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Informacje o czasopiśmie
Format
Czasopismo
eISSN
1178-5608
Pierwsze wydanie
01 Jan 2008
Częstotliwość wydawania
1 raz w roku
Języki
Angielski

Wyszukiwanie

Tom 5 (2012): Zeszyt 2 (January 2012)

Informacje o czasopiśmie
Format
Czasopismo
eISSN
1178-5608
Pierwsze wydanie
01 Jan 2008
Częstotliwość wydawania
1 raz w roku
Języki
Angielski

Wyszukiwanie

12 Artykułów
access type Otwarty dostęp

Spatial-temporal Collaborative Sequential Monte Carlo for Mobile Robot Localization in Distributed Intelligent Environments

Data publikacji: 01 Jun 2012
Zakres stron: 295 - 314

Abstrakt

Abstract

In this paper, a spatial-temporal collaborative sequential Monte Carlo architecture for mobile robot localization is designed to well suites intelligent environment for service robotic system. A proposed algorithm, namely Distributed Proportional Allocation-Augmented Particle Filter (DPA-APF), resolves the sensor collaboration problem by the processes of augmented sampling, inter-node resampling, inner-node resampling and particle exchange. These procedures exploit data parallelism and pipelining of resampling operations and improve the scalability of distributed particle filters (PFs). Moreover, modified visual and laser sensor perception models are also addressed to guarantee reliable and accurate robot localization in dynamic scenarios that robot coexists with people. The proposed method is applied to a home-care robotic intelligent room with distributed smart nodes, and the experimental results validate the effectiveness of the proposed method, which is hopeful to reduce the gap that exists between PF theory and their implementation using networked hardware.

Index terms

  • spatial-temporal collaboration
  • mobile robot
  • particle filter
  • distributed sensor network
  • localization and navigation
access type Otwarty dostęp

Passive Uhf Rfid Strain Sensor Tag for Detecting Limb Movement

Data publikacji: 01 Jun 2012
Zakres stron: 315 - 328

Abstrakt

Abstract

A strain sensor tag with screen printed antenna for seamless integration with clothing is examined to provide a wireless method for monitoring of human body movements. The strain response of the tag is investigated in air and on human body. While the results indicate strong antenna-body interaction, the strain response of the tag is found to be a monotonic function of the strain.

Index terms

  • Radio frequency identification (RFID)
  • wearable sensor
  • passive sensor
  • tag-based sensing
  • polymer thick films
  • printed electronics
access type Otwarty dostęp

Monitoring the Postural Stability of Planar Bipedal Robots using the Moment-Height Stability Measure

Data publikacji: 01 Jun 2012
Zakres stron: 329 - 346

Abstrakt

Abstract

Robotics researchers have studied the stability maintenance requirements of bipedal robots since they are inherently unstable. An accurate postural stability measure is required to monitor their dynamic equilibrium conditions. In this article, the novel Moment-Height Stability (MHS) measure, which has previously been developed for monitoring the postural stability of wheeled mobile robots, is developed for that of bipedal robots. The performance of the MHS is evaluated with that of the well-known postural stability measure Zero-Moment Point (ZMP). The MHS and the ZMP are applied to two types of manoeuvres of a planar bipedal robot, consisting of standing up and swinging forward. Simulation results reveal that both the ZMP and the MHS predict the same instant for the occurrence of postural instability for the biped; the MHS warns the biped that the potential of postural instability amplifies once the overall height of the biped center of mass (CM) starts elevating, while the ZMP does so immediately before the occurrence of postural instability.

Index terms

  • Bipedal robots
  • Postural Stability
  • Moment-Height Stability (MHS)
  • Zero-Moment Point (ZMP)
  • Trajectory Planning
access type Otwarty dostęp

Optical Probe Current Sensor Module Using the Kerr Effect of Exchange-Coupled Magnetic Film and its Application to Igbt Switching Current Measurements

Data publikacji: 01 Jun 2012
Zakres stron: 347 - 361

Abstrakt

Abstract

An optical probe current sensor module using the Kerr effect of exchange-coupled magnetic film has been fabricated and applied to switching current measurements for IGBT used for the DC-DC converter and the DC-AC inverter of EV/HEV. Since the sensor module using the Kerr effect of the single domain exchange-coupled magnetic film utilizes magnetization rotation only, Barkhausen noise due to domain wall pinning can be excluded. The current sensor consists of a Laser-diode, a polarizer, a Fe-Si/Mn-Ir exchange-coupled film, a quarter-wavelength plate, PIN Photodiodes and a differential amplifier. The current sensor has a current measurement range of ±60 A and a frequency range of DC 200 kHz. The switching current of IGBT has been measured by it.

Index terms

  • Current sensor
  • Optical probe
  • Magneto-optical Kerr effect
  • Exchange-coupled film
  • EV/HEV
access type Otwarty dostęp

Practical Sway Motion Control for Double Pendulum-Type Overhead Crane System

Data publikacji: 01 Jun 2012
Zakres stron: 362 - 381

Abstrakt

Abstract

The sway motion of crane can be successfully suppressed by properly shaping the reference command. Input shaping is a one type of feed-forward shaping method that is based on linear superposition. In this paper, we present the impact of double pendulum type overhead crane (DPTOC) system on the effectiveness of input shaping. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers with the derivative effects are designed based on the properties of the system. The response DPTOC system to shaped input is experimentally verified in time and frequency domain. The performance of the input shaper is examined in terms of sway angle reduction and time response specification. Experimental results demonstrate the effectiveness of the proposed approach in reducing the sway motion of crane system.

Index terms

  • Input shaping
  • double pendulum
  • and sway motion
access type Otwarty dostęp

Synthesis of SrTiO3 Nanopowder by Sol-Gel-Hydrothemal Method for Gas Sensing Application

Data publikacji: 01 Jun 2012
Zakres stron: 382 - 400

Abstrakt

Abstract

Strontium titanate (SrTiO3) nanopowder has been synthesized through a sol-gel-hydrothermal method. The X-ray diffraction studies of SrTiO3 nanopowder have shown that the as-prepared powder was single phase, crystalline, and has a cubic perovskite structure (ABO3) with a lattice constant a = 3.903 Å. The particle size calculated from FWHM was ∼22 nm. SrTiO3 nanopowder was examined using thermo gravimetric analysis; differential thermal analysis and UV-visible absorption spectroscopy. The transmission electron microscopic investigations have shown that the particle size of the as-prepared powder has a mean size of 34 nm. Then highly sensitive and selective sensors to H2S based on glass substrate were fabricated successfully by screen-printing technique. Sensitivity, selectivity, response time, and recovery time of the sensors were systematically investigated as a function of operating temperature, using H2S, CO, CO2, H2, Cl2, LPG, C2H5OH, O2, NH3 and NO2 as test gases. The sensitivity was found to lie below and around the ppm level for H2S gas at 150 °C.

Index terms

  • SrTiO
  • sol-gel-hydrothermal
  • nanocrystalline
  • thick film
  • gas response
  • HS gas sensor
access type Otwarty dostęp

Breath Analysis for Medical Diagnosis

Data publikacji: 01 Jun 2012
Zakres stron: 401 - 440

Abstrakt

Abstract

The purpose of this review is to highlight the advances in technology and understanding in the field of breath analysis for medical diagnosis. A critical review of the methods of breath collection, treatment, and analysis is given, highlighting the problems facing the field and areas where promising advancement has been made. One particular area of interest is centered around electronic noses, ideally, portable devices which aim to mimic biological olifactory systems in analysing gases to produce odor fingerprints. Furthermore, recent work has shown it is possible to modify the basic sensor materials to both improve their performance, increase their tolerance to factors such as water vapour interferance which often leave the sensor system de-sensitized to the gaseous biomarkers, and enhance their selectivity. It will be shown how it is possible to accurately quantify concentrations of VOC’s and make disease diagnosis from analysis of the collected data which compare favorably with traditional medical diagnostic techniques.

Słowa kluczowe

  • Sensors
  • Breath Analysis
  • Electronic Nose
  • Cancer Detection
access type Otwarty dostęp

Nanostructured Fe2O3 Thick Film as an Ethanol Sensor

Data publikacji: 01 Jun 2012
Zakres stron: 441 - 457

Abstrakt

Abstract

Thick films of AR Grade nano Fe2O3 material with n-type semiconducting properties were prepared and tested for their gas sensing performances. Thick films of the materials were prepared by screen printing technique. The gas sensing performance was studied using static gas sensing system. The material was tested for various gases such as CO, CO2, NH3, Cl2, H2, LPG, ethanol and H2S. The nano Fe2O3 film showed maximum sensitivity to ethanol gas at 350 °C temperature at 250 ppm concentration with short response time and large recovery time. Physical and structural properties of the film material were studied by SEM, TEM, XRD and UV spectroscopy.

Index terms

  • Nano FeO
  • Ethanol
  • Gas sensor
  • Sensitivity
access type Otwarty dostęp

Optimizing Perceived Heaviness and Motion for Lifting Objects with a Power Assist Robot System Considering Change in Time Constant

Data publikacji: 01 Jun 2012
Zakres stron: 458 - 486

Abstrakt

Abstract

Power assist robots are usually used for disabled and elderly people to augment their abilities and skills. This paper proposes to use these robots to handle heavy objects in industries, and thus brings a novelty in the applications of power assist robots. However, it is difficult to optimize perceived heaviness and motion either independently or simultaneously for lifting objects with power-assist. Hence, this paper investigates the techniques to optimize perceived heaviness and motion following bionic and psychophysical approaches. We developed two systems-one was used to lift objects manually, and another was a power assist system to lift objects with it. Several hypotheses and strategies related to weight perception and time constant were adopted. Humans lifted objects manually and with power-assist independently. Analyses showed that load force rate for power-assisted lifting were lower than that for manual lifting. We hypothesized that time constant of the assist system might be responsible for this. We changed time constant and found that increase in time constant reduced perceived heaviness and load force. Then, objects were lifted with power-assist in some selected conditions pertaining to time constant. Analyses showed that perceived heaviness was related to load force rate while object motion (acceleration) was related to load force magnitude. It was then demonstrated how to independently optimize perceived heaviness and motion by optimizing load force rate and its magnitude respectively. Techniques for simultaneous optimization of motion and perceived heaviness were also presented. Finally, we proposed to use the findings to develop power assist robots for manipulating heavy objects in industries that may enhance interactions with humans in terms of maneuverability, safety etc.

Index terms

  • Power assist robot system
  • lifting objects
  • weight perception
  • psychophysics
  • time constant
  • motion
  • human-robot interaction
  • bionics/biomimetics
access type Otwarty dostęp

Continuous Time Identification and Decentralized Pid Controller of an Aerothermic Process

Data publikacji: 01 Jun 2012
Zakres stron: 487 - 503

Abstrakt

Abstract

The interactions between input/output in multivariable processes represent a major challenge in the design of decentralized controllers. In this paper, a simple method for the design of decentralized PID controller is proposed. It consists to combine the conventional PID controller with the static decoupler approach. For each single loop, the individual controller is independently designed by applying the internal model control (IMC) tuning rules. To demonstrate the effectiveness of the proposed method, the PID controller with and without decoupling is implemented on an aerothermic process. It is a pilot scale heating and ventilation system equipped with a heater grid and a centrifugal blower, fully connected through the Humusoft MF624 data acquisition system for real time control. The outcome of the experimental results is that the main control objectives, such as set-point tracking and interactions rejection are well achieved. The experimental results have shown that the proposed method provides a significant improvement compared to conventional PID controller.

Index terms

  • Continuous-time identification
  • aerothermic process
  • decentralized PID controller
  • static decoupling
  • TITO control systems
access type Otwarty dostęp

Non-Minimum Phase Model of Vertical Position Electro-Hydraulic Cylinder for Trajectory Zpetc

Data publikacji: 01 Jun 2012
Zakres stron: 504 - 520

Abstrakt

Abstract

Hydraulic actuator has been widely used in industrial applications due to its fast response and capability of moving heavy load. The nonlinear properties of hydraulic cylinder had challenged researchers to design a suitable controller for position control, motion control and tracking control. Based on these problems, we had done a real-time digital tracking control studies on electro-hydraulic cylinder using trajectory zero phase error tracking control (ZPETC) without factorization of zeros polynomial algorithm. With the proposed strategy, the controller parameters are determined using comparing coefficients methods. The electro-hydraulic system mathematical model is approximated using system identification technique with non-minimum phase system being considered. The real-time experimental result will be compared with simulation result using a model from a real plant.

Słowa kluczowe

  • Feedforward Control
  • ZPETC
  • System identification
  • pole placement
  • non-minimum phase
access type Otwarty dostęp

A New Kind of Pso: Predator Particle Swarm Optimization

Data publikacji: 01 Jun 2012
Zakres stron: 521 - 539

Abstrakt

Abstract

Today, swarm intelligence is widely used in optimization problems. PSO is one the best swarm intelligence methods. In the method, each particle moves toward the direction in which the best individual and group experience has happened. The most important disadvantage of this method is that it falls in local optima. To fix the problem, a metaheuristic method is proposed in this paper. There has always been a competition between prey and predator in the nature. Little birds often fly in a colony form to run away from birds of prey. Being inspired by the phenomenon, a new particle is added to PSO algorithm known as predator, also a new behavior called “Take flight from predator” is defined. This particle is responsible for attacking the colony of particles so as to prevent the premature convergence. With the predator attack to the colony, particles run away and again the chance rises for a Global optimum to be gained. The attack just caused particles dispersion and no particle dies. It can be repeated for m times and the optimal point is saved each time. To test the method, 12 benchmark functions were employed and the results were compared to OPSO, VPSO, LPSO, and GPSO methods. Regarding the results, the proposed method had a better performance.

Index terms

  • Predator
  • particle swarm optimization
  • local optimum
  • premature convergence
12 Artykułów
access type Otwarty dostęp

Spatial-temporal Collaborative Sequential Monte Carlo for Mobile Robot Localization in Distributed Intelligent Environments

Data publikacji: 01 Jun 2012
Zakres stron: 295 - 314

Abstrakt

Abstract

In this paper, a spatial-temporal collaborative sequential Monte Carlo architecture for mobile robot localization is designed to well suites intelligent environment for service robotic system. A proposed algorithm, namely Distributed Proportional Allocation-Augmented Particle Filter (DPA-APF), resolves the sensor collaboration problem by the processes of augmented sampling, inter-node resampling, inner-node resampling and particle exchange. These procedures exploit data parallelism and pipelining of resampling operations and improve the scalability of distributed particle filters (PFs). Moreover, modified visual and laser sensor perception models are also addressed to guarantee reliable and accurate robot localization in dynamic scenarios that robot coexists with people. The proposed method is applied to a home-care robotic intelligent room with distributed smart nodes, and the experimental results validate the effectiveness of the proposed method, which is hopeful to reduce the gap that exists between PF theory and their implementation using networked hardware.

Index terms

  • spatial-temporal collaboration
  • mobile robot
  • particle filter
  • distributed sensor network
  • localization and navigation
access type Otwarty dostęp

Passive Uhf Rfid Strain Sensor Tag for Detecting Limb Movement

Data publikacji: 01 Jun 2012
Zakres stron: 315 - 328

Abstrakt

Abstract

A strain sensor tag with screen printed antenna for seamless integration with clothing is examined to provide a wireless method for monitoring of human body movements. The strain response of the tag is investigated in air and on human body. While the results indicate strong antenna-body interaction, the strain response of the tag is found to be a monotonic function of the strain.

Index terms

  • Radio frequency identification (RFID)
  • wearable sensor
  • passive sensor
  • tag-based sensing
  • polymer thick films
  • printed electronics
access type Otwarty dostęp

Monitoring the Postural Stability of Planar Bipedal Robots using the Moment-Height Stability Measure

Data publikacji: 01 Jun 2012
Zakres stron: 329 - 346

Abstrakt

Abstract

Robotics researchers have studied the stability maintenance requirements of bipedal robots since they are inherently unstable. An accurate postural stability measure is required to monitor their dynamic equilibrium conditions. In this article, the novel Moment-Height Stability (MHS) measure, which has previously been developed for monitoring the postural stability of wheeled mobile robots, is developed for that of bipedal robots. The performance of the MHS is evaluated with that of the well-known postural stability measure Zero-Moment Point (ZMP). The MHS and the ZMP are applied to two types of manoeuvres of a planar bipedal robot, consisting of standing up and swinging forward. Simulation results reveal that both the ZMP and the MHS predict the same instant for the occurrence of postural instability for the biped; the MHS warns the biped that the potential of postural instability amplifies once the overall height of the biped center of mass (CM) starts elevating, while the ZMP does so immediately before the occurrence of postural instability.

Index terms

  • Bipedal robots
  • Postural Stability
  • Moment-Height Stability (MHS)
  • Zero-Moment Point (ZMP)
  • Trajectory Planning
access type Otwarty dostęp

Optical Probe Current Sensor Module Using the Kerr Effect of Exchange-Coupled Magnetic Film and its Application to Igbt Switching Current Measurements

Data publikacji: 01 Jun 2012
Zakres stron: 347 - 361

Abstrakt

Abstract

An optical probe current sensor module using the Kerr effect of exchange-coupled magnetic film has been fabricated and applied to switching current measurements for IGBT used for the DC-DC converter and the DC-AC inverter of EV/HEV. Since the sensor module using the Kerr effect of the single domain exchange-coupled magnetic film utilizes magnetization rotation only, Barkhausen noise due to domain wall pinning can be excluded. The current sensor consists of a Laser-diode, a polarizer, a Fe-Si/Mn-Ir exchange-coupled film, a quarter-wavelength plate, PIN Photodiodes and a differential amplifier. The current sensor has a current measurement range of ±60 A and a frequency range of DC 200 kHz. The switching current of IGBT has been measured by it.

Index terms

  • Current sensor
  • Optical probe
  • Magneto-optical Kerr effect
  • Exchange-coupled film
  • EV/HEV
access type Otwarty dostęp

Practical Sway Motion Control for Double Pendulum-Type Overhead Crane System

Data publikacji: 01 Jun 2012
Zakres stron: 362 - 381

Abstrakt

Abstract

The sway motion of crane can be successfully suppressed by properly shaping the reference command. Input shaping is a one type of feed-forward shaping method that is based on linear superposition. In this paper, we present the impact of double pendulum type overhead crane (DPTOC) system on the effectiveness of input shaping. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers with the derivative effects are designed based on the properties of the system. The response DPTOC system to shaped input is experimentally verified in time and frequency domain. The performance of the input shaper is examined in terms of sway angle reduction and time response specification. Experimental results demonstrate the effectiveness of the proposed approach in reducing the sway motion of crane system.

Index terms

  • Input shaping
  • double pendulum
  • and sway motion
access type Otwarty dostęp

Synthesis of SrTiO3 Nanopowder by Sol-Gel-Hydrothemal Method for Gas Sensing Application

Data publikacji: 01 Jun 2012
Zakres stron: 382 - 400

Abstrakt

Abstract

Strontium titanate (SrTiO3) nanopowder has been synthesized through a sol-gel-hydrothermal method. The X-ray diffraction studies of SrTiO3 nanopowder have shown that the as-prepared powder was single phase, crystalline, and has a cubic perovskite structure (ABO3) with a lattice constant a = 3.903 Å. The particle size calculated from FWHM was ∼22 nm. SrTiO3 nanopowder was examined using thermo gravimetric analysis; differential thermal analysis and UV-visible absorption spectroscopy. The transmission electron microscopic investigations have shown that the particle size of the as-prepared powder has a mean size of 34 nm. Then highly sensitive and selective sensors to H2S based on glass substrate were fabricated successfully by screen-printing technique. Sensitivity, selectivity, response time, and recovery time of the sensors were systematically investigated as a function of operating temperature, using H2S, CO, CO2, H2, Cl2, LPG, C2H5OH, O2, NH3 and NO2 as test gases. The sensitivity was found to lie below and around the ppm level for H2S gas at 150 °C.

Index terms

  • SrTiO
  • sol-gel-hydrothermal
  • nanocrystalline
  • thick film
  • gas response
  • HS gas sensor
access type Otwarty dostęp

Breath Analysis for Medical Diagnosis

Data publikacji: 01 Jun 2012
Zakres stron: 401 - 440

Abstrakt

Abstract

The purpose of this review is to highlight the advances in technology and understanding in the field of breath analysis for medical diagnosis. A critical review of the methods of breath collection, treatment, and analysis is given, highlighting the problems facing the field and areas where promising advancement has been made. One particular area of interest is centered around electronic noses, ideally, portable devices which aim to mimic biological olifactory systems in analysing gases to produce odor fingerprints. Furthermore, recent work has shown it is possible to modify the basic sensor materials to both improve their performance, increase their tolerance to factors such as water vapour interferance which often leave the sensor system de-sensitized to the gaseous biomarkers, and enhance their selectivity. It will be shown how it is possible to accurately quantify concentrations of VOC’s and make disease diagnosis from analysis of the collected data which compare favorably with traditional medical diagnostic techniques.

Słowa kluczowe

  • Sensors
  • Breath Analysis
  • Electronic Nose
  • Cancer Detection
access type Otwarty dostęp

Nanostructured Fe2O3 Thick Film as an Ethanol Sensor

Data publikacji: 01 Jun 2012
Zakres stron: 441 - 457

Abstrakt

Abstract

Thick films of AR Grade nano Fe2O3 material with n-type semiconducting properties were prepared and tested for their gas sensing performances. Thick films of the materials were prepared by screen printing technique. The gas sensing performance was studied using static gas sensing system. The material was tested for various gases such as CO, CO2, NH3, Cl2, H2, LPG, ethanol and H2S. The nano Fe2O3 film showed maximum sensitivity to ethanol gas at 350 °C temperature at 250 ppm concentration with short response time and large recovery time. Physical and structural properties of the film material were studied by SEM, TEM, XRD and UV spectroscopy.

Index terms

  • Nano FeO
  • Ethanol
  • Gas sensor
  • Sensitivity
access type Otwarty dostęp

Optimizing Perceived Heaviness and Motion for Lifting Objects with a Power Assist Robot System Considering Change in Time Constant

Data publikacji: 01 Jun 2012
Zakres stron: 458 - 486

Abstrakt

Abstract

Power assist robots are usually used for disabled and elderly people to augment their abilities and skills. This paper proposes to use these robots to handle heavy objects in industries, and thus brings a novelty in the applications of power assist robots. However, it is difficult to optimize perceived heaviness and motion either independently or simultaneously for lifting objects with power-assist. Hence, this paper investigates the techniques to optimize perceived heaviness and motion following bionic and psychophysical approaches. We developed two systems-one was used to lift objects manually, and another was a power assist system to lift objects with it. Several hypotheses and strategies related to weight perception and time constant were adopted. Humans lifted objects manually and with power-assist independently. Analyses showed that load force rate for power-assisted lifting were lower than that for manual lifting. We hypothesized that time constant of the assist system might be responsible for this. We changed time constant and found that increase in time constant reduced perceived heaviness and load force. Then, objects were lifted with power-assist in some selected conditions pertaining to time constant. Analyses showed that perceived heaviness was related to load force rate while object motion (acceleration) was related to load force magnitude. It was then demonstrated how to independently optimize perceived heaviness and motion by optimizing load force rate and its magnitude respectively. Techniques for simultaneous optimization of motion and perceived heaviness were also presented. Finally, we proposed to use the findings to develop power assist robots for manipulating heavy objects in industries that may enhance interactions with humans in terms of maneuverability, safety etc.

Index terms

  • Power assist robot system
  • lifting objects
  • weight perception
  • psychophysics
  • time constant
  • motion
  • human-robot interaction
  • bionics/biomimetics
access type Otwarty dostęp

Continuous Time Identification and Decentralized Pid Controller of an Aerothermic Process

Data publikacji: 01 Jun 2012
Zakres stron: 487 - 503

Abstrakt

Abstract

The interactions between input/output in multivariable processes represent a major challenge in the design of decentralized controllers. In this paper, a simple method for the design of decentralized PID controller is proposed. It consists to combine the conventional PID controller with the static decoupler approach. For each single loop, the individual controller is independently designed by applying the internal model control (IMC) tuning rules. To demonstrate the effectiveness of the proposed method, the PID controller with and without decoupling is implemented on an aerothermic process. It is a pilot scale heating and ventilation system equipped with a heater grid and a centrifugal blower, fully connected through the Humusoft MF624 data acquisition system for real time control. The outcome of the experimental results is that the main control objectives, such as set-point tracking and interactions rejection are well achieved. The experimental results have shown that the proposed method provides a significant improvement compared to conventional PID controller.

Index terms

  • Continuous-time identification
  • aerothermic process
  • decentralized PID controller
  • static decoupling
  • TITO control systems
access type Otwarty dostęp

Non-Minimum Phase Model of Vertical Position Electro-Hydraulic Cylinder for Trajectory Zpetc

Data publikacji: 01 Jun 2012
Zakres stron: 504 - 520

Abstrakt

Abstract

Hydraulic actuator has been widely used in industrial applications due to its fast response and capability of moving heavy load. The nonlinear properties of hydraulic cylinder had challenged researchers to design a suitable controller for position control, motion control and tracking control. Based on these problems, we had done a real-time digital tracking control studies on electro-hydraulic cylinder using trajectory zero phase error tracking control (ZPETC) without factorization of zeros polynomial algorithm. With the proposed strategy, the controller parameters are determined using comparing coefficients methods. The electro-hydraulic system mathematical model is approximated using system identification technique with non-minimum phase system being considered. The real-time experimental result will be compared with simulation result using a model from a real plant.

Słowa kluczowe

  • Feedforward Control
  • ZPETC
  • System identification
  • pole placement
  • non-minimum phase
access type Otwarty dostęp

A New Kind of Pso: Predator Particle Swarm Optimization

Data publikacji: 01 Jun 2012
Zakres stron: 521 - 539

Abstrakt

Abstract

Today, swarm intelligence is widely used in optimization problems. PSO is one the best swarm intelligence methods. In the method, each particle moves toward the direction in which the best individual and group experience has happened. The most important disadvantage of this method is that it falls in local optima. To fix the problem, a metaheuristic method is proposed in this paper. There has always been a competition between prey and predator in the nature. Little birds often fly in a colony form to run away from birds of prey. Being inspired by the phenomenon, a new particle is added to PSO algorithm known as predator, also a new behavior called “Take flight from predator” is defined. This particle is responsible for attacking the colony of particles so as to prevent the premature convergence. With the predator attack to the colony, particles run away and again the chance rises for a Global optimum to be gained. The attack just caused particles dispersion and no particle dies. It can be repeated for m times and the optimal point is saved each time. To test the method, 12 benchmark functions were employed and the results were compared to OPSO, VPSO, LPSO, and GPSO methods. Regarding the results, the proposed method had a better performance.

Index terms

  • Predator
  • particle swarm optimization
  • local optimum
  • premature convergence

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