Search results for: 2D flow simulations
1448 Application of Fourier Series Based Learning Control on Mechatronic Systems
Authors: Sandra Baßler, Peter Dünow, Mathias Marquardt
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A Fourier series based learning control (FSBLC) algorithm for tracking trajectories of mechanical systems with unknown nonlinearities is presented. Two processes are introduced to which the FSBLC with PD controller is applied. One is a simplified service robot capable of climbing stairs due to special wheels and the other is a propeller driven pendulum with nearly the same requirements on control. Additionally to the investigation of learning the feed forward for the desired trajectories some considerations on the implementation of such an algorithm on low cost microcontroller hardware are made. Simulations of the service robot as well as practical experiments on the pendulum show the capability of the used FSBLC algorithm to perform the task of improving control behavior for repetitive task of such mechanical systems.Keywords: Climbing stairs, FSBLC, ILC, Service robot.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13871447 FAT based Adaptive Impedance Control for Unknown Environment Position
Authors: N. Z. Azlan, H. Yamaura
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This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique.Keywords: Adaptive impedance control, force based impedance control, force control, Function Approximation Technique (FAT), unknown environment position.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15431446 Obstacle and Collision Avoidance Control Laws of a Swarm of Boids
Authors: Bibhya Sharma, Jito Vanualailai, Jai Raj
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This paper proposes a new obstacle and collision avoidance control laws for a three-dimensional swarm of boids. The swarm exhibit collective emergent behaviors whilst avoiding the obstacles in the workspace. While flocking, animals group up in order to do various tasks and even a greater chance of evading predators. A generalized algorithms for attraction to the centroid, inter-individual swarm avoidance and obstacle avoidance is designed in this paper. We present a set of new continuous time-invariant velocity control laws is presented which is formulated via the Lyapunov-based control scheme. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws is demonstrated via computer simulations
Keywords: Lyapunov-based Control Scheme, Motion planning, Practical stability, Swarm.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24991445 A Hydro-Mechanical Model for Unsaturated Soils
Authors: A. Uchaipichat
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The hydro-mechanical model for unsaturated soils has been presented based on the effective stress principle taking into account effects of drying-wetting process. The elasto-plastic constitutive equations for stress-strain relations of the soil skeleton have been established. A plasticity model is modified from modified Cam-Clay model. The hardening rule has been established by considering the isotropic consolidation paths. The effect of dryingwetting process is introduced through the ¤ç parameter. All model coefficients are identified in terms of measurable parameters. The simulations from the proposed model are compared with the experimental results. The model calibration was performed to extract the model parameter from the experimental results. Good agreement between the results predicted using proposed model and the experimental results was obtained.Keywords: Drying-wetting process, Effective stress, Elastoplasticmodel, Unsaturated soils
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17491444 Performance Assessment of GSO Satellite before and after Enhancing Pointing Effect
Authors: A. E. Emam, Joseph Victor, M. Abd Elghany
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This paper presents the effect of the orbit inclination on the pointing error of the satellite antenna and consequently on its footprint on earth for a typical Ku- band payload system. The performance assessment is examined using both analytical simulations and practical measurements, taking into account all the additional sources of the pointing errors, such as East-West station keeping, orbit eccentricity, and actual attitude control performance. An implementation and computation of the sinusoidal biases in satellite roll and pitch used to compensate the pointing error of the satellite antenna coverage is studied and evaluated before and after the pointing corrections performed. A method for evaluation of the performance of the implemented biases has been introduced through measuring satellite received level from a mono-pulse tracking 11.1m transmitting antenna before and after the implementation of the pointing corrections.Keywords: Satellite, inclined orbit, pointing errors, coverage optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17651443 Insertion of Thiazolidinediones into Carbon Nanotube
Authors: Behnoush Zare, Mojdeh Akhavan, Ahmad Reza Dehpour
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In this study we investigate the insertion of pioglitazone, a Thiazolidinedione, into the two different sizes of Carbon nanotub. It was shown that the insertion of pioglitazone into the carbon nanotube in a water solute environment could be related to the diameter of the nanotube and in the flow of the waters via hydrophilic interactions. This encapsulated drug-carbon nanotube molecule can be further applicable in other investigations in target therapy with these agents regarding to reduce their potential toxic effects.Keywords: Carbon Nanotube, MD Simulation, Thiazolidinedions
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18331442 Efficient Sensors Selection Algorithm in Cyber Physical System
Authors: Ma-Wubin, Deng-Su, Huang Hongbin, Chen-Jian, Wu-Yahun, Li-zhuo
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Cyber physical system (CPS) for target tracking, military surveillance, human health monitoring, and vehicle detection all require maximizing the utility and saving the energy. Sensor selection is one of the most important parts of CPS. Sensor selection problem (SSP) is concentrating to balance the tradeoff between the number of sensors which we used and the utility which we will get. In this paper, we propose a performance constrained slide windows (PCSW) based algorithm for SSP in CPS. we present results of extensive simulations that we have carried out to test and validate the PCSW algorithms when we track a target, Experiment shows that the PCSW based algorithm improved the performance including selecting time and communication times for selecting.
Keywords: Cyber physical system, sensor selection problem, PCSW based algorithm.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14561441 LQR and SMC Stabilization of a New Unmanned Aerial Vehicle
Authors: Kaan T. Oner, Ertugrul Cetinsoy, Efe Sirimoglu, Cevdet Hancer, Taylan Ayken, Mustafa Unel
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We present our ongoing work on the development of a new quadrotor aerial vehicle which has a tilt-wing mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using Newton-Euler formulation. Linear and nonlinear controllers for the stabilization of attitude of the vehicle and control of its altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide satisfactory performance in achieving desired maneuvers.Keywords: UAV, VTOL, dynamic model, stabilization, LQR, SMC
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21131440 MAS Simulations of Optical Antenna Structures
Authors: K.Tavzarashvili, G.Ghvedashili
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A semi-analytic boundary discretization method, the Method of Auxiliary Sources (MAS) is used to analyze Optical Antennas consisting of metallic parts. In addition to standard dipoletype antennas, consisting of two pieces of metal, a new structure consisting of a single metal piece with a tiny groove in the center is analyzed. It is demonstrated that difficult numerical problems are caused because optical antennas exhibit strong material dispersion, loss, and plasmon-polariton effects that require a very accurate numerical simulation. This structure takes advantage of the Channel Plasmon-Polariton (CPP) effect and exhibits a strong enhancement of the electric field in the groove. Also primitive 3D antenna model with spherical nano particles is analyzed.
Keywords: optical antenna, channel plasmon-polariton, computational physics, Method of Auxiliary Sources
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19191439 Computationally Efficient Signal Quality Improvement Method for VoIP System
Authors: H. P. Singh, S. Singh
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The voice signal in Voice over Internet protocol (VoIP) system is processed through the best effort policy based IP network, which leads to the network degradations including delay, packet loss jitter. The work in this paper presents the implementation of finite impulse response (FIR) filter for voice quality improvement in the VoIP system through distributed arithmetic (DA) algorithm. The VoIP simulations are conducted with AMR-NB 6.70 kbps and G.729a speech coders at different packet loss rates and the performance of the enhanced VoIP signal is evaluated using the perceptual evaluation of speech quality (PESQ) measurement for narrowband signal. The results show reduction in the computational complexity in the system and significant improvement in the quality of the VoIP voice signal.
Keywords: VoIP, Signal Quality, Distributed Arithmetic, Packet Loss, Speech Coder.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18361438 Performance Enhancement of Cellular OFDM Based Wireless LANs by Exploiting Spatial Diversity Techniques
Authors: S. Ali. Tajer, Babak H. Khalaj
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This paper represents an investigation on how exploiting multiple transmit antennas by OFDM based wireless LAN subscribers can mitigate physical layer error rate. Then by comparing the Wireless LANs that utilize spatial diversity techniques with the conventional ones it will reveal how PHY and TCP throughputs behaviors are ameliorated. In the next step it will assess the same issues based on a cellular context operation which is mainly introduced as an innovated solution that beside a multi cell operation scenario benefits spatio-temporal signaling schemes as well. Presented simulations will shed light on the improved performance of the wide range and high quality wireless LAN services provided by the proposed approach.
Keywords: Multiple Input Multiple Output (MIMO), Orthogonal Frequency Division Multiplexing (OFDM), and WirelessLocal Area Network (WLAN).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14091437 Evaluating the Validity of Computational Fluid Dynamics Model of Dispersion in a Complex Urban Geometry Using Two Sets of Experimental Measurements
Authors: Mohammad R. Kavian Nezhad, Carlos F. Lange, Brian A. Fleck
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This research presents the validation study of a computational fluid dynamics (CFD) model developed to simulate the scalar dispersion emitted from rooftop sources around the buildings at the University of Alberta North Campus. The ANSYS CFX code was used to perform the numerical simulation of the wind regime and pollutant dispersion by solving the 3D steady Reynolds-averaged Navier-Stokes (RANS) equations on a building-scale high-resolution grid. The validation study was performed in two steps. First, the CFD model performance in 24 cases (eight wind directions and three wind speeds) was evaluated by comparing the predicted flow fields with the available data from the previous measurement campaign designed at the North Campus, using the standard deviation method (SDM), while the estimated results of the numerical model showed maximum average percent errors of approximately 53% and 37% for wind incidents from the North and Northwest, respectively. Good agreement with the measurements was observed for the other six directions, with an average error of less than 30%. In the second step, the reliability of the implemented turbulence model, numerical algorithm, modeling techniques, and the grid generation scheme was further evaluated using the Mock Urban Setting Test (MUST) dispersion dataset. Different statistical measures, including the fractional bias (FB), the mean geometric bias (MG), and the normalized mean square error (NMSE), were used to assess the accuracy of the predicted dispersion field. Our CFD results are in very good agreement with the field measurements.
Keywords: CFD, plume dispersion, complex urban geometry, validation study, wind flow.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3891436 Fire Spread Simulation Tool for Cruise Vessels
Authors: Erik Hedin, Lars Strandén, Johannes Lundsten
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In 2002 an amendment to SOLAS opened for lightweight material constructions in vessels if the same fire safety as in steel constructions could be obtained. FISPAT (FIreSPread Analysis Tool) is a computer application that simulates fire spread and fault injection in cruise vessels and identifies fire sensitive areas. It was developed to analyze cruise vessel designs and provides a method to evaluate network layout and safety of cruise vessels. It allows fast, reliable and deterministic exhaustive simulations and presents the result in a graphical vessel model. By performing the analysis iteratively while altering the cruise vessel design it can be used along with fire chamber experiments to show that the lightweight design can be as safe as a steel construction and that SOLAS regulations are fulfilled.Keywords: Fire spread, network, safety, simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14211435 Lateral Torsional Buckling of an Eccentrically Loaded Channel Section Beam
Authors: L. Dahmani, S. Drizi, M. Djemai, A. Boudjemia, M. O. Mechiche
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Channel sections are widely used in practice as beams. However, design rules for eccentrically loaded (not through shear center) beams with channel cross- sections are not available in Eurocode 3. This paper compares the ultimate loads based on the adjusted design rules for lateral torsional buckling of eccentrically loaded channel beams in bending to the ultimate loads obtained with Finite Element (FE) simulations on the basis of a parameter study. Based on the proposed design rule, this study has led to a new design rule which conforms to Eurocode 3.Keywords: ANSYS, Eurocode 3, finite element method, lateral torsional buckling, steel channel beam.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 30561434 Stack Ventilation for an Office Building with a Multi-Story Atrium
Authors: Karina Natali, Wei-Hwa Chiang
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This study examines the stack ventilation performance of an office building located in Taipei, Taiwan. Atriums in this building act as stacks that facilitate buoyancy-driven ventilation. Computational Fluid Dynamic (CFD) simulations are used to identify interior airflow patterns, and then used these patterns to assess the building’s heat expulsion efficiency. Ambient temperatures of 20°C were adopted as the typical seasonal spring temperature range in Taipei. Further, “zero-wind” conditions are established to ensure simulation results reflected only the buoyancy effect. After checking results against neutral pressure level (NPL) level, airflow, air velocity, and indoor temperature stratification, the lower stack is modified to reduce the NPL in order to remove heat accumulated on the top floor.
Keywords: Natural ventilation, side outlet, stack effect, thermal comfort.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20121433 Soil Resistivity Structure and Its Implication on the Pole Grid Resistance for Transmission Lines
Authors: M. Nassereddine, J. Rizk, G. Nasserddine
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High Voltage (HV) transmission lines are widely spread around residential places. They take all forms of shapes: concrete, steel, and timber poles. Earth grid always form part of the HV transmission structure, whereat soil resistivity value is one of the main inputs when it comes to determining the earth grid requirements. In this paper, the soil structure and its implication on the electrode resistance of HV transmission poles will be explored. In Addition, this paper will present simulation for various soil structures using IEEE and Australian standards to verify the computation with CDEGS software. Furthermore, the split factor behavior under different soil resistivity structure will be presented using CDEGS simulations.Keywords: Earth Grid, EPR, High Voltage, Soil Resistivity Structure, Split Factor, Step Voltage, Touch Voltage.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 32901432 Parallelization of Ensemble Kalman Filter (EnKF) for Oil Reservoirs with Time-lapse Seismic Data
Authors: Md Khairullah, Hai-Xiang Lin, Remus G. Hanea, Arnold W. Heemink
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In this paper we describe the design and implementation of a parallel algorithm for data assimilation with ensemble Kalman filter (EnKF) for oil reservoir history matching problem. The use of large number of observations from time-lapse seismic leads to a large turnaround time for the analysis step, in addition to the time consuming simulations of the realizations. For efficient parallelization it is important to consider parallel computation at the analysis step. Our experiments show that parallelization of the analysis step in addition to the forecast step has good scalability, exploiting the same set of resources with some additional efforts.
Keywords: EnKF, Data assimilation, Parallel computing, Parallel efficiency.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22881431 Application of Boost Converter for Ride-through Capability of Adjustable Speed Drives during Sag and Swell Conditions
Authors: S. S. Deswal, Ratna Dahiya, D. K. Jain
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Process control and energy conservation are the two primary reasons for using an adjustable speed drive. However, voltage sags are the most important power quality problems facing many commercial and industrial customers. The development of boost converters has raised much excitement and speculation throughout the electric industry. Now utilities are looking to these devices for performance improvement and reliability in a variety of areas. Examples of these include sags, spikes, or transients in supply voltage as well as unbalanced voltages, poor electrical system grounding, and harmonics. In this paper, simulations results are presented for the verification of the proposed boost converter topology. Boost converter provides ride through capability during sag and swell. Further, input currents are near sinusoidal. This eliminates the need of braking resistor also.Keywords: Adjustable speed drive, power quality, boost converter, ride through capabilities.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17031430 Aerobic Bioprocess Control Using Artificial Intelligence Techniques
Authors: M. Caramihai, Irina Severin
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This paper deals with the design of an intelligent control structure for a bioprocess of Hansenula polymorpha yeast cultivation. The objective of the process control is to produce biomass in a desired physiological state. The work demonstrates that the designed Hybrid Control Techniques (HCT) are able to recognize specific evolution bioprocess trajectories using neural networks trained specifically for this purpose, in order to estimate the model parameters and to adjust the overall bioprocess evolution through an expert system and a fuzzy structure. The design of the control algorithm as well as its tuning through realistic simulations is presented. Taking into consideration the synergism of different paradigms like fuzzy logic, neural network, and symbolic artificial intelligence (AI), in this paper we present a real and fulfilled intelligent control architecture with application in bioprocess control.Keywords: Bioprocess, intelligent control, neural nets, fuzzy structure, hybrid techniques.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12531429 Potential Field Functions for Motion Planning and Posture of the Standard 3-Trailer System
Authors: K. Raghuwaiya, S. Singh, B. Sharma, J. Vanualailai
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This paper presents a set of artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of 3-trailer systems in a priori known environment. We basically design and inject two new concepts; ghost walls and the distance optimization technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. The effectiveness of the proposed control laws were demonstrated via simulations of two traffic scenarios.
Keywords: Artificial potential fields, 3-trailer systems, motion planning, posture, parking and collision-free trajectories.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21341428 Physicochemical Characteristics and Usage Possibilities of Elbasan Thermal Water
Authors: Elvin Çomo, Edlira Tako, Albana Hasimi, Rrapo Ormeni, Olger Gjuzi, Mirela Ndrita
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In Albania, only low-enthalpy geothermal springs and wells are known, the temperatures of some of them are almost at the upper limits of low enthalpy, reaching over 60 °C. These resources can be used to improve the country's energy balance, as well as for profitable economic purposes. The region of Elbasan has the greatest geothermal energy potential in Albania. This basin is one of the most known and most used thermal springs in our country. This area is a surface with a number of sources, located in the form of a chain, in the sector between Llixha and Hidraj and constitutes a thermo-mineral basin with stable discharge and high temperature. The sources of Elbasan Springs, with the current average flow of thermo mineral water of 12-18 l/s and its temperature 55-65 oC, have specific reserves of 39.6 GJ/m2 and potential power to install 2760 kW potential power. For the assessment of physicochemical parameters and heavy metals, water samples were taken at 5 monitoring stations throughout 2022. The levels of basic parameters were analyzed using ISO, EU and APHA standard methods. This study presents the current state of the physicochemical parameters of this thermal basin, the evaluation of these parameters for curative activities and for industrial processes, as well as the integrated utilization of geothermal energy. Thermomineral waters can be utilized for heating homes in the surrounding area or further, depending on the flow from the source or geothermal well. There is awareness among Albanian investors, medical researchers, and the community about the high economic and therapeutic efficiency of the integrated use of geothermal energy in the region and the development of the tourism sector. An analysis of the negative environmental impact from the use of thermal water is also provided.
Keywords: Geothermal energy, Llixha, physicochemical parameters, thermal water.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1791427 Hybrid Hierarchical Routing Protocol for WSN Lifetime Maximization
Authors: H. Aoudia, Y. Touati, E. H. Teguig, A. Ali Cherif
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Conceiving and developing routing protocols for wireless sensor networks requires considerations on constraints such as network lifetime and energy consumption. In this paper, we propose a hybrid hierarchical routing protocol named HHRP combining both clustering mechanism and multipath optimization taking into account residual energy and RSSI measures. HHRP consists of classifying dynamically nodes into clusters where coordinators nodes with extra privileges are able to manipulate messages, aggregate data and ensure transmission between nodes according to TDMA and CDMA schedules. The reconfiguration of the network is carried out dynamically based on a threshold value which is associated with the number of nodes belonging to the smallest cluster. To show the effectiveness of the proposed approach HHRP, a comparative study with LEACH protocol is illustrated in simulations.Keywords: Routing protocols, energy optimization, clustering.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9061426 Active Power Filtering Implementation Using Photovoltaic System with Reduced Energy Storage Capacitor
Authors: Horng-Yuan Wu, Chin-Yuan Hsu, Tsair-Fwu Lee
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A novel three-phase active power filter (APF) circuit with photovoltaic (PV) system to improve the quality of service and to reduce the capacity of energy storage capacitor is presented. The energy balance concept and sampling technique were used to simplify the calculation algorithm for the required utility source current and to control the voltage of the energy storage capacitor. The feasibility was verified by using the Pspice simulations and experiments. When the APF mode was used during non-operational period, not only the utilization rate, power factor and power quality could be improved, but also the capacity of energy storage capacitor could sparing. As the results, the advantages of the APF circuit are simplicity of control circuits, low cost, and good transient response.
Keywords: active power filter, sampling, energy-storagecapacitor, harmonic current, energy balance.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18891425 Behavior of Ice Melting in Natural Convention
Authors: N. Dizadji, P. Entezar
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In this paper, the ice melting in rectangular, cylindrical and conical forms, which are erected vertically against air flow, are experimentally studied in the free convection regime.The results obtained are: Nusslet Number, heat transfer coefficient andGrashof Number, and the variations of the said numbers in relation to the time. The variations of ice slab area and volume are measured, too.Keywords: Nusselt Number, Heat Transfer, Grashof Number, Heat Transfer Coefficient.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24651424 The Effects of Speed on the Performance of Routing Protocols in Mobile Ad-hoc Networks
Authors: Narendra Singh Yadav, R.P.Yadav
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Mobile ad hoc network is a collection of mobile nodes communicating through wireless channels without any existing network infrastructure or centralized administration. Because of the limited transmission range of wireless network interfaces, multiple "hops" may be needed to exchange data across the network. Consequently, many routing algorithms have come into existence to satisfy the needs of communications in such networks. Researchers have conducted many simulations comparing the performance of these routing protocols under various conditions and constraints. One question that arises is whether speed of nodes affects the relative performance of routing protocols being studied. This paper addresses the question by simulating two routing protocols AODV and DSDV. Protocols were simulated using the ns-2 and were compared in terms of packet delivery fraction, normalized routing load and average delay, while varying number of nodes, and speed.Keywords: AODV, DSDV, MANET, relative performance
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21671423 Flexible Arm Manipulator Control for Industrial Tasks
Authors: Mircea Ivanescu, Nirvana Popescu, Decebal Popescu, Dorin Popescu
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This paper addresses the control problem of a class of hyper-redundant arms. In order to avoid discrepancy between the mathematical model and the actual dynamics, the dynamic model with uncertain parameters of this class of manipulators is inferred. A procedure to design a feedback controller which stabilizes the uncertain system has been proposed. A PD boundary control algorithm is used in order to control the desired position of the manipulator. This controller is easy to implement from the point of view of measuring techniques and actuation. Numerical simulations verify the effectiveness of the presented methods. In order to verify the suitability of the control algorithm, a platform with a 3D flexible manipulator has been employed for testing. Experimental tests on this platform illustrate the applications of the techniques developed in the paper.
Keywords: Distributed model, flexible manipulator, observer, robot control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17021422 Optimization of Solar Rankine Cycle by Exergy Analysis and Genetic Algorithm
Authors: R. Akbari, M. A. Ehyaei, R. Shahi Shavvon
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Nowadays, solar energy is used for energy purposes such as the use of thermal energy for domestic, industrial and power applications, as well as the conversion of the sunlight into electricity by photovoltaic cells. In this study, the thermodynamic simulation of the solar Rankin cycle with phase change material (paraffin) was first studied. Then energy and exergy analyses were performed. For optimization, a single and multi-objective genetic optimization algorithm to maximize thermal and exergy efficiency was used. The parameters discussed in this paper included the effects of input pressure on turbines, input mass flow to turbines, the surface of converters and collector angles on thermal and exergy efficiency. In the organic Rankin cycle, where solar energy is used as input energy, the fluid selection is considered as a necessary factor to achieve reliable and efficient operation. Therefore, silicon oil is selected for a high-temperature cycle and water for a low-temperature cycle as an operating fluid. The results showed that increasing the mass flow to turbines 1 and 2 would increase thermal efficiency, while it reduces and increases the exergy efficiency in turbines 1 and 2, respectively. Increasing the inlet pressure to the turbine 1 decreases the thermal and exergy efficiency, and increasing the inlet pressure to the turbine 2 increases the thermal efficiency and exergy efficiency. Also, increasing the angle of the collector increased thermal efficiency and exergy. The thermal efficiency of the system was 22.3% which improves to 33.2 and 27.2% in single-objective and multi-objective optimization, respectively. Also, the exergy efficiency of the system was 1.33% which has been improved to 1.719 and 1.529% in single-objective and multi-objective optimization, respectively. These results showed that the thermal and exergy efficiency in a single-objective optimization is greater than the multi-objective optimization.
Keywords: Exergy analysis, Genetic algorithm, Rankine cycle, Single and Multi-objective function.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 6361421 Genetic Algorithm Application in a Dynamic PCB Assembly with Carryover Sequence- Dependent Setups
Authors: M. T. Yazdani Sabouni, Rasaratnam Logendran
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We consider a typical problem in the assembly of printed circuit boards (PCBs) in a two-machine flow shop system to simultaneously minimize the weighted sum of weighted tardiness and weighted flow time. The investigated problem is a group scheduling problem in which PCBs are assembled in groups and the interest is to find the best sequence of groups as well as the boards within each group to minimize the objective function value. The type of setup operation between any two board groups is characterized as carryover sequence-dependent setup time, which exactly matches with the real application of this problem. As a technical constraint, all of the boards must be kitted before the assembly operation starts (kitting operation) and by kitting staff. The main idea developed in this paper is to completely eliminate the role of kitting staff by assigning the task of kitting to the machine operator during the time he is idle which is referred to as integration of internal (machine) and external (kitting) setup times. Performing the kitting operation, which is a preparation process of the next set of boards while the other boards are currently being assembled, results in the boards to continuously enter the system or have dynamic arrival times. Consequently, a dynamic PCB assembly system is introduced for the first time in the assembly of PCBs, which also has characteristics similar to that of just-in-time manufacturing. The problem investigated is computationally very complex, meaning that finding the optimal solutions especially when the problem size gets larger is impossible. Thus, a heuristic based on Genetic Algorithm (GA) is employed. An example problem on the application of the GA developed is demonstrated and also numerical results of applying the GA on solving several instances are provided.Keywords: Genetic algorithm, Dynamic PCB assembly, Carryover sequence-dependent setup times, Multi-objective.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15731420 Surface Roughness Effects in Pure Sliding EHL Line Contacts with Carreau-Type Shear-Thinning Lubricants
Authors: Punit Kumar, Niraj Kumar
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The influence of transverse surface roughness on EHL characteristics has been investigated numerically using an extensive set of full EHL line contact simulations for shear-thinning lubricants under pure sliding condition. The shear-thinning behavior of lubricant is modeled using Carreau viscosity equation along with Doolittle-Tait equation for lubricant compressibility. The surface roughness is assumed to be sinusoidal and it is present on the stationary surface. It is found that surface roughness causes sharp pressure peaks along with reduction in central and minimum film thickness. With increasing amplitude of surface roughness, the minimum film thickness decreases much more rapidly as compared to the central film thickness.
Keywords: EHL, Carreau, Shear-thinning, Surface Roughness, Amplitude, Wavelength.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23401419 Performance Evaluation of Cooperative Diversity in Flat Fading Channel with Error Control Coding
Authors: Oluseye Adeniyi Adeleke, Mohd Fadzli Salleh
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Cooperative communication provides transmit diversity, even when, due to size constraints, mobile units cannot accommodate multiple antennas. A versatile cooperation method called coded cooperation has been developed, in which cooperation is implemented through channel coding with a view to controlling the errors inherent in wireless communication. In this work we evaluate the performance of coded cooperation in flat Rayleigh fading environment using a concept known as the pair wise error probability (PEP). We derive the PEP for a flat fading scenario in coded cooperation and then compare with the signal-to-noise ratio of the users in the network. Results show that an increase in the SNR leads to a decrease in the PEP. We also carried out simulations to validate the result.
Keywords: Channel state information, coded cooperation, cooperative systems, pairwise-error-probability, Reed-Solomon codes.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1775