optimize the controller parameters. Two objective functions namely Integral Square Error (ISE) and Integral of Time-multiplied Absolute value of the Error (ITAE) are considered for optimization. The effectiveness of an objective function is considered based on the variation in tie line power and change in frequency in both the areas. MATLAB/SIMULINK was used as a simulation tool. Simulation results reveal that ITAE is a better objective function than ISE. Performances of optimization algorithms are also compared and it was found that genetic algorithm gives better results than particle swarm optimization algorithm for the problems of AGC.

Keywords: Area control error, Artificial intelligence, Automatic generation control, Genetic Algorithms and modeling, ISE, ITAE, Particle swarm optimization.

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Authors: Je-Hoon Michael Oh

Abstract:

The major source of allergy in home is the house dust mite (Dematophagoides farina, Dermatophagoides pteronyssinus) causing allergic symptom include atopic dermatitis, asthma, perennial rhinitis and even infant death syndrome. Control of this mite species is dependent on the use of chemical methods such as fumigation treatments with methylene bromide, spraying with organophosphates such as pirimiphos-methyl, or treatments with repellents such as DEET and benzyl benzoate. Although effective, their repeated use for decades has sometimes resulted in development of resistance and fostered environmental and human health concerns. Both decomposing animal parts and the protein that surrounds mite fecal pellets cause mite allergy. So it is more effective to repel than to kill them because allergen is not living house dust mite but dead body or fecal particles of house dust mite. It is important to find out natural repellent material against house dust mite to control them and reduce the allergic reactions. Plants may be an alternative source for dust mite control because they contain a range of bioactive chemicals. The research objectives of this paper were to verify the acaricidal and repellent effects of cinnamon essential oil and to find out it-s most effective concentrations. We could find that cinnamon bark essential oil was very effective material to control the house dust mite. Furthermore, it could reduce chemical resistance and danger for human health.

Keywords: house dust mite, cinnamon, repellent effect

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Authors: A. Raceviciute-Stupeliene, V. Sasyte, V. Viliene, V. Slausgalvis, J. Al-Saifi, R. Gruzauskas

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The objective of this study was to investigate the influence of special additives such as chelators, zinc sulphate and silicic acid on productivity parameters, carcass characteristics and meat quality of fattening pigs. The test started with 40 days old fattening pigs (mongrel (mother) and Yorkshire (father)) and lasted up to 156 days of age. During the fattening period, 32 pigs were divided into 2 groups (control and experimental) with 4 replicates (total of 8 pens).  The pigs were fed for 16 weeks’ ad libitum with a standard wheat-barley-soybean meal compound (Control group) supplemented with chelators, zinc sulphate and silicic acid (dosage 2 kg/t of feed, Experimental group). Meat traits in live pigs were measured by ultrasonic equipment Piglog 105. The results obtained throughout the experimental period suggest that supplementation of chelators, zinc sulphate and silicic acid tend to positively affect average daily gain and feed conversion ratio of pigs for fattening (p < 0.05). Pigs’ evaluation with Piglog 105 showed that thickness of fat in the first and second point was by 4% and 3% respectively higher in comparison to the control group (p < 0.05). Carcass weight, yield, and length, also thickness of fat showed no significant difference among the groups. The water holding capacity of meat in Experimental group was lower by 5.28%, and tenderness – lower by 12% compared with that of the pigs in the Control group (p < 0.05). Regarding pigs’ meat chemical composition of the experimental group, a statistically significant difference comparing with the data of the control group was not determined. Cholesterol concentration in muscles of pigs fed diets supplemented with chelators, zinc sulphate and silicic acid was lower by 7.93 mg/100 g of muscle in comparison to that of the control group. These results suggest that supplementation of chelators, zinc sulphate and silicic acid in the feed for fattening pigs had significant effect on pigs growing performance and meat quality.

Keywords: Chelators, meat quality, pigs, silicic acid, zinc sulphate.

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Authors: M.A. Ahmad

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This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Keywords: Gantry crane, anti-sway control, DFS controller, PD-type Fuzzy Logic Controller.

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Authors: Sun-Ki Hong, Yong-Ho Cho, Ki-Seok Kim, Tae-Sam Kang

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Piezoelectric actuator is treated as RC load when it is modeled electrically. For some piezoelectric actuator applications, arbitrary voltage is required to actuate. Especially for unidirectional arbitrary voltage driving like as sine wave, some special inverter with circuit that can charge and discharge the capacitive energy can be used. In this case, the difference between power supply level and the object voltage level for RC load is varied. Because the control gain is constant, the controlled output is not uniform according to the voltage difference. In this paper, for charge and discharge circuit for unidirectional arbitrary voltage driving for piezoelectric actuator, the controller gain is controlled according to the voltage difference. With the proposed simple idea, the load voltage can have controlled smoothly although the voltage difference is varied. The appropriateness is proved from the simulation of the proposed circuit.

Keywords: Analog voltage inverter, Capacitive load, Gain control, DC-DC converter, Piezoelectric, Voltage waveform.

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Authors: Sedat Cereci

Abstract:

The original idea for a feature film may come from a writer, director or a producer. Director is the person responsible for the creative aspects, both interpretive and technical, of a motion picture production in a film. Director may be shot discussing his project with his or her cowriters, members of production staff, and producer, and director may be shown selecting locales or constructing sets. All these activities provide, of course, ways of externalizing director-s ideas about the film. A director sometimes pushes both the film image and techniques of narration to new artistic limits, but main responsibility of director is take the spectator to an original opinion in his philosophical approach. Director tries to find an artistic angle in every scene and change screenplay into an effective story and sets his film on a spiritual and philosophical base.

Keywords: Director, role, film, approach, opinion.

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Authors: Danni Cong, Meiping Wu, Hua Mu, Xiaofeng He, Junxiang Lian, Juliang Cao, Shaokun Cai, Hao Qin

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Gravity field is of great significance in geoscience, national economy and national security, and gravitational gradient measurement has been extensively studied due to its higher accuracy than gravity measurement. Gravity gradient sensor, being one of core devices of the gravity gradient instrument, plays a key role in measuring accuracy. Therefore, this paper starts from analyzing the working principle of the gravity gradient sensor by Newton’s law, and then considers the relative motion between inertial and non-inertial systems to build a relatively adequate mathematical model, laying a foundation for the measurement error calibration, measurement accuracy improvement.

Keywords: Gravity gradient, accelerometer, gravity gradient sensor, single-axis rotation modulation.

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Authors: Oliver Haala, Bernhard Wagner, Maximilian Hofmann, Martin Marz

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The excellent suitability of the externally excited synchronous machine (EESM) in automotive traction drive applications is justified by its high efficiency over the whole operation range and the high availability of materials. Usually, maximum efficiency is obtained by modelling each single loss and minimizing the sum of all losses. As a result, the quality of the optimization highly depends on the precision of the model. Moreover, it requires accurate knowledge of the saturation dependent machine inductances. Therefore, the present contribution proposes a method to minimize the overall losses of a salient pole EESM and its inverter in steady state operation based on measurement data only. Since this method does not require any manufacturer data, it is well suited for an automated measurement data evaluation and inverter parametrization. The field oriented control (FOC) of an EESM provides three current components resp. three degrees of freedom (DOF). An analytic minimization of the copper losses in the stator and the rotor (assuming constant inductances) is performed and serves as a first approximation of how to choose the optimal current reference values. After a numeric offline minimization of the overall losses based on measurement data the results are compared to a control strategy that satisfies cos (ϕ) = 1.

Keywords: Current control, efficiency, externally excited synchronous machine, optimization.

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Authors: Zhiyuan Du, Baisravan Hom Chaudhuri, Pierluigi Pisu

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In connected vehicle systems where wireless communication is available among the involved vehicles and intersection controllers, it is possible to design an intersection coordination strategy that leads the connected and automated vehicles (CAVs) travel through the road intersections without the conventional traffic light control. In this paper, we present a distributed coordination strategy for the CAVs at multiple interconnected intersections that aims at improving system fuel efficiency and system mobility. We present a distributed control solution where in the higher level, the intersection controllers calculate the road desired average velocity and optimally assign reference velocities of each vehicle. In the lower level, every vehicle is considered to use model predictive control (MPC) to track their reference velocity obtained from the higher level controller. The proposed method has been implemented on a simulation-based case with two-interconnected intersection network. Additionally, the effects of mixed vehicle types on the coordination strategy has been explored. Simulation results indicate the improvement on vehicle fuel efficiency and traffic mobility of the proposed method.

Keywords: Connected vehicles, automated vehicles, intersection coordination systems, multiple interconnected intersections, model predictive control.

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Authors: Nada Jasim Habeeb, Rana Saad Mohammed, Muntaha Khudair Abbass

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For more efficient and fast video summarization, this paper presents a surveillance video summarization method. The presented method works to improve video summarization technique. This method depends on temporal differencing to extract most important data from large video stream. This method uses histogram differencing and Sum Conditional Variance which is robust against to illumination variations in order to extract motion objects. The experimental results showed that the presented method gives better output compared with temporal differencing based summarization techniques.

Keywords: Temporal differencing, video summarization, histogram differencing, sum conditional variance.

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Authors: Martin Blaha, Ladislav Potužák, Daniel Holesz

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This paper focused on application support for technical control of artillery units – PVNPG-14M, especially on interpolation issue. Artillery units of the Army of the Czech Republic, reflecting the current global security neighborhood, can be used outside the Czech Republic. The paper presents principles, evolution and calculation in the process of complete preparation. The paper presents expertise using of application of current artillery communication and information system and suggests the perspective future system. The paper also presents problems in process of complete preparing of fire especially problems in permanently information (firing table) and calculated values. The paper presents problems of current artillery communication and information system and suggests requirements of the future system.

Keywords: Fire for effect, application, fire control, interpolation method, software development.

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Authors: N. B. Dhayanithi, T. T. Ajith Kumar, T. Balasubramanian

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Present study summarizes the control of Vibrio alginolyticus infection in hatchery reared Clownfish, Amphiprion sebae with the extract of the mangrove plant, Avicennia marina. Fishes with visible symptoms of hemorrhagic spots were chosen and the genomic DNA of the causative bacterium was isolated and sequenced based on 16S rDNA gene. The in vitro assay revealed that a fraction of A. marina leaf extract elucidated with ethyl acetate: methanol (6:4) showed a high activity (28 mm) at 125 μg/ml concentrations. About 4 % of the fraction fed along with live V. alginolyticus was significantly decreased the cumulative mortality (P<0.05) in the experimental groups than the control group. The responsible fraction was investigated by gas chromatography - mass spectroscopy and found the presence of active compounds. This is the first research in India to control vibriosis infection in marine ornamental fish with mangrove leaf extract.

Keywords: Amphiprion seabe, Avicennia marina, Gas Chromatography - Mass Spectroscopy, Vibrio alginolyticus

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Authors: C. Malça, N. Alves, A. Mateus

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This work was one of the tasks of the Manufacturing2Client project, whose objective was to develop a frontal deflector to be commercialized in the automotive industry, using new project and manufacturing methods. In this task, in particular, it was proposed to develop the ability to predict computationally the aerodynamic influence of flow in vehicles, in an effort to reduce fuel consumption in vehicles from class 3 to 8. With this aim, two deflector models were developed and their aerodynamic performance analyzed. The aerodynamic study was done using the Computational Fluid Dynamics (CFD) software Ansys CFX and allowed the calculation of the drag coefficient caused by the vehicle motion for the different configurations considered. Moreover, the reduction of diesel consumption and carbon dioxide (CO2) emissions associated with the optimized deflector geometry could be assessed.

Keywords: Aerodynamic analysis, CFD, CO2 emissions, Drag coefficient, Frontal deflector, Fuel consumption.

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Authors: F. Keller, G. Reinhart

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The efficient and economic allocation of resources is one main goal in the field of production planning and control. Nowadays, a new variable gains in importance throughout the planning process: Energy. Energy-efficiency has already been widely discussed in literature, but with a strong focus on reducing the overall amount of energy used in production. This paper provides a brief systematic approach, how energy-supply-orientation can be used for an energy-cost-efficient production planning and thus combining the idea of energy-efficiency and energy-flexibility.

Keywords: Production planning and control, energy, efficiency, flexibility.

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Authors: James D. Gadze, Niki Pissinou, Kia Makki

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In this paper we propose an intelligent agent approach to control the electric power grid at a smaller granularity in order to give it self-healing capabilities. We develop a method using the influence model to transform transmission substations into information processing, analyzing and decision making (intelligent behavior) units. We also develop a wireless communication method to deliver real-time uncorrupted information to an intelligent controller in a power system environment. A combined networking and information theoretic approach is adopted in meeting both the delay and error probability requirements. We use a mobile agent approach in optimizing the achievable information rate vector and in the distribution of rates to users (sensors). We developed the concept and the quantitative tools require in the creation of cooperating semiautonomous subsystems which puts the electric grid on the path towards intelligent and self-healing system.

Keywords: Mobile agent, power system operation and control, real time, wireless communication.

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Authors: Fl. Loury, P. Sablonière

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In this paper a stochastic scenario-based model predictive control applied to molten salt storage systems in concentrated solar tower power plant is presented. The main goal of this study is to build up a tool to analyze current and expected future resources for evaluating the weekly power to be advertised on electricity secondary market. This tool will allow plant operator to maximize profits while hedging the impact on the system of stochastic variables such as resources or sunlight shortage.

Solving the problem first requires a mixed logic dynamic modeling of the plant. The two stochastic variables, respectively the sunlight incoming energy and electricity demands from secondary market, are modeled by least square regression. Robustness is achieved by drawing a certain number of random variables realizations and applying the most restrictive one to the system. This scenario approach control technique provides the plant operator a confidence interval containing a given percentage of possible stochastic variable realizations in such a way that robust control is always achieved within its bounds. The results obtained from many trajectory simulations show the existence of a ‘’reliable’’ interval, which experimentally confirms the algorithm robustness.

Keywords: Molten Salt Storage System, Concentrated Solar Tower Power Plant, Robust Stochastic Model Predictive Control.

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Authors: Ellips Masehian, Golnaz Habibi

Abstract:

This paper presents a novel algorithm for path planning of mobile robots in known 3D environments using Binary Integer Programming (BIP). In this approach the problem of path planning is formulated as a BIP with variables taken from 3D Delaunay Triangulation of the Free Configuration Space and solved to obtain an optimal channel made of connected tetrahedrons. The 3D channel is then partitioned into convex fragments which are used to build safe and short paths within from Start to Goal. The algorithm is simple, complete, does not suffer from local minima, and is applicable to different workspaces with convex and concave polyhedral obstacles. The noticeable feature of this algorithm is that it is simply extendable to n-D Configuration spaces.

Keywords: 3D C-space, Binary Integer Programming (BIP), Delaunay Tessellation, Robot Motion Planning.

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Authors: Nan-Ying Yu, Shao-Hsia Chang

Abstract:

This study explores the clinical features of neurodegenerative disease patients with tremor. We study the motor impairments in patients with Parkinson’s disease (PD) and essential tremor (ET). Since uncertainty exists on whether Parkinson's disease (PD) and essential tremor (ET) patients have similar degree of impairment during motor tasks, this study based on the self-developed computerized handwriting movement analysis to characterize motor functions of these two impairments. The recruited subjects were diagnosed and confirmed one of neurodegenerative diseases. They were undergone general clinical evaluations by physicians in the first year. We recruited 8 participants with PD and 10 with ET. Additional 12 participants without any neuromuscular dysfunction were recruited as control group. This study used fine motor control of penmanship on digital tablet for sensorimotor function tests. The movement speed in PD/ET group is found significant slower than subjects in normal control group. In movement intensity and speed, the result found subject with ET has similar clinical feature with PD subjects. The ET group shows smaller and slower movements than control group but not to the same extent as PD group. The results of this study contribute to the early screening and detection of diseases and the evaluation of disease progression.

Keywords: Parkinson’s disease, essential tremor, motor function, fine motor movement, computerized handwriting evaluation.

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Authors: Ardeshir Karami Mohammadi

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A Variable Structure Model Reference Adaptive Controller using state variables is proposed for a class of multi input-multi output systems. Adaptation law is of variable structure type and switching functions is designed based on stability requirements. Global exponential stability is proved based on Lyapunov criterion. Transient behavior is analyzed using sliding mode control and shows perfect model following at a finite time.

Keywords: Adaptive control, Model reference, Variablestructure, MIMO system.

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