Search results for: control/driving technique

Authors: H. Golchoobian, M. H. Taheri, S. Saedodin, A. Sarafraz

Abstract:

This paper investigates the possibility of using three systems of organic Rankine auxiliary power generation, ejector refrigeration and absorption to recover energy from a diesel car. The analysis is done for both urban and suburban driving modes that vary from 60 to 120 km/h. Various refrigerants have also been used for organic Rankine and Ejector refrigeration cycles. The capacity was evaluated by Organic Rankine Cycle (ORC) system in both urban and suburban conditions for cyclopentane and ammonia as refrigerants. Also, for these two driving plans, produced cooling by absorption refrigeration system under variable ambient temperature conditions and in ejector refrigeration system for R123, R134a and R141b refrigerants were investigated.

Keywords: Absorption system, diesel engine, ejector refrigeration, energy recovery, organic Rankine cycle.

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Authors: Dante Jose R. Amisola, Glenford M. Prospero

Abstract:

'Driving What’s Next' is a strong campaign of the new administration of De La Salle Lipa in promoting social innovation in quality education. The new leadership directs social innovation in quality education in the institutional directions and initiatives to address real-world challenges with real-world solutions. This research under study aims to qualify the commitment of the institution to extend the Lasallian quality human and Christian education to all, as expressed in the Institution’s new mission-vision statement. The Classic Grounded Theory methodology is employed in the process of generating concepts in reference to the documents, a series of meetings, focus group discussions and other related activities that account for the conceptualization and formulation of the new mission-vision along with the new education innovation framework. Notably, Driving What’s Next is the emergent theory that encapsulates the commitment of giving quality human and Christian education to all. It directs the new leadership in driving social innovation in quality education initiatives. Correspondingly, Driving What’s Next is continually resolved through four interrelated strategies also termed as the institution's four strategic directions, namely: (1) driving social innovation in quality education, (2) embracing our shared humanity and championing social inclusion and justice initiatives, (3) creating sustainable futures and (4) engaging diverse stakeholders in our shared mission. Significantly, the four strategic directions capture and integrate the 17 UN sustainable development goals, making the innovative curriculum locally and globally relevant. To conclude, the main concern of the new administration and how it is continually resolved, provide meaningful and fun learning experiences and promote a new way of learning in the light of the 21^st century skills among the members of the academic community including stakeholders and extended communities at large, which are defined as: learning together and by association (collaboration), learning through engagement (communication), learning by design (creativity) and learning with social impact (critical thinking).

Keywords: De La Salle Lipa, Driving What’s Next, social innovation in quality education, DLSL mission - vision, strategic directions.

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Authors: U. Chattaraj, K. Dhusiya, M. Raviteja

Abstract:

Perception reaction time of drivers is an outcome of human thought process, which is vague and approximate in nature and also varies from driver to driver. So, in this study a fuzzy logic based model for prediction of the same has been presented, which seems suitable. The control factors, like, age, experience, intensity of driving of the driver, speed of the vehicle and distance of stimulus have been considered as premise variables in the model, in which the perception reaction time is the consequence variable. Results show that the model is able to explain the impacts of the control factors on perception reaction time properly.

Keywords: Driver, fuzzy logic, perception reaction time, premise variable.

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Authors: Abdurrahman Arslanyilmaz, Salman Al Matouq, Durmus V. Doner

Abstract:

Level 3 autonomous vehicles are able to take full responsibility over the control of the vehicle unless a system boundary is reached or a system failure occurs, in which case, the driver is expected to take-over the control of the vehicle. While this happens, the driver is often not aware of the traffic situation or is engaged in a secondary task. Factors affecting the duration and quality of take-overs in these situations have included secondary task type and nature, traffic density, take-over request (TOR) time, and TOR warning type and modality. However, to the best of the authors’ knowledge, no prior study examined time buffer for TORs when a system failure occurs immediately before intersections. The first objective of this study is to investigate the effect of time buffer (3 and 7 seconds) on the duration and quality of take-overs when a system failure occurs just prior to intersections. In addition, eye-tracking has become one of the most popular methods to report what individuals view, in what order, for how long, and how often, and it has been utilized in driving simulations with various objectives. However, to the extent of authors’ knowledge, none has compared drivers’ eye gaze behavior in the two different time buffers in order to examine drivers’ attention and comprehension of salient information. The second objective is to understand the driver’s attentional focus on comprehension of salient traffic-related information presented on different parts of the dashboard and on the roads.

Keywords: Autonomous vehicles, driving simulation, eye gaze, attention, comprehension, take-over duration, take-over quality, time buffer.

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Authors: S. V. Yendiyarov

Abstract:

Pattern discovery from time series is of fundamental importance. Particularly, when information about the structure of a pattern is not complete, an algorithm to discover specific patterns or shapes automatically from the time series data is necessary. The dynamic time warping is a technique that allows local flexibility in aligning time series. Because of this, it is widely used in many fields such as science, medicine, industry, finance and others. However, a major problem of the dynamic time warping is that it is not able to work with structural changes of a pattern. This problem arises when the structure is influenced by noise, which is a common thing in practice for almost every application. This paper addresses this problem by means of developing a novel technique called adaptive dynamic time warping.

Keywords: Pattern recognition, optimal control, quadratic programming, dynamic programming, dynamic time warping, sintering control.

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Authors: Hossein Shahinzadeh, Ladan Darougaran, Ebrahim Jalili Sani, Hamed Yavari, Mahdi Mozaffari Legha

Abstract:

This paper present a new method for design of power system stabilizer (PSS) based on sliding mode control (SMC) technique. The control objective is to enhance stability and improve the dynamic response of the multi-machine power system. In order to test effectiveness of the proposed scheme, simulation will be carried out to analyze the small signal stability characteristics of the system about the steady state operating condition following the change in reference mechanical torque and also parameters uncertainties. For comparison, simulation of a conventional control PSS (lead-lag compensation type) will be carried out. The main approach is focusing on the control performance which later proven to have the degree of shorter reaching time and lower spike.

Keywords: Power system stabilizer (PSS), multi-machine power system, sliding mode control

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Authors: Iman Mousavinejad, Reza Kazemi, , Mohsen Bayani Khaknejad

Abstract:

Active Front Steering system (AFS) provides an electronically controlled superposition of an angle to the steering wheel angle. This additional degree of freedom enables a continuous and driving-situation dependent on adaptation of the steering characteristics. In an active steering system, there needs be no fixed relationship between the steering wheel and the angle of the road wheels. Not only can the effective steering ratio be varied with speed, for example, but also the road wheel angles can be controlled by a combination of driver and computer inputs. Features like steering comfort, effort and steering dynamics are optimized and stabilizing steering interventions can be performed. In contrast to the conventional stability control, the yaw rate was fed back to AFS controller and the stability performance was optimized with Sliding Mode control (SMC) method. In addition, tire uncertainties have been taken into account in SM controller to provide the control robustness. In this paper, 3-DOF nonlinear model is used to design the AFS controller and 8-DOF nonlinear model is used to model the controlled vehicle.

Keywords: Active Front Steering (AFS), Sliding Mode Control method (SMC), Yaw rate, Vehicle Stability, Robustness

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Authors: T.C. Manjunath, B. Bandyopadhyay

Abstract:

This paper features the proposed modeling and design of a Robust Decentralized Periodic Output Feedback (RDPOF) control technique for the active vibration control of smart flexible multimodel Euler-Bernoulli cantilever beams for a multivariable (MIMO) case by retaining the first 6 vibratory modes. The beam structure is modeled in state space form using the concept of piezoelectric theory, the Euler-Bernoulli beam theory and the Finite Element Method (FEM) technique by dividing the beam into 4 finite elements and placing the piezoelectric sensor / actuator at two finite element locations (positions 2 and 4) as collocated pairs, i.e., as surface mounted sensor / actuator, thus giving rise to a multivariable model of the smart structure plant with two inputs and two outputs. Five such multivariable models are obtained by varying the dimensions (aspect ratios) of the aluminum beam, thus giving rise to a multimodel of the smart structure system. Using model order reduction technique, the reduced order model of the higher order system is obtained based on dominant eigen value retention and the method of Davison. RDPOF controllers are designed for the above 5 multivariable-multimodel plant. The closed loop responses with the RDPOF feedback gain and the magnitudes of the control input are observed and the performance of the proposed multimodel smart structure system with the controller is evaluated for vibration control.

Keywords: Smart structure, Euler-Bernoulli beam theory, Periodic output feedback control, Finite Element Method, State space model, SISO, Embedded sensors and actuators, Vibration control, Reduced order model

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Authors: Enas Elsayed Abutaleb, Mohamed Taher Eldesoky, Shahenda Abd El Rasol

Abstract:

Background: Muscle Energy Techniques (MET) have been widely used by manual therapists over the past years, but still limited research validated its use and there was limited evidence to substantiate the theories used to explain its effects. Objective: To investigate the effect of Muscle Energy Technique (MET) on anterior pelvic tilt in patients with lumbar spondylosis. Design: Randomized controlled trial. Subjects: Thirty patients with anterior pelvic tilt from both sexes were involved, aged between 35 to 50 years old and they were divided into MET and control groups with 15 patients in each. Methods: All patients received 3sessions/week for 4 weeks where the study group received MET, Ultrasound and Infrared, and the control group received U.S and I.R only. Pelvic angle was measured by palpation meter, pain severity by the visual analogue scale and functional disabilities by the Oswestry disability index. Results: Both groups showed significant improvement in all measured variables. The MET group was significantly better than the control group in pelvic angle, pain severity, and functional disability as p-value were (0.001, 0.0001, 0.0001) respectively. Conclusion and implication: the study group fulfilled greater improvement in all measured variables than the control group which implies that application of MET in combination with U.S and I.R were more effective in improving pelvic tilting angle, pain severity and functional disabilities than using electrotherapy only.

Keywords: Anterior pelvic tilt, lumbar spondylosis, muscle energy technique exercise, palpation meter.

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Authors: Jia-Shiun Chen, Hsiu-Ying Hwang

Abstract:

Hybrid electric vehicles can reduce pollution and improve fuel economy. Power-split hybrid electric vehicles (HEVs) provide two power paths between the internal combustion engine (ICE) and energy storage system (ESS) through the gears of an electrically variable transmission (EVT). EVT allows ICE to operate independently from vehicle speed all the time. Therefore, the ICE can operate in the efficient region of its characteristic brake specific fuel consumption (BSFC) map. The two-mode powertrain can operate in input-split or compound-split EVT modes and in four different fixed gear configurations. Power-split architecture is advantageous because it combines conventional series and parallel power paths. This research focuses on input-split and compound-split modes in the two-mode power-split powertrain. Fuzzy Logic Control (FLC) for an internal combustion engine (ICE) and PI control for electric machines (EMs) are derived for the urban driving cycle simulation. These control algorithms reduce vehicle fuel consumption and improve ICE efficiency while maintaining the state of charge (SOC) of the energy storage system in an efficient range.

Keywords: Hybrid electric vehicle, fuel economy, two-mode hybrid, fuzzy control.

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Authors: T.C. Manjunath, B. Bandyopadhyay

Abstract:

This paper features the modeling and design of a Fast Output Sampling (FOS) Feedback control technique for the Active Vibration Control (AVC) of a smart flexible aluminium cantilever beam for a Single Input Single Output (SISO) case. Controllers are designed for the beam by bonding patches of piezoelectric layer as sensor / actuator to the master structure at different locations along the length of the beam by retaining the first 2 dominant vibratory modes. The entire structure is modeled in state space form using the concept of piezoelectric theory, Euler-Bernoulli beam theory, Finite Element Method (FEM) and the state space techniques by dividing the structure into 3, 4, 5 finite elements, thus giving rise to three types of systems, viz., system 1 (beam divided into 3 finite elements), system 2 (4 finite elements), system 3 (5 finite elements). The effect of placing the sensor / actuator at various locations along the length of the beam for all the 3 types of systems considered is observed and the conclusions are drawn for the best performance and for the smallest magnitude of the control input required to control the vibrations of the beam. Simulations are performed in MATLAB. The open loop responses, closed loop responses and the tip displacements with and without the controller are obtained and the performance of the proposed smart system is evaluated for vibration control.

Keywords: Smart structure, Finite element method, State spacemodel, Euler-Bernoulli theory, SISO model, Fast output sampling, Vibration control, LMI

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoidance a turning angle is designed, which when incorporated into the control laws ensures that the entire robot arm avoids any number of fixed obstacles along its path enroute the target. The control laws proposed in this paper also ensure that the equilibrium point of the system is asymptotically stable. Computer simulations of the proposed technique are presented.

Keywords: 2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.

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Authors: Abduladheem A. Ali, Easa A. Abd

Abstract:

The robot is a repeated task plant. The control of such a plant under parameter variations and load disturbances is one of the important problems. The aim of this work is to design Geno-Fuzzy controller suitable for online applications to control single link rigid robot arm plant. The genetic-fuzzy online controller (indirect controller) has two genetic-fuzzy blocks, the first as controller, the second as identifier. The identification method is based on inverse identification technique. The proposed controller it tested in normal and load disturbance conditions.

Keywords: Fuzzy network, genetic algorithm, robot control, online genetic control, parameter identification.

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Authors: Krishna S. Raghuwaiya, Shonal Singh, Jito Vanualailai

Abstract:

In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.

Keywords: Control, Trajectory Tracking, Lyapunov.

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Authors: J. Fernandez de Canete, S. Gonzalez-Perez, P. del Saz-Orozco, I. Garcia-Moral

Abstract:

Robust stability and performance are the two most basic features of feedback control systems. The harmonic balance analysis technique enables to analyze the stability of limit cycles arising from a neural network control based system operating over nonlinear plants. In this work a robust stability analysis based on the harmonic balance is presented and applied to a neural based control of a non-linear binary distillation column with unstructured uncertainty. We develop ways to describe uncertainty in the form of neglected nonlinear dynamics and high harmonics for the plant and controller respectively. Finally, conclusions about the performance of the neural control system are discussed using the Nyquist stability margin together with the structured singular values of the uncertainty as a robustness measure.

Keywords: Robust stability, neural network control, unstructured uncertainty, singular values, distillation column.

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Authors: Sun-Ki Hong, Nam-HeeByeon, Jung-Seop Lee, Tae-Sam Kang

Abstract:

For Common R or R-L load to apply arbitrary voltage, the bridge traditional inverters don’t have any difficulties by PWM method. However for driving some piezoelectric actuator, arbitrary voltage not a pulse but a steady voltage should be applied. Piezoelectric load is considered as R-C load and its voltage does not decrease even though the applied voltage decreases. Therefore it needs some special inverter with circuit that can discharge the capacitive energy. Especially for unidirectional arbitrary voltage driving like as sine wave, it becomes more difficult problem. In this paper, a charge and discharge circuit for unidirectional arbitrary voltage driving for piezoelectric actuator is proposed. The circuit has charging and discharging switches for increasing and decreasing output voltage. With the proposed simple circuit, the load voltage can have any unidirectional level with tens of bandwidth because the load voltage can be adjusted by switching the charging and discharging switch appropriately. The appropriateness is proved from the simulation of the proposed circuit.

Keywords: DC-DC converter, analog output voltage, sinusoidal drive, piezoelectric load, discharging circuit.

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Authors: Abdul Rashid Husain, Mohamad Noh Ahmad, Abdul Halim Mohd Yatim

Abstract:

In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respectively, while the chattering effect in the input is attenuated. This is proven to be advantageous for AMB system since minimization of chattering results in optimized control effort. The performance of each controller is demonstrated via result of simulation in which the measurement of the total consumed energy and maximum control magnitude of each controller illustrates the effectiveness of the proposed controllers.

Keywords: Active Magnetic Bearing (AMB), Sliding Mode Control (SMC), chattering-free SMC.

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Authors: Aqeel S. Jaber, Abu Zaharin Ahmad, Ahmed N. Abdalla

Abstract:

The artificial intelligent controller in power system plays as most important rule for many applications such as system operation and its control specially Load Frequency Controller (LFC). The main objective of LFC is to keep the frequency and tie-line power close to their decidable bounds in case of disturbance. In this paper, parallel fuzzy PI adaptive with conventional PD technique for Load Frequency Control system was proposed. PSO optimization method used to optimize both of scale fuzzy PI and tuning of PD. Two equal interconnected power system areas were used as a test system. Simulation results show the effectiveness of the proposed controller compared with different PID and classical fuzzy PI controllers in terms of speed response and damping frequency.

Keywords: Load frequency control, PSO, fuzzy control.

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Authors: A. Tashakori, M. Ektesabi

Abstract:

Electric vehicle (EV) is one of the effective solutions to control emission of greenhouses gases in the world. It is of interest for future transportation due to its sustainability and efficiency by automotive manufacturers. Various electrical motors have been used for propulsion system of electric vehicles in last decades. In this paper brushed DC motor, Induction motor (IM), switched reluctance motor (SRM) and brushless DC motor (BLDC) are simulated and compared. BLDC motor is recommended for high performance electric vehicles. PWM switching technique is implemented for speed control of BLDC motor. Behavior of different modes of PWM speed controller of BLDC motor are simulated in MATLAB/SIMULINK. BLDC motor characteristics are compared and discussed for various PWM switching modes under normal and inverter fault conditions. Comparisons and discussions are verified through simulation results.

Keywords: BLDC motor, PWM switching technique, in-wheel technology, electric vehicle.

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Authors: A. Denker, U. Akıncıoğlu

Abstract:

In this paper a neural adaptive control method has been developed and applied to robot control. Simulation results are presented to verify the effectiveness of the controller. These results show that the performance by using this controller is better than those which just use either direct inverse control or predictive control. In addition, they show that the resulting is a useful method which combines the advantages of both direct inverse control and predictive control.

Keywords: Neural networks, robotics, direct inverse control, predictive control.

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Authors: A. Maamoun, Y. M. Alsayed, A. Shaltout

Abstract:

The paper presents a space-vector pulse width modulation (SVPWM) inverter feeding a permanent-magnet synchronous motor (PMSM). The SVPWM inverter enables to feed the motor with a higher voltage with low harmonic distortions than the conventional sinusoidal PWM inverter. The control strategy of the inverter is the voltage / frequency control method, which is based on the space-vector modulation technique. The proposed PMSM drive system involving the field-oriented control scheme not only decouples the torque and flux which provides faster response but also makes the control task easy. The performance of the proposed drive is simulated. The advantages of the proposed drive are confirmed by the simulation results.

Keywords: permanent-magnet synchronous motor, space-vectorPWM inverter, voltage/frequency control.

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Authors: Mehdi Karbalaye Zadeh, Ehsan M. Siavashi

Abstract:

The controllable electrical loss which consists of the copper loss and iron loss can be minimized by the optimal control of the armature current vector. The control algorithm of current vector minimizing the electrical loss is proposed and the optimal current vector can be decided according to the operating speed and the load conditions. The proposed control algorithm is applied to the experimental PM motor drive system and this paper presents a modern approach of speed control for permanent magnet synchronous motor (PMSM) applied for Electric Vehicle using a nonlinear control. The regulation algorithms are based on the feedback linearization technique. The direct component of the current is controlled to be zero which insures the maximum torque operation. The near unity power factor operation is also achieved. More over, among EV-s motor electric propulsion features, the energy efficiency is a basic characteristic that is influenced by vehicle dynamics and system architecture. For this reason, the EV dynamics are taken into account.

Keywords: PMSM, Electric Vehicle, Optimal control, Traction.

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Authors: Apinan Aurasopon, Worawat Sa-ngiavibool

Abstract:

This paper proposes a synchronized random switching frequency pulse width modulation (SRSFPWM). In this technique, the clock signal is used to control the random noise frequency which is produced by the feedback voltage of a hysteresis circuit. These make the triangular carrier frequency equaling to the random noise frequency in each switching period with the symmetrical positive and negative slopes of triangular carrier. Therefore, there is no error voltage in PWM signal. The PSpice simulated results shown the proposed technique improved the performance in case of low frequency harmonics of PWM signal comparing with conventional random switching frequency PWM.

Keywords: Random switching frequency pulse - width modulation.

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Authors: Gayadhar Panda, Sidhartha Panda, C. Ardil

Abstract:

A modified Genetic Algorithm (GA) based optimal selection of parameters for Automatic Generation Control (AGC) of multi-area electric energy systems is proposed in this paper. Simulations on multi-area reheat thermal system with and without consideration of nonlinearity like governor dead band followed by 1% step load perturbation is performed to exemplify the optimum parameter search. In this proposed method, a modified Genetic Algorithm is proposed where one point crossover with modification is employed. Positional dependency in respect of crossing site helps to maintain diversity of search point as well as exploitation of already known optimum value. This makes a trade-off between exploration and exploitation of search space to find global optimum in less number of generations. The proposed GA along with decomposition technique as developed has been used to obtain the optimum megawatt frequency control of multi-area electric energy systems. Time-domain simulations are conducted with trapezoidal integration along with decomposition technique. The superiority of the proposed method over existing one is verified from simulations and comparisons.

Keywords: Automatic Generation Control (AGC), Reheat, Proportional Integral (PI) controller, Dead Band, Genetic Algorithm(GA).

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

Abstract:

The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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Authors: Bongsoo Jeon, Jayoung Kim, Jihong Lee

Abstract:

Methods for measuring or estimating ground shape by a laser range finder and a vision sensor (Exteroceptive sensors) have critical weaknesses in terms that these methods need a prior database built to distinguish acquired data as unique surface conditions for driving. Also, ground information by Exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Therefore, this paper proposes a method of recognizing exact and precise ground shape using an Inertial Measurement Unit (IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes the attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

Keywords: Inertial Measurement Unit, Laser Range Finder, Real-time recognition of the ground shape.

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Authors: M.Y. Pua, M.C. Tan, L.W. Tan, N. Ab.Aziz, F.S. Taip

Abstract:

The most common type of controller being used in the industry is PI(D) controller which has been used since 1945 and is still being widely used due to its efficiency and simplicity. In most cases, the PI(D) controller was tuned without taking into consideration of the effect of actuator saturation. In real processes, the most common actuator which is valve will act as constraint and restrict the controller output. Since the controller is not designed to encounter saturation, the process may windup and consequently resulted in large oscillation or may become unstable. Usually, an antiwindup compensator is added to the feedback control loop to reduce the deterioration effect of integral windup. This research aims to specifically control processes with constraints. The proposed method was applied to two different types of food processes, which are blending and spray drying. Simulations were done using MATLAB and the performances of the proposed method were compared with other conventional methods. The proposed technique was able to control the processes and avoid saturation such that no anti windup compensator is needed.

Keywords: constraints, food process control, first order plusdead time process, PI

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Authors: Abdul Hadi Abdul Razak, Mohd Hairy Manap

Abstract:

The focus of this paper is to highlight the design and development of an educational game prototype as an evaluation instrument for the Malaysia driving license static test. This educational game brings gaming technology into the conventional objective static test to make it more effective, real and interesting. From the feeling of realistic, the future driver can learn something, memorized and use it in the real life. The current online objective static test only make the user memorized the answer without knowing and understand the true purpose of the question. Therefore, in real life, they will not behave as expected due to behavior and moral lacking. This prototype has been developed inform of multiple-choice questions integrated with 3D gaming environment to make it simulate the real environment and scenarios. Based on the testing conducted, the respondent agrees with the use of this game prototype it can increase understanding and promote obligation towards traffic rules.

Keywords: Educational game, evaluation instrument, game, game prototype.

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Authors: Shonal Singh, Bibhya Sharma, Jito Vanualailai, Avinesh Prasad

Abstract:

This paper considers the autonomous navigation problem of multiple n-link nonholonomic mobile manipulators within an obstacle-ridden environment. We present a set of nonlinear acceleration controllers, derived from the Lyapunov-based control scheme, which generates collision-free trajectories of the mobile manipulators from initial configurations to final configurations in a constrained environment cluttered with stationary solid objects of different shapes and sizes. We demonstrate the efficiency of the control scheme and the resulting acceleration controllers of the mobile manipulators with results through computer simulations of an interesting scenario.

Keywords: Artificial potential fields, kinodynamic constraints, Lyapunov-based control scheme, Lyapunov stability, minimum distance technique, nonholonomic manipulator.

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Authors: Abolhassan Razminia, Mohammad-Ali Sadrnia

Abstract:

One of the most attractive and important field of chaos theory is control of chaos. In this paper, we try to present a simple framework for chaotic motion control using the feedback linearization method. Using this approach, we derive a strategy, which can be easily applied to the other chaotic systems. This task presents two novel results: the desired periodic orbit need not be a solution of the original dynamics and the other is the robustness of response against parameter variations. The illustrated simulations show the ability of these. In addition, by a comparison between a conventional state feedback and our proposed method it is demonstrated that the introduced technique is more efficient.

Keywords: chaos, feedback linearization, robust control, periodic motion.

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