Search results for: structural disturbance

Authors: T. Balogh, L. G. Vigh

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Seismic design may require non-conventional concept, due to the fact that the stiffness and layout of the structure have a great effect on the overall structural behaviour, on the seismic load intensity as well as on the internal force distribution. To find an economical and optimal structural configuration the key issue is the optimal design of the lateral load resisting system. This paper focuses on the optimal design of regular, concentric braced frame (CBF) multi-storey steel building structures. The optimal configurations are determined by a numerical method using genetic algorithm approach, developed by the authors. Aim is to find structural configurations with minimum structural cost. The design constraints of objective function are assigned in accordance with Eurocode 3 and Eurocode 8 guidelines. In this paper the results are presented for various building geometries, different seismic intensities, and levels of energy dissipation.

Keywords: Dissipative Structures, Genetic Algorithm, Seismic Effects, Structural Optimization.

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Authors: Kuang-Hsiung Tan, Chih-Chan Hu, Chien-Wu Lan, Shih-Sung Lin, Te-Jen Chang

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An active islanding detection method using disturbance signal injection with intelligent controller is proposed in this study. First, a DC\AC power inverter is emulated in the distributed generator (DG) system to implement the tracking control of active power, reactive power outputs and the islanding detection. The proposed active islanding detection method is based on injecting a disturbance signal into the power inverter system through the d-axis current which leads to a frequency deviation at the terminal of the RLC load when the utility power is disconnected. Moreover, in order to improve the transient and steady-state responses of the active power and reactive power outputs of the power inverter, and to further improve the performance of the islanding detection method, two probabilistic fuzzy neural networks (PFNN) are adopted to replace the traditional proportional-integral (PI) controllers for the tracking control and the islanding detection. Furthermore, the network structure and the online learning algorithm of the PFNN are introduced in detail. Finally, the feasibility and effectiveness of the tracking control and the proposed active islanding detection method are verified with experimental results.

Keywords: Distributed generators, probabilistic fuzzy neural network, islanding detection, non-detection zone.

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Authors: Dongsu Wu, Hongbin Gu, Peng Li

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A novel adaptive fuzzy trajectory tracking algorithm of Stewart platform based motion platform is proposed to compensate path deviation and degradation of controller-s performance due to actuator torque limit. The algorithm can be divided into two parts: the real-time trajectory shaping part and the joint space adaptive fuzzy controller part. For a reference trajectory in task space whenever any of the actuators is saturated, the desired acceleration of the reference trajectory is modified on-line by using dynamic model of motion platform. Meanwhile an additional action with respect to the difference between the nominal and modified trajectories is utilized in the non-saturated region of actuators to reduce the path error. Using modified trajectory as input, the joint space controller incorporates compute torque controller, leg velocity observer and fuzzy disturbance observer with saturation compensation. It can ensure stability and tracking performance of controller in present of external disturbance and position only measurement. Simulation results verify the effectiveness of proposed control scheme.

Keywords: Actuator saturation, adaptive fuzzy control, Stewartplatform, trajectory shaping, flight simulator

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Authors: D. H. Kim, Y. H. Kim, T. Kim

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A new method identifies coupled fluid-structure system with a reduced set of state variables is presented. Assuming that the structural model is known a priori either from an analysis or a test and using linear transformations between structural and aeroelastic states, it is possible to deduce aerodynamic information from sampled time histories of the aeroelastic system. More specifically given a finite set of structural modes the method extracts generalized aerodynamic force matrix corresponding to these mode shapes. Once the aerodynamic forces are known, an aeroelastic reduced-order model can be constructed in discrete-time, state-space format by coupling the structural model and the aerodynamic system. The resulting reduced-order model is suitable for constant Mach, varying density analysis.

Keywords: ROM (Reduced-Order Model), aero elasticity, AGARD 445.6 wing.

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Authors: Hosein Ghaffarzadeh, Robab Naseri Ghalghachi

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Structural redundancy is an interesting point in seismic design of structures. Initially, the structural redundancy is described as indeterminate degree of a system. Although many definitions are presented for redundancy in structures, recently the definition of structural redundancy has been related to the configuration of structural system and the number of lateral load transferring directions in the structure. The steel frames with infill walls are general systems in the constructing of usual residential buildings in some countries. It is obviously declared that the performance of structures will be affected by adding masonry infill walls. In order to investigate the effect of infill walls on the redundancy of the steel frame which constructed with masonry walls, the components of redundancy including redundancy variation index, redundancy strength index and redundancy response modification factor were extracted for the frames with masonry infills. Several steel frames with typical storey number and various numbers of bays were designed and considered. The redundancy of frames with and without infill walls was evaluated by proposed method. The results showed the presence of infill causes increase of redundancy.

Keywords: Structural redundancy, Masonry infill walls frames.

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Authors: George D. Hatzigeorgiou, Nikos G. Pnevmatikos

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This study examines the inelastic behavior of adjacent planar reinforced concrete (R.C.) frames subjected to strong ground motions. The investigation focuses on the effects of vertical ground motion on the seismic pounding. The examined structures are modeled and analyzed by RUAUMOKO dynamic nonlinear analysis program using reliable hysteretic models for both structural members and contact elements. It is found that the vertical ground motion mildly affects the seismic response of adjacent buildings subjected to structural pounding and, for this reason, it can be ignored from the displacement and interstorey drifts assessment. However, the structural damage is moderately affected by the vertical component of earthquakes.

Keywords: Nonlinear seismic behavior, reinforced concrete structures, structural pounding, vertical ground motions.

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Authors: Daniel Y. Abebe, Jeonghyun Jang, Jaehyouk Choi

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This study aims to evaluate the effective size, section and structural characteristics of circular hollow steel (CHS) damper. CHS damper is among steel dampers which are used widely for seismic energy dissipation because they are easy to install, maintain and are inexpensive. CHS damper dissipates seismic energy through metallic deformation due to the geometrical elasticity of circular shape and fatigue resistance around connection part. After calculating the effective size, which is found to be height to diameter ratio of √3, nonlinear FE analyses were carried out to evaluate the structural characteristics and effective section (diameter-to-ratio).

Keywords: Circular hollow steel damper, structural characteristics, effective size, effective section, large deformation, FE analysis.

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Authors: Marinka K. Baghdasaryan, Siranush M. Muradyan, Avgen A. Gasparyan

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Analytical expressions of the current and angular errors, as well as the frequency characteristics of an induction converter describing the relation with its structural parameters, the core and winding characteristics are obtained. Based on estimation of the dependences obtained, a mathematical problem of parametric optimization is formulated which can successfully be used for investigating and diagnosing an induction converter.

Keywords: Induction converters, magnetic circuit material, current and angular errors, frequency response, mathematical formulation, structural parameters.

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Authors: W. C. Bracken

Abstract:

Given that concrete masonry walls are expected to experience shrinkage combined with thermal expansion and contraction, and in some cases even carbonation, throughout their service life, cracking is to be expected. However, after concrete masonry walls have been placed into service, originally anticipated and accounted for cracking is often misdiagnosed as a structural defect. Such misdiagnoses often result in or are used to support litigation. This paper begins by discussing the causes and types of anticipated cracking within concrete masonry walls followed by a discussion on the processes and analyses that exists for properly evaluating them and their significance. From here, the paper then presents a case of misdiagnosed concrete masonry cracking and the flawed logic employed to support litigation.

Keywords: Concrete masonry, masonry wall cracking, structural defect, structural damage, construction defect, forensic investigation.

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Authors: F. Bendahma, M. Mana, B. Bestani, S. Bentata

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This study deals with the structural and electronic properties of ternary PdMnGe Half-Heusler alloy using the full potential linearized augmented plane wave (FP-LAPW) method based on the density functional theory (DFT) as implemented in the WIEN2k package, within the framework of generalized gradient approximation (GGA). Structural parameters, total and partial densities of states were also analyzed. The obtained result shows that the studied material is metallic in GGA treatment. The elastic constants (Cij) show that our compound is ductile, stiff and anisotropic.

Keywords: Full potential linearized augmented plane wave, generalized gradient approximation treatment, Half-Heusler, structural and electronic properties.

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Authors: Rajendraprasad Narne, P. C. Panda

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In this article, coordinated tuning of power system stabilizer (PSS) with static var compensator (SVC) and thyristor controlled series capacitor (TCSC) in multi-machine power system is proposed. The design of proposed coordinated damping controller is formulated as an optimization problem and the controller gains are optimized instantaneously using advanced adaptive particle swarm optimization (AAPSO). The objective function is framed with the inter-area speed deviations of the generators and it is minimized using AAPSO to improve the dynamic stability of power system under severe disturbance. The proposed coordinated controller performance is evaluated under a wide range of system operating conditions with three-phase fault disturbance. Using time domain simulations the damping characteristics of proposed controller is compared with individually tuned PSS, SVC and TCSC controllers. Finally, the real-time simulations are carried out in Opal-RT hardware simulator to synchronize the proposed controller performance in the real world.

Keywords: Advanced adaptive particle swarm optimization, Coordinated design, Power system stabilizer, Real-time implementation, static var compensator, Thyristor controlled series capacitor.

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Authors: V.V. Lyahov, V.M. Neshchadim

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The structural stability of the model of a nonelectroneutral current sheath is investigated. The stationary model of a current sheath represents the system of four connected nonlinear differential first-order equations and thus they should manifest structural instability property, i.e. sensitivity to the infinitesimal changes of parameters and starting conditions. Domains of existence of the solutions of current sheath type are found. Those solutions of the current sheath type are realized only in some regions of sevendimensional space of parameters of the problem. The phase volume of those regions is small in comparison with the whole phase volume of the definition range of those parameters. It is shown that the offered model of a nonelectroneutral current sheath is applicable for theoretical interpretation of the bifurcational current sheaths observed in the magnetosphere.

Keywords: Distribution function, electromagnetic field, magnetoactive plasma, nonelectroneutral current sheath, structural instability, bifurcational current sheath.

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Authors: Roman Kalvin, Anam Nadeem, Shahab Khushnood

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Differential is an integral part of four wheeled vehicle, and its main function is to transmit power from drive shaft to wheels. Differential assembly allows both rear wheels to turn at different speed along curved paths. It consists of four gears which are assembled together namely pinion, ring, spider and bevel gears. This research focused on the spider gear and its static structural analysis using ANSYS. The main aim was to evaluate the distribution of stresses on the teeth of the spider gear. This study also analyzed total deformation that may occur during its working along with bevel gear that is meshed with spider gear. Structural steel was chosen for spider gear in this research. Modeling and assembling were done on SolidWorks for both spider and bevel gear. They were assembled exactly same as in a differential assembly. This assembly was then imported to ANSYS. After observing results that maximum amount of stress and deformation was produced in the spider gear, it was concluded that structural steel material for spider gear possesses greater amount of strength to bear maximum stress.

Keywords: Differential, spider gear, ANSYS, structural steel.

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Authors: Matthias Dehmer, Frank Emmert Streib, Alexander Mehler, Jürgen Kilian

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Most known methods for measuring the structural similarity of document structures are based on, e.g., tag measures, path metrics and tree measures in terms of their DOM-Trees. Other methods measures the similarity in the framework of the well known vector space model. In contrast to these we present a new approach to measuring the structural similarity of web-based documents represented by so called generalized trees which are more general than DOM-Trees which represent only directed rooted trees.We will design a new similarity measure for graphs representing web-based hypertext structures. Our similarity measure is mainly based on a novel representation of a graph as strings of linear integers, whose components represent structural properties of the graph. The similarity of two graphs is then defined as the optimal alignment of the underlying property strings. In this paper we apply the well known technique of sequence alignments to solve a novel and challenging problem: Measuring the structural similarity of generalized trees. More precisely, we first transform our graphs considered as high dimensional objects in linear structures. Then we derive similarity values from the alignments of the property strings in order to measure the structural similarity of generalized trees. Hence, we transform a graph similarity problem to a string similarity problem. We demonstrate that our similarity measure captures important structural information by applying it to two different test sets consisting of graphs representing web-based documents.

Keywords: Graph similarity, hierarchical and directed graphs, hypertext, generalized trees, web structure mining.

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Authors: P. Pongsumpun

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Herpes zoster is a disease that manifests as a dermatological condition. The characteristic of this disease is an irritating skin rash with blisters. This is often limited to one side of body. From the data of Herpes zoster cases in Thailand, we found that age structure effects to the transmission of this disease. In this study, we construct the age structural model of Herpes zoster in Thailand. The local stability analysis of this model is given. The numerical solutions are shown to confirm the analytical results.

Keywords: Age structural model, Herpes zoster, local stability, Numerical solution.

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Authors: Haider M. Alsaeq

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This research investigates the effects of the opening shape and location on the structural behavior of reinforced concrete deep beam with openings, while keeping the opening size unchanged. The software ANSYS 12.1 is used to handle the nonlinear finite element analysis. The ultimate strength of reinforced concrete deep beam with opening obtained by ANSYS 12.1 shows fair agreement with the experimental results, with a difference of no more than 20%. The present work concludes that the opening location has much more effect on the structural strength than the opening shape. It was concluded that placing the openings near the upper corners of the deep beam may double the strength, and the use of a rectangular narrow opening, with the long sides in the horizontal direction, can save up to 40% of structural strength of the deep beam.

Keywords: Deep Beams, Finite Element, Opening, Reinforced Concrete.

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Authors: O. Hasançebi, S. Kazemzadeh Azad

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In the present study the efficiency of Big Bang-Big Crunch (BB-BC) algorithm is investigated in discrete structural design optimization. It is shown that a standard version of the BB-BC algorithm is sometimes unable to produce reasonable solutions to problems from discrete structural design optimization. Two reformulations of the algorithm, which are referred to as modified BB-BC (MBB-BC) and exponential BB-BC (EBB-BC), are introduced to enhance the capability of the standard algorithm in locating good solutions for steel truss and frame type structures, respectively. The performances of the proposed algorithms are experimented and compared to its standard version as well as some other algorithms over several practical design examples. In these examples, steel structures are sized for minimum weight subject to stress, stability and displacement limitations according to the provisions of AISC-ASD.

Keywords: Structural optimization, discrete optimization, metaheuristics, big bang-big crunch (BB-BC) algorithm, design optimization of steel trusses and frames.

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Authors: Ming-Hui Lee, Shou-Jen Hsu

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This study presents an active vibration control technique to reduce the earthquake responses of a retained structural system. The proposed technique is a synthesis of the adaptive input estimation method (AIEM) and linear quadratic Gaussian (LQG) controller. The AIEM can estimate an unknown system input online. The LQG controller offers optimal control forces to suppress wall-structural system vibration. The numerical results show robust performance in the active vibration control technique.

Keywords: Active vibration control, AIEM, LQG, Optimal control

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Authors: Tim D. Sass, Pe, Leed

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The rising price of fossil fuels, government incentives and growing public aware-ness for the need to implement sustainable energy supplies has resulted in a large in-crease in solar panel installations across the country. For many sites the most eco-nomical solar panel installation uses existing, southerly facing rooftops. Adding solar panels to an existing roof typically means increased loads that must be borne by the building-s structural elements. The structural design professional is responsible for ensuring a new solar panel installation is properly supported by an existing structure and configured to maximize energy generation.

Keywords: Solar Panel, Structures, Structural Design.

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Authors: Mojtaba Valinejadshoubi, Ashutosh Bagchi, Osama Moselhi

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Structures such as buildings, bridges, dams, wind turbines etc. need to be maintained against various factors such as deterioration, excessive loads, environment, temperature, etc. Choosing an appropriate monitoring system is important for determining any critical damage to a structure and address that to avoid any adverse consequence. Structural Health Monitoring (SHM) has emerged as an effective technique to monitor the health of the structures. SHM refers to an ongoing structural performance assessment using different kinds of sensors attached to or embedded in the structures to evaluate their integrity and safety to help engineers decide on rehabilitation measures. Ability of SHM in identifying the location and severity of structural damages by considering any changes in characteristics of the structures such as their frequency, stiffness and mode shapes helps engineers to monitor the structures and take the most effective corrective actions to maintain their safety and extend their service life. The main objective of this study is to review the overall SHM process specifically determining the natural frequency of an instrumented simply-supported concrete beam using modal testing and finite element model updating.

Keywords: Structural Health Monitoring, Natural Frequency, FFT analysis, Finite element model updating.

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Authors: Murray L. Ireland, Kevin J. Worrall, Rebecca Mackenzie, Thaleia Flessa, Euan McGookin, Douglas Thomson

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Robotic rovers which are designed to work in extra-terrestrial environments present a unique challenge in terms of the reliability and availability of systems throughout the mission. Should some fault occur, with the nearest human potentially millions of kilometres away, detection and identification of the fault must be performed solely by the robot and its subsystems. Faults in the system sensors are relatively straightforward to detect, through the residuals produced by comparison of the system output with that of a simple model. However, faults in the input, that is, the actuators of the system, are harder to detect. A step change in the input signal, caused potentially by the loss of an actuator, can propagate through the system, resulting in complex residuals in multiple outputs. These residuals can be difficult to isolate or distinguish from residuals caused by environmental disturbances. While a more complex fault detection method or additional sensors could be used to solve these issues, an alternative is presented here. Using inverse simulation (InvSim), the inputs and outputs of the mathematical model of the rover system are reversed. Thus, for a desired trajectory, the corresponding actuator inputs are obtained. A step fault near the input then manifests itself as a step change in the residual between the system inputs and the input trajectory obtained through inverse simulation. This approach avoids the need for additional hardware on a mass- and power-critical system such as the rover. The InvSim fault detection method is applied to a simple four-wheeled rover in simulation. Additive system faults and an external disturbance force and are applied to the vehicle in turn, such that the dynamic response and sensor output of the rover are impacted. Basic model-based fault detection is then employed to provide output residuals which may be analysed to provide information on the fault/disturbance. InvSim-based fault detection is then employed, similarly providing input residuals which provide further information on the fault/disturbance. The input residuals are shown to provide clearer information on the location and magnitude of an input fault than the output residuals. Additionally, they can allow faults to be more clearly discriminated from environmental disturbances.

Keywords: Fault detection, inverse simulation, rover, ground robot.

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Authors: Emmanuel D. Buedi, K. O. Boateng, Griffith S. Klogo

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Electrical distribution networks are prone to power quality disturbances originating from the complexity of the distribution network, mode of distribution (overhead or underground) and types of loads used by customers. Data on the types of disturbances present and frequency of occurrence is needed for economic evaluation and hence finding solution to the problem. Utility companies have resorted to using secondary power quality devices such as smart meters to help gather the required data. Even though this approach is easier to adopt, data gathered from these devices may not serve the required purpose, since the installation of these devices in the electrical network usually does not conform to available PQM placement methods. This paper presents a design of a PQM that is capable of integrating into an existing DAS infrastructure to take advantage of available placement methodologies. The monitoring component of the design is implemented and installed to monitor an existing LV network. Data from the monitor is analyzed and presented. A portion of the LV network of the Electricity Company of Ghana is modeled in MATLAB-Simulink and analyzed under various earth fault conditions. The results presented show the ability of the PQM to detect and analyze PQ disturbance such as voltage sag and overvoltage. By adopting a placement methodology and installing these nodes, utilities are assured of accurate and reliable information with respect to the quality of power delivered to consumers.

Keywords: Power quality, remote monitoring, distributed automation system, economic evaluation, LV network.

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Authors: Gamze Fahriye Pehlivan, Tulay Canitez

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The traditional Turkish houses becoming unusable are a result of the deterioration of the balanced interaction between users and house (human and house) continuing during the history. Especially depending upon the change in social structure, the houses becoming neglected do not meet the desires of the users and do not have the meaning but the shelter are becoming unusable and are being destroyed. A conservation policy should be developed and renovations should be made in order to pass the traditional houses carrying the quality of a cultural and historical document presenting the social structure, the lifestyle and the traditions of its own age to the next generations and to keep them alive.

Keywords: House, social structural change, social structural, traditional Turkish houses.

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Authors: Sharath Kumar T., S.Vinodh

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Over the course of the past century, the global automotive industry-s stance towards safety has evolved from one of contempt to one nearing reverence. A suspension system that provides safe handling and cornering capabilities can, with the help of an efficient braking system, improve safety to a large extent. The aim of this research is to propose a new automotive brake rotor design and to compare it with automotive vented disk rotor. Static structural and transient thermal analysis have been carried out on the vented disk rotor and proposed rotor designs to evaluate and compare their performance. Finite element analysis was employed for both static structural and transient thermal analysis. Structural analysis was carried out to study the stress and deformation pattern of the rotors under extreme loads. Time varying temperature load was applied on the rotors and the temperature distribution was analysed considering cooling parameters (convection and radiation). This dissertation illustrates the use of Finite Element Methods to examine models, concluding with a comparative study of the proposed rotor design and the conventional vented disk rotor for structural stability and thermal efficiency.

Keywords: Disk brakes, CAD model, rotor design, structural and thermal analysis

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Authors: Abid I. Abu-Tair, Gavin M. Wilde, John M. Kinuthia

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Urban Search and Rescue (USAR) is a functional capability that has been developed to allow the United Kingdom Fire and Rescue Service to deal with ‘major incidents’ primarily involving structural collapse. The nature of the work undertaken by USAR means that staying out of a damaged or collapsed building structure is not usually an option for search and rescue personnel. As a result there is always a risk that they themselves could become victims. For this paper, a systematic and investigative review using desk research was undertaken to explore the role which structural engineering can play in assisting search and rescue personnel to conduct structural assessments when in the field. The focus is on how search and rescue personnel can assess damaged and collapsed building structures, not just in terms of structural damage that may been countered, but also in relation to structural stability. Natural disasters, accidental emergencies, acts of terrorism and other extreme events can vary significantly in nature and ferocity, and can cause a wide variety of damage to building structures. It is not possible or, even realistic, to provide search and rescue personnel with definitive guidelines and procedures to assess damaged and collapsed building structures as there are too many variables to consider. However, understanding what implications damage may have upon the structural stability of a building structure will enable search and rescue personnel to better judge and quantify risk from a life-safety standpoint. It is intended that this will allow search and rescue personnel to make informed decisions and ensure every effort is made to mitigate risk, so that they themselves do not become victims.

Keywords: Damaged and collapsed building structures, life safety, quantifying risk, search and rescue personnel, structural assessments in the field.

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Authors: N. Jinesh, K. Shankar

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This article presents a method of using the one dimensional piezo-electric patch on beam model for structural identification. A hybrid element constituted of one dimensional beam element and a PZT sensor is used with reduced material properties. This model is convenient and simple for identification of beams. Accuracy of this element is first verified against a corresponding 3D finite element model (FEM). The structural identification is carried out as an inverse problem whereby parameters are identified by minimizing the deviation between the predicted and measured voltage response of the patch, when subjected to excitation. A non-classical optimization algorithm Particle Swarm Optimization is used to minimize this objective function. The signals are polluted with 5% Gaussian noise to simulate experimental noise. The proposed method is applied on beam structure and identified parameters are stiffness and damping. The model is also validated experimentally.

Keywords: Structural identification, PZT patches, inverse problem, particle swarm optimization.

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Authors: A. Mojtaba Aghajani, B. Leila Shavakhi

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Energy intensity(energy consumption intensity) is a global index which computes the required energy for producing a specific value of goods and services in each country. It is computed in terms of initial energy supply or final energy consumption. In this study (research) Divisia method is used to decompose energy consumption and energy intensity. This method decomposes consumption and energy intensity to production effects, structural and net intensity and could be done as time series or two-periodical. This study analytically investigates consumption changes and energy intensity on economical sectors of Iran and more specific on road transportation(rail road and road).Our results show that the contribution of structural effect (change in economical activities combination) is very low and the effect of net energy consumption has the higher contribution in consumption changes and energy intensity. In other words, the high consumption of energy is due to Intensity of energy consumption and is not to structural effect of transportation sector.

Keywords: Divisia Method, Energy Intensity, Net IntensityEffect, Road Transportation , Structural Effect.

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Authors: M. Yoneda

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It is known that stationary human occupants act as dynamic mass-spring-damper systems and can change the modal properties of civil engineering structures. This paper describes the full scale measurement to explain the tuned mass damper effects of stationary people on structural damping of footbridge with center span length of 33 m. A human body can be represented by a lumped system consisting of masses, springs, and dashpots. Complex eigenvalue calculation is also conducted by using ISO5982:1981 human model (two degree of freedom system). Based on experimental and analytical results for the footbridge with the stationary people in the standing position, it is demonstrated that stationary people behave as a tuned mass damper and that ISO5982:1981 human model can explain the structural damping characteristics measured in the field.

Keywords: Dynamic interaction, footbridge, stationary people, structural damping.

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Authors: Toshifumi Hiramatsu, Satoshi Morita, Manuel Pencelli, Marta Niccolini, Matteo Ragaglia, Alfredo Argiolas

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Automation technologies for agriculture field are needed to promote labor-saving. One of the most relevant problems in automated agriculture is represented by controlling the robot along a predetermined path in presence of rough terrain or incline ground. Unfortunately, disturbances originating from interaction with the ground, such as slipping, make it quite difficult to achieve the required accuracy. In general, it is required to move within 5-10 cm accuracy with respect to the predetermined path. Moreover, lateral velocity caused by gravity on the incline field also affects slipping. In this paper, a path-tracking controller for tracked mobile robots moving on rough terrains of incline field such as vineyard is presented. The controller is composed of a disturbance observer and an adaptive controller based on the kinematic model of the robot. The disturbance observer measures the difference between the measured and the reference yaw rate and linear velocity in order to estimate slip. Then, the adaptive controller adapts “virtual” parameter of the kinematics model: Instantaneous Centers of Rotation (ICRs). Finally, target angular velocity reference is computed according to the adapted parameter. This solution allows estimating the effects of slip without making the model too complex. Finally, the effectiveness of the proposed solution is tested in a simulation environment.

Keywords: Agricultural robot, autonomous control, path-tracking control, tracked mobile robot.

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Authors: O. Hassanein, Sreenatha G. Anavatti, Tapabrata Ray

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The dynamics of the Autonomous Underwater Vehicles (AUVs) are highly nonlinear and time varying and the hydrodynamic coefficients of vehicles are difficult to estimate accurately because of the variations of these coefficients with different navigation conditions and external disturbances. This study presents the on-line system identification of AUV dynamics to obtain the coupled nonlinear dynamic model of AUV as a black box. This black box has an input-output relationship based upon on-line adaptive fuzzy model and adaptive neural fuzzy network (ANFN) model techniques to overcome the uncertain external disturbance and the difficulties of modelling the hydrodynamic forces of the AUVs instead of using the mathematical model with hydrodynamic parameters estimation. The models- parameters are adapted according to the back propagation algorithm based upon the error between the identified model and the actual output of the plant. The proposed ANFN model adopts a functional link neural network (FLNN) as the consequent part of the fuzzy rules. Thus, the consequent part of the ANFN model is a nonlinear combination of input variables. Fuzzy control system is applied to guide and control the AUV using both adaptive models and mathematical model. Simulation results show the superiority of the proposed adaptive neural fuzzy network (ANFN) model in tracking of the behavior of the AUV accurately even in the presence of noise and disturbance.

Keywords: AUV, AUV dynamic model, fuzzy control, fuzzy modelling, adaptive fuzzy control, back propagation, system identification, neural fuzzy model, FLNN.

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