This paper presents the complex dynamics synthesis of the combat dy-namics series called tensor-centric warfare (TCW;for the first three parts of the series, see [1] [2] [3]), which includes tensor generalization of c...This paper presents the complex dynamics synthesis of the combat dy-namics series called tensor-centric warfare (TCW;for the first three parts of the series, see [1] [2] [3]), which includes tensor generalization of classical Lanchester-type combat equations, entropic Lie-dragging and commutators for modeling warfare uncertainty and symmetry, and various delta-strikes and missiles (both deterministic and random). The present paper gives a unique synthesis of the Red vs. Blue vectorfields into a single complex battle-vectorfield, using dynamics on Kähler manifolds as a rigorous framework for extending the TCW concept. The global Kähler dynamics framework, with its rigorous underpinning called the Kähler-Ricci flow, provides not only a new insight into the “geometry of warfare”, but also into the “physics of warfare”, in terms of Lagrangian and Hamiltonian structures of the battlefields. It also provides a convenient and efficient computational framework for entropic wargaming.展开更多
This article presents a proposal for a model of a microprogram control unit (CMCU) with output identification adapted for implementation in complex programmable logic devices (CPLD) equipped with integrated memory mod...This article presents a proposal for a model of a microprogram control unit (CMCU) with output identification adapted for implementation in complex programmable logic devices (CPLD) equipped with integrated memory modules [1]. An approach which applies two sources of code and one-hot encoding has been used in a base CMCU model with output identification [2] [3]. The article depicts a complete example of processing for the proposed CMCU model. Furthermore, it also discusses the advantages and disadvantages of the approach in question and presents the results of the experiments conducted on a real CPLD system.展开更多
A class of closed-loop supply chain system consisting of one manufacturer and one supplier is designed, in which re-distribution, remanufacturing and reuse are considered synthetically. The manufacturer is in charge o...A class of closed-loop supply chain system consisting of one manufacturer and one supplier is designed, in which re-distribution, remanufacturing and reuse are considered synthetically. The manufacturer is in charge of recollecting and re-disposal the used products. Demands of ultimate products and collecting quantity of used products are described as the function of prices and reference prices. A non-linear dynamic pricing model for this closed-loop supply chain is established. A numerical example is designed, and the results of this example verified the model’s validity to price for the operation of closed-loop supply chain system.展开更多
This paper deals with the calculation of a vector of reliable weights of decision alternatives on the basis of interval pairwise comparison judgments of experts. These weights are used to construct the ranking of deci...This paper deals with the calculation of a vector of reliable weights of decision alternatives on the basis of interval pairwise comparison judgments of experts. These weights are used to construct the ranking of decision alternatives and to solve selection problems, problems of ratings construction, resources allocation problems, scenarios evaluation problems, and other decision making problems. A comparative analysis of several popular models, which calculate interval weights on the basis of interval pairwise comparison matrices (IPCMs), was performed. The features of these models when they are applied to IPCMs with different inconsistency levels were identified. An algorithm is proposed which contains the stages for analyzing and increasing the IPCM inconsistency, calculating normalized interval weights, and calculating the ranking of decision alternatives on the basis of the resulting interval weights. It was found that the property of weak order preservation usually allowed identifying order-related intransitive expert pairwise comparison judgments. The correction of these elements leads to the removal of contradictions in resulting weights and increases the accuracy and reliability of results.展开更多
The present research deals with the problem of development of an integrated expert-analytical system for optimum selection of calculated oil-field-geophysical parameters of oil and gas deposits with the purpose of inc...The present research deals with the problem of development of an integrated expert-analytical system for optimum selection of calculated oil-field-geophysical parameters of oil and gas deposits with the purpose of increasing the accuracy of assessment of the reserves of oil and gas deposits. The purpose of the system is to make current adequate decisions on determining of oil-and-gas saturation of strata and future identification of the most significant methods for that, with these methods forming the foundation of knowledge bases for oil-and-gas deposits of the Apsheron peninsula of Azerbaijan. The system architecture allows for expanding the system with its subsequent transformation into a cluster of expert-analytical systems. A logical model of the proposed system is presented. The paper contains a detailed description of the mechanism of operation of the system as a whole and of its individual blocks. Mathematical and formal-logical bases of the intelligent system are explained. The system is equipped with a tool for dynamic statistical analysis of decisions made by it, with representation of the results in real-time mode. The results of the system testing on specific oil-and-gas deposit of the Apsheron peninsula of Azerbaijan in 2013 are given.展开更多
Urban search and rescue robots are playing an increasingly important role during disasters and with their ability to search within hazardous and dangerous environments to assist the first respond teams. Surveying and ...Urban search and rescue robots are playing an increasingly important role during disasters and with their ability to search within hazardous and dangerous environments to assist the first respond teams. Surveying and remote sensing the hazardous areas are two of the urgent needs of the rescue team to identify the risks before the intervention of the emergency teams. With such time-critical missions, the path planning and autonomous navigation of the robot is one of the primary concerns due to the need of fast and feasible path that is comprehensive enough to assess the associated risks. This paper presents a path planning method for navigating an unmanned ground vehicle within in an indoor hazardous area with minimum priori information. The algorithm can be generalized to any given map and is based on probabilistic roadmap path planning method with spiral dynamics optimization algorithm to obtain the optimal navigating path. Simulations of the algorithm are presented in this paper, and the results promising results are illustrated using Matlab and Simulink simulation environments.展开更多
Tumor cells can evade immune surveillance by secreting immuno-suppressive factors such as transforming growth factor-beta (TGF-β) and also, Interlukin-10 (IL-10). In this paper the optimal control of mathematical mod...Tumor cells can evade immune surveillance by secreting immuno-suppressive factors such as transforming growth factor-beta (TGF-β) and also, Interlukin-10 (IL-10). In this paper the optimal control of mathematical model for aggressive tumor growth via a new and proper approach known as AVK method has been considered. Moreover, we have implemented a special treatment so-called small interfering RNA (siRNA) to reduce presence and effect of TGF-β in tumor cells and also we have added Interlukin-2 (IL-2) into our treatment model to minimize the population of tumor cells. Further research and experimentation with these combination therapies may provide an effective solution in addressing the immuno-suppressive effects of TGF-β. Finally, we analyze the optimal control and system optimality of these equations using numerical techniques.展开更多
This paper presents an application of the simulation of discrete events (SED) using ARENATM in the management of large-scale breeding farms. The main objective of the simulation model is to find a policy of replacemen...This paper presents an application of the simulation of discrete events (SED) using ARENATM in the management of large-scale breeding farms. The main objective of the simulation model is to find a policy of replacement, to ensure the best economic performance of a farm. The only variant analyzed of replacement policy was the number of cycles set in permanency for a sow in the herd. Considered incomes come from the sale of piglets and unproductive sows, and costs are due to the feeding of animals, replacement sows purchases, and the operation expenses of the farm. For this analysis, the production process was divided into three major stages called: mating, pregnancy or gestation and lactation. The sow’s movement from one stage to other was modeled by cycle-dependent transition probabilities. Considering the daily utility, as response variable, the model shows the best number of cycles to maintain the sows.展开更多
Economic Load Dispatch (ELD) is a process of scheduling the required load demand among available generation units such that the fuel cost of operation is minimized. The ELD problem is formulated as a nonlinear constra...Economic Load Dispatch (ELD) is a process of scheduling the required load demand among available generation units such that the fuel cost of operation is minimized. The ELD problem is formulated as a nonlinear constrained optimization problem with both equality and inequality constraints. In this paper, two test systems of the ELD problems are solved by adopting the Cuckoo Search (CS) Algorithm. A comparison of obtained simulation results by using the CS is carried out against six other swarm intelligence algorithms: Particle Swarm Optimization, Shuffled Frog Leaping Algorithm, Bacterial Foraging Optimization, Artificial Bee Colony, Harmony Search and Firefly Algorithm. The effectiveness of each swarm intelligence algorithm is demonstrated on a test system comprising three-generators and other containing six-generators. Results denote superiority of the Cuckoo Search Algorithm and confirm its potential to solve the ELD problem.展开更多
In this paper, the issue of control of impact forces generated during the interaction between the hopping ro-bot toe and the ground while landing has been considered. The force thus generated can damage the robot alto...In this paper, the issue of control of impact forces generated during the interaction between the hopping ro-bot toe and the ground while landing has been considered. The force thus generated can damage the robot altogether. With the objective to control these impact forces, impedance control strategy has been applied to the hopping robot system. The dynamics pertaining to the impact between robot toe and ground has been modeled as in case of a ball bouncing on the ground. Bond Graph theory has been used for the modeling of the hopping robot system. Simulation results show that impact forces generated during the landing has been controlled to a specified limiting value. This model and the corresponding analysis can be further extended for understanding the dynamics involved in continuous hopping of robot with constant height and velocity control.展开更多
Most differential drive platforms are equipped with two independent actuators and casters. The positions of the gravity center and the rotation center often do not coincide. This position difference, combined with the...Most differential drive platforms are equipped with two independent actuators and casters. The positions of the gravity center and the rotation center often do not coincide. This position difference, combined with the effect of unbalanced actuator dynamics on the motion, makes it difficult to properly control the platform. We propose an adaptive nonlinear controller system based on the Lyapunov stability theory that greatly improves the trajectory tracking performance of such platforms. The asymptotically stable kinematic controller takes into account the position difference and the effect of the unbalanced actuator dynamics. The dynamic controller has the desirable property that it requires minimal knowledge of the platform physical parameters. Validation was performed through simulation and several experiments conducted on a rear driven powered wheelchair. Comparative experimental studies suggested that the proposed adaptive control system performs better than a similar method presented in the literature for linear as well as curvilinear trajectory tracking. Furthermore, the control system exhibits good tracking performance on inclined plans and non smooth surfaces.展开更多
There have been many studies on observer-based fault detection and isolation (FDI), such as using unknown input observer and generalized observer. Most of them require a nominal mathematical model of the system. Unlik...There have been many studies on observer-based fault detection and isolation (FDI), such as using unknown input observer and generalized observer. Most of them require a nominal mathematical model of the system. Unlike sensor faults, actuator faults and process faults greatly affect the system dynamics. This paper presents a new process fault diagnosis technique without exact knowledge of the plant model via Extended State Observer (ESO) and soft computing. The ESO’s augmented or extended state is used to compute the system dynamics in real time, thereby provides foundation for real-time process fault detection. Based on the input and output data, the ESO identifies the un-modeled or incorrectly modeled dynamics combined with unknown external disturbances in real time and provides vital information for detecting faults with only partial information of the plant, which cannot be easily accomplished with any existing methods. Another advantage of the ESO is its simplicity in tuning only a single parameter. Without the knowledge of the exact plant model, fuzzy inference was developed to isolate faults. A strongly coupled three-tank nonlinear dynamic system was chosen as a case study. In a typical dynamic system, a process fault such as pipe blockage is likely incipient, which requires degree of fault identification at all time. Neural networks were trained to identify faults and also instantly determine degree of fault. The simulation results indicate that the proposed FDI technique effectively detected and isolated faults and also accurately determine the degree of fault. Soft computing (i.e. fuzzy logic and neural networks) makes fault diagnosis intelligent and fast because it provides intuitive logic to the system and real-time input-output mapping.展开更多
Iterative learning control (ILC) is used to control systems that operate in a repetitive mode, improving track-ing accuracy of the control by transferring data from one repetition of a task, to the next. In this paper...Iterative learning control (ILC) is used to control systems that operate in a repetitive mode, improving track-ing accuracy of the control by transferring data from one repetition of a task, to the next. In this paper an op-timal iterative learning algorithm for discrete linear systems is analyzed and a solution for its attainment is proposed. Finally the mathematical proof of the algorithm’s causal formulation is also provided in its com-plete form, since its implementation requires its causal formulation.展开更多
Reliability and safety are major issues in tower crane applications. A new adaptive neurofuzzy system is developed in this work for real-time health condition monitoring of tower cranes, especially for hoist gearboxes...Reliability and safety are major issues in tower crane applications. A new adaptive neurofuzzy system is developed in this work for real-time health condition monitoring of tower cranes, especially for hoist gearboxes. Vibration signals are measured using a wireless smart sensor system. Fault detection is performed gear-by-gear in the gearbox. A new diagnostic classifier is proposed to integrate strengths of several signal processing techniques for fault detection. A hybrid machine learning method is proposed to facilitate implementation and improve training convergence. The effectiveness of the developed monitoring system is verified by experimental tests.展开更多
This paper presents a PFCVF (Power Factor Correction) rectifier that uses a variable frequency source for alternators for electric and hybrid vehicles application. In such application, the frequency of the signal in t...This paper presents a PFCVF (Power Factor Correction) rectifier that uses a variable frequency source for alternators for electric and hybrid vehicles application. In such application, the frequency of the signal in the alternator changes according to the vehicle speed, more over the loading effect on the alternator introduces harmonic currents and increases the alternator apparent power requirements. To overcome these problems and aiming more stability and better design of the alternator, a new third harmonic injection technique is proposed. This technique allows to preserve a good THD (Total Harmonic Distortion) of the input source at any frequency and to decrease losses in semiconductors switches, thereby allowing more stability and reducing the apparent power requirements. A comparative study between the standard and the new technique is made and highlights the effectiveness of the new design. A detailed analysis of the proposed topology is presented and simulations as well as experimental results are shown.展开更多
The article reviews the stable logic analysis model of complex systems or steady multilateral systems with two non-compatibility relations. Energy concept in Physics is introduced to the multilateral systems and used ...The article reviews the stable logic analysis model of complex systems or steady multilateral systems with two non-compatibility relations. Energy concept in Physics is introduced to the multilateral systems and used to deal with the multilateral system diseases. By using mathematical reasoning, it is demonstrated that the treatment principle: “Virtual disease is to fill his mother but real disease is to rush down his son” and “Strong inhibition of the same time, support the weak” which due to the “Yin Yang Wu Xing” Theory in Traditional Chinese Medicine (TCM).展开更多
A method and apparatus for monitoring heart rate of the heart using a wearable system is designed and implemented in this paper. A heart rate receives from heart beat signals and stores the data to a database and afte...A method and apparatus for monitoring heart rate of the heart using a wearable system is designed and implemented in this paper. A heart rate receives from heart beat signals and stores the data to a database and after a time period this method can determine an idle heart rate of the monitoring body. This idle heart rate is compared with the stored data and can determine the normal and abnormal heart rate variability. After the certain time period this system can detect the heart rate and also can send a signal to the user in time of abnormalities. Consequent estimations of heart rate variability are contrasted with this.展开更多
As a result of analysis of the existent methods and tools of computer aided design of the technical systems of many industrial areas, the primary purpose of the article that consists in the decision of different proje...As a result of analysis of the existent methods and tools of computer aided design of the technical systems of many industrial areas, the primary purpose of the article that consists in the decision of different project problems within the framework of one programmatic system with the use of comfortable programmatic interface is certain. Architecture of the program interface for computer designing and option of technical systems of different industrial areas on the basis of stage-by-stage automated designing principles with using programmatic and informative supports is worked out. In the article, the problem of computer designing, searching and option of elements of manipulator for flexible manufacture module is considered. As a method of logical simulation of the problem, production model of designing procedures of the program interface and intelligence option of a manipulator, its technical parameters are developed. On the basis of algorithmic scheme of searching, the option of a manipulator from data base is worked out.展开更多
Sigma-Point Kalman Filters (SPKFs) are popular estimation techniques for high nonlinear system applications. The benefits of using SPKFs include (but not limited to) the following: the easiness of linearizing the nonl...Sigma-Point Kalman Filters (SPKFs) are popular estimation techniques for high nonlinear system applications. The benefits of using SPKFs include (but not limited to) the following: the easiness of linearizing the nonlinear matrices statistically without the need to use the Jacobian matrices, the ability to handle more uncertainties than the Extended Kalman Filter (EKF), the ability to handle different types of noise, having less computational time than the Particle Filter (PF) and most of the adaptive techniques which makes it suitable for online applications, and having acceptable performance compared to other nonlinear estimation techniques. Therefore, SPKFs are a strong candidate for nonlinear industrial applications, i.e. robotic arm. Controlling a robotic arm is hard and challenging due to the system nature, which includes sinusoidal functions, and the dependency on the sensors’ number, quality, accuracy and functionality. SPKFs provide with a mechanism that reduces the latter issue in terms of numbers of required sensors and their sensitivity. Moreover, they could handle the nonlinearity for a certain degree. This could be used to improve the controller quality while reducing the cost. In this paper, some SPKF algorithms are applied to 4-DOF robotic arm that consists of one prismatic joint and three revolute joints (PRRR). Those include the Unscented Kalman Filter (UKF), the Cubature Kalman Filter (CKF), and the Central Differences Kalman Filter (CDKF). This study gives a study of those filters and their responses, stability, robustness, computational time, complexity and convergences in order to obtain the suitable filter for an experimental setup.展开更多
This paper presents the use of active disturbance rejection control method (ADRC) to synchronize two different chaotic systems. The master system and slave systems have uncertainties and external disturbances. The num...This paper presents the use of active disturbance rejection control method (ADRC) to synchronize two different chaotic systems. The master system and slave systems have uncertainties and external disturbances. The numerical results are presented for the synchronization between the Duffing-Holmes system and the van der pol system. The numerical results presented show the effectiveness of the proposed method.展开更多
文摘This paper presents the complex dynamics synthesis of the combat dy-namics series called tensor-centric warfare (TCW;for the first three parts of the series, see [1] [2] [3]), which includes tensor generalization of classical Lanchester-type combat equations, entropic Lie-dragging and commutators for modeling warfare uncertainty and symmetry, and various delta-strikes and missiles (both deterministic and random). The present paper gives a unique synthesis of the Red vs. Blue vectorfields into a single complex battle-vectorfield, using dynamics on Kähler manifolds as a rigorous framework for extending the TCW concept. The global Kähler dynamics framework, with its rigorous underpinning called the Kähler-Ricci flow, provides not only a new insight into the “geometry of warfare”, but also into the “physics of warfare”, in terms of Lagrangian and Hamiltonian structures of the battlefields. It also provides a convenient and efficient computational framework for entropic wargaming.
文摘This article presents a proposal for a model of a microprogram control unit (CMCU) with output identification adapted for implementation in complex programmable logic devices (CPLD) equipped with integrated memory modules [1]. An approach which applies two sources of code and one-hot encoding has been used in a base CMCU model with output identification [2] [3]. The article depicts a complete example of processing for the proposed CMCU model. Furthermore, it also discusses the advantages and disadvantages of the approach in question and presents the results of the experiments conducted on a real CPLD system.
文摘A class of closed-loop supply chain system consisting of one manufacturer and one supplier is designed, in which re-distribution, remanufacturing and reuse are considered synthetically. The manufacturer is in charge of recollecting and re-disposal the used products. Demands of ultimate products and collecting quantity of used products are described as the function of prices and reference prices. A non-linear dynamic pricing model for this closed-loop supply chain is established. A numerical example is designed, and the results of this example verified the model’s validity to price for the operation of closed-loop supply chain system.
文摘This paper deals with the calculation of a vector of reliable weights of decision alternatives on the basis of interval pairwise comparison judgments of experts. These weights are used to construct the ranking of decision alternatives and to solve selection problems, problems of ratings construction, resources allocation problems, scenarios evaluation problems, and other decision making problems. A comparative analysis of several popular models, which calculate interval weights on the basis of interval pairwise comparison matrices (IPCMs), was performed. The features of these models when they are applied to IPCMs with different inconsistency levels were identified. An algorithm is proposed which contains the stages for analyzing and increasing the IPCM inconsistency, calculating normalized interval weights, and calculating the ranking of decision alternatives on the basis of the resulting interval weights. It was found that the property of weak order preservation usually allowed identifying order-related intransitive expert pairwise comparison judgments. The correction of these elements leads to the removal of contradictions in resulting weights and increases the accuracy and reliability of results.
文摘The present research deals with the problem of development of an integrated expert-analytical system for optimum selection of calculated oil-field-geophysical parameters of oil and gas deposits with the purpose of increasing the accuracy of assessment of the reserves of oil and gas deposits. The purpose of the system is to make current adequate decisions on determining of oil-and-gas saturation of strata and future identification of the most significant methods for that, with these methods forming the foundation of knowledge bases for oil-and-gas deposits of the Apsheron peninsula of Azerbaijan. The system architecture allows for expanding the system with its subsequent transformation into a cluster of expert-analytical systems. A logical model of the proposed system is presented. The paper contains a detailed description of the mechanism of operation of the system as a whole and of its individual blocks. Mathematical and formal-logical bases of the intelligent system are explained. The system is equipped with a tool for dynamic statistical analysis of decisions made by it, with representation of the results in real-time mode. The results of the system testing on specific oil-and-gas deposit of the Apsheron peninsula of Azerbaijan in 2013 are given.
文摘Urban search and rescue robots are playing an increasingly important role during disasters and with their ability to search within hazardous and dangerous environments to assist the first respond teams. Surveying and remote sensing the hazardous areas are two of the urgent needs of the rescue team to identify the risks before the intervention of the emergency teams. With such time-critical missions, the path planning and autonomous navigation of the robot is one of the primary concerns due to the need of fast and feasible path that is comprehensive enough to assess the associated risks. This paper presents a path planning method for navigating an unmanned ground vehicle within in an indoor hazardous area with minimum priori information. The algorithm can be generalized to any given map and is based on probabilistic roadmap path planning method with spiral dynamics optimization algorithm to obtain the optimal navigating path. Simulations of the algorithm are presented in this paper, and the results promising results are illustrated using Matlab and Simulink simulation environments.
文摘Tumor cells can evade immune surveillance by secreting immuno-suppressive factors such as transforming growth factor-beta (TGF-β) and also, Interlukin-10 (IL-10). In this paper the optimal control of mathematical model for aggressive tumor growth via a new and proper approach known as AVK method has been considered. Moreover, we have implemented a special treatment so-called small interfering RNA (siRNA) to reduce presence and effect of TGF-β in tumor cells and also we have added Interlukin-2 (IL-2) into our treatment model to minimize the population of tumor cells. Further research and experimentation with these combination therapies may provide an effective solution in addressing the immuno-suppressive effects of TGF-β. Finally, we analyze the optimal control and system optimality of these equations using numerical techniques.
基金Instituto Tecnologico y de Estudios Superiores de Monterrey(Scholarship)Universidad Autonoma del Estado de Hidalgo,Secretaria de Educacion Publica(Complement scholarship)University of Lleida(Scholarship).
文摘This paper presents an application of the simulation of discrete events (SED) using ARENATM in the management of large-scale breeding farms. The main objective of the simulation model is to find a policy of replacement, to ensure the best economic performance of a farm. The only variant analyzed of replacement policy was the number of cycles set in permanency for a sow in the herd. Considered incomes come from the sale of piglets and unproductive sows, and costs are due to the feeding of animals, replacement sows purchases, and the operation expenses of the farm. For this analysis, the production process was divided into three major stages called: mating, pregnancy or gestation and lactation. The sow’s movement from one stage to other was modeled by cycle-dependent transition probabilities. Considering the daily utility, as response variable, the model shows the best number of cycles to maintain the sows.
基金Fundacao de Amparo a Pesquisa do Estado de Sao Paulo for the financial support(Process FAPESP No 2011/08108-0).
文摘Economic Load Dispatch (ELD) is a process of scheduling the required load demand among available generation units such that the fuel cost of operation is minimized. The ELD problem is formulated as a nonlinear constrained optimization problem with both equality and inequality constraints. In this paper, two test systems of the ELD problems are solved by adopting the Cuckoo Search (CS) Algorithm. A comparison of obtained simulation results by using the CS is carried out against six other swarm intelligence algorithms: Particle Swarm Optimization, Shuffled Frog Leaping Algorithm, Bacterial Foraging Optimization, Artificial Bee Colony, Harmony Search and Firefly Algorithm. The effectiveness of each swarm intelligence algorithm is demonstrated on a test system comprising three-generators and other containing six-generators. Results denote superiority of the Cuckoo Search Algorithm and confirm its potential to solve the ELD problem.
文摘In this paper, the issue of control of impact forces generated during the interaction between the hopping ro-bot toe and the ground while landing has been considered. The force thus generated can damage the robot altogether. With the objective to control these impact forces, impedance control strategy has been applied to the hopping robot system. The dynamics pertaining to the impact between robot toe and ground has been modeled as in case of a ball bouncing on the ground. Bond Graph theory has been used for the modeling of the hopping robot system. Simulation results show that impact forces generated during the landing has been controlled to a specified limiting value. This model and the corresponding analysis can be further extended for understanding the dynamics involved in continuous hopping of robot with constant height and velocity control.
文摘Most differential drive platforms are equipped with two independent actuators and casters. The positions of the gravity center and the rotation center often do not coincide. This position difference, combined with the effect of unbalanced actuator dynamics on the motion, makes it difficult to properly control the platform. We propose an adaptive nonlinear controller system based on the Lyapunov stability theory that greatly improves the trajectory tracking performance of such platforms. The asymptotically stable kinematic controller takes into account the position difference and the effect of the unbalanced actuator dynamics. The dynamic controller has the desirable property that it requires minimal knowledge of the platform physical parameters. Validation was performed through simulation and several experiments conducted on a rear driven powered wheelchair. Comparative experimental studies suggested that the proposed adaptive control system performs better than a similar method presented in the literature for linear as well as curvilinear trajectory tracking. Furthermore, the control system exhibits good tracking performance on inclined plans and non smooth surfaces.
文摘There have been many studies on observer-based fault detection and isolation (FDI), such as using unknown input observer and generalized observer. Most of them require a nominal mathematical model of the system. Unlike sensor faults, actuator faults and process faults greatly affect the system dynamics. This paper presents a new process fault diagnosis technique without exact knowledge of the plant model via Extended State Observer (ESO) and soft computing. The ESO’s augmented or extended state is used to compute the system dynamics in real time, thereby provides foundation for real-time process fault detection. Based on the input and output data, the ESO identifies the un-modeled or incorrectly modeled dynamics combined with unknown external disturbances in real time and provides vital information for detecting faults with only partial information of the plant, which cannot be easily accomplished with any existing methods. Another advantage of the ESO is its simplicity in tuning only a single parameter. Without the knowledge of the exact plant model, fuzzy inference was developed to isolate faults. A strongly coupled three-tank nonlinear dynamic system was chosen as a case study. In a typical dynamic system, a process fault such as pipe blockage is likely incipient, which requires degree of fault identification at all time. Neural networks were trained to identify faults and also instantly determine degree of fault. The simulation results indicate that the proposed FDI technique effectively detected and isolated faults and also accurately determine the degree of fault. Soft computing (i.e. fuzzy logic and neural networks) makes fault diagnosis intelligent and fast because it provides intuitive logic to the system and real-time input-output mapping.
文摘Iterative learning control (ILC) is used to control systems that operate in a repetitive mode, improving track-ing accuracy of the control by transferring data from one repetition of a task, to the next. In this paper an op-timal iterative learning algorithm for discrete linear systems is analyzed and a solution for its attainment is proposed. Finally the mathematical proof of the algorithm’s causal formulation is also provided in its com-plete form, since its implementation requires its causal formulation.
文摘Reliability and safety are major issues in tower crane applications. A new adaptive neurofuzzy system is developed in this work for real-time health condition monitoring of tower cranes, especially for hoist gearboxes. Vibration signals are measured using a wireless smart sensor system. Fault detection is performed gear-by-gear in the gearbox. A new diagnostic classifier is proposed to integrate strengths of several signal processing techniques for fault detection. A hybrid machine learning method is proposed to facilitate implementation and improve training convergence. The effectiveness of the developed monitoring system is verified by experimental tests.
文摘This paper presents a PFCVF (Power Factor Correction) rectifier that uses a variable frequency source for alternators for electric and hybrid vehicles application. In such application, the frequency of the signal in the alternator changes according to the vehicle speed, more over the loading effect on the alternator introduces harmonic currents and increases the alternator apparent power requirements. To overcome these problems and aiming more stability and better design of the alternator, a new third harmonic injection technique is proposed. This technique allows to preserve a good THD (Total Harmonic Distortion) of the input source at any frequency and to decrease losses in semiconductors switches, thereby allowing more stability and reducing the apparent power requirements. A comparative study between the standard and the new technique is made and highlights the effectiveness of the new design. A detailed analysis of the proposed topology is presented and simulations as well as experimental results are shown.
文摘The article reviews the stable logic analysis model of complex systems or steady multilateral systems with two non-compatibility relations. Energy concept in Physics is introduced to the multilateral systems and used to deal with the multilateral system diseases. By using mathematical reasoning, it is demonstrated that the treatment principle: “Virtual disease is to fill his mother but real disease is to rush down his son” and “Strong inhibition of the same time, support the weak” which due to the “Yin Yang Wu Xing” Theory in Traditional Chinese Medicine (TCM).
文摘A method and apparatus for monitoring heart rate of the heart using a wearable system is designed and implemented in this paper. A heart rate receives from heart beat signals and stores the data to a database and after a time period this method can determine an idle heart rate of the monitoring body. This idle heart rate is compared with the stored data and can determine the normal and abnormal heart rate variability. After the certain time period this system can detect the heart rate and also can send a signal to the user in time of abnormalities. Consequent estimations of heart rate variability are contrasted with this.
文摘As a result of analysis of the existent methods and tools of computer aided design of the technical systems of many industrial areas, the primary purpose of the article that consists in the decision of different project problems within the framework of one programmatic system with the use of comfortable programmatic interface is certain. Architecture of the program interface for computer designing and option of technical systems of different industrial areas on the basis of stage-by-stage automated designing principles with using programmatic and informative supports is worked out. In the article, the problem of computer designing, searching and option of elements of manipulator for flexible manufacture module is considered. As a method of logical simulation of the problem, production model of designing procedures of the program interface and intelligence option of a manipulator, its technical parameters are developed. On the basis of algorithmic scheme of searching, the option of a manipulator from data base is worked out.
文摘Sigma-Point Kalman Filters (SPKFs) are popular estimation techniques for high nonlinear system applications. The benefits of using SPKFs include (but not limited to) the following: the easiness of linearizing the nonlinear matrices statistically without the need to use the Jacobian matrices, the ability to handle more uncertainties than the Extended Kalman Filter (EKF), the ability to handle different types of noise, having less computational time than the Particle Filter (PF) and most of the adaptive techniques which makes it suitable for online applications, and having acceptable performance compared to other nonlinear estimation techniques. Therefore, SPKFs are a strong candidate for nonlinear industrial applications, i.e. robotic arm. Controlling a robotic arm is hard and challenging due to the system nature, which includes sinusoidal functions, and the dependency on the sensors’ number, quality, accuracy and functionality. SPKFs provide with a mechanism that reduces the latter issue in terms of numbers of required sensors and their sensitivity. Moreover, they could handle the nonlinearity for a certain degree. This could be used to improve the controller quality while reducing the cost. In this paper, some SPKF algorithms are applied to 4-DOF robotic arm that consists of one prismatic joint and three revolute joints (PRRR). Those include the Unscented Kalman Filter (UKF), the Cubature Kalman Filter (CKF), and the Central Differences Kalman Filter (CDKF). This study gives a study of those filters and their responses, stability, robustness, computational time, complexity and convergences in order to obtain the suitable filter for an experimental setup.
文摘This paper presents the use of active disturbance rejection control method (ADRC) to synchronize two different chaotic systems. The master system and slave systems have uncertainties and external disturbances. The numerical results are presented for the synchronization between the Duffing-Holmes system and the van der pol system. The numerical results presented show the effectiveness of the proposed method.
