Search results for: Adaptive Control

Authors: Kyung-Jung Lee, Young-Hun Ki, Hyun-Sik Ahn

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In this paper, we propose a hardware and software design method for automotive Electronic Control Units (ECU) considering the functional safety. The proposed ECU is considered for the application to Electro-Mechanical Actuator systems and the validity of the design method is shown by the application to the Electro-Mechanical Brake (EMB) control system which is used as a brake actuator in Brake-By-Wire (BBW) systems. The importance of a functional safety-based design approach to EMB ECU design has been emphasized because of its safety-critical functions, which are executed with the aid of many electric actuators, sensors, and application software. Based on hazard analysis and risk assessment according to ISO26262, the EMB system should be ASIL-D-compliant, the highest ASIL level. To this end, an external signature watchdog and an Infineon 32-bit microcontroller TriCore are used to reduce risks considering common-cause hardware failure. Moreover, a software design method is introduced for implementing functional safety-oriented monitoring functions based on an asymmetric dual core architecture considering redundancy and diversity. The validity of the proposed ECU design approach is verified by using the EMB Hardware-In-the-Loop (HILS) system, which consists of the EMB assembly, actuator ECU, a host PC, and a few debugging devices. Furthermore, it is shown that the existing sensor fault tolerant control system can be used more effectively for mitigating the effects of hardware and software faults by applying the proposed ECU design method.

Keywords: BBW (Brake-By-wire), EMB (Electro-Mechanical Brake), Functional Safety, ISO26262.

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Authors: Amir Sepasi Zahmati, Bahman Abolhassani, Ali Asghar Beheshti Shirazi, Ali Shojaee Bakhtiari

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A wireless sensor network with a large number of tiny sensor nodes can be used as an effective tool for gathering data in various situations. One of the major issues in wireless sensor networks is developing an energy-efficient routing protocol which has a significant impact on the overall lifetime of the sensor network. In this paper, we propose a novel hierarchical with static clustering routing protocol called Energy-Efficient Protocol with Static Clustering (EEPSC). EEPSC, partitions the network into static clusters, eliminates the overhead of dynamic clustering and utilizes temporary-cluster-heads to distribute the energy load among high-power sensor nodes; thus extends network lifetime. We have conducted simulation-based evaluations to compare the performance of EEPSC against Low-Energy Adaptive Clustering Hierarchy (LEACH). Our experiment results show that EEPSC outperforms LEACH in terms of network lifetime and power consumption minimization.

Keywords: Clustering methods, energy efficiency, routingprotocol, wireless sensor networks.

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Authors: Said Khelifa, Zoulikha Mekkakia Maaza

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In this paper we present a full performance analysis of an energy conserving routing protocol in mobile ad hoc network, named ER-AODV (Energy Reverse Ad-hoc On-demand Distance Vector routing). ER-AODV is a reactive routing protocol based on a policy which combines two mechanisms used in the basic AODV protocol. AODV and most of the on demand ad hoc routing protocols use single route reply along reverse path. Rapid change of topology causes that the route reply could not arrive to the source node, i.e. after a source node sends several route request messages, the node obtains a reply message, and this increases in power consumption. To avoid these problems, we propose a mechanism which tries multiple route replies. The second mechanism proposes a new adaptive approach which seeks to incorporate the metric "residual energy " in the process route selection, Indeed the residual energy of mobile nodes were considered when making routing decisions. The results of simulation show that protocol ER-AODV answers a better energy conservation.

Keywords: Ad hoc mobile networks, Energy AODV, Energy consumption, ER-AODV, Reverse AODV.

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Authors: Bassam Atieh Rajabi, Sai Peck Lee

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Business Process Modeling (BPM) is the first and most important step in business process management lifecycle. Graph based formalism and rule based formalism are the two most predominant formalisms on which process modeling languages are developed. BPM technology continues to face challenges in coping with dynamic business environments where requirements and goals are constantly changing at the execution time. Graph based formalisms incur problems to react to dynamic changes in Business Process (BP) at the runtime instances. In this research, an adaptive and flexible framework based on the integration between Object Oriented diagramming technique and Petri Net modeling language is proposed in order to support change management techniques for BPM and increase the representation capability for Object Oriented modeling for the dynamic changes in the runtime instances. The proposed framework is applied in a higher education environment to achieve flexible, updatable and dynamic BP.

Keywords: Business Process Modeling, Change Management, Graph Based Modeling, Rule Based Modeling, Object Oriented PetriNet.

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Authors: Kelemewerk Destalem, Jungjae Cho, Jaeseong Lee, Ju H. Park, Joonhyuk Yoo

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Background subtraction and temporal difference are often used for moving object detection in video. Both approaches are computationally simple and easy to be deployed in real-time image processing. However, while the background subtraction is highly sensitive to dynamic background and illumination changes, the temporal difference approach is poor at extracting relevant pixels of the moving object and at detecting the stopped or slowly moving objects in the scene. In this paper, we propose a simple moving object detection scheme based on adaptive background subtraction and temporal difference exploiting dynamic background updates. The proposed technique consists of histogram equalization, a linear combination of background and temporal difference, followed by the novel frame-based and pixel-based background updating techniques. Finally, morphological operations are applied to the output images. Experimental results show that the proposed algorithm can solve the drawbacks of both background subtraction and temporal difference methods and can provide better performance than that of each method.

Keywords: Background subtraction, background updating, real time and lightweight algorithm, temporal difference.

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Authors: R. Poonkuzhali, M. Y. Sanavullah, A. Sabari, T. Dhivyaa

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Opportunistic Routing (OR) increases the transmission reliability and network throughput. Traditional routing protocols preselects one or more predetermined nodes before transmission starts and uses a predetermined neighbor to forward a packet in each hop. The opportunistic routing overcomes the drawback of unreliable wireless transmission by broadcasting one transmission can be overheard by manifold neighbors. The first cooperation-optimal protocol for Multirate OR (COMO) used to achieve social efficiency and prevent the selfish behavior of the nodes. The novel link-correlation-aware OR improves the performance by exploiting the miscellaneous low correlated forward links. Context aware Adaptive OR (CAOR) uses active suppression mechanism to reduce packet duplication. The Context-aware OR (COR) can provide efficient routing in mobile networks. By using Cooperative Opportunistic Routing in Mobile Ad hoc Networks (CORMAN), the problem of opportunistic data transfer can be tackled. While comparing to all the protocols, COMO is the best as it achieves social efficiency and prevents the selfish behavior of the nodes.

Keywords: CAOR, COMO, COR, CORMAN, MANET, Opportunistic Routing, Reliability, Throughput.

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Authors: Murat Ayyıldız, Oya Kalıpsız, Sırma Yavuz

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Software project effort estimation is frequently seen as complex and expensive for individual software engineers. Software production is in a crisis. It suffers from excessive costs. Software production is often out of control. It has been suggested that software production is out of control because we do not measure. You cannot control what you cannot measure. During last decade, a number of researches on cost estimation have been conducted. The metric-set selection has a vital role in software cost estimation studies; its importance has been ignored especially in neural network based studies. In this study we have explored the reasons of those disappointing results and implemented different neural network models using augmented new metrics. The results obtained are compared with previous studies using traditional metrics. To be able to make comparisons, two types of data have been used. The first part of the data is taken from the Constructive Cost Model (COCOMO'81) which is commonly used in previous studies and the second part is collected according to new metrics in a leading international company in Turkey. The accuracy of the selected metrics and the data samples are verified using statistical techniques. The model presented here is based on Multi-Layer Perceptron (MLP). Another difficulty associated with the cost estimation studies is the fact that the data collection requires time and care. To make a more thorough use of the samples collected, k-fold, cross validation method is also implemented. It is concluded that, as long as an accurate and quantifiable set of metrics are defined and measured correctly, neural networks can be applied in software cost estimation studies with success

Keywords: Software Metrics, Software Cost Estimation, Neural Network.

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Authors: Mohamed Abdallah, Mostafa Warith, Roberto Narbaitz, Emil Petriu, Kevin Kennedy

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Heterogeneity of solid waste characteristics as well as the complex processes taking place within the landfill ecosystem motivated the implementation of soft computing methodologies such as artificial neural networks (ANN), fuzzy logic (FL), and their combination. The present work uses a hybrid ANN-FL model that employs knowledge-based FL to describe the process qualitatively and implements the learning algorithm of ANN to optimize model parameters. The model was developed to simulate and predict the landfill gas production at a given time based on operational parameters. The experimental data used were compiled from lab-scale experiment that involved various operating scenarios. The developed model was validated and statistically analyzed using F-test, linear regression between actual and predicted data, and mean squared error measures. Overall, the simulated landfill gas production rates demonstrated reasonable agreement with actual data. The discussion focused on the effect of the size of training datasets and number of training epochs.

Keywords: Adaptive neural fuzzy inference system (ANFIS), gas production, landfill

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Authors: Wei Wang, Dongming Peng, Honggang Wang, Hamid Sharif

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Multirate multimedia delivery applications in multihop Wireless Mesh Network (WMN) are data redundant and delay-sensitive, which brings a lot of challenges for designing efficient transmission systems. In this paper, we propose a new cross layer resource allocation scheme to minimize the receiver side distortion within the delay bound requirements, by exploring application layer Position and Value (P-V) diversity as well as the multihop Effective Capacity (EC). We specifically consider image transmission optimization here. First of all, the maximum supportable source traffic rate is identified by exploring the multihop Effective Capacity (EC) model. Furthermore, the optimal source coding rate is selected according to the P-V diversity of multirate media streaming, which significantly increases the decoded media quality. Simulation results show the proposed approach improved media quality significantly compared with traditional approaches under the same QoS requirements.

Keywords: Multirate Multimedia Streaming, Effective CapacityMultihop Wireless Mesh Network

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Authors: Veronika Pivkina, Alla Kim, Khon Nataliya

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In this paper, the actuality of the study, and the role of subjective well-being problem in modern psychology and the comprehending of subjective well-being by current students is defined. The purpose of this research is to educe peculiarities of comprehending of subjective well-being by students with various levels of emotional intelligence. Methods of research are adapted Russian-Language questionnaire of K. Riff 'The scales of psychological well-being'; emotional intelligence questionnaire of D. V. Lusin. The research involved 72 students from different universities and disciplines aged between 18 and 24. Analyzing the results of the studies, it can be concluded that the understanding of happiness in different groups of students with high and low levels of overall emotional intelligence is different, as well as differentiated by gender. Students with a higher level of happiness possess more capacity and higher need to control their emotions, to cause and maintain the desired emotions and control something undesirable.

Keywords: Subjective well-being, emotional intelligence, psychology of comprehending, students.

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Authors: W. Schellong

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Industry accounts for one-third of global final energy demand. Crossover technologies (e.g. motors, pumps, process heat, and air conditioning) play an important role in improving energy efficiency. These technologies are used in many applications independent of the production branch. Especially electrical power is used by drives, pumps, compressors, and lightning. The paper demonstrates the algorithm of the energy analysis by some selected case studies for typical industrial processes. The energy analysis represents an essential part of energy management systems (EMS). Generally, process control system (PCS) can support EMS. They provide information about the production process, and they organize the maintenance actions. Combining these tools into an integrated process allows the development of an energy critical equipment strategy. Thus, asset and energy management can use the same common data to improve the energy efficiency.

Keywords: Crossover technologies, data management, energy analysis, energy efficiency, process control.

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Authors: H. Alabed, K. Abuzayan, J. Waterhouse

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The Muslim faith requires individuals to fast between the hours of sunrise and sunset during the month of Ramadan. Our recent work has concentrated on some of the changes that take place during the daytime when fasting. A questionnaire was developed to assess subjective estimates of physical, mental and social activities, and fatigue. Four days were studied: in the weeks before and after Ramadan (control days) and during the first and last weeks of Ramadan (experimental days). On each of these four days, this questionnaire was given several times during the daytime and once after the fast had been broken and just before individuals retired at night. During Ramadan, daytime mental, physical and social activities all decreased below control values but then increased to abovecontrol values in the evening. The desires to perform physical and mental activities showed very similar patterns. That is, individuals tried to conserve energy during the daytime in preparation for the evenings when they ate and drank, often with friends. During Ramadan also, individuals were more fatigued in the daytime and napped more often than on control days. This extra fatigue probably reflected decreased sleep, individuals often having risen earlier (before sunrise, to prepare for fasting) and retired later (to enable recovery from the fast). Some physiological measures and objective measures of performance (including the response to a bout of exercise) have also been investigated. Urine osmolality fell during the daytime on control days as subjects drank, but rose in Ramadan to reach values at sunset indicative of dehydration. Exercise performance was also compromised, particularly late in the afternoon when the fast had lasted several hours. Self-chosen exercise work-rates fell and a set amount of exercise felt more arduous. There were also changes in heart rate and lactate accumulation in the blood, indicative of greater cardiovascular and metabolic stress caused by the exercise in subjects who had been fasting. Daytime fasting in Ramadan produces widespread effects which probably reflect combined effects of sleep loss and restrictions to intakes of water and food.

Keywords: Drinking, Eating, Mental Performance, Physical Performance, Social Activity, Sleepiness.

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Authors: K. Saravanan, R. Anita

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Flexible AC Transmission Systems (FACTS) is granting a new group of advanced power electronic devices emerging for enhancement of the power system performance. Unified Power Flow Controller (UPFC) is a recent version of FACTS devices for power system applications. The back-up energy supply system incorporated with UPFC is providing a complete control of real and reactive power at the same time and hence is competent to improve the performance of an electrical power system. In this article, backup energy supply unit such as superconducting magnetic energy storage (SMES) is integrated with UPFC. In addition, comparative exploration of UPFC–battery, UPFC–UC and UPFC–SMES performance is evaluated through the vibrant simulation by using MATLAB/Simulink software.

Keywords: Power system, FACTS, UPFC, DC-DC chopper, battery, UC, SMES.

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Authors: Gints Jekabsons

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The approach of subset selection in polynomial regression model building assumes that the chosen fixed full set of predefined basis functions contains a subset that is sufficient to describe the target relation sufficiently well. However, in most cases the necessary set of basis functions is not known and needs to be guessed – a potentially non-trivial (and long) trial and error process. In our research we consider a potentially more efficient approach – Adaptive Basis Function Construction (ABFC). It lets the model building method itself construct the basis functions necessary for creating a model of arbitrary complexity with adequate predictive performance. However, there are two issues that to some extent plague the methods of both the subset selection and the ABFC, especially when working with relatively small data samples: the selection bias and the selection instability. We try to correct these issues by model post-evaluation using Cross-Validation and model ensembling. To evaluate the proposed method, we empirically compare it to ABFC methods without ensembling, to a widely used method of subset selection, as well as to some other well-known regression modeling methods, using publicly available data sets.

Keywords: Basis function construction, heuristic search, modelensembles, polynomial regression.

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Authors: Ivan Struhár, Martin Sebera, Lenka Dovrtělová

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The aim of this study was to find out if the special type of exercise with elastic cord can improve the level of postural stability. The exercise programme was conducted twice a week for 3 months. The participants were randomly divided into an experimental group and a control group. The electronic balance board was used for testing of postural stability. All participants trained for 18 hours at the time of experiment without any special form of coordination programme. The experimental group performed 90 minutes plus of coordination exercise. The result showed that differences between pre-test and post-test occurred in the experimental group. It was used the nonparametric Wilcoxon t-test for paired samples (p=0.012; the significance level 95%). We calculated effect size by Cohen´s d. In the experimental group d is 1.96 which indicates a large effect. In the control group d is 0.04 which confirms no significant improvement.

Keywords: Balance board, balance training, coordination, stability.

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Authors: Zulkeflee Kusin, Mohamad Shanudin Zakaria

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Hierarchical Mobile IPv6 (HMIPv6) was designed to support IP micro-mobility management in the Next Generation Networks (NGN) framework. The main design behind this protocol is the usage of Mobility Anchor Point (MAP) located at any level router of network to support hierarchical mobility management. However, the distance MAP selection in HMIPv6 causes MAP overloaded and increase frequent binding update as the network grows. Therefore, to address the issue in designing MAP selection scheme, we propose a dynamic load control mechanism integrates with a speed detection mechanism (DMS-DLC). From the experimental results we obtain that the proposed scheme gives better distribution in MAP load and increase handover speed.

Keywords: Dynamic load control, HMIPv6, Mobility AnchorPoint, MAP selection scheme

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Authors: O. S. Ebrahim, K. O. Shawky, M. A. Badr, P. K. Jain

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This paper proposes an intelligent, supervisory, hysteresis liquid-level control with three-state energy saving mode (ESM) for induction motor (IM) in fluid transportation system (FTS) including storage tank. The IM pump drive comprises a modified star/delta switch and hydromantic coupler. Three-state ESM is defined, along with the normal running, and named analog to the computer’s ESMs as follows: Sleeping mode in which the motor runs at no load with delta stator connection, hibernate mode in which the motor runs at no load with a star connection, and motor shutdown is the third energy saver mode. Considering the motor’s thermal capacity used (TCU) and grid-compatible tariff structure, a logic flow-chart is synthesized to select the motor state at no-load for best energetic cost reduction. Fuzzy-logic (FL) based availability assessment is designed and deployed on cloud, in order to provide mobilized service for the star/delta switch and highly reliable contactors. Moreover, an artificial neural network (ANN) state estimator, based on the recurrent architecture, is constructed and learned in order to provide fault-tolerant capability for the supervisory controller. Sequential test of Wald is used for sensor fault detection. Theoretical analysis, preliminary experimental testing and computer simulations are performed to demonstrate the validity and effectiveness of the proposed control system in terms of reliability, power quality and operational cost reduction with a motivation of power factor correction.

Keywords: Artificial Neural Network, ANN, Contactor Health Assessment, Energy Saving Mode, Induction Machine, IM, Supervisory Control, Fluid Transportation, Fuzzy Logic, FL, cloud computing, pumped storage.

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Authors: Nastaran Rezaei, Mohammad Saeed Mossadegh, Farhan Kocheyli, Khalil Talebi Jahromi, Aurang Kavousi

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Integrated Pest Management (IPM) aims to combine biological and chemical strategies and measures, hence highlighting the study of acute toxicity and sub-lethal effects of pesticides comprehensively. The present research focused on the side effects of thiamethoxam and pirimicarb sub-lethal concentrations on demographic parameters of Diaeretiella rapae (McIntosh Laboratory) (Hymenoptera: Braconidae). Adult parasitoids were exposed to LC₂₅ of insecticides as well as distilled water as the control. The results showed that thiamethoxam adversely affected population parameters (r, λ, R₀, T), adults' longevity, females' oviposition period and mean fecundity, and a similar trend was obtained for pirimicarb with the exception of generation time (T), the latter did not significantly change compared to the control. The intrinsic rate of increase (r) in the control and those treated with pirimicarb and thiamethoxam were 0.2801, 0.2064, 0.1525 days^-1, respectively, and the sex ratio was biased toward females in all treatments. Furthermore, none of the insecticides influenced total pre-oviposition period (TPOP) and offspring emergence rate. In general, these results indicated that both insecticides potentially distort the demographic parameters of the parasitoid even at sub-lethal concentrations, and then they should not be considered for IPM program in the presence of D. rapae.

Keywords: Diaeretiella rapae, Lipaphis erysimi, life-table study, pirimicarb, thiamethoxam.

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Authors: Yanwen Li, Shuguo Xie

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In electromagnetic imaging, because of the diffraction limited system, the pixel values could change slowly near the edge of the image targets and they also change with the location in the same target. Using traditional digital image segmentation methods to segment electromagnetic gradient images could result in lots of errors because of this change in pixel values. To address this issue, this paper proposes a novel image segmentation and extraction algorithm based on Mean-Shift and dictionary learning. Firstly, the preliminary segmentation results from adaptive bandwidth Mean-Shift algorithm are expanded, merged and extracted. Then the overlap rate of the extracted image block is detected before determining a segmentation region with a single complete target. Last, the gradient edge of the extracted targets is recovered and reconstructed by using a dictionary-learning algorithm, while the final segmentation results are obtained which are very close to the gradient target in the original image. Both the experimental results and the simulated results show that the segmentation results are very accurate. The Dice coefficients are improved by 70% to 80% compared with the Mean-Shift only method.

Keywords: Gradient image, segmentation and extract, mean-shift algorithm, dictionary learning.

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Authors: Mayank Shakya, Soundra Pandian. K. K

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A linear feedback shift register (LFSR) is proposed which targets to reduce the power consumption from within. It reduces the power consumption during testing of a Circuit Under Test (CUT) at two stages. At first stage, Control Logic (CL) makes the clocks of the switching units of the register inactive for a time period when output from them is going to be same as previous one and thus reducing unnecessary switching of the flip-flops. And at second stage, the LFSR reorders the test vectors by interchanging the bit with its next and closest neighbor bit. It keeps fault coverage capacity of the vectors unchanged but reduces the Total Hamming Distance (THD) so that there is reduction in power while shifting operation.

Keywords: Linear Feedback Shift Register, Total Hamming Distance, Fault Coverage, Control Logic

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Authors: Khalida Boutemak, Nasssima Benali, Nadji Moulai-Mostefa

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Effect of enzyme on the yield and chemical composition of Artemisia campestris essential oil is reported in the present study. It was demonstrated that enzyme facilitated the extraction of essential oil with increase in oil yield and did not affect any noticeable change in flavour profile of the  volatile oil. Essential oil was tested for antibacterial activity using Escherichia coli; which was extremely sensitive against control with the largest inhibition (29mm), whereas Staphylococcus aureus was the most sensitive against essential oil obtained from enzymatic pre-treatment with the largest inhibition zone (25mm). The antioxidant activity of the essential oil with hemicellulase pre-treatment (EO2) and control sample (EO1) was determined through reducing power. It was significantly lower than the standard drug (vitamin C) in this order: vitamin C˃EO2˃EO1.

Keywords: Artemisia campestris, enzyme pre-treatment, hemicellulase, antibacterial activity, antioxidant activity.

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Authors: Mohamed .S .Alazhari, Milad. M. Al Shebani

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Numerous concrete structures projects are currently running in Libya as part of a US$50 billion government funding. The quality of concrete used in 20 different construction projects were assessed based mainly on the concrete compressive strength achieved. The projects are scattered all over the country and are at various levels of completeness. For most of these projects, the concrete compressive strength was obtained from test results of a 150mm standard cube mold. Statistical analysis of collected concrete compressive strengths reveals that the data in general followed a normal distribution pattern. The study covers comparison and assessment of concrete quality aspects such as: quality control, strength range, data standard deviation, data scatter, and ratio of minimum strength to design strength. Site quality control for these projects ranged from very good to poor according to ACI214 criteria [1]. The ranges (Rg) of the strength (max. strength – min. strength) divided by average strength are from (34% to 160%). Data scatter is measured as the range (Rg) divided by standard deviation (
) and is found to be (1.82 to 11.04), indicating that the range is ±3σ. International construction companies working in Libya follow different assessment criteria for concrete compressive strength in lieu of national unified procedure. The study reveals that assessments of concrete quality conducted by these construction companies usually meet their adopted (internal) standards, but sometimes fail to meet internationally known standard requirements. The assessment of concrete presented in this paper is based on ACI, British standards and proposed Libyan concrete strength assessment criteria.

Keywords: Acceptance criteria, Concrete, Compressive strength, quality control

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Authors: H. Bagheri, H. Emami, M. R. Pakravan

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Crosstalk is the major limiting issue in very high bit-rate digital subscriber line (VDSL) systems in terms of bit-rate or service coverage. At the central office side, joint signal processing accompanied by appropriate power allocation enables complex multiuser processors to provide near capacity rates. Unfortunately complexity grows with the square of the number of lines within a binder, so by taking into account that there are only a few dominant crosstalkers who contribute to main part of crosstalk power, the canceller structure can be simplified which resulted in a much lower run-time complexity. In this paper, a multiuser power control scheme, namely iterative waterfilling, is combined with previously proposed partial crosstalk cancellation approaches to demonstrate the best ever achieved performance which is verified by simulation results.

Keywords: iterative waterfilling, partial crosstalk cancellation, run-time complexity, VDSL.

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Authors: Haniza N., Md Khambari, M. N, Shahrin S., Adib M.Monzer Habbal, Suhaidi Hassan

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Wireless ad hoc nodes are freely and dynamically self-organize in communicating with others. Each node can act as host or router. However it actually depends on the capability of nodes in terms of its current power level, signal strength, number of hops, routing protocol, interference and others. In this research, a study was conducted to observe the effect of hops count over different network topologies that contribute to TCP Congestion Control performance degradation. To achieve this objective, a simulation using NS-2 with different topologies have been evaluated. The comparative analysis has been discussed based on standard observation metrics: throughput, delay and packet loss ratio. As a result, there is a relationship between types of topology and hops counts towards the performance of ad hoc network. In future, the extension study will be carried out to investigate the effect of different error rate and background traffic over same topologies.

Keywords: NS-2, network topology, network performance, multi-hops

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Authors: Ahmad Forouzan Tabar, Mohammad Azadi, Alireza Alesaadi

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This paper describes a sliding mode controller for autonomous underwater vehicles (AUVs). The dynamic of AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of AUV and improve trajectory tracking. Moreover, the proposed controller can profoundly attenuate the effects of uncertainties and external disturbances in the closed-loop system. Using the Lyapunov theory the boundedness of AUV tracking errors and the stability of the proposed control system are also guaranteed. Numerical simulation studies of an AUV are included to illustrate the effectiveness of the presented approach.

Keywords: Lyapunov stability, autonomous underwater vehicle (AUV), sliding mode controller, electronics engineering.

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Authors: Dušan Kravec, Ondrej Staš, Marián Tolnay, Michal Bachratý

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This article gives a short preview of the new software created especially for palletizing process in automated production systems. Each chapter of this article is about problem solving in development of modules in Java programming language. First part describes structure of the software, its modules and data flow between them. Second part describes all deployment methods, which are implemented in the software. Next chapter is about twodimensional editor created for manipulation with objects in each layer of the load and gives calculations for collision control. Module of virtual reality used for three-dimensional preview and creation of the load is described in the fifth chapter. The last part of this article describes communication and data flow between control system of the robot, vision system and software.

Keywords: Palletizing, deployment methods, palletizing software, virtual reality in palletizing.

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Authors: Ibraheem K. Ibraheem

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The aim of this research is to design and implement line-tracking mobile robot. The robot must follow a line drawn on the floor with different color, avoids hitting moving object like another moving robot or walking people and achieves color sensing. The control system reacts by controlling each of the motors to keep the tracking sensor over the middle of the line. Proximity sensors used to avoid hitting moving objects that may pass in front of the robot. The programs have been written using micro c instructions, then converted into PIC16F887 ATmega48/88/168 microcontrollers counterparts. Practical simulations show that the walking robot accurately achieves line following action and exactly recognizes the colors and avoids any obstacle in front of it.

Keywords: Color sensing, H-bridge, line following, mobile robot, PIC microcontroller, obstacle avoidance, phototransistor.

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Authors: Jamel Khedri, Mohamed Chaabane, Mansour Souissi, Driss Mehdi

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This paper deals with the synthesis of fuzzy controller applied to a permanent magnet synchronous machine (PMSM) with a guaranteed H∞ performance. To design this fuzzy controller, nonlinear model of the PMSM is approximated by Takagi-Sugeno fuzzy model (T-S fuzzy model), then the so-called parallel distributed compensation (PDC) is employed. Next, we derive the property of the H∞ norm. The latter is cast in terms of linear matrix inequalities (LMI-s) while minimizing the H∞ norm of the transfer function between the disturbance and the error ( ) ev T . The experimental and simulations results were conducted on a permanent magnet synchronous machine to illustrate the effects of the fuzzy modelling and the controller design via the PDC.

Keywords: Feedback controller, Takagi-Sugeno fuzzy model, Linear Matrix Inequality (LMI), PMSM, H∞ performance.

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Authors: E. Shahsavari, R. Ghasemi, A. Akramizadeh

Abstract:

This paper presents a new method to design nonlinear feedback linearization controller for PEMFCs (Polymer Electrolyte Membrane Fuel Cells). A nonlinear controller is designed based on nonlinear model to prolong the stack life of PEMFCs. Since it is known that large deviations between hydrogen and oxygen partial pressures can cause severe membrane damage in the fuel cell, feedback linearization is applied to the PEMFC system so that the deviation can be kept as small as possible during disturbances or load variations. To obtain an accurate feedback linearization controller, tuning the linear parameters are always important. So in proposed study NSGA (Non-Dominated Sorting Genetic Algorithm)-II method was used to tune the designed controller in aim to decrease the controller tracking error. The simulation result showed that the proposed method tuned the controller efficiently.

Keywords: Feedback Linearization controller, NSGA, Optimal Control, PEMFC.

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Authors: K. Boualem, T. Yahiaoui, A. Azzi

Abstract:

Numerical investigations are performed to analyze the flow behavior over NACA0015 and to evaluate the efficiency of synthetic jet as active control device. The second objective of this work is to investigate the influence of momentum coefficient of synthetic jet on the flow behaviour. The unsteady Reynolds-averaged Navier-Stokes equations of the turbulent flow are solved using, k-ω SST provided by ANSYS CFX-CFD code. The model presented in this paper is a comprehensive representation of the information found in the literature. Comparison of obtained numerical flow parameters with the experimental ones shows that the adopted computational procedure reflects nearly the real flow nature. Also, numerical results state that use of synthetic jets devices has positive effects on the flow separation, and thus, aerodynamic performance improvement of NACA0015 airfoil. It can also be observed that the use of synthetic jet increases the lift coefficient about 13.3% and reduces the drag coefficient about 52.7%.

Keywords: Active control, CFD, NACA airfoil, synthetic jet.

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