Search results for: Fuzzy controller

Authors: Kazuya Sato, Toru Kasahara, Junji Kuroda, Tomoyuki Izu

Abstract:

In this paper, an autonomous hovering control method of multicopter using only Web camera is proposed. Recently, various control method of an autonomous flight for multicopter are proposed. But, in the previous proposed methods, a motion capture system (i. e., OptiTrack) and laser range finder are often used to measure the position and posture of multicopter. To achieve an autonomous flight control of multicopter with simple equipments, we propose an autonomous flight control method using AR marker and Web camera. AR marker can measure the position of multicopter with Cartesian coordinate in three dimensional, then its position connects with aileron, elevator, and accelerator throttle operation. A simple PID control method is applied to the each operation and adjust the controller gains. Experimental results are given to show the effectiveness of our proposed method. Moreover, another simple operation method for autonomous flight control multicopter is also proposed.

Keywords: Autonomous hovering control, multicopter, Web camera.

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Authors: Wen-Pai Wang, Mei-Ching Tang

Abstract:

The service sector continues to grow and the percentage of GDP accounted for by service industries keeps increasing. The growth and importance of service to an economy is not just a phenomenon of advanced economies, service is now a majority of the world gross domestic products. However, the performance evaluation process of new service development problems generally involves uncertain and imprecise data. This paper presents a 2-tuple fuzzy linguistic computing approach to dealing with heterogeneous information and information loss problems while the processes of subjective evaluation integration. The proposed method based on group decision-making scenario to assist business managers in measuring performance of new service development manipulates the heterogeneity integration processes and avoids the information loss effectively.

Keywords: Heterogeneity, Multigranular linguistic computing, New service development, Performance evaluation.

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Authors: Azizan Bin Saaban, Adyda Binti Ibrahim, Mohammad Shehzad, Israr Ahmad

Abstract:

In chaos synchronization, the main goal is to design such controller(s) that synchronizes the states of master and slave system asymptotically globally. This paper studied and investigated the synchronization problem of two identical Chen, and identical Tigan chaotic systems and two non-identical Chen and Tigan chaotic systems using Non-linear active control algorithm. In this study, based on Lyapunov stability theory and using non-linear active control algorithm, it has been shown that the proposed schemes have excellent transient performance using only two nonlinear controllers and have shown analytically as well as graphically that synchronization is asymptotically globally stable.

Keywords: Nonlinear Active Control, Chen and Tigan Chaotic systems, Lyapunov Stability theory, Synchronization.

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Authors: H. Zainuddin, F. Hanafi, M. H. Hairi, A. Aman, M.H.N. Talib

Abstract:

This paper investigates the effects of knowledge-based acceleration feedback control integrated with Automatic Generation Control (AGC) to enhance the quality of frequency control of governing system. The Intelligent Acceleration Feedback Controller (IAFC) is proposed to counter the over and under frequency occurrences due to major load change in power system network. Therefore, generator tripping and load shedding operations can be reduced. Meanwhile, the integration of IAFC with AGC, a well known Load-Frequency Control (LFC) is essential to ensure the system frequency is restored to the nominal value. Computer simulations of frequency response of governing system are used to optimize the parameters of IAFC. As a result, there is substantial improvement on the LFC of governing system that employing the proposed control strategy.

Keywords: Knowledge-based Supplementary Control, Acceleration Feedback, Load Frequency Control, Automatic Generation Control.

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Authors: M. Kalamani, S. Valarmathy, M. Krishnamoorthi

Abstract:

In this paper, Fuzzy C-Means clustering with Expectation Maximization-Gaussian Mixture Model based hybrid modeling algorithm is proposed for Continuous Tamil Speech Recognition. The speech sentences from various speakers are used for training and testing phase and objective measures are between the proposed and existing Continuous Speech Recognition algorithms. From the simulated results, it is observed that the proposed algorithm improves the recognition accuracy and F-measure up to 3% as compared to that of the existing algorithms for the speech signal from various speakers. In addition, it reduces the Word Error Rate, Error Rate and Error up to 4% as compared to that of the existing algorithms. In all aspects, the proposed hybrid modeling for Tamil speech recognition provides the significant improvements for speechto- text conversion in various applications.

Keywords: Speech Segmentation, Feature Extraction, Clustering, HMM, EM-GMM, CSR.

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Authors: Giovanni Incerti

Abstract:

The motion planning technique described in this paper has been developed to eliminate or reduce the residual vibrations of belt-driven rotary platforms, while maintaining unchanged the motion time and the total angular displacement of the platform. The proposed approach is based on a suitable choice of the motion command given to the servomotor that drives the mechanical device; this command is defined by some numerical coefficients which determine the shape of the displacement, velocity and acceleration profiles. Using a numerical optimization technique, these coefficients can be changed without altering the continuity conditions imposed on the displacement and its time derivatives at the initial and final time instants. The proposed technique can be easily and quickly implemented on an actual device, since it requires only a simple modification of the motion command profile mapped in the memory of the electronic motion controller.

Keywords: Command shaping, residual vibrations, belt transmission, servomechanism.

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Authors: Amany M. El-Zonkoly, Hussein Desouki

Abstract:

Distance protection of transmission lines including advanced flexible AC transmission system (FACTS) devices has been a very challenging task. FACTS devices of interest in this paper are static synchronous series compensators (SSSC) and unified power flow controller (UPFC). In this paper, a new algorithm is proposed to detect and classify the fault and identify the fault position in a transmission line with respect to a FACTS device placed in the midpoint of the transmission line. Discrete wavelet transformation and wavelet entropy calculations are used to analyze during fault current and voltage signals of the compensated transmission line. The proposed algorithm is very simple and accurate in fault detection and classification. A variety of fault cases and simulation results are introduced to show the effectiveness of such algorithm.

Keywords: Entropy calculation, FACTS, SSSC, UPFC, wavelet transform.

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Authors: Niloufar Ghoreishi, Ali Nekouzadeh

Abstract:

The stability of the flight during maneuvering and in response to probable perturbations is one of the most essential features of an aircraft that should be analyzed and designed for. In this study, we derived the non-linear governing equations of aircraft dynamics during the climb/descend phase and simulated a model aircraft. The corresponding force and moment dimensionless coefficients of the model and their variations with elevator angle and other relevant aerodynamic parameters were measured experimentally. The short-period mode and phugoid mode response were simulated by solving the governing equations numerically and then compared with the desired stability parameters for the particular level, category, and class of the aircraft model. To meet the target stability, a controller was designed and used. This resulted in significant improvement in the stability parameters of the flight.

Keywords: Flight stability, phugoid mode, short period mode, climb phase, damping coefficient.

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Authors: Igor Astrov, Mikhail Pikkov

Abstract:

This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a multirate neural control of an AUV trajectory using neural network model reference controller for a nontrivial mid-small size AUV "r2D4" stochastic model. This control system has been demonstrated and evaluated by simulation of diving maneuvers using software package Simulink. From the simulation results it can be seen that the chosen AUV model is stable in the presence of high noise, and also can be concluded that the fast SA of similar AUV systems with economy in energy of batteries can be asserted during the underwater missions in search-and-rescue operations.

Keywords: Autonomous underwater vehicles, multirate systems, neurocontrollers, situational awareness.

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Authors: Malika Yaici, Kamel Hariche, Tim Clarke

Abstract:

The relationship between eigenstructure (eigenvalues and eigenvectors) and latent structure (latent roots and latent vectors) is established. In control theory eigenstructure is associated with the state space description of a dynamic multi-variable system and a latent structure is associated with its matrix fraction description. Beginning with block controller and block observer state space forms and moving on to any general state space form, we develop the identities that relate eigenvectors and latent vectors in either direction. Numerical examples illustrate this result. A brief discussion of the potential of these identities in linear control system design follows. Additionally, we present a consequent result: a quick and easy method to solve the polynomial eigenvalue problem for regular matrix polynomials.

Keywords: Eigenvalues/Eigenvectors, Latent values/vectors, Matrix fraction description, State space description.

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Authors: P. Sankar, P. James Daniel Paul, Siddhant Sahu

Abstract:

A brief review of the empirical studies on the methodology of the stock market decision support would indicate that they are at a threshold of validating the accuracy of the traditional and the fuzzy, artificial neural network and the decision trees. Many researchers have been attempting to compare these models using various data sets worldwide. However, the research community is on the way to the conclusive confidence in the emerged models. This paper attempts to use the automotive sector stock prices from National Stock Exchange (NSE), India and analyze them for the intra-sectorial support for stock market decisions. The study identifies the significant variables and their lags which affect the price of the stocks using OLS analysis and decision tree classifiers.

Keywords: Indian Automotive Sector, Stock Market Decisions, Equity Portfolio Analysis, Decision Tree Classifiers, Statistical Data Analysis.

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Authors: Magdy B. Eteiba, Wael Ismael Wahba, Shimaa Barakat

Abstract:

This paper presents a fault identification, classification and fault location estimation method based on Discrete Wavelet Transform and Adaptive Network Fuzzy Inference System (ANFIS) for medium voltage cable in the distribution system.

Different faults and locations are simulated by ATP/EMTP, and then certain selected features of the wavelet transformed signals are used as an input for a training process on the ANFIS. Then an accurate fault classifier and locator algorithm was designed, trained and tested using current samples only. The results obtained from ANFIS output were compared with the real output. From the results, it was found that the percentage error between ANFIS output and real output is less than three percent. Hence, it can be concluded that the proposed technique is able to offer high accuracy in both of the fault classification and fault location.

Keywords: ANFIS, Fault location, Underground Cable, Wavelet Transform.

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Authors: Thamer Ali Albahkali

Abstract:

The challenge in the swing-up problem of double inverted pendulum on a cart (DIPC) is to design a controller that bring all DIPC's states, especially the joint angles of the two links, into the region of attraction of the desired equilibrium. This paper proposes a new method to swing-up DIPC based on a series of restto- rest maneuvers of the first link about its vertically upright configuration while holding the cart fixed at the origin. The rest-torest maneuvers are designed such that each one results in a net gain in energy of the second link. This results in swing-up of DIPC-s configuration to the region of attraction of the desired equilibrium. A three-step algorithm is provided for swing-up control followed by the stabilization step. Simulation results with a comparison to an experimental work done in the literature are presented to demonstrate the efficacy of the approach.

Keywords: Double Inverted pendulum, Impulse, momentum, underactuated

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Authors: S. M. Nigdeli, M. H. Boduroglu

Abstract:

In this study, active tendons with Proportional Integral Derivation type controllers were applied to a SDOF and a MDOF building model. Physical models of buildings were constituted with virtual springs, dampers and rigid masses. After that, equations of motion of all degrees of freedoms were obtained. Matlab Simulink was utilized to obtain the block diagrams for these equations of motion. Parameters for controller actions were found by using a trial method. After earthquake acceleration data were applied to the systems, building characteristics such as displacements, velocities, accelerations and transfer functions were analyzed for all degrees of freedoms. Comparisons on displacement vs. time, velocity vs. time, acceleration vs. time and transfer function (Db) vs. frequency (Hz) were made for uncontrolled and controlled buildings. The results show that the method seems feasible.

Keywords: Active Tendons, Proportional Integral DerivationType Controllers, SDOF, MDOF, Earthquake, Building.

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Authors: Ahmed Hossam-Eldin, Ahmed Elserougi, Ahmed Massoud, Shehab Ahmed

Abstract:

The Inter feeder Power Flow Regulator (IFPFR) proposed in this paper consists of several voltage source inverters with common dc bus; each inverter is connected in series with one of different independent distribution feeders in the power system. This paper is concerned with how to transfer power between the feeders for load sharing purpose. The power controller of each inverter injects the power (for sending feeder) or absorbs the power (for receiving feeder) via injecting suitable voltage; this voltage injection is simulated by voltage drop across series virtual impedance, the impedance value is selected to achieve the concept of power exchange between the feeders without perturbing the load voltage magnitude of each feeder. In this paper a new control scheme for load sharing using IFPFR is proposed.

Keywords: IFPFR, Load sharing, Power transfer

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Authors: Pierre Kenfack

Abstract:

In this paper we present a contribution for the modelling and control of the inverter voltage of a permanent magnet linear generator with multi air-gap structure. The time domain control method is based on instant comparison of reference signals, in the form of current or voltage, with actual or measured signals. The reference current or voltage must be kept close to the actual signal with a reasonable tolerance. In this work, the time domain control method is used to control tracking signals. The performance evaluation concerns the continuation of reference signal. Simulations validate very well the tracking of reference variables (current, voltage) by measured or actual signals. All is simulated and presented under PSIM Software to show the performance and robustness of the proposed controller.

Keywords: Control, permanent magnet, linear machine, multi air-gap structure.

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Authors: Ioannis P. Panapakidis, Marios N. Moschakis

Abstract:

The Greek Energy Market is structured as a mandatory pool where the producers make their bid offers in day-ahead basis. The System Operator solves an optimization routine aiming at the minimization of the cost of produced electricity. The solution of the optimization problem leads to the calculation of the System Marginal Price (SMP). Accurate forecasts of the SMP can lead to increased profits and more efficient portfolio management from the producer`s perspective. Aim of this study is to provide a comparative analysis of various machine learning models such as artificial neural networks and neuro-fuzzy models for the prediction of the SMP of the Greek market. Machine learning algorithms are favored in predictions problems since they can capture and simulate the volatilities of complex time series.

Keywords: Deregulated energy market, forecasting, machine learning, system marginal price, energy efficiency and quality.

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Authors: Wen-Pai Wang

Abstract:

The growing influence of service industries has prompted greater attention being paid to service operations management. However, service managers often have difficulty articulating the veritable effects of their service innovation. Especially, the performance evaluation process of service innovation problems generally involves uncertain and imprecise data. This paper presents a 2-tuple fuzzy linguistic computing approach to dealing with heterogeneous information and information loss problems while the processes of subjective evaluation integration. The proposed method based on group decision-making scenario to assist business managers in measuring performance of service innovation manipulates the heterogeneity integration processes and avoids the information loss effectively.

Keywords: Group decision-making, Heterogeneity, Linguisticcomputing, Multi-criteria, Service innovation

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Authors: Tainchi Lu, Chochih Lin

Abstract:

With a rapid growth in 3D graphics technology over the last few years, people are desired to see more flexible reacting motions of a biped in animations. In particular, it is impossible to anticipate all reacting motions of a biped while facing a perturbation. In this paper, we propose a three-level tracking method for animating a 3D humanoid character. First, we take the laws of physics into account to attach physical attributes, such as mass, gravity, friction, collision, contact, and torque, to bones and joints of a character. The next step is to employ PD controller to follow a reference motion as closely as possible. Once the character cannot tolerate a strong perturbation to prevent itself from falling down, we are capable of tracking a desirable falling-down action to avoid any falling condition inaccuracy. From the experimental results, we demonstrate the effectiveness and flexibility of the proposed method in comparison with conventional data-driven approaches.

Keywords: Character Animation, Forward Dynamics, Motion Tracking, PD Control.

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Authors: Pankaj Swarnkar, Shailendra Jain, R.K Nema

Abstract:

Adaptive control involves modifying the control law used by the controller to cope with the fact that the parameters of the system being controlled change drastically due to change in environmental conditions or in system itself. This technique is based on the fundamental characteristic of adaptation of living organism. The adaptive control process is one that continuously and automatically measures the dynamic behavior of plant, compares it with the desired output and uses the difference to vary adjustable system parameters or to generate an actuating signal in such a way so that optimal performance can be maintained regardless of system changes. This paper deals with application of model reference adaptive control scheme in first order system. The rule which is used for this application is MIT rule. This paper also shows the effect of adaptation gain on the system performance. Simulation is done in MATLAB and results are discussed in detail.

Keywords: Adaptive control system, Adaptation gain, MIT rule, Model reference adaptive control.

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Authors: M. H. Moradi, S. M. Moosavi, A. R. Reisi

Abstract:

The main objective of this paper is to investigate the enhancement of power system stability via coordinated tuning of Power System Stabilizers (PSSs) in a multi-machine power system. The design problem of the proposed controllers is formulated as an optimization problem. Chaotic catfish particle swarm optimization (C-Catfish PSO) algorithm is used to minimize the ITAE objective function. The proposed algorithm is evaluated on a two-area, 4- machines system. The robustness of the proposed algorithm is verified on this system under different operating conditions and applying a three-phase fault. The nonlinear time-domain simulation results and some performance indices show the effectiveness of the proposed controller in damping power system oscillations and this novel optimization algorithm is compared with particle swarm optimization (PSO).

Keywords: Power system stabilizer, C-Catfish PSO, ITAE objective function, Power system control, Multi-machine power system

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Authors: Kariyappa B. S., Hariprasad S. A., R. Nagaraj

Abstract:

In this paper, a new method of controlling position of AC Servomotor using Field Programmable Gate Array (FPGA). FPGA controller is used to generate direction and the number of pulses required to rotate for a given angle. Pulses are sent as a square wave, the number of pulses determines the angle of rotation and frequency of square wave determines the speed of rotation. The proposed control scheme has been realized using XILINX FPGA SPARTAN XC3S400 and tested using MUMA012PIS model Alternating Current (AC) servomotor. Experimental results show that the position of the AC Servo motor can be controlled effectively. KeywordsAlternating Current (AC), Field Programmable Gate Array (FPGA), Liquid Crystal Display (LCD).

Keywords: Alternating Current (AC), Field Programmable Gate Array (FPGA), Liquid Crystal Display (LCD).

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Authors: P. Georgieva, S. Feyo de Azevedo

Abstract:

This paper is focused on issues of process modeling and two model based control strategies of a fed-batch sugar crystallization process applying the concept of artificial neural networks (ANNs). The control objective is to force the operation into following optimal supersaturation trajectory. It is achieved by manipulating the feed flow rate of sugar liquor/syrup, considered as the control input. The control task is rather challenging due to the strong nonlinearity of the process dynamics and variations in the crystallization kinetics. Two control alternatives are considered – model predictive control (MPC) and feedback linearizing control (FLC). Adequate ANN process models are first built as part of the controller structures. MPC algorithm outperforms the FLC approach with respect to satisfactory reference tracking and smooth control action. However, the MPC is computationally much more involved since it requires an online numerical optimization, while for the FLC an analytical control solution was determined.

Keywords: artificial neural networks, nonlinear model control, process identification, crystallization process

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Authors: Poramate Manoonpong, Frank Pasemann, Florentin Wörgötter

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This paper describes reactive neural control used to generate phototaxis and obstacle avoidance behavior of walking machines. It utilizes discrete-time neurodynamics and consists of two main neural modules: neural preprocessing and modular neural control. The neural preprocessing network acts as a sensory fusion unit. It filters sensory noise and shapes sensory data to drive the corresponding reactive behavior. On the other hand, modular neural control based on a central pattern generator is applied for locomotion of walking machines. It coordinates leg movements and can generate omnidirectional walking. As a result, through a sensorimotor loop this reactive neural controller enables the machines to explore a dynamic environment by avoiding obstacles, turn toward a light source, and then stop near to it.

Keywords: Recurrent neural networks, Walking robots, Modular neural control, Phototaxis, Obstacle avoidance behavior.

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Authors: Hassan Ghasemzadeh, Sepideh Mazrouee, Hassan Goldani Moghaddam, Hamid Shojaei, Mohammad Reza Kakoee

Abstract:

Block replacement algorithms to increase hit ratio have been extensively used in cache memory management. Among basic replacement schemes, LRU and FIFO have been shown to be effective replacement algorithms in terms of hit rates. In this paper, we introduce a flexible stack-based circuit which can be employed in hardware implementation of both LRU and FIFO policies. We propose a simple and efficient architecture such that stack-based replacement algorithms can be implemented without the drawbacks of the traditional architectures. The stack is modular and hence, a set of stack rows can be cascaded depending on the number of blocks in each cache set. Our circuit can be implemented in conjunction with the cache controller and static/dynamic memories to form a cache system. Experimental results exhibit that our proposed circuit provides an average value of 26% improvement in storage bits and its maximum operating frequency is increased by a factor of two

Keywords: Cache Memory, Replacement Algorithms, LeastRecently Used Algorithm, First In First Out Algorithm.

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Authors: Seung You Na, Daejung Shin, Jin Young Kim, Joo Hyun Jung, Yong-Gwan Won

Abstract:

To explore pipelines is one of various bio-mimetic robot applications. The robot may work in common buildings such as between ceilings and ducts, in addition to complicated and massive pipeline systems of large industrial plants. The bio-mimetic robot finds any troubled area or malfunction and then reports its data. Importantly, it can not only prepare for but also react to any abnormal routes in the pipeline. The pipeline monitoring tasks require special types of mobile robots. For an effective movement along a pipeline, the movement of the robot will be similar to that of insects or crawling animals. During its movement along the pipelines, a pipeline monitoring robot has an important task of finding the shapes of the approaching path on the pipes. In this paper we propose an effective solution to the pipeline pattern recognition, based on the fuzzy classification rules for the measured IR distance data.

Keywords: Bio-mimetic robots, Plant pipes monitoring, Pipepattern recognition.

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Authors: Biswajit Biswas

Abstract:

Demand of energy is increasing faster than the generation. It leads shortage of power in all sectors of society. At peak hours this shortage is higher. Unless we utilize energy efficient technology, it is very difficult to minimize the shortage of energy. So energy efficiency program and energy conservation has an important role. Energy efficient technologies are cost intensive hence it is always not possible to implement in country like India. In the recent study, an educational building with operating hours from 10:00 a.m. to 05:00 p.m. has been selected to quantify the possibility of lighting energy conservation. As the operating hour is in daytime, integration of daylight with artificial lighting system will definitely reduce the lighting energy consumption. Moreover the initial investment has been given priority and hence the existing lighting installation was unaltered. An automatic controller has been designed which will be operated as a function of daylight through windows and the lighting system of the room will function accordingly. The result of the study of integrating daylight gave quite satisfactory for visual comfort as well as energy conservation.

Keywords: Lighting energy, energy efficiency, daylight, illumination, energy conservation.

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Authors: Markus Mazzola, Gunther Schaaf

Abstract:

A vehicle driving with an Adaptive Cruise Control System (ACC) is usually controlled decentrally, based on the information of radar systems and in some publications based on C2X-Communication (CACC) to guarantee stable platoons. In this paper we present a Model Predictive Control (MPC) design of a centralized, server-based ACC-System, whereby the vehicular platoon is modeled and controlled as a whole. It is then proven that the proposed MPC design guarantees asymptotic stability and hence string stability of the platoon. The Networked MPC design is chosen to be able to integrate system constraints optimally as well as to reduce the effects of communication delay and packet loss. The performance of the proposed controller is then simulated and analyzed in an LTE communication scenario using the LTE/EPC Network Simulator LENA, which is based on the ns-3 network simulator.

Keywords: Adaptive Cruise Control, Centralized Server, Networked Model Predictive Control, String Stability.

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Authors: T. S. Chou, K. K. Yen, J. Luo

Abstract:

The network traffic data provided for the design of intrusion detection always are large with ineffective information and enclose limited and ambiguous information about users- activities. We study the problems and propose a two phases approach in our intrusion detection design. In the first phase, we develop a correlation-based feature selection algorithm to remove the worthless information from the original high dimensional database. Next, we design an intrusion detection method to solve the problems of uncertainty caused by limited and ambiguous information. In the experiments, we choose six UCI databases and DARPA KDD99 intrusion detection data set as our evaluation tools. Empirical studies indicate that our feature selection algorithm is capable of reducing the size of data set. Our intrusion detection method achieves a better performance than those of participating intrusion detectors.

Keywords: Intrusion detection, feature selection, k-nearest neighbors, fuzzy clustering, Dempster-Shafer theory

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Authors: Dongho Kim, Sung Choi, Kyowoong Pee, Youngsik Cho, Seungwoo Jeong, Soo-Ho Kim

Abstract:

This study is about the orbital TIG welding robot system which travels on the guide rail installed on the pipe, and welds and tracks the pipe seam using the LVS (Laser Vision Sensor) joint profile data. The orbital welding robot system consists of the robot, welder, controller, and LVS. Moreover we can define the relationship between welding travel speed and wire feed speed, and we can make the linear equation using the maximum and minimum amount of weld metal. Using the linear equation we can determine the welding travel speed and the wire feed speed accurately corresponding to the area of weld captured by LVS. We applied this orbital TIG welding robot system to the stainless steel or duplex pipe on DSME (Daewoo Shipbuilding and Marine Engineering Co. Ltd.,) shipyard and the result of radiographic test is almost perfect. (Defect rate: 0.033%).

Keywords: Adaptive welding, automatic welding, Pipe welding, Orbital welding, Laser vision sensor, LVS, welding D/B.

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