Search results for: flight control
3698 Individual Configuration of Production Control to Suit Requirements
Authors: Ben Muenzberg, Prof. Peter Nyhuis
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The logistical requirements placed on industrial manufacturing companies are steadily increasing. In order to meet those requirements, a consistent and efficient concept is necessary for production control. Set up properly, production control offers considerable potential with respect to achieving the logistical targets. As experience with the many production control methods already in existence and their compatibility is, however, often inadequate, this article describes a systematic approach to the configuration of production control based on the Lödding model. This model enables production control to be set up individually to suit a company and the requirements. It therefore permits today-s demands regarding logistical performance to be met.
Keywords: Production, planning, control, configuration.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16143697 Cessna Citation X Performances Improvement by an Adaptive Winglet during the Cruise Flight
Authors: Marine Segui, Simon Bezin, Ruxandra Mihaela Botez
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As part of a ‘Morphing-Wing’ idea, this study consists of measuring how a winglet, which is able to change its shape during the flight, is efficient. Conventionally, winglets are fixed-vertical platforms at the wingtips, optimized for a cruise condition that the airplane should use most of the time. However, during a cruise, an airplane flies through a lot of cruise conditions corresponding to altitudes variations from 30,000 to 45,000 ft. The fixed winglets are not optimized for these variations, and consequently, they are supposed to generate some drag, and thus to deteriorate aircraft fuel consumption. This research assumes that it exists a winglet position that reduces the fuel consumption for each cruise condition. In this way, the methodology aims to find these optimal winglet positions, and to further simulate, and thus estimate the fuel consumption of an aircraft wearing this type of adaptive winglet during several cruise conditions. The adaptive winglet is assumed to have degrees of freedom given by the various changes of following surfaces: the tip chord, the sweep and the dihedral angles. Finally, results obtained during cruise simulations are presented in this paper. These results show that an adaptive winglet can reduce, thus improve up to 2.12% the fuel consumption of an aircraft during a cruise.Keywords: Aerodynamics, Cessna Citation X, optimization, winglet, adaptive, morphing, wing, aircraft.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12273696 Virtual Gesture Screen System Based on 3D Visual Information and Multi-Layer Perceptron
Authors: Yang-Keun Ahn, Min-Wook Kim, Young-Choong Park, Kwang-Soon Choi, Woo-Chool Park, Hae-Moon Seo, Kwang-Mo Jung
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Active research is underway on virtual touch screens that complement the physical limitations of conventional touch screens. This paper discusses a virtual touch screen that uses a multi-layer perceptron to recognize and control three-dimensional (3D) depth information from a time of flight (TOF) camera. This system extracts an object-s area from the image input and compares it with the trajectory of the object, which is learned in advance, to recognize gestures. The system enables the maneuvering of content in virtual space by utilizing human actions.Keywords: Gesture Recognition, Depth Sensor, Virtual Touch Screen
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16383695 Fuzzy Boundary Layer Solution to Nonlinear Hydraulic Position Control Problem
Authors: Mustafa Resa Becan
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Sliding mode control with a fuzzy boundary layer is presented to hydraulic position control problem in this paper. A nonlinear hydraulic servomechanism which has an asymmetric cylinder is modeled and simulated first, then the proposed control scheme is applied to this model versus the conventional sliding mode control. Simulation results proved that the chattering free position control is achieved by tuning the fuzzy scaling factors properly.
Keywords: Hydraulic servomechanism, position control, sliding mode control, chattering, fuzzy boundary layer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18153694 Technique for Voltage Control in Distribution System
Authors: S. Thongkeaw, M. Boonthienthong
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This paper presents the techniques for voltage control in distribution system. It is integrated in the distribution management system. Voltage is an important parameter for the control of electrical power systems. The distribution network operators have the responsibility to regulate the voltage supplied to consumer within statutory limits. Traditionally, the On-Load Tap Changer (OLTC) transformer equipped with automatic voltage control (AVC) relays is the most popular and effective voltage control device. A static synchronous compensator (STATCOM) may be equipped with several controllers to perform multiple control functions. Static Var Compensation (SVC) is regulation slopes and available margins for var dispatch. The voltage control in distribution networks is established as a centralized analytical function in this paper.
Keywords: Voltage Control, Reactive Power, Distribution System.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 94943693 Increasing Performance of Autopilot Guided Small Unmanned Helicopter
Authors: Tugrul Oktay, Mehmet Konar, Mustafa Soylak, Firat Sal, Murat Onay, Orhan Kizilkaya
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In this paper, autonomous performance of a small manufactured unmanned helicopter is tried to be increased. For this purpose, a small unmanned helicopter is manufactured in Erciyes University, Faculty of Aeronautics and Astronautics. It is called as ZANKA-Heli-I. For performance maximization, autopilot parameters are determined via minimizing a cost function consisting of flight performance parameters such as settling time, rise time, overshoot during trajectory tracking. For this purpose, a stochastic optimization method named as simultaneous perturbation stochastic approximation is benefited. Using this approach, considerable autonomous performance increase (around %23) is obtained.Keywords: Small helicopters, hierarchical control, stochastic optimization, autonomous performance maximization, autopilots.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16243692 Effect of U-Turn in Reinforced Concrete Dog-Legged Stair Slabs
Authors: Abdul Baqi, Zaid Mohammad
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Reinforced concrete stair slabs with mid landings i.e. Dog-legged shaped are conventionally designed as per specifications of standard codes of practices which guide about the effective span according to the varying support conditions. Presently, the behavior of such slabs has been investigated using Finite Element method. A single flight stair slab with landings on both sides and supported at ends on wall, and a multi flight stair slab with landings and six different support arrangements have been analyzed. The results obtained for stresses, strains and deflections are used to describe the behavior of such stair slabs, including locations of critical moments and deflections. Values of critical moments obtained by F.E. analysis have also have been compared with that obtained from conventional analysis. Analytical results show that the moments are also critical near the kinks i.e. junction of mid-landing and inclined waist slab. This change in the behavior of dog-legged stair slab may be due to continuity of the material in transverse direction in two landings adjoining the waist slab, hence additional stiffness achieved. This change in the behavior is generally not taken care of in conventional method of design.Keywords: Dog-legged, Stair slab, F.E. Analysis, Landing, Reinforced concrete.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 45433691 Model Predictive Control of Turbocharged Diesel Engine with Exhaust Gas Recirculation
Authors: U. Yavas, M. Gokasan
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Control of diesel engine’s air path has drawn a lot of attention due to its multi input-multi output, closed coupled, non-linear relation. Today, precise control of amount of air to be combusted is a must in order to meet with tight emission limits and performance targets. In this study, passenger car size diesel engine is modeled by AVL Boost RT, and then simulated with standard, industry level PID controllers. Finally, linear model predictive control is designed and simulated. This study shows the importance of modeling and control of diesel engines with flexible algorithm development in computer based systems.Keywords: Predictive control, engine control, engine modeling, PID control, feedforward compensation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18083690 Quality Fed-Batch Bioprocess Control A Case Study
Authors: Mihai Caramihai, Irina Severin
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Bioprocesses are appreciated as difficult to control because their dynamic behavior is highly nonlinear and time varying, in particular, when they are operating in fed batch mode. The research objective of this study was to develop an appropriate control method for a complex bioprocess and to implement it on a laboratory plant. Hence, an intelligent control structure has been designed in order to produce biomass and to maximize the specific growth rate.
Keywords: Fed batch bioprocess, mass-balance model, fuzzy control
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14583689 On the Bootstrap P-Value Method in Identifying out of Control Signals in Multivariate Control Chart
Authors: O. Ikpotokin
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In any production process, every product is aimed to attain a certain standard, but the presence of assignable cause of variability affects our process, thereby leading to low quality of product. The ability to identify and remove this type of variability reduces its overall effect, thereby improving the quality of the product. In case of a univariate control chart signal, it is easy to detect the problem and give a solution since it is related to a single quality characteristic. However, the problems involved in the use of multivariate control chart are the violation of multivariate normal assumption and the difficulty in identifying the quality characteristic(s) that resulted in the out of control signals. The purpose of this paper is to examine the use of non-parametric control chart (the bootstrap approach) for obtaining control limit to overcome the problem of multivariate distributional assumption and the p-value method for detecting out of control signals. Results from a performance study show that the proposed bootstrap method enables the setting of control limit that can enhance the detection of out of control signals when compared, while the p-value method also enhanced in identifying out of control variables.
Keywords: Bootstrap control limit, p-value method, out-of-control signals, p-value, quality characteristics.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10013688 Integration of Acceleration Feedback Control with Automatic Generation Control in Intelligent Load Frequency Control
Authors: H. Zainuddin, F. Hanafi, M. H. Hairi, A. Aman, M.H.N. Talib
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This paper investigates the effects of knowledge-based acceleration feedback control integrated with Automatic Generation Control (AGC) to enhance the quality of frequency control of governing system. The Intelligent Acceleration Feedback Controller (IAFC) is proposed to counter the over and under frequency occurrences due to major load change in power system network. Therefore, generator tripping and load shedding operations can be reduced. Meanwhile, the integration of IAFC with AGC, a well known Load-Frequency Control (LFC) is essential to ensure the system frequency is restored to the nominal value. Computer simulations of frequency response of governing system are used to optimize the parameters of IAFC. As a result, there is substantial improvement on the LFC of governing system that employing the proposed control strategy.
Keywords: Knowledge-based Supplementary Control, Acceleration Feedback, Load Frequency Control, Automatic Generation Control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16933687 Industrial Compressor Anti-Surge Computer Control
Authors: Ventzas Dimitrios, Petropoulos George
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The paper presents a compressor anti-surge control system, that results in maximizing compressor throughput with pressure standard deviation reduction, increased safety margin between design point and surge limit line and avoiding possible machine surge. Alternative control strategies are presented.Keywords: Anti-surge, control, compressor, PID control, safety, fault tolerance, start-up, ESD.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 89463686 Control of a DC Servomotor Using Fuzzy Logic Sliding Mode Model Following Controller
Authors: Phongsak Phakamach
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A DC servomotor position control system using a Fuzzy Logic Sliding mode Model Following Control or FLSMFC approach is presented. The FLSMFC structure consists of an integrator and variable structure system. The integral control is introduced into it in order to eliminated steady state error due to step and ramp command inputs and improve control precision, while the fuzzy control would maintain the insensitivity to parameter variation and disturbances. The FLSMFC strategy is implemented and applied to a position control of a DC servomotor drives. Experimental results indicated that FLSMFC system performance with respect to the sensitivity to parameter variations is greatly reduced. Also, excellent control effects and avoids the chattering phenomenon.
Keywords: Sliding mode model following control, fuzzy logic, DC servomotor.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19053685 Bioprocess Intelligent Control: A Case Study
Authors: Mihai Caramihai Ana A Chirvase, Irina Severin
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Bioprocesses are appreciated as difficult to control because their dynamic behavior is highly nonlinear and time varying, in particular, when they are operating in fed batch mode. The research objective of this study was to develop an appropriate control method for a complex bioprocess and to implement it on a laboratory plant. Hence, an intelligent control structure has been designed in order to produce biomass and to maximize the specific growth rate.
Keywords: Fed batch bioprocess, mass-balance model, fuzzy control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15463684 Fuzzy Logic Control for Flexible Joint Manipulator: An Experimental Implementation
Authors: Sophia Fry, Mahir Irtiza, Alexa Hoffman, Yousef Sardahi
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This study presents an intelligent control algorithm for a flexible robotic arm. Fuzzy control is used to control the motion of the arm to maintain the arm tip at the desired position while reducing vibration and increasing the system speed of response. The Fuzzy controller (FC) is based on adding the tip angular position to the arm deflection angle and using their sum as a feedback signal to the control algorithm. This reduces the complexity of the FC in terms of the input variables, number of membership functions, fuzzy rules, and control structure. Also, the design of the fuzzy controller is model-free and uses only our knowledge about the system. To show the efficacy of the FC, the control algorithm is implemented on the flexible joint manipulator (FJM) developed by Quanser. The results show that the proposed control method is effective in terms of response time, overshoot, and vibration amplitude.
Keywords: Fuzzy logic control, model-free control, flexible joint manipulators, nonlinear control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5113683 A WIP Control Based On an Intelligent Controller
Authors: Chih-Hui Chiu, Chun-Hsien Lin
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In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive output recurrent cerebellar model articulation control (AORCMAC) and H∞ control technique is proposed for wheeled inverted pendulums (WIPs) real-time control with exact system dynamics unknown. Moreover, a robust H∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. The experimental results indicate that the WIPs can stand upright stably when using the proposed RIBTC.
Keywords: Wheeled inverted pendulum, backsteppingtracking control, H∞ control, adaptive output recurrentcerebellar model articulation control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18363682 Model Reference Adaptive Control and LQR Control for Quadrotor with Parametric Uncertainties
Authors: Alia Abdul Ghaffar, Tom Richardson
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A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive controller, unlike the fixed gain controller, is capable of ensuring a stable tracking performance under such condition, although adaptive control suffers from several limitations. The combination of both adaptive and fixed gain control in the controller architecture can result in an enhanced tracking performance in the presence parametric uncertainties.
Keywords: UAV, quadrotor, model reference adaptive control, LQR control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 55333681 The Exploitation of Balancing an Inverted Pendulum System Using Sliding Mode Control
Authors: Sheren H. Salah, Ahmed Y. Ben Sasi
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The inverted pendulum system is a classic control problem that is used in universities around the world. It is a suitable process to test prototype controllers due to its high non-linearities and lack of stability. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. This paper presents the possibility of balancing an inverted pendulum system using sliding mode control (SMC). The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart's position. Therefore, proportional-integral-derivative (PID) is used for comparison. Results have proven SMC control produced better response compared to PID control in both normal and noisy systems.Keywords: Inverted pendulum (IP) proportional-integralderivative (PID), sliding mode control (SMC).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20463680 On-line Recognition of Isolated Gestures of Flight Deck Officers (FDO)
Authors: Deniz T. Sodiri, Venkat V S S Sastry
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The paper presents an on-line recognition machine (RM) for continuous/isolated, dynamic and static gestures that arise in Flight Deck Officer (FDO) training. RM is based on generic pattern recognition framework. Gestures are represented as templates using summary statistics. The proposed recognition algorithm exploits temporal and spatial characteristics of gestures via dynamic programming and Markovian process. The algorithm predicts corresponding index of incremental input data in the templates in an on-line mode. Accumulated consistency in the sequence of prediction provides a similarity measurement (Score) between input data and the templates. The algorithm provides an intuitive mechanism for automatic detection of start/end frames of continuous gestures. In the present paper, we consider isolated gestures. The performance of RM is evaluated using four datasets - artificial (W TTest), hand motion (Yang) and FDO (tracker, vision-based ). RM achieves comparable results which are in agreement with other on-line and off-line algorithms such as hidden Markov model (HMM) and dynamic time warping (DTW). The proposed algorithm has the additional advantage of providing timely feedback for training purposes.Keywords: On-line Recognition Algorithm, IsolatedDynamic/Static Gesture Recognition, On-line Markovian/DynamicProgramming, Training in Virtual Environments.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13233679 The Synthetic T2 Quality Control Chart and its Multi-Objective Optimization
Authors: Francisco Aparisi, Marco A. de Luna
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In some real applications of Statistical Process Control it is necessary to design a control chart to not detect small process shifts, but keeping a good performance to detect moderate and large shifts in the quality. In this work we develop a new quality control chart, the synthetic T2 control chart, that can be designed to cope with this objective. A multi-objective optimization is carried out employing Genetic Algorithms, finding the Pareto-optimal front of non-dominated solutions for this optimization problem.Keywords: Multi-objective optimization, Quality Control, SPC, Synthetic T2 control chart.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15463678 Neural Network-Based Control Strategies Applied to a Fed-Batch Crystallization Process
Authors: P. Georgieva, S. Feyo de Azevedo
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This paper is focused on issues of process modeling and two model based control strategies of a fed-batch sugar crystallization process applying the concept of artificial neural networks (ANNs). The control objective is to force the operation into following optimal supersaturation trajectory. It is achieved by manipulating the feed flow rate of sugar liquor/syrup, considered as the control input. The control task is rather challenging due to the strong nonlinearity of the process dynamics and variations in the crystallization kinetics. Two control alternatives are considered – model predictive control (MPC) and feedback linearizing control (FLC). Adequate ANN process models are first built as part of the controller structures. MPC algorithm outperforms the FLC approach with respect to satisfactory reference tracking and smooth control action. However, the MPC is computationally much more involved since it requires an online numerical optimization, while for the FLC an analytical control solution was determined.Keywords: artificial neural networks, nonlinear model control, process identification, crystallization process
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18243677 A Novel Adaptive Voltage Control Strategy for Boost Converter via Inverse LQ Servo-Control
Authors: Sorawit Stapornchaisit, Sidshchadhaa Aumted, Hiroshi Takami
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In this paper, we propose a novel adaptive voltage control strategy for boost converter via Inverse LQ Servo-Control. Our presented strategy is based on an analytical formula of Inverse Linear Quadratic (ILQ) design method, which is not necessary to solve Riccati’s equation directly. The optimal and adaptive controller of the voltage control system is designed. The stability and the robust control are analyzed. Whereas, we can get the analytical solution for the optimal and robust voltage control is achieved through the natural angular velocity within a single parameter and we can change the responses easily via the ILQ control theory. Our method provides effective results as the stable responses and the response times are not drifted even if the condition is changed widely.Keywords: Boost converter, optimal voltage control, inverse LQ design method, type-1 servo-system, adaptive control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17063676 Recognition Machine (RM) for On-line and Isolated Flight Deck Officer (FDO) Gestures
Authors: Deniz T. Sodiri, Venkat V S S Sastry
Abstract:
The paper presents an on-line recognition machine (RM) for continuous/isolated, dynamic and static gestures that arise in Flight Deck Officer (FDO) training. RM is based on generic pattern recognition framework. Gestures are represented as templates using summary statistics. The proposed recognition algorithm exploits temporal and spatial characteristics of gestures via dynamic programming and Markovian process. The algorithm predicts corresponding index of incremental input data in the templates in an on-line mode. Accumulated consistency in the sequence of prediction provides a similarity measurement (Score) between input data and the templates. The algorithm provides an intuitive mechanism for automatic detection of start/end frames of continuous gestures. In the present paper, we consider isolated gestures. The performance of RM is evaluated using four datasets - artificial (W TTest), hand motion (Yang) and FDO (tracker, vision-based ). RM achieves comparable results which are in agreement with other on-line and off-line algorithms such as hidden Markov model (HMM) and dynamic time warping (DTW). The proposed algorithm has the additional advantage of providing timely feedback for training purposes.Keywords: On-line Recognition Algorithm, IsolatedDynamic/Static Gesture Recognition, On-line Markovian/DynamicProgramming, Training in Virtual Environments.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14523675 Active Disturbance Rejection Control for Wind System Based On a DFIG
Authors: R. Chakib, A. Essadki, M. Cherkaoui
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This paper proposes the study of a robust control of the doubly fed induction generator (DFIG) used in a wind energy production. The proposed control is based on the linear active disturbance rejection control (ADRC) and it is applied to the control currents rotor of the DFIG, the DC bus voltage and active and reactive power exchanged between the DFIG and the network. The system under study and the proposed control are simulated using MATLAB/SIMULINK.
Keywords: Doubly fed induction generator DFIG, Active disturbance rejection control ADRC, Vector control, MPPT, Extended state observer, back to back converter, Wind turbine.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24993674 A CUSUM Control Chart to Monitor Wafer Quality
Authors: Sheng-Shu Cheng, Fong-Jung Yu
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C-control chart assumes that process nonconformities follow a Poisson distribution. In actuality, however, this Poisson distribution does not always occur. A process control for semiconductor based on a Poisson distribution always underestimates the true average amount of nonconformities and the process variance. Quality is described more accurately if a compound Poisson process is used for process control at this time. A cumulative sum (CUSUM) control chart is much better than a C control chart when a small shift will be detected. This study calculates one-sided CUSUM ARLs using a Markov chain approach to construct a CUSUM control chart with an underlying Poisson-Gamma compound distribution for the failure mechanism. Moreover, an actual data set from a wafer plant is used to demonstrate the operation of the proposed model. The results show that a CUSUM control chart realizes significantly better performance than EWMA.
Keywords: Nonconformities, Compound Poisson distribution, CUSUM control chart.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27153673 Artificial Neural Networks for Identification and Control of a Lab-Scale Distillation Column Using LABVIEW
Authors: J. Fernandez de Canete, S. Gonzalez-Perez, P. del Saz-Orozco
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LABVIEW is a graphical programming language that has its roots in automation control and data acquisition. In this paper we have utilized this platform to provide a powerful toolset for process identification and control of nonlinear systems based on artificial neural networks (ANN). This tool has been applied to the monitoring and control of a lab-scale distillation column DELTALAB DC-SP. The proposed control scheme offers high speed of response for changes in set points and null stationary error for dual composition control and shows robustness in presence of externally imposed disturbance.
Keywords: Distillation, neural networks, LABVIEW, monitoring, identification, control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29083672 Implicit Force Control of a Position Controlled Robot – A Comparison with Explicit Algorithms
Authors: Alexander Winkler, Jozef Suchý
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This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.Keywords: Damping control, impedance control, robot force control, stability, stiffness control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28553671 An Improved Optimal Sliding Mode Control for Structural Stability
Authors: Leila Fatemi, Morteza Moradi, Azadeh Mansouri
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In this paper, the modified optimal sliding mode control with a proposed method to design a sliding surface is presented. Because of the inability of the previous approach of the sliding mode method to design a bounded and suitable input, the new variation is proposed in the sliding manifold to obviate problems in a structural system. Although the sliding mode control is a powerful method to reject disturbances and noises, the chattering problem is not good for actuators. To decrease the chattering phenomena, the optimal control is added to the sliding mode control. Not only the proposed method can decline the intense variations in the inputs of the system but also it can produce the efficient responses respect to the sliding mode control and optimal control that are shown by performing some numerical simulations.
Keywords: Structural Control, optimal control, optimal sliding mode controller, modified sliding surface.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19943670 MC and IC – What Is the Relationship?
Authors: O. V. Missioura
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MC (Management Control)& IC (Internal Control) – what is the relationship? (an empirical study into the definitions between MC and IC) based on the wider considerations of Internal Control and Management Control terms, attention is focused not only on the financial aspects but also more on the soft aspects of the business, such as culture, behaviour, standards and values. The limited considerations of Management Control are focused mainly in the hard, financial aspects of business operation. The definitions of Management Control and Internal Control are often used interchangeably and the results of this empirical study reveal that Management Control is part of Internal Control, there is no causal link between the two concepts. Based on the interpretation of the respondents, the term Management Control has moved from a broad term to a more limited term with the soft aspects of the influencing of behaviour, performance measurements, incentives and culture. This paper is an exploratory study based on qualitative research and on a qualitative matrix method analysis of the thematic definition of the terms Management Control and Internal Control.
Keywords: Management Control (MC), Internal Control (IC), definition, causal link, COSO 1992/2004, CoCo (Canadian Institute of Chartered Accountants), Russian CG code (КОДЕКС) , limited and broad concepts MC and IC.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17743669 Navigation and Guidance System Architectures for Small Unmanned Aircraft Applications
Authors: Roberto Sabatini, Celia Bartel, Anish Kaharkar, Tesheen Shaid, Subramanian Ramasamy
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Two multisensor system architectures for navigation and guidance of small Unmanned Aircraft (UA) are presented and compared. The main objective of our research is to design a compact, light and relatively inexpensive system capable of providing the required navigation performance in all phases of flight of small UA, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN are compared and the Appearance-Based Navigation (ABN) approach is selected for implementation. Feature extraction and optical flow techniques are employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway centreline and body rates. Additionally, we address the possible synergies of VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, and the use of Aircraft Dynamics Model (ADM) to provide additional information suitable to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) is developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UA platform in real-time. The key mathematical models describing the two architectures i.e., VBN-IMU-GNSS (VIG) system and VIGADM (VIGA) system are introduced. The first architecture uses VBN and GNSS to augment the MEMS-IMU. The second mode also includes the ADM to provide augmentation of the attitude channel. Simulation of these two modes is carried out and the performances of the two schemes are compared in a small UA integration scheme (i.e., AEROSONDE UA platform) exploring a representative cross-section of this UA operational flight envelope, including high dynamics manoeuvres and CAT-I to CAT-III precision approach tasks. Simulation of the first system architecture (i.e., VIG system) shows that the integrated system can reach position, velocity and attitude accuracies compatible with the Required Navigation Performance (RNP) requirements. Simulation of the VIGA system also shows promising results since the achieved attitude accuracy is higher using the VBN-IMU-ADM than using VBN-IMU only. A comparison of VIG and VIGA system is also performed and it shows that the position and attitude accuracy of the proposed VIG and VIGA systems are both compatible with the RNP specified in the various UA flight phases, including precision approach down to CAT-II.
Keywords: Global Navigation Satellite System (GNSS), Lowcost Navigation Sensors, MEMS Inertial Measurement Unit (IMU), Unmanned Aerial Vehicle, Vision Based Navigation.
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