This paper presents a symbolic PI tuning method for first orders systems with time delay based on Pade approximation. The presented method is very easy to use like well-known methods such as Ziegler-Nichols and Cohen-...
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This paper presents a symbolic PI tuning method for first orders systems with time delay based on Pade approximation. The presented method is very easy to use like well-known methods such as Ziegler-Nichols and Cohen-Coon. Besides its easiness, the method performs a faster step response and no overshoot. Furthermore, it provides a good robust performance.
This paper presents a proposed design of a leg rehabilitation system. The system will be implemented on a reconfigurable wheelchair prototype in order to provide additional two rotational degrees of freedom (DOF) for ...
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This paper presents a proposed design of a leg rehabilitation system. The system will be implemented on a reconfigurable wheelchair prototype in order to provide additional two rotational degrees of freedom (DOF) for serving more rehabilitation purposes. Lagrangian dynamic formulation is used to derive the system dynamics. Joints frictions based on Coulomb friction model are considered in the leg rehabilitation system. The system equations of motion are linearized since the model is dealt with in state space representation. LQR control approach is considered and derived for stabilization of the system. Simulation Results validating the model and the control approach are presented and discussed.
This paper presents an anti-windup based torque controller for brushless DC motor. For the trapezoidal case of back-EMF, a pseudo-vector control scheme is applied to generate ideal current references. Then, an optimal...
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This paper presents an anti-windup based torque controller for brushless DC motor. For the trapezoidal case of back-EMF, a pseudo-vector control scheme is applied to generate ideal current references. Then, an optimal torque tracker is presented to provide good tracking performances of current response to produce the torque response for immediate variation of torque commands. For practical consideration, the tracker with an anti-windup control scheme can provide the reasonable control input within the required constraint without losing the good tracking performance as possible.
This paper presents a scene graph for geometric relations between rigid bodies that keeps track of poses and twists of rigid bodies in the scene. The scene graph relies on semantic pose and twist representation, makin...
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ISBN:
(纸本)9781467363587
This paper presents a scene graph for geometric relations between rigid bodies that keeps track of poses and twists of rigid bodies in the scene. The scene graph relies on semantic pose and twist representation, making it invariant to the actual coordinate representation at hand. This makes the scene graph more general and interoperable than most scene graphs currently available. The presented scene graph takes into account constraints imposed by particular coordinate representations, allows for constant poses, answers semantic pose and twist queries, and provides built-in semantic consistency checks. Since the scene graph also keeps track of the twist, it allows native twist calculations, as opposed to deriving the velocities from the poses in the graph. This paper comes with software released under a dual BSD/LGPLv2.1 license.
This paper presents a new method to simultaneously optimize components' size, set points of the controlsystem and slope of PV panels of standalone hybrid energy systems (HESs) using the Passive Congregation PSO (...
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ISBN:
(纸本)9781467350747;9781467350723
This paper presents a new method to simultaneously optimize components' size, set points of the controlsystem and slope of PV panels of standalone hybrid energy systems (HESs) using the Passive Congregation PSO (PSOPC) approach. New control set points are defined for the HES, and a new operation strategy is presented based on the defined set points. The optimization algorithm determines the optimal values of the set points to efficiently optimize the HES operation. The effectiveness of the proposed control set points is finally verified through some numerical analyses. In this regard, the proposed optimization method is employed to optimize various HES configurations and compared with other methods using practical data of a remote area in Iran. Sensitivity analyses have been also conducted on the control set points and system uncertainties to investigate their impacts on the optimization results.
Based on the Siemens PLC S7-300 modified type CASS process as the main body of the activated sludge level 2 biochemical treatments, and aimed at medium-sized and small enterprises sewage treatment to realize the good ...
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This paper discusses the initial course development, portable living laboratory environment, student achievements and course revisions for an undergraduate and graduate level critical infrastructure and controlsystem...
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ISBN:
(纸本)9780769548920;9781467359337
This paper discusses the initial course development, portable living laboratory environment, student achievements and course revisions for an undergraduate and graduate level critical infrastructure and controlsystems cybersecurity curriculum. The curriculum developed is based upon DePaul University's Computer and Network Security (CNS) 366 / 466 delivered during the Spring 2011, Fall 2011 and Spring 2012 quarters and collaborative industry partnerships. The educational methods employed in the curriculum provide the students with hands-on, cognitive experiences associated with production controlsystem equipment. The critical infrastructure testbed projects coupled with the rapid prototyping environment provide faculty and students with real world associations leading to increased risk analysis accuracy and knowledge conveyance. The curriculum may be used at other institutions to cross-educate computer science and security disciplines with traditional engineering programs and become associated within the current partnership of industry and academic institutions leveraging the curriculum.
With the development of cloud computing, the resource management in cloud environment and flexible adaptation of services are becoming more and more important. In this paper, we design and implement a resource managem...
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ISBN:
(纸本)9781479905614
With the development of cloud computing, the resource management in cloud environment and flexible adaptation of services are becoming more and more important. In this paper, we design and implement a resource management system of multimedia conference based on cloud from the perspective of service provider. Media adaptation layer and automatic deployment in management system improve resource utilization and reduce the manual operation to make sure that service provider can provide customers with better services. We can prove its effectiveness through the experiment.
The satellite attitude controlsystem is composed of measuring component, executing component and controller. When the satellite works in the space, the fault probability of optical sensors, inertial sensors, and the ...
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ISBN:
(纸本)9781479910144
The satellite attitude controlsystem is composed of measuring component, executing component and controller. When the satellite works in the space, the fault probability of optical sensors, inertial sensors, and the reaction flywheels is very high. Fault diagnosis for each subsystem is the premise to identify the cause of the malfunction and avoid the disaster, which can guarantee the safe and reliable running of the satellite. In this paper, a combined diagnosis approach based on observer redundancy is proposed to isolate the faults of optical sensors, inertial sensors and the flywheels. It solves a diagnosis problem that the common diagnosis method based on state estimation has difficulty in separating the input fault (actuator fault) and output fault (sensor fault) of the system. Then the attitude controlsystem of earth-oriented three-axis stabilized satellite has been studied, and the fault isolation strategy for flywheel, gyro and star sensor based on observer redundancy is given. Finally, the results of simulation show that this method can accurately diagnose the faults of the three key components and proved effectiveness of the combined diagnosis method based on observer redundancy.
Along the last decade, many companies started using Distributed Software Development (DSD). The distribution of the software development teams over the globe has become almost a rule in large companies. However, in th...
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ISBN:
(纸本)9780769550572
Along the last decade, many companies started using Distributed Software Development (DSD). The distribution of the software development teams over the globe has become almost a rule in large companies. However, in this context, new problems arise, which mainly involve the physical and temporal distance among the participants. Some studies show that deploying a version controlsystem to alleviate this problem is a big challenge for distributed teams. This paper presents a systematic mapping study about works about version control that focus on DSD. We found 29 studies related to DSD version control, published between 2002 and 2012. Using the systematically extracted data from these works, we present challenges, tools, and other solutions proposed to version control in DSD. These results can support practitioners and researchers to better understand and overcome the challenges related do DSD version control, and devise more effective solutions to improve version control in a distributed setting.
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