Search results for: Path integral

Authors: Chaudhuri Manoj Kumar Swain, Susmita Das

Abstract:

This paper explores a detailed procedure of predicting a path loss (PL) model and its application in estimating the coverage probability in a WiMAX network. For this a hybrid approach is followed in predicting an empirical PL model of a 2.65 GHz WiMAX network deployed in a suburban environment. Data collection, statistical analysis, and regression analysis are the phases of operations incorporated in this approach and the importance of each of these phases has been discussed properly. The procedure of collecting data such as received signal strength indicator (RSSI) through experimental set up is demonstrated. From the collected data set, empirical PL and RSSI models are predicted with regression technique. Furthermore, with the aid of the predicted PL model, essential parameters such as PL exponent as well as the coverage probability of the network are evaluated. This research work may assist in the process of deployment and optimisation of any cellular network significantly.

Keywords: WiMAX, RSSI, path loss, coverage probability, regression analysis.

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Authors: Banaja Mohanty, Prakash Kumar Hota

Abstract:

This paper represents performance of particle swarm optimisation (PSO) algorithm based integral (I) controller and proportional-integral controller (PI) for interconnected hydro-thermal automatic generation control (AGC) with generation rate constraint (GRC) and Thyristor controlled phase shifter (TCPS) in series with tie line. The control strategy of TCPS provides active control of system frequency. Conventional objective function integral square error (ISE) and another objective function considering square of derivative of change in frequencies of both areas and change in tie line power are considered. The aim of designing the objective function is to suppress oscillation in frequency deviations and change in tie line power oscillation. The controller parameters are searched by PSO algorithm by minimising the objective functions. The dynamic performance of the controllers I and PI, for both the objective functions, are compared with conventionally optimized I controller.

Keywords: Automatic generation control (AGC), Generation rate constraint (GRC), Thyristor control phase shifter (TCPS), Particle swarm optimization (PSO).

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Authors: J. S. Yadav, N. P. Patidar, J. Singhai

Abstract:

One of the main objectives of order reduction is to design a controller of lower order which can effectively control the original high order system so that the overall system is of lower order and easy to understand. In this paper, a simple method is presented for controller design of a higher order discrete system. First the original higher order discrete system in reduced to a lower order model. Then a Proportional Integral Derivative (PID) controller is designed for lower order model. An error minimization technique is employed for both order reduction and controller design. For the error minimization purpose, Differential Evolution (DE) optimization algorithm has been employed. DE method is based on the minimization of the Integral Squared Error (ISE) between the desired response and actual response pertaining to a unit step input. Finally the designed PID controller is connected to the original higher order discrete system to get the desired specification. The validity of the proposed method is illustrated through a numerical example.

Keywords: Discrete System, Model Order Reduction, PIDController, Integral Squared Error, Differential Evolution.

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Authors: Yibo Fan, Takeshi Ikenaga, Yukiyasu Tsunoo, Satoshi Goto

Abstract:

This paper proposes a low-cost reconfigurable architecture for AES algorithm. The proposed architecture separates SubBytes and MixColumns into two parallel data path, and supports different bit-width operation for this two data path. As a result, different number of S-box can be supported in this architecture. The throughput and power consumption can be adjusted by changing the number of S-box running in this design. Using the TSMC 0.18μm CMOS standard cell library, a very low-cost implementation of 7K Gates is obtained under 182MHz frequency. The maximum throughput is 360Mbps while using 4 S-Box simultaneously, and the minimum throughput is 114Mbps while only using 1 S-Box

Keywords: AES, Reconfigurable architecture, low cost

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Authors: Davide Pierattoni, Ivan Macor, Pier Luca Montessoro

Abstract:

In the recent years multimedia traffic and in particular VoIP services are growing dramatically. We present a new algorithm to control the resource utilization and to optimize the voice codec selection during SIP call setup on behalf of the traffic condition estimated on the network path. The most suitable methodologies and the tools that perform realtime evaluation of the available bandwidth on a network path have been integrated with our proposed algorithm: this selects the best codec for a VoIP call in function of the instantaneous available bandwidth on the path. The algorithm does not require any explicit feedback from the network, and this makes it easily deployable over the Internet. We have also performed intensive tests on real network scenarios with a software prototype, verifying the algorithm efficiency with different network topologies and traffic patterns between two SIP PBXs. The promising results obtained during the experimental validation of the algorithm are now the basis for the extension towards a larger set of multimedia services and the integration of our methodology with existing PBX appliances.

Keywords: Integrated voice-data communication, computernetwork performance, resource optimization.

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Authors: Zone-Ching Lin, Hao-Yuan Jheng, Shih-Hung Ma

Abstract:

The present paper proposes using atomic force microscopy (AFM) and the concept of specific down force energy (SDFE) to establish a method for fabricating and cutting the burr for Y shape nanochannel on silicon (Si) substrate. For fabricating Y shape nanochannel, it first makes the experimental cutting path planning for fabricating Y shape nanochannel until the fifth cutting layer. Using the constant down force by AFM and SDFE theory and following the experimental cutting path planning, the cutting depth and width of each pass of Y shape nanochannel can be predicted by simulation. The paper plans the path for cutting the burr at the edge of Y shape nanochannel. Then, it carries out cutting the burr along the Y nanochannel edge by using a smaller down force. The height of standing burr at the edge is required to be below the set value of 0.54 nm. The results of simulation and experiment of fabricating and cutting the burr for Y shape nanochannel is further compared.

Keywords: Atomic force microscopy, nanochannel, specific down force energy, Y shape, burr, silicon.

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Authors: Doraid Dalalah

Abstract:

A topologically oriented neural network is very efficient for real-time path planning for a mobile robot in changing environments. When using a recurrent neural network for this purpose and with the combination of the partial differential equation of heat transfer and the distributed potential concept of the network, the problem of obstacle avoidance of trajectory planning for a moving robot can be efficiently solved. The related dimensional network represents the state variables and the topology of the robot's working space. In this paper two approaches to problem solution are proposed. The first approach relies on the potential distribution of attraction distributed around the moving target, acting as a unique local extreme in the net, with the gradient of the state variables directing the current flow toward the source of the potential heat. The second approach considers two attractive and repulsive potential sources to decrease the time of potential distribution. Computer simulations have been carried out to interrogate the performance of the proposed approaches.

Keywords: Mobile robot, Path Planning, Mesh, Potential field.

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Authors: Baoshan Wei, Shuai Han, Xing Zhang

Abstract:

Local obstacle avoidance is critical for mobile robot navigation. It is a challenging task to ensure path optimality and safety in cluttered environments. We proposed an Environment Aware Dynamic Window Approach in this paper to cope with the issue. The method integrates environment characterization into Dynamic Window Approach (DWA). Two strategies are proposed in order to achieve the integration. The local goal strategy guides the robot to move through openings before approaching the final goal, which solves the local minima problem in DWA. The adaptive control strategy endows the robot to adjust its state according to the environment, which addresses path safety compared with DWA. Besides, the evaluation shows that the path generated from the proposed algorithm is safer and smoother compared with state-of-the-art algorithms.

Keywords: Adaptive control, dynamic window approach, environment aware, local obstacle avoidance, mobile robots.

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Authors: Iau-Teh Wang, Chin-Yu Lee

Abstract:

The impact force of a rockfall is mainly determined by its moving behavior and velocity, which are contingent on the rock shape, slope gradient, height, and surface roughness of the moving path. It is essential to precisely calculate the moving path of the rockfall in order to effectively minimize and prevent damages caused by the rockfall. By applying the Colorado Rockfall Simulation Program (CRSP) program as the analysis tool, this research studies the influence of three shapes of rock (spherical, cylindrical and discoidal) and surface roughness on the moving path of a single rockfall. As revealed in the analysis, in addition to the slope gradient, the geometry of the falling rock and joint roughness coefficient ( JRC ) of the slope are the main factors affecting the moving behavior of a rockfall. On a single flat slope, both the rock-s bounce height and moving velocity increase as the surface gradient increases, with a critical gradient value of 1:m = 1 . Bouncing behavior and faster moving velocity occur more easily when the rock geometry is more oval. A flat piece tends to cause sliding behavior and is easily influenced by the change of surface undulation. When JRC <1.4 the moving velocity decreases and the bounce height increases as JRC increases. If the gradient is fixed, when JRC is greater, the bounce height will be higher, while the moving velocity will experience a downward trend. Therefore, the best protecting point and facilities can be chosen if the moving paths of rockfalls are precisely estimated.

Keywords: rock shape, surface roughness, moving path.

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Authors: Seiyed Hamid Zareh, Atabak Sarrafan, Kambiz Ghaemi Osgouie

Abstract:

This paper will first describe predictor controllers when the proportional-integral-derivative (PID) controllers are inactive for procedures that have large delay time (LDT) in transfer stage. Therefore in those states, the predictor controllers are better than the PID controllers, then compares three types of predictor controllers. The value of these controller-s parameters are obtained by trial and error method, so here an effort has been made to obtain these parameters by Ziegler-Nichols method. Eventually in this paper Ziegler-Nichols method has been described and finally, a PIP controller has been designed for a thermal system, which circulates hot air to keep the temperature of a chamber constant.

Keywords: Proportional-integral-predictive controller, Transferfunction, Delay time, Transport-lag.

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Authors: V. Kahya, A. Birinci, R. Erdol

Abstract:

A frictionless contact problem for a two-layer orthotropic elastic medium loaded through a rigid flat stamp is considered. It is assumed that tensile tractions are not allowed and only compressive tractions can be transmitted across the interface. In the solution, effect of gravity is taken into consideration. If the external load on the rigid stamp is less than or equal to a critical value, continuous contact between the layers is maintained. The problem is expressed in terms of a singular integral equation by using the theory of elasticity and the Fourier transforms. Numerical results for initial separation point, critical separation load and contact stress distribution are presented.

Keywords: Frictionless contact, Initial separation, Orthotropicmaterial, Singular integral equation.

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Authors: Dulal Acharjee, Punyaban Patel

Abstract:

For collecting data from all sensor nodes, some changes in Dynamic Source Routing (DSR) protocol is proposed. At each hop level, route-ranking technique is used for distributing packets to different selected routes dynamically. For calculating rank of a route, different parameters like: delay, residual energy and probability of packet loss are used. A hybrid topology of DMPR(Disjoint Multi Path Routing) and MMPR(Meshed Multi Path Routing) is formed, where braided topology is used in different faulty zones of network. For reducing energy consumption, variant transmission ranges is used instead of fixed transmission range. For reducing number of packet drop, a fuzzy logic inference scheme is used to insert different types of delays dynamically. A rule based system infers membership function strength which is used to calculate the final delay amount to be inserted into each of the node at different clusters. In braided path, a proposed 'Dual Line ACK Link'scheme is proposed for sending ACK signal from a damaged node or link to a parent node to ensure that any error in link or any node-failure message may not be lost anyway. This paper tries to design the theoretical aspects of a model which may be applied for collecting data from any large hanging iron structure with the help of wireless sensor network. But analyzing these data is the subject of material science and civil structural construction technology, that part is out of scope of this paper.

Keywords: Metallic corrosion, Multi Path Routing, DisjointMPR, Meshed MPR, braided path, dual line ACK link, route rankingand Fuzzy Logic.

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Authors: Faizal A. Samman, Thomas Hollstein, Manfred Glesner

Abstract:

This paper presents design trade-off and performance impacts of the amount of pipeline phase of control path signals in a wormhole-switched network-on-chip (NoC). The numbers of the pipeline phase of the control path vary between two- and one-cycle pipeline phase. The control paths consist of the routing request paths for output selection and the arbitration paths for input selection. Data communications between on-chip routers are implemented synchronously and for quality of service, the inter-router data transports are controlled by using a link-level congestion control to avoid lose of data because of an overflow. The trade-off between the area (logic cell area) and the performance (bandwidth gain) of two proposed NoC router microarchitectures are presented in this paper. The performance evaluation is made by using a traffic scenario with different number of workloads under 2D mesh NoC topology using a static routing algorithm. By using a 130-nm CMOS standard-cell technology, our NoC routers can be clocked at 1 GHz, resulting in a high speed network link and high router bandwidth capacity of about 320 Gbit/s. Based on our experiments, the amount of control path pipeline stages gives more significant impact on the NoC performance than the impact on the logic area of the NoC router.

Keywords: Network-on-Chip, Synchronous Parallel Pipeline, Router Architecture, Wormhole Switching

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Authors: Wen-Bao Qiao, Jean-Charles Créput

Abstract:

To accelerate the solution for large scale traveling salesman problems (TSP), a parallel 2-opt local search algorithm with simple implementation based on Graphics Processing Unit (GPU) is presented and tested in this paper. The parallel scheme is based on technique of data decomposition by dynamically assigning multiple K processors on the integral tour to treat K edges’ 2-opt local optimization simultaneously on independent sub-tours, where K can be user-defined or have a function relationship with input size N. We implement this algorithm with doubly linked list on GPU. The implementation only requires O(N) memory. We compare this parallel 2-opt local optimization against sequential exhaustive 2-opt search along integral tour on TSP instances from TSPLIB with more than 10000 cities.

Keywords: Doubly linked list, parallel 2-opt, tour division, GPU.

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Authors: Almutasim Billa A. Alanazi, Hal S. Tharp

Abstract:

Artificial Intelligence (AI), specifically Reinforcement Learning (RL), has proven helpful in many control path planning technologies by maximizing and enhancing their performance, such as navigation systems. Since it learns from experience by interacting with the environment to determine the optimal policy, the optimal policy takes the best action in a particular state, accounting for the long-term rewards. Most navigation systems focus primarily on "arriving faster," overlooking safety and efficiency while estimating the optimum path, as safety and efficiency are essential factors when planning for a long-distance journey. This paper represents an RL control model that proposes a control mechanism for improving navigation systems. Also, the model could be applied to other control path planning applications because it is adjustable and can accept different properties and parameters. However, the navigation system application has been taken as a case and evaluation study for the proposed model. The model utilized a Q-learning algorithm for training and updating the policy. It allows the agent to analyze the quality of an action made in the environment to maximize rewards. The model gives the ability to update rewards regularly based on safety and efficiency assessments, allowing the policy to consider the desired safety and efficiency benefits while making decisions, which improves the quality of the decisions taken for path planning compared to the conventional RL approaches.

Keywords: Artificial intelligence, control system, navigation systems, reinforcement learning.

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Authors: Ramya Dorai, M. Rajaram

Abstract:

A Mobile Adhoc Network (MANET) is a collection of mobile nodes that communicate with each other with wireless links and without pre-existing communication infrastructure. Routing is an important issue which impacts network performance. As MANETs lack central administration and prior organization, their security concerns are different from those of conventional networks. Wireless links make MANETs susceptible to attacks. This study proposes a new trust mechanism to mitigate wormhole attack in MANETs. Different optimization techniques find available optimal path from source to destination. This study extends trust and reputation to an improved link quality and channel utilization based Adhoc Ondemand Multipath Distance Vector (AOMDV). Differential Evolution (DE) is used for optimization.

Keywords: Mobile Adhoc Network (MANET), Adhoc Ondemand Multi-Path Distance Vector (AOMDV), Trust and Reputation, Differential Evolution (DE), Link Quality, Channel Utilization.

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Authors: R. Satish, G. Raja Rao

Abstract:

In this paper a hybrid distributed generation (DG) system connected to isolated load is studied. The DG system consisting of photo voltaic (PV) system, fuel cells, aqua electrolyzer, diesel engine generator and a battery energy storage system. The ambient temperature value of PV is taken as constant to make the output power of PV is directly proportional to the radiation and output power of other DG sources and frequency of the system is controlled by simple integral (I), proportional plus integral (PI), and proportional plus integral and derivative(PID) controllers. A maiden attempt is made to apply a more recent and powerful optimization technique named as bacterial foraging technique for optimization of controllers gains of the proposed hybrid DG system. The system responses with bacterial foraging based controllers are compared with that of classical method. Investigations reveal that bacterial foraging based controllers gives better responses than the classical method and also PID controller is best. Sensitivity analysis is carried out which demonstrates the robustness of the optimized gain values for system loading condition.

Keywords: Aqua electrolyzer, bacterial foraging, battery energy storage system, diesel engine generator, distributed generation, fuel cells, photo voltaic system.

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Authors: Ö. Tolga Altınöz

Abstract:

The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conversion is performed by taking functions of unknown parameters and dynamics of the system. By using motion control model equations, inverted pendulum is simulated without any information about not only parameters but also measurable dynamics. Also these results are compare with the adaptive backstepping controller which extended with integral action that given from [1].

Keywords: Adaptive backstepping, inverted pendulum, nonlinear adaptive control.

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Authors: S. Swain, P. S Khuntia

Abstract:

In this paper, the unstable angle of attack of a FOXTROT aircraft is controlled by using Genetic Algorithm based flight controller and the result is compared with the conventional techniques like Tyreus-Luyben (TL), Ziegler-Nichols (ZN) and Interpolation Rule (IR) for tuning the PID controller. In addition, the performance indices like Mean Square Error (MSE), Integral Square Error (ISE), and Integral Absolute Time Error (IATE) etc. are improved by using Genetic Algorithm. It was established that the error by using GA is very less as compared to the conventional techniques thereby improving the performance indices of the dynamic system.

Keywords: Angle of Attack, Genetic Algorithm, Performance Indices, PID Controller.

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Authors: Gao Xian-Zhong, Hou Zhong-xi, Guo Zheng, Liu Jian-xia

Abstract:

Gliding during night without electric power is an efficient method to enhance endurance performance of solar aircrafts. The properties of maximum gliding endurance path are studied in this paper. The problem is formulated as an optimization problem about maximum endurance can be sustained by certain potential energy storage with dynamic equations and aerodynamic parameter constrains. The optimal gliding path is generated based on gauss pseudo-spectral method. In order to analyse relationship between altitude, velocity of solar UAVs and its endurance performance, the lift coefficient in interval of [0.4, 1.2] and flight envelopes between 0~30km are investigated. Results show that broad range of lift coefficient can improve solar aircrafts- long endurance performance, and it is possible for a solar aircraft to achieve the aim of long endurance during whole night just by potential energy storage.

Keywords: Solar UAVs, Gliding Endurance, gauss pseudo-spectral method, optimization problem

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Authors: Dongdong Zhang, Deran Zhang

Abstract:

In this paper, a Markovian risk model with two-type claims is considered. In such a risk model, the occurrences of the two type claims are described by two point processes {Ni(t), t ¸ 0}, i = 1, 2, where {Ni(t), t ¸ 0} is the number of jumps during the interval (0, t] for the Markov jump process {Xi(t), t ¸ 0} . The ruin probability ª(u) of a company facing such a risk model is mainly discussed. An integral equation satisfied by the ruin probability ª(u) is obtained and the bounds for the convergence rate of the ruin probability ª(u) are given by using key-renewal theorem.

Keywords: Risk model, ruin probability, Markov jump process, integral equation.

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Authors: Herath MPC Jayaweera, Samer Hanoun

Abstract:

Path planning for on-time obstacle avoidance is an essential and challenging task that enables drones to achieve safe operation in any application domain. The level of challenge increases significantly on the obstacle avoidance technique when the drone is following a ground mobile entity (GME). This is mainly due to the change in direction and magnitude of the GMEs velocity in dynamic and unstructured environments. Force field techniques are the most widely used obstacle avoidance methods due to their simplicity, ease of use and potential to be adopted for three-dimensional dynamic environments. However, the existing force field obstacle avoidance techniques suffer many drawbacks including their tendency to generate longer routes when the obstacles are sideways of the drones route, poor ability to find the shortest flyable path, propensity to fall into local minima, producing a non-smooth path, and high failure rate in the presence of symmetrical obstacles. To overcome these shortcomings, this paper proposes an on-time three-dimensional obstacle avoidance method for drones to effectively and efficiently avoid dynamic and static obstacles in unknown environments while pursuing a GME. This on-time obstacle avoidance technique generates velocity waypoints for its obstacle-free and efficient path based on the shape of the encountered obstacles. This method can be utilize on most types of drones that have basic distance measurement sensors and autopilot supported flight controllers. The proposed obstacle avoidance technique is validated and evaluated against existing force field methods for different simulation scenarios in Gazebo and ROS supported PX4-SITL. The simulation results show that the proposed obstacle avoidance technique outperforms the existing force field techniques and is better suited for real-world applications.

Keywords: Drones, force field methods, obstacle avoidance, path planning.

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Authors: José Maria A. Pangilinan, Gerrit K. Janssens

Abstract:

This paper presents an overview of the multiobjective shortest path problem (MSPP) and a review of essential and recent issues regarding the methods to its solution. The paper further explores a multiobjective evolutionary algorithm as applied to the MSPP and describes its behavior in terms of diversity of solutions, computational complexity, and optimality of solutions. Results show that the evolutionary algorithm can find diverse solutions to the MSPP in polynomial time (based on several network instances) and can be an alternative when other methods are trapped by the tractability problem.

Keywords: Multiobjective evolutionary optimization, geneticalgorithms, shortest paths.

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Authors: Elena Kotevska

Abstract:

This paper presents a generalization kernel for gravitational potential determination by harmonic splines. It was shown in [10] that the gravitational potential can be approximated using a kernel represented as a Newton integral over the real Earth body. On the other side, the theory of geopotential approximation by harmonic splines uses spherically oriented kernels. The purpose of this paper is to show that in the spherical case both kernels have the same type of representation, which leads us to conclusion that it is possible to consider the kernel represented as a Newton integral over the real Earth body as a kind of generalization of spherically harmonic kernels to real geometries.

Keywords: Geopotential, Reproducing Kernel, Approximation, Regular Surface

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Authors: Gyu-Jin Shim, Seung-Moon Baek, Choon-Geun Moon, Ho-Saeng Lee, Jung-In Yoon

Abstract:

The experimental thermal performance of two heat exchangers in closed-wet cooling tower (CWCT) was investigated in this study. The test sections are heat exchangers which have multi path that is used as the entrance of cooling water and are consisting of bare-type copper tubes between 15.88mm and 19.05mm. The process fluids are the cooling water that flows from top part of heat exchanger to bottom side in the inner side of tube, and spray water that flows gravitational direction in the outer side of it. Air contacts its outer side of that as it counterflows. Heat and mass transfer coefficients and cooling capacity were calculated with variations of process fluids, multi path and different diameter tubes to figure out the performance of characteristics of CWCT. The main results were summarized as follows: The results show this experiment is reliable with values of heat and mass transfer coefficients comparing to values of correlations. Heat and mass transfer coefficients and cooling capacity of two paths are higher than these with one path using 15.88 and 19.05mm tubes. Cooling capacity per unit volume with 15.88mm tube using one and two paths are higher than 19.05mm tube due to increase of surface area per unit volume.

Keywords: Closed–Wet Cooling Tower, Cooling Capacity, Heatand Mass Transfer Coefficients.

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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: T.C. Manjunath,

Abstract:

This paper features the trajectory planning design of a indigenously developed 4-Axis SCARA robot which is used for doing successful robotic manipulation task in the laboratory. Once, a trajectory is being designed and given as input to the robot, the robot's gripper tip moves along that specified trajectory. Trajectories have to be designed in the work space only. The main idea of this paper is to design a continuous path trajectory model for the indigenously developed SCARA robot arm during its maneuvering from one point to another point (during pick and place operations) in a workspace avoiding all the obstacles in its path of motion.

Keywords: SCARA, Trajectory, Planning.

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Authors: Miloš Šeda

Abstract:

Finding the shortest path between two positions is a fundamental problem in transportation, routing, and communications applications. In robot motion planning, the robot should pass around the obstacles touching none of them, i.e. the goal is to find a collision-free path from a starting to a target position. This task has many specific formulations depending on the shape of obstacles, allowable directions of movements, knowledge of the scene, etc. Research of path planning has yielded many fundamentally different approaches to its solution, mainly based on various decomposition and roadmap methods. In this paper, we show a possible use of visibility graphs in point-to-point motion planning in the Euclidean plane and an alternative approach using Voronoi diagrams that decreases the probability of collisions with obstacles. The second application area, investigated here, is focused on problems of finding minimal networks connecting a set of given points in the plane using either only straight connections between pairs of points (minimum spanning tree) or allowing the addition of auxiliary points to the set to obtain shorter spanning networks (minimum Steiner tree).

Keywords: motion planning, spanning tree, Steiner tree, Delaunay triangulation, Voronoi diagram.

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Authors: Z. El Felsoufi, L. Azrar

Abstract:

This paper studies a mathematical model based on the integral equations for dynamic analyzes numerical investigations of a non-uniform or multi-material composite beam. The beam is subjected to a sub-tangential follower force and elastic foundation. The boundary conditions are represented by generalized parameterized fixations by the linear and rotary springs. A mathematical formula based on Euler-Bernoulli beam theory is presented for beams with variable cross-sections. The non-uniform section introduces non-uniformity in the rigidity and inertia of beams and consequently, more complicated equilibrium who governs the equation. Using the boundary element method and radial basis functions, the equation of motion is reduced to an algebro-differential system related to internal and boundary unknowns. A generalized formula for the deflection, the slope, the moment and the shear force are presented. The free vibration of non-uniform loaded beams is formulated in a compact matrix form and all needed matrices are explicitly given. The dynamic stability analysis of slender beam is illustrated numerically based on the coalescence criterion. A realistic case related to an industrial chimney is investigated.

Keywords: Chimney, BEM and integral equation formulation, non uniform cross section, vibration and Flutter.

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Authors: Satean Tunyasrirut, Tianchai Suksri, Arjin Numsomran, Supan Gulpanich, Kitti Tirasesth

Abstract:

This paper presents the approach to design the Auto- Tuning PID controller for interactive Water Level Process using integral step response. The Integral Step Response (ISR) is the method to model a dynamic process which can be done easily, conveniently and very efficiently. Therefore this method is advantage for design the auto tune PID controller. Our scheme uses the root locus technique to design PID controller. In this paper MATLAB is used for modeling and testing of the control system. The experimental results of the interacting water level process can be satisfyingly illustrated the transient response and the steady state response.

Keywords: Coupled-Tank, Interacting water level process, PIDController, Auto-tuning.

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