Search results for: force control
4218 An Improved Optimal Sliding Mode Control for Structural Stability
Authors: Leila Fatemi, Morteza Moradi, Azadeh Mansouri
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In this paper, the modified optimal sliding mode control with a proposed method to design a sliding surface is presented. Because of the inability of the previous approach of the sliding mode method to design a bounded and suitable input, the new variation is proposed in the sliding manifold to obviate problems in a structural system. Although the sliding mode control is a powerful method to reject disturbances and noises, the chattering problem is not good for actuators. To decrease the chattering phenomena, the optimal control is added to the sliding mode control. Not only the proposed method can decline the intense variations in the inputs of the system but also it can produce the efficient responses respect to the sliding mode control and optimal control that are shown by performing some numerical simulations.
Keywords: Structural Control, optimal control, optimal sliding mode controller, modified sliding surface.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19944217 MC and IC – What Is the Relationship?
Authors: O. V. Missioura
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MC (Management Control)& IC (Internal Control) – what is the relationship? (an empirical study into the definitions between MC and IC) based on the wider considerations of Internal Control and Management Control terms, attention is focused not only on the financial aspects but also more on the soft aspects of the business, such as culture, behaviour, standards and values. The limited considerations of Management Control are focused mainly in the hard, financial aspects of business operation. The definitions of Management Control and Internal Control are often used interchangeably and the results of this empirical study reveal that Management Control is part of Internal Control, there is no causal link between the two concepts. Based on the interpretation of the respondents, the term Management Control has moved from a broad term to a more limited term with the soft aspects of the influencing of behaviour, performance measurements, incentives and culture. This paper is an exploratory study based on qualitative research and on a qualitative matrix method analysis of the thematic definition of the terms Management Control and Internal Control.
Keywords: Management Control (MC), Internal Control (IC), definition, causal link, COSO 1992/2004, CoCo (Canadian Institute of Chartered Accountants), Russian CG code (КОДЕКС) , limited and broad concepts MC and IC.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17744216 Determination of Some Physical and Mechanical Properties of Pofaki Variety of Pea
Authors: M. Azadbakht, E. Ghajarjazi, E. Amiri, F. Abdigaol
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In this research the effect of moisture at three levels (47, 57, and 67 w.b.%) on the physical properties of the Pofaki pea variety including, dimensions, geometric mean diameter, volume, sphericity index and the surface area was determined. The influence of different moisture levels (47, 57 and 67 w.b.%), in two loading orientation (longitudinal and transverse) and three loading speed (4,6 and 8 mm min-1) on the mechanical properties of pea such as maximum deformation, rupture force, rupture energy, toughness and the power to break the pea was investigated. It was observed in the physical properties that moisture changes were affective at 1% on, dimensions, geometric mean diameter, volume, sphericity index and the surface area. It was observed in the mechanical properties that moisture changes were effective at 1% on, maximum deformation, rupture force, rupture energy, toughness and the power to break. Loading speed was effective on maximum deformation, rupture force, rupture energy at 1% and it was effective on toughness at 5%. Loading orientation was effective on maximum deformation, rupture force, rupture energy, toughness at 1% and it was effective on power at 5%. The mutual effect of speed and orientation were effective on rupture energy at 1% and were effective on toughness at 5% probability. The mutual effect of moisture and speed were effective on rupture force and rupture energy at 1% and were effective on toughness 5% probability. The mutual effect of orientation and moisture on rupture energy and toughness were effective at 1%.
Keywords: Mechanical properties, Pea, Physical properties.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23304215 Annealing of the Contact between Graphene and Metal: Electrical and Raman Study
Authors: A. Sakavičius, A. Lukša, V. Nargelienė, V. Bukauskas, G. Astromskas, A. Šetkus
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We investigate the influence of annealing on the properties of a contact between graphene and metal (Au and Ni), using circular transmission line model (CTLM) contact geometry. Kelvin probe force microscopy (KPFM) and Raman spectroscopy are applied for characterization of the surface and interface properties. Annealing causes a decrease of the metal-graphene contact resistance for both Ni and Au.Keywords: Graphene, Kelvin force probe microscopy, Raman spectroscopy.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13564214 Balancing and Synchronization Control of a Two Wheel Inverted Pendulum Vehicle
Authors: Shiuh-Jer Huang, Shin-Ham Lee, Sheam-Chyun Lin
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A two wheel inverted pendulum (TWIP) vehicle is built with two hub DC motors for motion control evaluation. Arduino Nano micro-processor is chosen as the control kernel for this electric test plant. Accelerometer and gyroscope sensors are built in to measure the tilt angle and angular velocity of the inverted pendulum vehicle. Since the TWIP has significantly hub motor dead zone and nonlinear system dynamics characteristics, the vehicle system is difficult to control by traditional model based controller. The intelligent model-free fuzzy sliding mode controller (FSMC) was employed as the main control algorithm. Then, intelligent controllers are designed for TWIP balance control, and two wheels synchronization control purposes.Keywords: Balance control, synchronization control, two wheel inverted pendulum, TWIP.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15824213 Supply Air Pressure Control of HVAC System Using MPC Controller
Authors: P. Javid, A. Aeenmehr, J. Taghavifar
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In this paper, supply air pressure of HVAC system has been modeled with second-order transfer function plus dead-time. In HVAC system, the desired input has step changes, and the output of proposed control system should be able to follow the input reference, so the idea of using model based predictive control is proceeded and designed in this paper. The closed loop control system is implemented in MATLAB software and the simulation results are provided. The simulation results show that the model based predictive control is able to control the plant properly.
Keywords: Air conditioning system, GPC, dead time, Air supply control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22654212 Robust Nonlinear Control of Two Links Robot Manipulator and Computing Maximum Load
Authors: Hasanifard Goran, Habib Nejad Korayem Moharam, Nikoobin Amin
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A new robust nonlinear control scheme of a manipulator is proposed in this paper which is robust against modeling errors and unknown disturbances. It is based on the principle of variable structure control, with sliding mode control (SMC) method. The variable structure control method is a robust method that appears to be well suited for robotic manipulators because it requers only bounds on the robotic arm parameters. But there is no single systematic procedure that is guaranteed to produce a suitable control law. Also, to reduce chattring of the control signal, we replaced the sgn function in the control law by a continuous approximation such as tangant function. We can compute the maximum load with regard to applied torque into joints. The effectivness of the proposed approach has been evaluated analitically demonstrated through computer simulations for the cases of variable load and robot arm parameters.
Keywords: Variable structure control, robust control, switching surface, robot manipulator.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17074211 Providing a Secure Hybrid Method for Graphical Password Authentication to Prevent Shoulder Surfing, Smudge and Brute Force Attack
Authors: Faraji Sepideh
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Nowadays, purchase rate of the smart device is increasing and user authentication is one of the important issues in information security. Alphanumeric strong passwords are difficult to memorize and also owners write them down on papers or save them in a computer file. In addition, text password has its own flaws and is vulnerable to attacks. Graphical password can be used as an alternative to alphanumeric password that users choose images as a password. This type of password is easier to use and memorize and also more secure from pervious password types. In this paper we have designed a more secure graphical password system to prevent shoulder surfing, smudge and brute force attack. This scheme is a combination of two types of graphical passwords recognition based and Cued recall based. Evaluation the usability and security of our proposed scheme have been explained in conclusion part.
Keywords: Brute force attack, graphical password, shoulder surfing attack, smudge attack.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 8994210 Particle Swarm Optimisation of a Terminal Synergetic Controllers for a DC-DC Converter
Authors: H. Abderrezek, M. N. Harmas
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DC-DC converters are widely used as reliable power source for many industrial and military applications, computers and electronic devices. Several control methods were developed for DC-DC converters control mostly with asymptotic convergence. Synergetic control (SC) is a proven robust control approach and will be used here in a so called terminal scheme to achieve finite time convergence. Lyapounov synthesis is adopted to assure controlled system stability. Furthermore particle swarm optimization (PSO) algorithm, based on an integral time absolute of error (ITAE) criterion will be used to optimize controller parameters. Simulation of terminal synergetic control of a DC-DC converter is carried out for different operating conditions and results are compared to classic synergetic control performance, that which demonstrate the effectiveness and feasibility of the proposed control method.
Keywords: DC-DC converter, PSO, finite time, terminal, synergetic control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22144209 Control Configuration System as a Key Element in Distributed Control System
Authors: Goodarz Sabetian, Sajjad Moshfe
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Control system for hi-tech industries could be realized generally and deeply by a special document. Vast heavy industries such as power plants with a large number of I/O signals are controlled by a distributed control system (DCS). This system comprises of so many parts from field level to high control level, and junior instrument engineers may be confused by this enormous information. The key document which can solve this problem is “control configuration system diagram” for each type of DCS. This is a road map that covers all of activities respect to control system in each industrial plant and inevitable to be studied by whom corresponded. It plays an important role from designing control system start point until the end; deliver the system to operate. This should be inserted in bid documents, contracts, purchasing specification and used in different periods of project EPC (engineering, procurement, and construction). Separate parts of DCS are categorized here in order of importance and a brief description and some practical plan is offered. This article could be useful for all instrument and control engineers who worked is EPC projects.Keywords: Control, configuration, DCS, power plant, bus.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12094208 Investigation of Electromagnetic Force in 3P5W Busbar System under Peak Short-Circuit Current
Authors: Farhana Mohamad Yusop, Syafrudin Masri, Dahaman Ishak, Mohamad Kamarol
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Electromagnetic forces on three-phase five-wire (3P5W) busbar system is investigated under three-phase short-circuits current. The conductor busbar placed in compact galvanized steel enclosure is in the rectangular shape. Transient analysis from Opera-2D is carried out to develop the model of three-phase short-circuits current in the system. The result of the simulation is compared with the calculation result, which is obtained by applying the theories of Biot Savart’s law and Laplace equation. Under this analytical approach, the moment of peak short-circuit current is taken into account. The effect upon geometrical arrangement of the conductor and the present of the steel enclosure are considered by the theory of image. The result depict that the electromagnetic force due to the transient short-circuit from simulation is agreed with the calculation.
Keywords: Busbar, electromagnetic force, short-circuit current, transient analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 39814207 Comparison of Field-Oriented Control and Direct Torque Control for Permanent Magnet Synchronous Motor (PMSM)
Authors: M. S. Merzoug, F. Naceri
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This paper presents a comparative study on two most popular control strategies for Permanent Magnet Synchronous Motor (PMSM) drives: field-oriented control (FOC) and direct torque control (DTC). The comparison is based on various criteria including basic control characteristics, dynamic performance, and implementation complexity. The study is done by simulation using the Simulink Power System Blockset that allows a complete representation of the power section (inverter and PMSM) and the control system. The simulation and evaluation of both control strategies are performed using actual parameters of Permanent Magnet Synchronous Motor fed by an IGBT PWM inverter.Keywords: PMSM, FOC, DTC, hysteresis, PWM.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 70614206 Effect of Drawbar Force on the Dynamic Characteristics of a Spindle-Tool Holder System
Authors: Jui-Pui Hung, Yu-Sheng Lai, Tzuo-Liang Luo, Kung-Da Wu, Yun-Ji Zhan
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This study presented the investigation of the influence of the tool holder interface stiffness on the dynamic characteristics of a spindle tool system. The interface stiffness was produced by drawbar force on the tool holder, which tends to affect the spindle dynamics. In order to assess the influence of interface stiffness on the vibration characteristic of spindle unit, we first created a three dimensional finite element model of a high speed spindle system integrated with tool holder. The key point for the creation of FEM model is the modeling of the rolling interface within the angular contact bearings and the tool holder interface. The former can be simulated by a introducing a series of spring elements between inner and outer rings. The contact stiffness was calculated according to Hertz contact theory and the preload applied on the bearings. The interface stiffness of the tool holder was identified through the experimental measurement and finite element modal analysis. Current results show that the dynamic stiffness was greatly influenced by the tool holder system. In addition, variations of modal damping, static stiffness and dynamic stiffness of the spindle tool system were greatly determined by the interface stiffness of the tool holder which was in turn dependent on the draw bar force applied on the tool holder. Overall, this study demonstrates that identification of the interface characteristics of spindle tool holder is of very importance for the refinement of the spindle tooling system to achieve the optimum machining performance.
Keywords: Dynamic stiffness, Drawbar force, Interface stiffness, Spindle-tool holder.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24544205 Phase Behavior and Structure Properties of Supported Lipid Monolayers and Bilayers in Interaction with Silica Nanoparticles
Authors: Ndeye Rokhaya Faye, Ibtissem Gammoudi, Fabien Moroté, Christine Grauby-Heywang, TouriaCohen-Bouhacina
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In this study we investigate silica nanoparticle (SiO2- NP) effects on the structure and phase properties of supported lipid monolayers and bilayers, coupling surface pressure measurements, fluorescence microscopy and atomic force microscopy. SiO2-NPs typically in size range of 10nm to 100 nm in diameter are tested. Our results suggest first that lipid molecules organization depends to their nature. Secondly, lipid molecules in the vinicity of big aggregates nanoparticles organize in liquid condensed phase whereas small aggregates are localized in both fluid liquid-expanded (LE) and liquid-condenced (LC). We demonstrated also by atomic force microscopy that by measuring friction forces it is possible to get information as if nanoparticle aggregates are recovered or not by lipid monolayers and bilayers.
Keywords: Atomic force microscopy, fluorescence microscopy, Langmuir films, silica nanoparticles, supported membrane models.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 26254204 The Feedback Control for Distributed Systems
Authors: Kamil Aida-zade, C. Ardil
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We study the problem of synthesis of lumped sources control for the objects with distributed parameters on the basis of continuous observation of phase state at given points of object. In the proposed approach the phase state space (phase space) is beforehand somehow partitioned at observable points into given subsets (zones). The synthesizing control actions therewith are taken from the class of piecewise constant functions. The current values of control actions are determined by the subset of phase space that contains the aggregate of current states of object at the observable points (in these states control actions take constant values). In the paper such synthesized control actions are called zone control actions. A technique to obtain optimal values of zone control actions with the use of smooth optimization methods is given. With this aim, the formulas of objective functional gradient in the space of zone control actions are obtained.Keywords: Feedback control, distributed systems, smooth optimization methods, lumped control synthesis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 6024203 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 30364202 In situ Modelling of Lateral-Torsional Vibration of a Rotor-Stator with Multiple Parametric Excitations
Authors: B. X. Tchomeni, A. A. Alugongo, L. M. Masu
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This paper presents a 4-DOF nonlinear model of a cracked de Laval rotor-stator system derived based on Energy Principles. The model has been used to simulate coupled torsionallateral response of the faulty system with multiple parametric excitations; rotor-stator-rub, a breathing transverse crack, eccentric mass and an axial force. Nonlinearity of a “breathing” crack is incorporated in the model using a simple hinge mechanism suitable for a shallow crack. Response of the system while passing via its critical speed with intermittent rotor-stator rub is analyzed. Effects of eccentricity with phase and acceleration are investigated. Features of crack, rub and eccentricity in vibration response are explored for condition monitoring. The presence of a crack and rub are observable in the power spectrum despite excitations by an axial force and rotor unbalance. Obtained results are consistent with existing literature and could be adopted into rotor condition monitoring strategies.
Keywords: Axial force, Crack, Nonlinear, Rotor-Stator, Rub.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22034201 Auto-Parking System via Intelligent Computation Intelligence
Authors: Y. J. Huang, C. H. Chang
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In this paper, an intelligent automatic parking control method is proposed. First, the dynamical equation of the rear parking control is derived. Then a fuzzy logic control is proposed to perform the parking planning process. Further, a rear neural network is proposed for the steering control. Through the simulations and experiments, the intelligent auto-parking mode controllers have been shown to achieve the demanded goals with satisfactory control performance and to guarantee the system robustness under parametric variations and external disturbances. To improve some shortcomings and limitations in conventional parking mode control and further to reduce consumption time and prime cost.
Keywords: Auto-parking system, Fuzzy control, Neural network, Robust
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18514200 Evaluating the Australian Defense Force Environmental Awareness Training at Shoalwater Bay Training Area, Queensland, Australia
Authors: W. Wu, X. H. Wang, D. Paull
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This paper contributes to the field of Environmental Awareness Training (EAT) evaluation in terms of military activities. Environmental management of military activities is a growing concern for defence forces worldwide and the importance of EAT is becoming widely recognized. As one of Australia-s largest landowners, the Australian Defence Force (ADF) is extremely mindful of its duty as a joint environmental manager. It has an integrated Environmental Management System (EMS) to assist environmental management and EAT is an essential part of the ADF EMS model. This paper examines how EAT was conducted during the exercise Talisman Saber in 2009 (TS09) and evaluates its effectiveness, using Shoalwater Bay Training Area (SWBTA), one of the most significant military training areas and a significant protected area in Australia, as a case study. A questionnaire survey conducted showed, overall, that EAT was effective from the perspective of a sample of participants. Recommendations are made for the ADF to refine EAT for future exercises.Keywords: Australian Defence Force, effectiveness evaluation, Environmental Awareness Training, Shoalwater Bay Training Area
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17544199 Fuzzy Separation Bearing Control for Mobile Robots Formation
Authors: A. Bazoula, H. Maaref
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In this article we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proven by simulation on different situation.
Keywords: Autonomous mobile robot, Formation control, Fuzzy logic control, Multiple robots, Leader-Follower.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17124198 The Effect of the Tool Geometry and Cutting Conditions on the Tool Deflection and Cutting Forces
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In this paper by measuring the cutting forces the effect of the tool shape and qualifications (sharp and worn cutting tools of both vee and knife edge profile) and cutting conditions (depth of cut and cutting speed) in the turning operation on the tool deflection and cutting force is investigated. The workpiece material was mild steel and the cutting tool was made of high speed steel. Cutting forces were measured by a dynamometer (type P.E.I. serial No 154). The dynamometer essentially consisted of a cantilever structure which held the cutting tool. Deflection of the cantilever was measured by an L.V.D.T (Mercer 122) deflection indicator. No cutting fluid was used during the turning operations. A modern CNC lathe machine (Okuma LH35-N) was used for the tests. It was noted that worn vee profile tools tended to produce a greater increase in the vertical force component than the axial component, whereas knife tools tended to show a more pronounced increase in the axial component.Keywords: Cutting force, Tool deflection, Turning, Cuttingconditions.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 33414197 Stochastic Model Predictive Control for Linear Discrete-Time Systems with Random Dither Quantization
Authors: Tomoaki Hashimoto
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Recently, feedback control systems using random dither quantizers have been proposed for linear discrete-time systems. However, the constraints imposed on state and control variables have not yet been taken into account for the design of feedback control systems with random dither quantization. Model predictive control is a kind of optimal feedback control in which control performance over a finite future is optimized with a performance index that has a moving initial and terminal time. An important advantage of model predictive control is its ability to handle constraints imposed on state and control variables. Based on the model predictive control approach, the objective of this paper is to present a control method that satisfies probabilistic state constraints for linear discrete-time feedback control systems with random dither quantization. In other words, this paper provides a method for solving the optimal control problems subject to probabilistic state constraints for linear discrete-time feedback control systems with random dither quantization.Keywords: Optimal control, stochastic systems, discrete-time systems, probabilistic constraints, random dither quantization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11384196 Implicit Lyapunov Control of Multi-Control Hamiltonians Systems Based On the State Error
Authors: Fangfang Meng, Shuang Cong
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In the closed quantum system, if the control system is strongly regular and all other eigenstates are directly coupled to the target state, the control system can be asymptotically stabilized at the target eigenstate by the Lyapunov control based on the state error. However, if the control system is not strongly regular or as long as there is one eigenstate not directly coupled to the target state, the situations will become complicated. In this paper, we propose an implicit Lyapunov control method based on the state error to solve the convergence problems for these two degenerate cases. And at the same time, we expand the target state from the eigenstate to the arbitrary pure state. Especially, the proposed method is also applicable in the control system with multi-control Hamiltonians. On this basis, the convergence of the control systems is analyzed using the LaSalle invariance principle. Furthermore, the relation between the implicit Lyapunov functions of the state distance and the state error is investigated. Finally, numerical simulations are carried out to verify the effectiveness of the proposed implicit Lyapunov control method. The comparisons of the control effect using the implicit Lyapunov control method based on the state distance with that of the state error are given.
Keywords: Implicit Lyapunov control, state error, degenerate cases, convergence.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14914195 Design of an Augmented Automatic Choosing Control with Constrained Input by Lyapunov Functions Using Gradient Optimization Automatic Choosing Functions
Authors: Toshinori Nawata
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In this paper a nonlinear feedback control called augmented automatic choosing control (AACC) for a class of nonlinear systems with constrained input is presented. When designed the control, a constant term which arises from linearization of a given nonlinear system is treated as a coefficient of a stable zero dynamics. Parameters of the control are suboptimally selected by maximizing the stable region in the sense of Lyapunov with the aid of a genetic algorithm. This approach is applied to a field excitation control problem of power system to demonstrate the splendidness of the AACC. Simulation results show that the new controller can improve performance remarkably well.
Keywords: Augmented automatic choosing control, nonlinear control, genetic algorithm, zero dynamics.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17264194 Design and Motion Control of a Two-Wheel Inverted Pendulum Robot
Authors: Shiuh-Jer Huang, Su-Shean Chen, Sheam-Chyun Lin
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Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results.
Keywords: Balance control, speed control, intelligent controller and two wheel inverted pendulum.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11644193 Feasibility Study of Distributed Lightless Intersection Control with Level 1 Autonomous Vehicles
Authors: Bo Yang, Christopher Monterola
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Urban intersection control without the use of the traffic light has the potential to vastly improve the efficiency of the urban traffic flow. For most proposals in the literature, such lightless intersection control depends on the mass market commercialization of highly intelligent autonomous vehicles (AV), which limits the prospects of near future implementation. We present an efficient lightless intersection traffic control scheme that only requires Level 1 AV as defined by NHTSA. The technological barriers of such lightless intersection control are thus very low. Our algorithm can also accommodate a mixture of AVs and conventional vehicles. We also carry out large scale numerical analysis to illustrate the feasibility, safety and robustness, comfort level, and control efficiency of our intersection control scheme.
Keywords: Intersection control, autonomous vehicles, traffic modelling, intelligent transport system.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16124192 Optimization of Process Parameters for Friction Stir Welding of Cast Alloy AA7075 by Taguchi Method
Authors: Dhairya Partap Sing, Vikram Singh, Sudhir Kumar
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This investigation proposes Friction stir welding technique to solve the fusion welding problems. Objectives of this investigation are fabrication of AA7075-10%wt. Silicon carbide (SiC) aluminum metal matrix composite and optimization of optimal process parameters of friction stir welded AA7075-10%wt. SiC Composites. Composites were prepared by the mechanical stir casting process. Experiments were performed with four process parameters such as tool rotational speed, weld speed, axial force and tool geometry considering three levels of each. The quality characteristics considered is joint efficiency (JE). The welding experiments were conducted using L27 orthogonal array. An orthogonal array and design of experiments were used to give best possible welding parameters that give optimal JE. The fabricated welded joints using rotational speed of 1500 rpm, welding speed (1.3 mm/sec), axial force (7 k/n) of and tool geometry (square) give best possible results. Experimental result reveals that the tool rotation speed, welding speed and axial force are the significant process parameters affecting the welding performance. The predicted optimal value of percentage JE is 95.621. The confirmation tests also have been done for verifying the results.
Keywords: Metal matrix composite, axial force, joint efficiency, rotational speed, traverse speed, tool geometry.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 8554191 Stabilization of a New Configurable Two- Wheeled Machine Using a PD-PID and a Hybrid FL Control Strategies: A Comparative Study
Authors: M. Almeshal, M. O. Tokhi, K. M. Goher
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A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque.
Keywords: double inverted pendulum, modelling, robust control, simulation,
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15274190 Soil Moisture Control System: A Product Development Approach
Authors: Swapneel U. Naphade, Dushyant A. Patil, Satyabodh M. Kulkarni
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In this work, we propose the concept and geometrical design of a soil moisture control system (SMCS) module by following the product development approach to develop an inexpensive, easy to use and quick to install product targeted towards agriculture practitioners. The module delivers water to the agricultural land efficiently by sensing the soil moisture and activating the delivery valve. We start with identifying the general needs of the potential customer. Then, based on customer needs we establish product specifications and identify important measuring quantities to evaluate our product. Keeping in mind the specifications, we develop various conceptual solutions of the product and select the best solution through concept screening and selection matrices. Then, we develop the product architecture by integrating the systems into the final product. In the end, the geometric design is done using human factors engineering concepts like heuristic analysis, task analysis, and human error reduction analysis. The result of human factors analysis reveals the remedies which should be applied while designing the geometry and software components of the product. We find that to design the best grip in terms of comfort and applied force, for a power-type grip, a grip-diameter of 35 mm is the most ideal.
Keywords: Agriculture, human factors, product design, soil moisture control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12964189 Design of Thermal Control Subsystem for TUSAT Telecommunication Satellite
Authors: N. Sozbir, M. Bulut, M.F.Oktem, A.Kahriman, A. Chaix
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TUSAT is a prospective Turkish Communication Satellite designed for providing mainly data communication and broadcasting services through Ku-Band and C-Band channels. Thermal control is a vital issue in satellite design process. Therefore, all satellite subsystems and equipments should be maintained in the desired temperature range from launch to end of maneuvering life. The main function of the thermal control is to keep the equipments and the satellite structures in a given temperature range for various phases and operating modes of spacecraft during its lifetime. This paper describes the thermal control design which uses passive and active thermal control concepts. The active thermal control is based on heaters regulated by software via thermistors. Alternatively passive thermal control composes of heat pipes, multilayer insulation (MLI) blankets, radiators, paints and surface finishes maintaining temperature level of the overall carrier components within an acceptable value. Thermal control design is supported by thermal analysis using thermal mathematical models (TMM).Keywords: Spacecraft thermal control, design of thermal control.
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