Search results for: multi-loop control systems

Authors: Pornthep Navakitkanok, Ammarin Pimnoo, Seksan Jaturat

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THEOS is the first earth observation spacecraft of Thailand which was launched on the 1st October 2008 and is currently operated by GISTDA. The transfer phase has been performed by Astrium Flight Dynamics team leading to a hand over to GISTDA teams starting mid-October 2008. The THEOS spacecraft-s orbit is LEO and has the same repetitivity (14+5/26) as the SPOT spacecraft, i.e. the same altitude of 822 km but it has a different mean local solar time (LST). Ground track maintenance manoeuvres are performed to maintain the ground track within a predefined control band around the reference ground track and the band is ±40 km for THEOS spacecraft. This paper presents the first ground track maintenance manoeuvre of THEOS spacecraft and the detailed results. In addition, it also includes one and a half year of operation as seen by GISTDA operators. It finally describes the foreseenable activities for the next orbit control manoeuvre (OCM) preparation.

Keywords: Orbit Control Manoeuvre, Ground Track Error, Local Solar Time Error, LEO, THEOS

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Authors: Yung-Tien Liu, Chun-Chao Wang

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This paper presents the control performance of a high-precision positioning device using the hybrid actuator composed of a piezoelectric (PZT) actuator and a voice-coil motor (VCM). The combined piezo-VCM actuator features two main characteristics: a large operation range due to long stroke of the VCM, and high precision and heavy load positioning ability due to PZT impact force. A one-degree-of-freedom (DOF) experimental setup was configured to examine the fundamental characteristics, and the control performance was effectively demonstrated by using a switching controller. In rough positioning state, an integral variable structure controller (IVSC) was used for the VCM to conduct long range of operation; in precision positioning state, an impact force controller (IFC) for the PZT actuator coupled with presliding states of the sliding table was used to obtain high-precision position control and achieve both forward and backward actuations. The experimental results showed that the sliding table having a mass of 881g and with a preload of 10 N was successfully positioned within the positioning accuracy of 10 nm in both forward and backward position controls.

Keywords: Integral variable structure controller (IVSC), impact force, precision positioning, presliding, PZT actuator, voice-coil motor (VCM).

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Authors: Dana M. Ragab, Jasim A. Ghaeb

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The three-phase power system suffers from different challenging problems, e.g. voltage unbalance conditions at the load side. The voltage unbalance usually degrades the power quality of the electric power system. Several techniques can be considered for load balancing including load reconfiguration, static synchronous compensator and static reactive power compensator. In this work an efficient neural network is designed to control the unbalanced condition in the Aqaba-Qatrana-South Amman (AQSA) electric power system. It is designed for highly enhanced response time of the reactive compensator for voltage balancing. The neural network is developed to determine the appropriate set of firing angles required for the thyristor-controlled reactor to balance the three load voltages accurately and quickly. The parameters of AQSA power system are considered in the laboratory model, and several test cases have been conducted to test and validate the proposed technique capabilities. The results have shown a high performance of the proposed Neural Network Control (NNC) technique for correcting the voltage unbalance conditions at three-phase load based on accuracy and response time.

Keywords: Three-phase power system, reactive power control, voltage unbalance factor, neural network, power quality.

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Authors: Kati Kõrbe Kaare, Kristjan Kuhi, Ott Koppel

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Transportation authorities need to provide the services and facilities that are critical to every country-s well-being and development. Management of the road network is becoming increasingly challenging as demands increase and resources are limited. Public sector institutions are integrating performance information into budgeting, managing and reporting via implementing performance measurement systems. In the face of growing challenges, performance measurement of road networks is attracting growing interest in many countries. The large scale of public investments makes the maintenance and development of road networks an area where such systems are an important assessment tool. Transportation agencies have been using performance measurement and modeling as part of pavement and bridge management systems. Recently the focus has been on extending the process to applications in road construction and maintenance systems, operations and safety programs, and administrative structures and procedures. To eliminate failure and dysfunctional consequences the importance of obtaining objective data and implementing evaluation instrument where necessary is presented in this paper

Keywords: Key performance indicators, performance measurement system, evaluation, system architecture.

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Authors: F. O. Faithpraise, J. Idung, C. R. Chatwin, R. C. D. Young, P. Birch

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A continuous time model of the interaction between crop insect pests and naturally beneficial pest enemies is created using a set of simultaneous, non-linear, ordinary differential equations incorporating natural death rates based on the Weibull distribution. The crop pest is present in all its life-cycle stages of: egg, larva, pupa and adult. The beneficial insects, parasitoid wasps, may be present in either or all parasitized: eggs, larva and pupa. Population modelling is used to estimate the quantity of the natural pest enemies that should be introduced into the pest infested environment to suppress the pest population density to an economically acceptable level within a prescribed number of days. The results obtained illustrate the effect of different combinations of parasitoid wasps, using the Pascal distribution to estimate their success in parasitizing different pest developmental stages, to deliver pest control to a sustainable level. Effective control, within a prescribed number of days, is established by the deployment of two or all three species of wasps, which partially destroy pest: egg, larvae and pupae stages. The selected scenarios demonstrate effective sustainable control of the pest in less than thirty days.

Keywords: Biological control, Diamondback moth, Parasitoid wasps, Population modeling.

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Authors: Neeraj Mohan, Parvinder S. Sandhu, Hardeep Singh

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Software maintenance is extremely important activity in software development life cycle. It involves a lot of human efforts, cost and time. Software maintenance may be further subdivided into different activities such as fault prediction, fault detection, fault prevention, fault correction etc. This topic has gained substantial attention due to sophisticated and complex applications, commercial hardware, clustered architecture and artificial intelligence. In this paper we surveyed the work done in the field of software maintenance. Software fault prediction has been studied in context of fault prone modules, self healing systems, developer information, maintenance models etc. Still a lot of things like modeling and weightage of impact of different kind of faults in the various types of software systems need to be explored in the field of fault severity.

Keywords: Fault prediction, Software Maintenance, Automated Fault Prediction, and Failure Mode Analysis

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Authors: Piotr Vasiljev, Regimantas Bareikis, Sergejus Borodinas, Arunas Struckas, Jurate Kasperoviciene

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Nowadays for algae cell ultrasonication the longitudinal ultrasonic piezosystems are used. In this paper a possibility of creating unique ultrasonic piezoelectric system, which would allow reducing energy losses and concentrating this energy to a small closed volume are proposed. The current vibrating systems whose ultrasonic energy is concentrated inside of hollow cylinder in which water-algae mixture is flowing. Two, three or multiply ultrasonic composite systems to concentrate total energy into a hollow cylinder to creating strong algae cell ultrasonication are used. The experiments and numerical FEM analysis results using diskshaped transducer and the first biological test results on algae cell disruption by ultrasonication are presented as well.

Keywords: Algae, piezomechanical system, ultrasonication.

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Authors: M. Župan, V. Budimir

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The main problems of data centric and open source project are large number of developers and changes of core framework. Model-View-Control (MVC) design pattern significantly improved the development and adjustments of complex projects. Entity framework as a Model layer in MVC architecture has simplified communication with the database. How often are the new technologies used and whether they have potentials for designing more efficient Enterprise Resource Planning (ERP) system that will be more suited to accountants?

Keywords: Accounting, Enterprise Resource Planning, Model- View-Control, Object Role Modeling, Open Source

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Authors: Rihab Hamdi, Amel Hadri Hamida, Fatiha Khelili, Sakina Zerouali, Ouafae Bennis

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This paper features a comparative study performance of sliding mode controller (SMC) for closed-loop voltage control of direct current to direct current (DC-DC) three-cells buck converter connected in parallel, operating in continuous conduction mode (CCM), based on pulse-width modulation (PWM) with SMC based on hysteresis modulation (HM) where an adaptive feedforward technique is adopted. On one hand, for the PWM-based SM, the approach is to incorporate a fixed-frequency PWM scheme which is effectively a variant of SM control. On the other hand, for the HM-based SM, oncoming an adaptive feedforward control that makes the hysteresis band variable in the hysteresis modulator of the SM controller in the aim to restrict the switching frequency variation in the case of any change of the line input voltage or output load variation are introduced. The results obtained under load change, input change and reference change clearly demonstrates a similar dynamic response of both proposed techniques, their effectiveness is fast and smooth tracking of the desired output voltage. The PWM-based SM technique has greatly improved the dynamic behavior with a bit advantageous compared to the HM-based SM technique, as well as provide stability in any operating conditions. Simulation studies in MATLAB/Simulink environment have been performed to verify the concept.

Keywords: Sliding mode control, pulse-width modulation, hysteresis modulation, DC-DC converter, parallel multi-cells converter, robustness.

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Authors: Nagulapati Kiran, V. Rangavalli, B. Vanajakshi

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This paper designs the four-phase Boost Converter which overcomes the problem of high input ripple current and output ripple voltage. Digital control is more convenient for such a topology on basis of synchronization, phase shift operation, etc. Simulation results are presented for open-loop and closed-loop for four phase boost converter. This control scheme is applicable for PFC rectifiers as well. Thus a comparative analysis based on the obtained results is performed.

Keywords: Boost Converter, Bode plot, PI Controller, Four phase.

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Authors: Changchun Shen, Shouming Zhong

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This paper investigates the problem of absolute stability and robust stability of a class of Lur-e systems with neutral type and time-varying delays. By using Lyapunov direct method and linear matrix inequality technique, new delay-dependent stability criteria are obtained and formulated in terms of linear matrix inequalities (LMIs) which are easy to check the stability of the considered systems. To obtain less conservative stability conditions, an operator is defined to construct the Lyapunov functional. Also, the free weighting matrices approach combining a matrix inequality technique is used to reduce the entailed conservativeness. Numerical examples are given to indicate significant improvements over some existing results.

Keywords: Lur'e system, linear matrix inequalities, Lyapunov, stability.

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Authors: Arnaud Nougues

Abstract:

This paper describes a two-stage methodology derived from IMC (Internal Model Control) for tuning a PID (Proportional-Integral-Derivative) controller for levels or other integrating processes in an industrial environment. Focus is ease of use and implementation speed which are critical for an industrial application. Tuning can be done with minimum effort and without the need of time-consuming open-loop step tests on the plant. The first stage of the method applies to levels only: the vessel residence time is calculated from equipment dimensions and used to derive a set of preliminary PI (Proportional-Integral) settings with IMC. The second stage, re-tuning in closed-loop, applies to levels as well as other integrating processes: a tuning correction mechanism has been developed based on a series of closed-loop simulations with model errors. The tuning correction is done from a simple closed-loop step test and application of a generic correlation between observed overshoot and integral time correction. A spin-off of the method is that an estimate of the vessel residence time (levels) or open-loop process gain (other integrating process) is obtained from the closed-loop data.

Keywords: closed-loop model identification, IMC-PID tuning method, integrating process control, on-line PID tuning adaptation

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Authors: Imran Khan, Shujaat Ali Khan Tanoli, Nandana Rajatheva

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This paper presents an analysis on the capacity and performance of MIMO-OFDM systems. The work is focused on the capacity of MIMO-OFDM systems over rician fading channel, in the case of the channel being known at the receiver only, which is more practical case of the channel. Simple expression for capacity is derived for the case of correlated rician fading. The performance of some MIMO-OFDM implementations with rician fading model is presented using an Alamouti coding scheme and Simulation results are obtained for both capacity and performance analysis.

Keywords: MIMO, OFDM, rician distribution, space time blockcodes (STBC).

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Authors: Lütfü Saribulut, Mehmet Tümay, İlyas Eker

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FACTS devices are used to control the power flow, to increase the transmission capacity and to optimize the stability of the power system. One of the most widely used FACTS devices is Unified Power Flow Controller (UPFC). The controller used in the control mechanism has a significantly effects on controlling of the power flow and enhancing the system stability of UPFC. According to this, the capability of UPFC is observed by using different control mechanisms based on P, PI, PID and fuzzy logic controllers (FLC) in this study. FLC was developed by taking consideration of Takagi- Sugeno inference system in the decision process and Sugeno-s weighted average method in the defuzzification process. Case studies with different operating conditions are applied to prove the ability of UPFC on controlling the power flow and the effectiveness of controllers on the performance of UPFC. PSCAD/EMTDC program is used to create the FLC and to simulate UPFC model.

Keywords: FACTS, Fuzzy Logic Controller, UPFC.

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Authors: E. Bakkaloğlu, N. Torunbalcı

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Earthquakes are inevitable natural disasters in Turkey. Therefore, buildings must be prepared for this natural hazard. Especially in hospital buildings, earthquake resistance is an essential point because hospitals are one of the first places where people come after earthquake. Although hospital buildings are more suitable for horizontal architecture, it is necessary to construct and expand multi-story hospital buildings due to difficulties in finding suitable places as a result of excessive urbanization, difficulties in obtaining appropriate size land and decrease in suitable places and increase in land values. In Turkey, using seismic isolators in public hospitals, which are placed in first degree earthquake zone and have more than 100 beds, is made obligatory by general instruction. As a result of this decision, it may sometimes be necessary to construct seismic isolated multi-story hospital buildings in cities where those problems are experienced. Although there is widespread use of seismic isolators in Japan, there are few multi-story buildings in which seismic isolators are used in Turkey. As it is known, base isolation systems are the most effective methods of earthquake resistance, as the number of floors increases, the center of gravity moves away from the base in multi-story buildings, increasing the overturning effect and limiting use of these systems. In this context, it is aimed to investigate structural systems of multi-story buildings which are built using seismic isolation methods in the world. In addition to this, a working principle is suggested for the disseminating seismic isolator used in multi-story hospital buildings. The results to be obtained from the study will guide architects who design multi-story hospital buildings in their architectural designs, and engineers in terms of structural system design.

Keywords: Earthquake, energy absorbing systems, hospital, seismic isolation systems.

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Authors: Yuriy Tasinkevych, Eugene Danicki

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Planar systems of electrodes arranged on both sides of dielectric piezoelectric layer are applied in numerous transducers. They are capable of electronic beam-steering of generated wave both in azimuth and elevation. The wave-beam control is achieved by addressable driving of two-dimensional transducer through proper voltage supply of electrodes on opposite surfaces of the layer. In this paper a semi-analytical method of analysis of the considered transducer is proposed, which is a generalization of the well-known BIS-expansion method. It was earlier exploited with great success in the theory of interdigital transducers of surface acoustic waves, theory of elastic wave scattering by cracks and certain advanced electrostatic problems. The corresponding nontrivial electrostatic problem is formulated and solved numerically.

Keywords: Beamforming, transducer array, BIS-expansion.

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Authors: Yuriy Tasinkevych, Eugene Danicki

Abstract:

Planar systems of electrodes arranged on both sides of dielectric piezoelectric layer are applied in numerous transducers. They are capable of electronic beam-steering of generated wave both in azimuth and elevation. The wave-beam control is achieved by addressable driving of two-dimensional transducer through proper voltage supply of electrodes on opposite surfaces of the layer. In this paper a semi-analytical method of analysis of the considered transducer is proposed, which is a generalization of the well-known BIS-expansion method. It was earlier exploited with great success in the theory of interdigital transducers of surface acoustic waves, theory of elastic wave scattering by cracks and certain advanced electrostatic problems. The corresponding nontrivial electrostatic problem is formulated and solved numerically.

Keywords: Beamforming, transducer array, BIS-expansion.

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Authors: D. E. Gourgoulis, C. G. Yakinthos, M. G. Vassiliadou

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The scope of this paper is to describe a real electrical installation of renewable energy using photovoltaic cells. The displayed power grid connected network was established in 2007 at area of Northern Greece. The photovoltaic park is composed of 6120 photovoltaic cells able to deliver a total power of 1.101.600 Wp. For the transformation of DC voltage to AC voltage have been used 25 stand alone three phases inverters and for the connection at the medium voltage network of Greek Power Authority have been installed two oil immersed transformer of 630 kVA each one. Due to the wide space area of installation a specific external lightning protection system has been designed. Additionally, due to the sensitive electronics of the control and protection systems of park, surge protection, equipotent bonding and shielding were also of major importance.

Keywords: Inverter, Photovoltaic cells, Transformer.

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Authors: Shunyi Li, Zhifang He, Xiangui Xue

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An Ivlev-type predator-prey system and stage-structured for predator concerning impulsive control strategy is considered. The conditions for the locally asymptotically stable prey-eradication periodic solution is obtained, by using Floquet theorem and small amplitude perturbation skills——when the impulsive period is less than the critical value. Otherwise, the system is permanence. Numerical examples show that the system considered has more complicated dynamics, including high-order quasi-periodic and periodic oscillating, period-doubling and period-halving bifurcation, chaos and attractor crisis, etc. Finally, the biological implications of the results and the impulsive control strategy are discussed.

Keywords: Stage-structured predator-prey system, Impulsive, Permanence, Bifurcation, Chaos.

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Authors: Ekesa B. Nakhauka, De Lange M., Macharia I., Garming H., Ouma E., Birachi E., Van Asten P., Van-Lauwe B., Blomme G.

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Impact of adopting products promoted by the Consortium for Improving Agriculture-based livelihoods in Central Africa (CIALCA) on food and nutrition security was tested. Multi-stage sampling was used to select 7 project mandate areas, 5 villages/mandate area (stratified into action, satellite and control sites) and 913 households. Structured questionnaires were administered; analysis of impact based on comparison between stratums, differences in means tested by ANOVA and significance of difference obtained by Tukey's HSD multiple rank tests. Perception of adequate food sufficiency received a higher rating in action and satellite sites compared to control sites reason being improved agricultural technologies. For >60% of households, worsened food security was due to climatic conditions. Although a higher proportion of households in action and satellite was meeting calorie RDIs in DRC and Burundi the difference was insignificant from control sites. 53% of respondents in control sites indicated a decrease in intake of protein rich foods, this was significantly higher than the proportion in the action (46%) and satellite (41%) sites.

Keywords: Food security, Farmer-households, Nutrition security

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Authors: Karamitsos Ioannis, Orfanidis Konstantinos

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In this paper an analysis of blackouts in electric power transmission systems is implemented using a model and studied in simple networks with a regular topology. The proposed model describes load demand and network improvements evolving on a slow timescale as well as the fast dynamics of cascading overloads and outages.

Keywords: Blackout, Generator, Load, Power Load.

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Authors: A. S. P.Kanojia, B. Dr.V.K.Chandrakar

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Static synchronous compensator (STATCOM) is a shunt connected voltage source converter (VSC), which can affect rapid control of reactive flow in the transmission line by controlling the generated a.c. voltage. The main aim of the paper is to design a power system installed with a Static synchronous compensator (STATCOM) and demonstrates the application of the linearised Phillips-heffron model in analyzing the damping effect of the STATCOM to improve power system oscillation stability. The proposed PI controller is designed to coordinate two control inputs: Voltage of the injection bus and capacitor voltage of the STATCOM, to improve the Dynamic stability of a SMIB system .The power oscillations damping (POD) control and power system stabilizer (PSS) and their coordinated action with proposed controllers are tested. The simulation result shows that the proposed damping controllers provide satisfactory performance in terms of improvements of dynamic stability of the system.

Keywords: Damping oscillations, FACTS, STATCOM, dynamic stability, PSS, POD, Coordination.

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Authors: A. M. Ismaiel, Ali Hafez El-Far, Abou-Ganema I. I

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A thirty Rahmani weaned male lambs of average body weight (27.28±1.40 kg) were randomly allotted to three similar groups, ten lambs in each, to study the benefit of commercial feed additives Tonilisat (Saccharomyces cerevisiae) and Roemin W2 (Lactobacillus acidophilus, Lactobacillus thermophilus, Bifidobacterium and Lactose) as growth promoters on lambs performance, digestibility, rumen activity and some blood constituents. The experiment lasted about 107 days. Three experimental groups were allotted as control group: received the basal ration, T1 group: received the basal ration supplemented with Tonilisat as (0.5kg/ ton concentrate feed mixture) and T2 group: received the basal ration supplemented with Roemin W2 (1kg/ ton concentrate feed mixture). Our study revealed that addition of Tonilisat significantly increased digestion coefficient of crude protein than that of the control group, Furthermore, the supplementation of Tonilisat or Roemin W2 increased (p<0.05) crude fiber digestibility than control group. Total digestible nutrients and crude digestible protein were not significantly changed between treatments. Retained nitrogen was higher in treated lamb groups than untreated but the different was non significant. Rumen activity of different rations showed that volatile fatty acids concentrations for Tonilisat and Roemin W2 groups were higher than control group, but the differences were not significant. There are no significant changes between groups in tested blood parameters but in T1 group ALT and AST were decreased. Conclusion: Supplementation of the lamb's rations with probiotics had a non significant effect (p<0.05) on blood constituents. While, growth performance and economic efficiency revealed that Tonilisat supplemented lambs had the best average daily gain followed by Roemin W2 treated group in comparison with control group. The best economic efficiency was recorded for T1 which fed Tonilisat followed by control group at whole period.

Keywords: Rahmani sheep, Tonilisat, Roemin W2, Growth, Performance.

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Authors: Fatahian Dehkordi RF., Parchami A.

Abstract:

Design of experiments made for correlated the hormonal activity of steroids and their effect on the vaginal structure properties. Vaginal wall consists of distinct layers of cells which strongly differ regarding growth in answer to steroid hormones. The presence study carried out for functional evaluation and sustained replacement effect of the reproductive hormones on the vaginal morphometry in the rabbit. Rabbits were maintained control (Co) or ovariectomized (Ovz) and continuously treated with estradiol (Ovz E) and estradiol mixture with testosterone (Ovz ET). Relative to control rabbits with the distinct tissue distribution pattern, ovariectomized animals displayed declined epithelial thickness and atrophy of the muscularis layer that cause the vaginal wall thinning. Estradiol treatment of Orz rabbits inverted these changes to status of the preovariectomy. Histometric measurements in Ovz ET group completely including of thickness of the epithelial and muscular layers was greater in comparison to that of control animals.

Keywords: Vagina, Ovariectomy, Rabbit, Morphometry

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Authors: Mazziotti Gomez de Teran C., Fiore D., Cola B., Fardelli A.

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The present paper summarizes the analysis of the request for consultation of information and data on industrial emissions made publicly available on the web site of the Ministry of Environment, Land and Sea on integrated pollution prevention and control from large industrial installations, the so called “AIA Portal”. As a matter of fact, a huge amount of information on national industrial plants is already available on internet, although it is usually proposed as textual documentation or images. Thus, it is not possible to access all the relevant information through interoperability systems and also to retrieval relevant information for decision making purposes as well as rising of awareness on environmental issue. Moreover, since in Italy the number of institutional and private subjects involved in the management of the public information on industrial emissions is substantial, the access to the information is provided on internet web sites according to different criteria; thus, at present it is not structurally homogeneous and comparable. To overcome the mentioned difficulties in the case of the Coordinating Committee for the implementation of the Agreement for the industrial area in Taranto and Statte, operating before the IPPC permit granting procedures of the relevant installation located in the area, a big effort was devoted to elaborate and to validate data and information on characterization of soil, ground water aquifer and coastal sea at disposal of different subjects to derive a global perspective for decision making purposes. Thus, the present paper also focuses on main outcomes matured during such experience.

Keywords: Public information, emissions into atmosphere, IPPC permits, territorial information systems.

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Authors: Shameemraj M. Nadaf, Sipra Behera, Hemant K. Rath, Garima Mishra, Raja Mukhopadhyay, Sumanta Patro

Abstract:

Microservices architecture has been widely embraced for rapid, frequent, and reliable delivery of complex applications. It enables organizations to evolve their technology stack in various domains. Today, the networking domain is flooded with plethora of devices and software solutions which address different functionalities ranging from elementary operations, viz., switching, routing, firewall etc., to complex analytics and insights based intelligent services. In this paper, we attempt to bring in the microservices based approach for agile and adaptive delivery of network services for any underlying networking technology. We discuss the life cycle management of each individual microservice and a distributed control approach with emphasis for dynamic provisioning, management, and orchestration in an automated fashion which can provide seamless operations in large scale networks. We have conducted validations of the system in lab testbed comprising of Traditional/Legacy and Software Defined Wireless Local Area networks.

Keywords: Microservices architecture, software defined wireless networks, traditional wireless networks, automation, orchestration, intelligent networks, network analytics, seamless management, single pane control, fine-grain control.

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Authors: Sherif G. Aly

Abstract:

In this article, we introduce a mechanism by which the same concept of differentiated services used in network transmission can be applied to provide quality of service levels to pervasive systems applications. The classical DiffServ model, including marking and classification, assured forwarding, and expedited forwarding, are all utilized to create quality of service guarantees for various pervasive applications requiring different levels of quality of service. Through a collection of various sensors, personal devices, and data sources, the transmission of contextsensitive data can automatically occur within a pervasive system with a given quality of service level. Triggers, initiators, sources, and receivers are four entities labeled in our mechanism. An explanation of the role of each is provided, and how quality of service is guaranteed.

Keywords: Pervasive systems, quality of service, differentiated services, mobile devices.

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Authors: Giovanni Incerti

Abstract:

The dynamic behaviour of a four-bar linkage driven by a velocity controlled DC motor is discussed in the paper. In particular the author presents the results obtained by means of a specifically developed software, which implements the mathematical models of all components of the system (linkage, transmission, electric motor, control devices). The use of this software enables a more efficient design approach, since it allows the designer to check, in a simple and immediate way, the dynamic behaviour of the mechanism, arising from different values of the system parameters.

Keywords: Four-bar linkage, Speed control, Dynamic analysis.

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Authors: Takashi Mitsuishi, Kiyoshi Sawada, Yasunari Shidama

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The mathematical framework for studying of a fuzzy approximate reasoning is presented in this paper. Two important defuzzification methods (Area defuzzification and Height defuzzification) besides the center of gravity method which is the best well known defuzzification method are described. The continuity of the defuzzification methods and its application to a fuzzy feedback control are discussed.

Keywords: Fuzzy approximate reasoning, defuzzification, area method, height method.

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Authors: Arash Taheri, Meysam Mohammadi-Amin, Seyed Hossein Moosavy

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Medical applications are among the most impactful areas of microrobotics. The ultimate goal of medical microrobots is to reach currently inaccessible areas of the human body and carry out a host of complex operations such as minimally invasive surgery (MIS), highly localized drug delivery, and screening for diseases at their very early stages. Miniature, safe and efficient propulsion systems hold the key to maturing this technology but they pose significant challenges. A new type of propulsion developed recently, uses multi-flagella architecture inspired by the motility mechanism of prokaryotic microorganisms. There is a lack of efficient methods for designing this type of propulsion system. The goal of this paper is to overcome the lack and this way, a numerical strategy is proposed to design multi-flagella propulsion systems. The strategy is based on the implementation of the regularized stokeslet and rotlet theory, RFT theory and new approach of “local corrected velocity". The effects of shape parameters and angular velocities of each flagellum on overall flow field and on the robot net forces and moments are considered. Then a multi-layer perceptron artificial neural network is designed and employed to adjust the angular velocities of the motors for propulsion control. The proposed method applied successfully on a sample configuration and useful demonstrative results is obtained.

Keywords: Artificial Neural Network, Biomimetic Microrobots, Flagellar Propulsion, Swimming Robots.

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