Search results for: finger tip tracking
377 A Robust Controller for Output Variance Reduction and Minimum Variance with Application on a Permanent Field DC-Motor
Authors: Mahmood M. Al-Imam, M. Mustafa
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In this paper, we present an experimental testing for a new algorithm that determines an optimal controller-s coefficients for output variance reduction related to Linear Time Invariant (LTI) Systems. The algorithm features simplicity in calculation, generalization to minimal and non-minimal phase systems, and could be configured to achieve reference tracking as well as variance reduction after compromising with the output variance. An experiment of DCmotor velocity control demonstrates the application of this new algorithm in designing the controller. The results show that the controller achieves minimum variance and reference tracking for a preset velocity reference relying on an identified model of the motor.Keywords: Output variance, minimum variance, overparameterization, DC-Motor.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1351376 The Formation of Mutual Understanding in Conversation: An Embodied Approach
Authors: Haruo Okabayashi
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The mutual understanding in conversation is very important for human relations. This study investigates the mental function of the formation of mutual understanding between two people in conversation using the embodied approach. Forty people participated in this study. They are divided into pairs randomly. Four conversation situations between two (make/listen to fun or pleasant talk, make/listen to regrettable talk) are set for four minutes each, and the finger plethysmogram (200 Hz) of each participant is measured. As a result, the attractors of the participants who reported “I did not understand my partner” show the collapsed shape, which means the fluctuation of their rhythm is too small to match their partner’s rhythm, and their cross correlation is low. The autonomic balance of both persons tends to resonate during conversation, and both LLEs tend to resonate, too. In human history, in order for human beings as weak mammals to live, they may have been with others; that is, they have brought about resonating characteristics, which is called self-organization. However, the resonant feature sometimes collapses, depending on the lifestyle that the person was formed by himself after birth. It is difficult for people who do not have a lifestyle of mutual gaze to resonate their biological signal waves with others’. These people have features such as anxiety, fatigue, and confusion tendency. Mutual understanding is thought to be formed as a result of cooperation between the features of self-organization of the persons who are talking and the lifestyle indicated by mutual gaze. Such an entanglement phenomenon is called a nonlinear relation. By this research, it is found that the formation of mutual understanding is expressed by the rhythm of a biological signal showing a nonlinear relationship.
Keywords: Embodied approach, finger plethysmogram, mutual understanding, nonlinear phenomenon.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1287375 Using ε Value in Describe Regular Languages by Using Finite Automata, Operation on Languages and the Changing Algorithm Implementation
Authors: Abdulmajid Mukhtar Afat
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This paper aims at introducing nondeterministic finite automata with ε value which is used to perform some operations on languages. a program is created to implement the algorithm that converts nondeterministic finite automata with ε value (ε-NFA) to deterministic finite automata (DFA).The program is written in c++ programming language. The program inputs are FA 5-tuples from text file and then classifies it into either DFA/NFA or ε -NFA. For DFA, the program will get the string w and decide whether it is accepted or rejected. The tracking path for an accepted string is saved by the program. In case of NFA or ε-NFA automation, the program changes the automation to DFA to enable tracking and to decide if the string w exists in the regular language or not.
Keywords: Finite automata, DFA, NFA, ε-NFA, Eclose, operations on languages.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 825374 An Intelligent Controller Augmented with Variable Zero Lag Compensation for Antilock Braking System
Authors: Benjamin C. Agwah, Paulinus C. Eze
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Antilock braking system (ABS) is one of the important contributions by the automobile industry, designed to ensure road safety in such way that vehicles are kept steerable and stable when during emergency braking. This paper presents a wheel slip-based intelligent controller with variable zero lag compensation for ABS. It is required to achieve a very fast perfect wheel slip tracking during hard braking condition and eliminate chattering with improved transient and steady state performance, while shortening the stopping distance using effective braking torque less than maximum allowable torque to bring a braking vehicle to a stop. The dynamic of a vehicle braking with a braking velocity of 30 ms⁻¹ on a straight line was determined and modelled in MATLAB/Simulink environment to represent a conventional ABS system without a controller. Simulation results indicated that system without a controller was not able to track desired wheel slip and the stopping distance was 135.2 m. Hence, an intelligent control based on fuzzy logic controller (FLC) was designed with a variable zero lag compensator (VZLC) added to enhance the performance of FLC control variable by eliminating steady state error, provide improve bandwidth to eliminate the effect of high frequency noise such as chattering during braking. The simulation results showed that FLC-VZLC provided fast tracking of desired wheel slip, eliminated chattering, and reduced stopping distance by 70.5% (39.92 m), 63.3% (49.59 m), 57.6% (57.35 m) and 50% (69.13 m) on dry, wet, cobblestone and snow road surface conditions respectively. Generally, the proposed system used effective braking torque that is less than the maximum allowable braking torque to achieve efficient wheel slip tracking and overall robust control performance on different road surfaces.
Keywords: ABS, Fuzzy Logic Controller, Variable Zero Lag Compensator, Wheel Slip Tracking.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 326373 A Case Study on Suitable Area and Resource for Development of Floating Photovoltaic System
Authors: Young-Kwan Choi
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In development of floating photovoltaic generation system, finding a suitable place of installation is as important as development of economically feasible and stable structure. Especially since floating photovoltaic system has its facility floating on water surface, it is extremely important to review the effects of weather conditions such as wind, water flow and floating matters, various factors (such as fogs) that can reduce generation efficiency, possibility of connection with power system, and legal restrictions. The method of investigating suitable area and resource for development of tracking-type floating photovoltaic generation system was proposed in this paper, which can be used for development of floating and ocean photovoltaic system in the future.
Keywords: Floating PV system, On-site Survey, Resources Survey of Photovoltaic, Tracking-type Floating PV.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3303372 Energy Management System in HEV Using PI Controller
Authors: S. Saravanan, G. Sugumaran
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Nowadays the use of Hybrid Electric Vehicles (HEV) is increasing dramatically. The HEV is mainly dependent on electricity and there is always a need for storage of charge. Fuel Cell (FC), Batteries and Ultra Capacitor are being used for the proposed HEV as an electric power source or as an energy storage unit. The aim of developing an energy management technique is to utilize the sources according to the requirement of the vehicle with help of controller. This increases the efficiency of hybrid electric vehicle to reduce the fuel consumption and unwanted emission. The Maximum Power Point Tracking (MPPT) in FC is done using (Perturb & Observe) algorithm. In this paper, the control of automobiles at variable speed is achieved effectively.
Keywords: Batteries, Energy Management System (EMS), Fuel Cell (FC), Hybrid Electric Vehicles (HEVs), Maximum Power Point Tracking (MPPT).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3337371 Face Tracking using a Polling Strategy
Authors: Rodrigo Montufar-Chaveznava
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The colors of the human skin represent a special category of colors, because they are distinctive from the colors of other natural objects. This category is found as a cluster in color spaces, and the skin color variations between people are mostly due to differences in the intensity. Besides, the face detection based on skin color detection is a faster method as compared to other techniques. In this work, we present a system to track faces by carrying out skin color detection in four different color spaces: HSI, YCbCr, YES and RGB. Once some skin color regions have been detected for each color space, we label each and get some characteristics such as size and position. We are supposing that a face is located in one the detected regions. Next, we compare and employ a polling strategy between labeled regions to determine the final region where the face effectively has been detected and located.Keywords: Tracking, face detection, image processing, colorspaces.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1568370 Detection, Tracking and Classification of Vehicles and Aircraft based on Magnetic Sensing Technology
Authors: K. Dimitropoulos, N. Grammalidis, I. Gragopoulos, H. Gao, Th. Heuer, M. Weinmann, S. Voit, C. Stockhammer, U. Hartmann, N. Pavlidou
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Existing ground movement surveillance technologies at airports are subjected to limitations due to shadowing effects or multiple reflections. Therefore, there is a strong demand for a new sensing technology, which will be cost effective and will provide detection of non-cooperative targets under any weather conditions. This paper aims to present a new intelligent system, developed within the framework of the EC-funded ISMAEL project, which is based on a new magnetic sensing technology and provides detection, tracking and automatic classification of targets moving on the airport surface. The system is currently being installed at two European airports. Initial experimental results under real airport traffic demonstrate the great potential of the proposed system.Keywords: Air traffic management, magnetic sensors, multitracking, A-SMGCS.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1924369 Nonlinear Observer Design and Sliding Mode Control of Four Rotors Helicopter
Authors: H. Bouadi, M. Tadjine
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In this paper; we are interested in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation and new control scheme. We present after the development and the synthesis of a stabilizing control laws design based on sliding mode in order to perform best tracking results. It ensures locally asymptotic stability and desired tracking trajectories. Nonlinear observer is then synthesized in order to estimate the unmeasured states and the effects of the external disturbances such as wind and noise. Finally simulation results are also provided in order to illustrate the performances of the proposed controllers.
Keywords: Dynamic modelling, nonholonomic constraints, sliding mode, nonlinear observer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2950368 Visual Object Tracking and Interception in Industrial Settings
Authors: Ahmet Denker, Tuğrul Adıgüzel
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This paper presents a solution for a robotic manipulation problem. We formulate the problem as combining target identification, tracking and interception. The task in our solution is sensing a target on a conveyor belt and then intercepting robot-s end-effector at a convenient rendezvous point. We used an object recognition method which identifies the target and finds its position from visualized scene picture, then the robot system generates a solution for rendezvous problem using the target-s initial position and belt velocity . The interception of the target and the end-effector is executed at a convenient rendezvous point along the target-s calculated trajectory. Experimental results are obtained using a real platform with an industrial robot and a vision system over it.Keywords: Object recognition, rendezvous planning, robotics.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1713367 Affirming Students’ Attention and Perceptions on Prezi Presentation via Eye Tracking System
Authors: Mona Masood, Norshazlina Shaik Othman
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The purpose of this study was to investigate graduate students’ visual attention and perceptions of a Prezi presentation. Ten postgraduate master students were presented with a Prezi presentation at the Centre for Instructional Technology and Multimedia, Universiti Sains Malaysia (USM). The eye movement indicators such as dwell time, average fixation on the areas of interests, heat maps and focus maps were abstracted to indicate the students’ visual attention. Descriptive statistics was employed to analyze the students’ perception of the Prezi presentation in terms of text, slide design, images, layout and overall presentation. The result revealed that the students paid more attention to the text followed by the images and sub heading presented through the Prezi presentation.
Keywords: Eye tracking, Prezi, visual attention, visual perception.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2323366 Trajectory Control of a Robotic Manipulator Utilizing an Adaptive Fuzzy Sliding Mode
Authors: T. C. Kuo
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In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptation law to alleviate the input chattering effectively. Stability of the control system is proven by using the Lyapunov method. An application to a three-degree-of-freedom robotic manipulator is carried out. Accurate trajectory tracking as well as robustness is achieved. Input chattering is greatly eliminated.Keywords: Fuzzy control, sliding mode control, roboticmanipulator, adaptive control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1935365 Enhancing Transit Trade, Facilitation System and Supply Chain Security for Local, Regional and an International Corridor
Authors: Moh’d A. AL-Shboul
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Recently, and due to Arab spring and terrorism around the globe, pushing and driving most governments potentially to harmonize their border measures particularly the regional and an international transit trade within and among Customs Unions. The main purpose of this study is to investigate and provide an insight for monitoring and controlling the trade supply chain within and among different countries by using technological advancement (i.e. an electronic tracking system, etc.); furthermore, facilitate the local and intra-regional trade among countries through reviewing the recent trends and practical implementation of an electronic transit traffic and cargo that related to customs measures by introducing and supporting some case studies of several international and landlocked transit trade countries. The research methodology employed in this study was described as qualitative by conducting few interviews with managers, transit truck drivers, and traders and reviewing the related literature to collect qualitative data from secondary sources such as statistical reports, previous studies, etc. The results in this study show that Jordan and other countries around the globe that used an electronic tracking system for monitoring transit trade has led to a significant reduction in cost, effort and time in physical movement of goods internally and crossing through other countries. Therefore, there is no need to escort transit trucks by customs staff; hence, the rate of escort transit trucks is reduced by more than ninety percent, except the bulky and high duty goods. Electronic transit traffic has been increased; the average transit time journey has been reduced by more than seventy percent and has led to decrease in rates of smuggling up to fifty percent. The researcher recommends considering Jordan as regional and international office for tracking electronically and monitoring the transit trade for many considerations.Keywords: Electronic tracking system, facilitation system, regional and international corridor, supply chain security, transit trade.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1394364 A Novel Forgetting Factor Recursive Least Square Algorithm Applied to the Human Motion Analysis
Authors: Hadi Sadoghi Yazdi, Mehri Sadoghi Yazdi, Mohammad Reza Mohammadi
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This paper is concerned with studying the forgetting factor of the recursive least square (RLS). A new dynamic forgetting factor (DFF) for RLS algorithm is presented. The proposed DFF-RLS is compared to other methods. Better performance at convergence and tracking of noisy chirp sinusoid is achieved. The control of the forgetting factor at DFF-RLS is based on the gradient of inverse correlation matrix. Compared with the gradient of mean square error algorithm, the proposed approach provides faster tracking and smaller mean square error. In low signal-to-noise ratios, the performance of the proposed method is superior to other approaches.
Keywords: Forgetting factor, RLS, Inverse correlation matrix, human motion analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2238363 Video-Based System for Support of Robot-Enhanced Gait Rehabilitation of Stroke Patients
Authors: Matjaž Divjak, Simon Zelič, Aleš Holobar
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We present a dedicated video-based monitoring system for quantification of patient’s attention to visual feedback during robot assisted gait rehabilitation. Two different approaches for eye gaze and head pose tracking are tested and compared. Several metrics for assessment of patient’s attention are also presented. Experimental results with healthy volunteers demonstrate that unobtrusive video-based gaze tracking during the robot-assisted gait rehabilitation is possible and is sufficiently robust for quantification of patient’s attention and assessment of compliance with the rehabilitation therapy.
Keywords: Video-based attention monitoring, gaze estimation, stroke rehabilitation, user compliance.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1771362 Adjustment of a PET Scanner for PEPT
Authors: Alireza Sadrmomtaz
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Positron emission particle tracking (PEPT) is a technique in which a single radioactive tracer particle can be accurately tracked as it moves. A limitation of PET is that in order to reconstruct a tomographic image it is necessary to acquire a large volume of data (millions of events), so it is difficult to study rapidly changing systems. By considering this fact, PEPT is a very fast process compared with PET. In PEPT detecting both photons defines a line and the annihilation is assumed to have occurred somewhere along this line. The location of the tracer can be determined to within a few mm from coincident detection of a small number of pairs of back-to-back gamma rays and using triangulation. This can be achieved many times per second and the track of a moving particle can be reliably followed. This technique was invented at the University of Birmingham [1]. The attempt in PEPT is not to form an image of the tracer particle but simply to determine its location with time. If this tracer is followed for a long enough period within a closed, circulating system it explores all possible types of motion. The application of PEPT to industrial process systems carried out at the University of Birmingham is categorized in two subjects: the behaviour of granular materials and viscous fluids. Granular materials are processed in industry for example in the manufacture of pharmaceuticals, ceramics, food, polymers and PEPT has been used in a number of ways to study the behaviour of these systems [2]. PEPT allows the possibility of tracking a single particle within the bed [3]. Also PEPT has been used for studying systems such as: fluid flow, viscous fluids in mixers [4], using a neutrally-buoyant tracer particle [5].Keywords: PET, BGO, Particle Tracking, ECAT 931, List mode, PEPT.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1396361 GPI Observer-based Tracking Control and Synchronization of Chaotic Systems
Authors: Dangjun Zhao, Yongji Wang, Lei Liu
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Based on general proportional integral (GPI) observers and sliding mode control technique, a robust control method is proposed for the master-slave synchronization of chaotic systems in the presence of parameter uncertainty and with partially measurable output signal. By using GPI observer, the master dynamics are reconstructed by the observations from a measurable output under the differential algebraic framework. Driven by the signals provided by GPI observer, a sliding mode control technique is used for the tracking control and synchronization of the master-slave dynamics. The convincing numerical results reveal the proposed method is effective, and successfully accommodate the system uncertainties, disturbances, and noisy corruptions.
Keywords: GPI observer, sliding mode control, master-slave synchronization, chaotic systems.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1985360 Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control
Authors: T. C. Kuo, Y. J. Huang, B. W. Hong
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This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance.Keywords: Robotic manipulators, sliding mode control, adaptive law, Lyapunov theorem, robustness.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3036359 Facial Expressions Animation and Lip Tracking Using Facial Characteristic Points and Deformable Model
Authors: Hadi Seyedarabi, Ali Aghagolzadeh, Sohrab Khanmohammadi
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Face and facial expressions play essential roles in interpersonal communication. Most of the current works on the facial expression recognition attempt to recognize a small set of the prototypic expressions such as happy, surprise, anger, sad, disgust and fear. However the most of the human emotions are communicated by changes in one or two of discrete features. In this paper, we develop a facial expressions synthesis system, based on the facial characteristic points (FCP's) tracking in the frontal image sequences. Selected FCP's are automatically tracked using a crosscorrelation based optical flow. The proposed synthesis system uses a simple deformable facial features model with a few set of control points that can be tracked in original facial image sequences.Keywords: Deformable face model, facial animation, facialcharacteristic points, optical flow.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1623358 MiR-200a/ZEB1 Pathway in Liver Fibrogenesis of Biliary Atresia
Authors: Hai-Ying Liu, Yi-Hao Chen, Shu-Yin Pang, Feng-Hua Wang, Xiao-Fang Peng, Li-Yuan Yang, Zheng-Rong Chen, Yi Chen, Bing Zhu
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Objective: Biliary atresia (BA) is characterized by progressive liver fibrosis. Epithelial-mesenchymal transition (EMT) has been implicated as a key mechanism in the pathogenesis of organ fibrosis. MiR-200a has been shown to repress EMT. We aim to explore the role of miR-200a in the fibrogenesis of BA. Methods: We obtained the plasma samples and liver samples from patients with BA or controls to examine the role of miR-200a. Histological liver fibrosis was assessed using the Ishak fibrosis scores. Reverse transcription quantitative polymerase chain reaction (RT-qPCR) was performed to detect the expression of miR-200a in plasma. We also evaluated the expression of miR-200a in liver tissues using tyramide signal amplification fluorescence in situ hybridization (TSA-FISH). The expression of EMT related proteins zinc finger E-box-binding homeobox 1 (ZEB1), E-cadherin and α-smooth muscle actin (α-SMA) in the liver sections were detected by immunohistochemical staining. Results: We found that the expression of miR-200a was both elevated in the plasma and liver tissues from BA patients compared with the controls. The hepatic expression of ZEB1 and α-SMA were markedly increased in the liver sections from BA patients compared to the controls, whereas E-cadherin was downregulated in the BA group. Simultaneously, we noted that the hepatic expression of miR-200a, E-cadherin and α-SMA were upregulated with the progression of liver fibrosis in the BA group, while ZEB1 was downregulated with the progression of liver fibrosis in BA patients. Conclusion: These findings suggest EMT has a critical effect on the fibrotic process of BA, and the interaction between miR-200a and ZEB1 may regulate EMT and eventually influence liver fibrogenesis of BA.Keywords: Biliary atresia, liver fibrosis, MicroRNA, epithelial-mesenchymal transition, zinc finger e-box-binding homeobox 1.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1178357 Ageing Deterioration of Hi gh-Density Polyethylene Cable Spacer under Salt Water Dip Wheel Test
Authors: P. Kaewchanthuek, R. Rawonghad, B. Marungsri
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This paper presents the experimental results of high-density polyethylene cable spacers for 22 kV distribution systems under salt water dip wheel test based on IEC 62217. The strength of anti-tracking and anti-erosion of cable spacer surface was studied in this study. During the test, dry band arc and corona discharge were observed on cable spacer surface. After 30,000 cycles of salt water dip wheel test, obviously surface erosion and tracking were observed especially on the ground end. Chemical analysis results by fourier transforms infrared spectroscopy showed chemical changed from oxidation and carbonization reaction on tested cable spacer. Increasing of C=O and C=C bonds confirmed occurrence of these reactions.
Keywords: Cable spacer, HDPE, ageing of cable spacer, salt water dip wheel test.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3188356 Simulation and Analysis of Control System for a Solar Desalination System
Authors: R. Prakash, B. Meenakshipriya, R. Kumaravelan
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Fresh water is one of the resources which is getting depleted day by day. A wise method to address this issue is by the application of renewable energy-sun irradiation and by means of decentralized, cheap, energetically self-sufficient, robust and simple to operate plants, distillates can be obtained from sea, river or even sewage. Solar desalination is a technique used to desalinate water using solar energy. The present work deals with the comprehensive design and simulation of solar tracking system using LabVIEW, temperature and mass flow rate control of the solar desalination plant using LabVIEW and also analysis of single phase inverter circuit with LC filters for solar pumping system in MATLAB. The main objective of this work is to improve the performance of solar desalination system using automatic tracking system, output control using temperature and mass flow rate control system and also to reduce the harmonic distortion in the solar pumping system by means of LC filters. The simulation of single phase inverter was carried out using MATLAB and the output waveforms were analyzed. Simulations were performed for optimum output temperature control, which in turn controls the mass flow rate of water in the thermal collectors. Solar tracking system was accomplished using LABVIEW and was tested successfully. The thermal collectors are tracked in accordance with the sun’s irradiance levels, thereby increasing the efficiency of the thermal collectors.Keywords: Desalination, Electro dialysis, LabVIEW, MATLAB, PWM inverter, Reverse osmosis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2387355 Robustness of Hybrid Learning Acceleration Feedback Control Scheme in Flexible Manipulators
Authors: M. Z Md Zain, M. O. Tokhi, M. S. Alam
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This paper describes a practical approach to design and develop a hybrid learning with acceleration feedback control (HLC) scheme for input tracking and end-point vibration suppression of flexible manipulator systems. Initially, a collocated proportionalderivative (PD) control scheme using hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a further hybrid control scheme of the collocated PD control and iterative learning control with acceleration feedback using genetic algorithms (GAs) to optimize the learning parameters. Experimental results of the response of the manipulator with the control schemes are presented in the time and frequency domains. The performance of the HLC is assessed in terms of input tracking, level of vibration reduction at resonance modes and robustness with various payloads.Keywords: Flexible manipulator, iterative learning control, vibration suppression.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1810354 Sliding Mode Control of Autonomous Underwater Vehicles
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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2581353 Design and Implementation of a Control System for a Walking Robot with Color Sensing and Line Following Using PIC and ATMEL Microcontrollers
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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3241352 Optimization Method Based MPPT for Wind Power Generators
Authors: Chun-Yao Lee , Yi-Xing Shen , Jung-Cheng Cheng , Chih-Wen Chang, Yi-Yin Li
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This paper proposes the method combining artificial neural network with particle swarm optimization (PSO) to implement the maximum power point tracking (MPPT) by controlling the rotor speed of the wind generator. With the measurements of wind speed, rotor speed of wind generator and output power, the artificial neural network can be trained and the wind speed can be estimated. The proposed control system in this paper provides a manner for searching the maximum output power of wind generator even under the conditions of varying wind speed and load impedance.
Keywords: maximum power point tracking, artificial neural network, particle swarm optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1811351 Highly Efficient Low Power Consumption Tracking Solar Cells for White LED-Based Lighting System
Authors: Theerawut Jinayim, Somchai Arunrungrasmi, Tanes Tanitteerapan, Narong Mungkung
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Although White LED lighting systems powered by solar cells have presented for many years, they are not widely used in today application because of their cost and low energy conversion efficiency. The proposed system use the dc power generated by fixed solar cells module to energize White LED light sources that are operated by directly connected White LED with current limitation resistors, resulting in much more power consumption. This paper presents the use of white LED as a general lighting application powered by tracking solar cells module and using pulse to apply the electrical power to the White LED. These systems resulted in high efficiency power conversion, low power consumption, and long light of the white LED.Keywords: Efficiency, lighting, light-emitting diode, pulse, Solar, white LED.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2377350 Maximum Wind Power Extraction Strategy and Decoupled Control of DFIG Operating in Variable Speed Wind Generation Systems
Authors: Abdellatif Kasbi, Abderrafii Rahali
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This paper appraises the performances of two control scenarios, for doubly fed induction generator (DFIG) operating in wind generation system (WGS), which are the direct decoupled control (DDC) and indirect decoupled control (IDC). Both control scenarios studied combines vector control and Maximum Power Point Tracking (MPPT) control theory so as to maximize the captured power through wind turbine. Modeling of DFIG based WGS and details of both control scenarios have been presented, a proportional integral controller is employed in the active and reactive power control loops for both control methods. The performance of the both control scenarios in terms of power reference tracking and robustness against machine parameters inconstancy has been shown, analyzed and compared, which can afford a reference to the operators and engineers of a wind farm. All simulations have been implemented via MATLAB/Simulink.
Keywords: DFIG, WGS, DDC, IDC, vector control, MPPT.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 695349 Action Recognition in Video Sequences using a Mealy Machine
Authors: L. Rodriguez-Benitez, J. Moreno-Garcia, J.J. Castro-Schez, C. Solana, L. Jimenez
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In this paper the use of sequential machines for recognizing actions taken by the objects detected by a general tracking algorithm is proposed. The system may deal with the uncertainty inherent in medium-level vision data. For this purpose, fuzzification of input data is performed. Besides, this transformation allows to manage data independently of the tracking application selected and enables adding characteristics of the analyzed scenario. The representation of actions by means of an automaton and the generation of the input symbols for finite automaton depending on the object and action compared are described. The output of the comparison process between an object and an action is a numerical value that represents the membership of the object to the action. This value is computed depending on how similar the object and the action are. The work concludes with the application of the proposed technique to identify the behavior of vehicles in road traffic scenes.
Keywords: Approximate reasoning, finite state machines, video analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1679348 A Simulated Scenario of WikiGIS to Support the Iteration and Traceability Management of the Geodesign Process
Authors: Wided Batita, Stéphane Roche, Claude Caron
Abstract:
Geodesign is an emergent term related to a new and complex process. Hence, it needs to rethink tools, technologies and platforms in order to efficiently achieve its goals. A few tools have emerged since 2010 such as CommunityViz, GeoPlanner, etc. In the era of Web 2.0 and collaboration, WikiGIS has been proposed as a new category of tools. In this paper, we present WikiGIS functionalities dealing mainly with the iteration and traceability management to support the collaboration of the Geodesign process. Actually, WikiGIS is built on GeoWeb 2.0 technologies —and primarily on wiki— and aims at managing the tracking of participants’ editing. This paper focuses on a simplified simulation to illustrate the strength of WikiGIS in the management of traceability and in the access to history in a Geodesign process. Indeed, a cartographic user interface has been implemented, and then a hypothetical use case has been imagined as proof of concept.Keywords: Geodesign, history, traceability, tracking of participants’ editing, WikiGIS.
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