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EUROSIM Congress on Modelling and Simulation (EUROSIM)

作者： Alberto de la Calle François E. Cellier Luis J. Yebra Sebastián Dormido Automatic Control Group CIEMAT-Plataforma Solar de Almería Tabernas Spain ETH Zürich Institute of Computational Science Zürich Switzerland Dept. of Computer Science and Automatic Control UNED Madrid Spain

Bond graphs are a natural method for representing power flows in physical systems and they represent the most basic graphical paradigm that is still fully object-oriented. This paper describes a new version of BondLib, the Modelica bond graph library. The library was created for Modelica with graphical Dymola support, and its object-oriented design allows the wrapping of bond graph models offering a user-friendly environment for modeling physical system in multiple energy domains. The new improvements try to reduce the deployment and training cost for end-users by making the error diagnostics easier.

关键词： Mathematical model Connectors Object oriented modeling Libraries Equations Junctions Computational modeling

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Structured coprime factorizations description of linear and time-invariant networks

Structured coprime factorizations description of linear and ...

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52nd IEEE Conference on Decision and control, CDC 2013

作者： SabǍu, Şerban OarǍ, Cristian Warnick, Sean Jadbabaie, Ali Electrical and Computer Engineering Dept. Stevens Institute of Technology United States Faculty of Automatic Control Dept. University Politehnica Bucharest Romania Faculty of Computer Science Department Information and Decision Algorithms Laboratories Brigham Young University United States Faculty of Electrical and Systems Engineering Dept. University of Pennsylvannia United States

ISBN: (纸本)9781467357173

In this paper we study state-space realizations of Linear and Time-Invariant (LTI) systems. Motivated by biochemical reaction networks, Gonçalves and Warnick have recently introduced the notion of a Dynamical Structure Functions (DSF), a particular factorization of the system's transfer function matrix that elucidates the interconnection structure in dependencies between manifest variables. We build onto this work by showing an intrinsic connection between a DSF and certain sparse left coprime factorizations. By establishing this link, we provide an interesting systems theoretic interpretation of sparsity patterns of coprime factors. In particular we show how the sparsity of these coprime factors allows for a given LTI system to be implemented as a network of LTI sub-systems. We examine possible applications in distributed control such as the design of a LTI controller that can be implemented over a network with a pre-specified topology. ©2013 IEEE.

关键词： Factorization

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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A dynamic uplink scheduling scheme for WiMAX networks

A dynamic uplink scheduling scheme for WiMAX networks

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International Conference on computer Engineering and Systems

作者： Nada M. El-Shennawy Mohamed N. El-Derini Mostafa A. Youssef Mahmoud M. Fahmy Computers and Automatic Control Dept. Tanta University Tanta Egypt Computer Science and Engineering E-JUST Alexandria Egypt Vice Rector for Education and Student Affairs Pharos University Alexandria Egypt

Over the past few years, there has been a rapid growth of new services such as online video games, video conferences, and multimedia services to end users. WiMAX is an emerging technology for next generation wireless networks which supports a large number of users. To achieve Quality of Service (QoS) requirements, an efficient and reliable scheduling algorithm is urgently needed. Among a large number of the proposed approaches in the literature, a variably weighted round robin scheduling algorithm (VWRR) has been proven to provide the best performance in an IP backbone network with no attempts on WiMAX networks. This paper proposes a dynamic uplink scheduling algorithm for WiMAX networks based on VWRR to allocate the bandwidth to users to maximize the throughput and ensure the constraints of delay, jitter, and load. A comparative study between the proposed scheduling algorithm and the two most famous scheduling algorithms: weighted round robin algorithm (WRR) and modified deficit round robin algorithm (MDRR) over WiMAX networks, is presented. Simulation results obtained using OPNET reveal that the proposed algorithm has a superior performance compared with WRR with respect to throughput, delay, jitter, and load. Additionally, the proposed scheduling algorithm is shown to provide an excellent level of reliability and scalability when increasing the number of served subscriber stations.

关键词： WiMAX Uplink Quality of service Round robin Throughput Bandwidth

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Structured coprime factorizations description of Linear and Time-Invariant networks

Structured coprime factorizations description of Linear and ...

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IEEE Conference on Decision and control

作者： Şerban Săbau Cristian Oară Sean Warnick Ali Jadbabaie Stevens Institute of Technology Hoboken NJ US Faculty of the Automatic Control Dept. University “Politehnica” Bucharest Romania The Faculty of the Computer Science Department Brigham Young University Faculty of the Electrical and Systems Engineering Dept University of Pennsylvannia

关键词： Transfer functions Equations Indium phosphide Mathematical model Network topology Topology Electronic mail

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A comparative study of digital IMC and RST regulators applied on a wind turbine

UPB Scientific Bulletin, Series C: Electrical Engineering

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UPB Scientific Bulletin, Series C: Electrical Engineering 2012年第4期74卷 27-38页

作者： Pintea, Andreea Popescu, Dumitru Dept. of Automatic Control and Computer Science Politehnica University Bucharest Romania

This paper presents a comparative study of two well known regulation algorithms designed for a horizontal variable wind speed turbine functioning in the above rated wind speed regime. Typical control in this working regime uses pitch regulation to maintain constant the turbine's rotor speed while the generator toque is held constant. This will be also the approach chosen for this study. The goal of the paper is to demonstrate the efficiency of the two algorithms in controlling the electrical output power by means of applying them on a simplified model of a wind turbine. The obtained results will be analyzed and presented through a few simulations. Copyright © 2009 Universitatea Politehnica Bucuresti.

关键词： Wind turbines

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A WSN based monitoring system for oil and gas transportation through pipelines

A WSN based monitoring system for oil and gas transportation...

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Junie, Petru Dinu, Octav Eremia, Cristian Stefanoiu, Dan Petrescu, Catalin Savulescu, Ioan Politehnica University of Bucharest Dept. of Automatic Control and Computer Science 313 Splaiul Independentei Bucharest-060042 Romania Oil and Gas University of Ploiesti Dept. of Drilling and Extraction 39 Bucuresti Blvd. Ploiesti-100680 Romania

ISBN: (纸本)9783902661982

This article introduces some results obtained in monitoring of long pipelines employed in oil and gas transportation. A mobile unit for signals acquisition, processing, identification and diagnosis (MUSAPID), based on wireless sensors networks (WSN) technology was employed. The MUSAPID architecture was adapted to match the configuration of monitoring system, inspired by the national energy dispatcher. Thus, the system includes four hierarchical levels assigned to: the central dispatcher, the zonal dispatcher, the local dispatcher and the sensor nodes. The sensors are acquiring the flow and temperature of oil from the monitored pipeline. Sensors distribution along the pipeline is of in-line type. Nevertheless, a cross-link schema between sensor nodes is proposed, in order to increase the exploitation safety and to reduce false alarms sending. Two independent monitoring approaches based on comparison between values of sensors in pairs of successive nodes allow controlling the occurrence of rifts and leaks in the pipeline network. One of the approaches is unconventional and uses inter-correlation between the data acquired from two successive sensor nodes, as well as auto-correlation of temperature data. A simple logic to avoid sending false alarms was also implemented. © 2012 IFAC.

关键词： Sensor nodes

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Pros and cons of horizontal axis wind turbines linear identification

Frontiers in Artificial Intelligence and Applications

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Frontiers in Artificial Intelligence and Applications 2012年 243卷 684-695页

作者： Stefanoiu, Dan Tudor, Florin Sebastian Politehnica University of Bucharest Dept. of Automatic Control and Computer Science 313 Splaiul Independentei Bucharest-060042 Romania

ISBN: (纸本)9781614991045

This article outlines some of the advantages and disadvantages of wind turbines linear identification, in case of minimal number of measuring channels. The identified turbine has horizontal axis and belongs to middle size class. Multi-variable models of linear type (Box-Jenkins (BJ) / ARMAX, state space representation) are estimated and compared in terms of fitness in time, as well as in frequency. All models are validated by data acquired from a running turbine, in conditions of variable but rather weak wind activity. Linear models do not match very well HAWTs, though some BJ models are behaving fairly. © 2012 The authors and IOS Press. All rights reserved.

关键词： Horizontal axis wind turbine

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A WSN Based Monitoring System for Oil and Gas Transportation through Pipelines

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IFAC Proceedings Volumes 2012年第6期45卷 1796-1801页

作者： Petru Junie Octav Dinu Cristian Eremia Dan Stefanoiu Catalin Petrescu Ioan Savulescu “Politehnica” University of Bucharest Dept. of Automatic Control & Computer Science 313 Splaiul Independentei Bucharest-060042 ROMANIA (Tel: +40-21-316-9561 Oil and Gas University of Ploiesti Dept. of Drilling and Extraction 39 Bucuresti Blvd. Ploiesti-100680 ROMANIA (Tel: +40-244-573-171

关键词： WSN topology oil and gas pipelines monitoring (cross-)correlation analysis

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative Engineering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying control system hardware Finite element method Autonomous robots basic structure Materials selection

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