Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257935
M. H. Hassan, Omar A. Mahmoud, O. A. Mohammed, Ammar Y. Baraka, Amira T. Mahmoud, A. Yousef
Although many cross platform mobile development software used a trans-compiler-based approach, it was very difficult to generalize it to work in both directions. For example, to convert between Java for Android Development and Swift for iOS development and vice versa. This is due to the need of writing a specific parser for each source language, and a specific code generator for each destination language. Neural network-based models are used successfully to translate between natural languages, including English, French, German any many others by providing enough datasets and without the need of adding language specific code for understanding and generation. In this paper, a source code converter based on the Neural Machine Translation Transformer Model that can translate from Java to Swift and vice versa is introduced. A synthesized dataset is used to train the model, the pipeline used for the translation as well as the code synthesis procedure throughout the work are illustrated. Initial results are promising and give motivation to further enhance the proposed tool.
{"title":"Neural Machine Based Mobile Applications Code Translation","authors":"M. H. Hassan, Omar A. Mahmoud, O. A. Mohammed, Ammar Y. Baraka, Amira T. Mahmoud, A. Yousef","doi":"10.1109/NILES50944.2020.9257935","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257935","url":null,"abstract":"Although many cross platform mobile development software used a trans-compiler-based approach, it was very difficult to generalize it to work in both directions. For example, to convert between Java for Android Development and Swift for iOS development and vice versa. This is due to the need of writing a specific parser for each source language, and a specific code generator for each destination language. Neural network-based models are used successfully to translate between natural languages, including English, French, German any many others by providing enough datasets and without the need of adding language specific code for understanding and generation. In this paper, a source code converter based on the Neural Machine Translation Transformer Model that can translate from Java to Swift and vice versa is introduced. A synthesized dataset is used to train the model, the pipeline used for the translation as well as the code synthesis procedure throughout the work are illustrated. Initial results are promising and give motivation to further enhance the proposed tool.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"4565 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123287386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257969
M. K. Diab, Ammar N. Abbas, H. Ammar, R. Shalaby
Detection of the lane boundary is the primary task in order to control the trajectory of an autonomous car. In this paper, three methodologies for lane detection are discussed with experimental illustration: Blob analysis, Hough transformation and Birds eye view. The next task after receiving the boundary points is to apply a control law in order to trigger the steering and velocity control to the motors efficiently. In the following, a comparative analysis is made between different tuning criteria to tune PID controller for Lane Keeping Assist (LKA). In order to receive the information of the environment a camera is used that sends wireless data to Simulink through Raspberry-Pi (R-Pi). The data is processed by the controller that transmits the desired output control to arduino through serial communication.
{"title":"Experimental Lane Keeping Assist for an Autonomous Vehicle Based on Optimal PID Controller","authors":"M. K. Diab, Ammar N. Abbas, H. Ammar, R. Shalaby","doi":"10.1109/NILES50944.2020.9257969","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257969","url":null,"abstract":"Detection of the lane boundary is the primary task in order to control the trajectory of an autonomous car. In this paper, three methodologies for lane detection are discussed with experimental illustration: Blob analysis, Hough transformation and Birds eye view. The next task after receiving the boundary points is to apply a control law in order to trigger the steering and velocity control to the motors efficiently. In the following, a comparative analysis is made between different tuning criteria to tune PID controller for Lane Keeping Assist (LKA). In order to receive the information of the environment a camera is used that sends wireless data to Simulink through Raspberry-Pi (R-Pi). The data is processed by the controller that transmits the desired output control to arduino through serial communication.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123396133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257977
Gad Gad, Ahmed Mahmoud Annaby, N. Negied, M. Darweesh
The rising interest in assistive and autonomous driving systems throughout the past decade has led to an active research community in perception and scene interpretation problems like lane detection. Traditional lane detection methods rely on specialized, hand-tailored features which is slow and prone to scalability. Recent methods that rely on deep learning and trained on pixel-wise lane segmentation have achieved better results and are able to generalize to a broad range of road and weather conditions. However, practical algorithms must be computationally inexpensive due to limited resources on vehicle-based platforms yet accurate to meet safety measures. In this approach, an encoder-decoder deep learning architecture generates binary segmentation of lanes, then the binary segmentation map is further processed to separate lanes, and a sliding window extracts each lane to produce the lane instance segmentation image. This method was validated on a tusimple data set, achieving competitive results.
{"title":"Real-Time Lane Instance Segmentation Using SegNet and Image Processing","authors":"Gad Gad, Ahmed Mahmoud Annaby, N. Negied, M. Darweesh","doi":"10.1109/NILES50944.2020.9257977","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257977","url":null,"abstract":"The rising interest in assistive and autonomous driving systems throughout the past decade has led to an active research community in perception and scene interpretation problems like lane detection. Traditional lane detection methods rely on specialized, hand-tailored features which is slow and prone to scalability. Recent methods that rely on deep learning and trained on pixel-wise lane segmentation have achieved better results and are able to generalize to a broad range of road and weather conditions. However, practical algorithms must be computationally inexpensive due to limited resources on vehicle-based platforms yet accurate to meet safety measures. In this approach, an encoder-decoder deep learning architecture generates binary segmentation of lanes, then the binary segmentation map is further processed to separate lanes, and a sliding window extracts each lane to produce the lane instance segmentation image. This method was validated on a tusimple data set, achieving competitive results.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115274040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257966
Ahmad El-Shiekh, Ahmad El-Alfy, A. Ammar, Mohamed Gamal, M. Dessouky, K. Salah, H. Mostafa
This paper proposes a new CAD tool that automates the RTL code generation based on the IPXACT standard (develop RTL code using XML files). Many related work generates RTL design using C language. In this work, the generation is based on XML descriptions. The tool is developed using Python. The generated RTL code can be synthesized by the synthesis tool like Design Compiler. Several commercial tools like MATLAB have this capability, but the proposed tool is faster and more configurable.
{"title":"IPXACT-Based RTL Generation Tool","authors":"Ahmad El-Shiekh, Ahmad El-Alfy, A. Ammar, Mohamed Gamal, M. Dessouky, K. Salah, H. Mostafa","doi":"10.1109/NILES50944.2020.9257966","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257966","url":null,"abstract":"This paper proposes a new CAD tool that automates the RTL code generation based on the IPXACT standard (develop RTL code using XML files). Many related work generates RTL design using C language. In this work, the generation is based on XML descriptions. The tool is developed using Python. The generated RTL code can be synthesized by the synthesis tool like Design Compiler. Several commercial tools like MATLAB have this capability, but the proposed tool is faster and more configurable.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133914508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257890
Gina El-Salakawy, Mervat Abu El-Kheir
Vehicular ad hoc networks (VANETs) are projected to be an integral component in intelligent transportation systems, poised to support road safety services via the Vehicle to Vehicle (V2V) and Vehicle to Roadside (V2R) units communication. With the evolution of technology and the growth in the number of smart vehicles, traditional VANETs face technical challenges in deployment and management due to less scalability and poor connectivity. Current smart vehicles are identified, authenticated, and connected through central cloud servers. This model will have limited scalability as the technology becomes pervasive, and the cloud servers will remain a single point of failure that can disrupt the entire network. Therefore, we need a secure distributed system to reduce the network traffic rate. In this paper, we propose a blockchain-based distributed message exchange system that will handle the exchange of safety and periodic beacon messages among vehicles. Since blockchain is characterized as being a decentralized and non-tampering system. We considered saving the safety messages only in the blockchain as they occur less than the periodic messages and they are more important. We propose to implement the blockchain per country to reduce the number of nodes/vehicles joining the network. We also reduce the block body size by using the Kademlia Distributed Hash Table (DHT) to broadcast the beacon messages. Experimental evaluation shows that the system can protect a V2V network against different attack types, such as sybil attack and alteration attack with TPR more than 95%. The experiments also show that the block body size is reduced by a factor of 1:5, which helps in broadcasting the data faster.
{"title":"Blockchain-based Data Management in Vehicular Networks","authors":"Gina El-Salakawy, Mervat Abu El-Kheir","doi":"10.1109/NILES50944.2020.9257890","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257890","url":null,"abstract":"Vehicular ad hoc networks (VANETs) are projected to be an integral component in intelligent transportation systems, poised to support road safety services via the Vehicle to Vehicle (V2V) and Vehicle to Roadside (V2R) units communication. With the evolution of technology and the growth in the number of smart vehicles, traditional VANETs face technical challenges in deployment and management due to less scalability and poor connectivity. Current smart vehicles are identified, authenticated, and connected through central cloud servers. This model will have limited scalability as the technology becomes pervasive, and the cloud servers will remain a single point of failure that can disrupt the entire network. Therefore, we need a secure distributed system to reduce the network traffic rate. In this paper, we propose a blockchain-based distributed message exchange system that will handle the exchange of safety and periodic beacon messages among vehicles. Since blockchain is characterized as being a decentralized and non-tampering system. We considered saving the safety messages only in the blockchain as they occur less than the periodic messages and they are more important. We propose to implement the blockchain per country to reduce the number of nodes/vehicles joining the network. We also reduce the block body size by using the Kademlia Distributed Hash Table (DHT) to broadcast the beacon messages. Experimental evaluation shows that the system can protect a V2V network against different attack types, such as sybil attack and alteration attack with TPR more than 95%. The experiments also show that the block body size is reduced by a factor of 1:5, which helps in broadcasting the data faster.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132498425","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257908
Karim Hafiz, M. Tawfik, H. Ibrahim
This paper presents an identification technique, for the road - vehicle dynamic behavior of suspension systems, by implementing an autoregressive system with exogenous input (ARX). The ARX model was proposed as a simple and powerful tool, in terms of accuracy and computational time, compared to the complexity and significant computational cost involved with the neural networks approach which is commonly used. An experimental approach is introduced based on training data being extracted from sensors readings which are attached to specific locations, of a real car suspension, in an attempt to capture the dynamic behavior of a quarter car model. In addition, two different ARX models were created, once by using front-left wheel excitation only and another by front and rear wheels excitations. It is found that the ARX model, based on measurements extracted from only one wheel of a real car suspension, could accurately represent the vertical dynamics of the whole vehicle.
{"title":"Experimental Identification of Road-Vehicle Dynamics Using Autoregression","authors":"Karim Hafiz, M. Tawfik, H. Ibrahim","doi":"10.1109/NILES50944.2020.9257908","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257908","url":null,"abstract":"This paper presents an identification technique, for the road - vehicle dynamic behavior of suspension systems, by implementing an autoregressive system with exogenous input (ARX). The ARX model was proposed as a simple and powerful tool, in terms of accuracy and computational time, compared to the complexity and significant computational cost involved with the neural networks approach which is commonly used. An experimental approach is introduced based on training data being extracted from sensors readings which are attached to specific locations, of a real car suspension, in an attempt to capture the dynamic behavior of a quarter car model. In addition, two different ARX models were created, once by using front-left wheel excitation only and another by front and rear wheels excitations. It is found that the ARX model, based on measurements extracted from only one wheel of a real car suspension, could accurately represent the vertical dynamics of the whole vehicle.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133510156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257889
A. Hamdy, A. Ouda, A. Kamel, Y. Elhalwagy
Accurate positioning is required to achieve accurate navigation solution of moving objects therefore, inertial navigation system (INS) and global positioning system (GPS) are combined together to give a good solution in solving positioning problem and overcoming the problem of using each system separately. The motivation behind this work in this paper is to model and evaluate an INS/GPS integration algorithm model within 6-DOF flight simulation model by using loosely coupled integration technique and extended kalman filter (EKF) Algorithms to enhance and solve the position and attitude angles problems. Then, it is implemented on embedded microcontroller system (TM4C123GH6PM ARM Cortex-M4) using low-cost commercial sensors (MPU-6050 and GPS). Finally, the Navigation model is evaluated within 6-DOF simulation model using Processor-in-Loop (PIL) method. The system can realize comparable navigation accuracy with other high performance navigation system.
为了实现运动目标的精确导航，需要进行精确定位，因此将惯性导航系统(INS)和全球定位系统(GPS)结合起来，很好地解决了定位问题，克服了各自单独使用的问题。本文的工作动机是利用松耦合积分技术和扩展卡尔曼滤波(EKF)算法对六自由度飞行仿真模型中的INS/GPS集成算法模型进行建模和评估，以增强和解决位置和姿态角问题。然后，利用低成本的商用传感器(MPU-6050和GPS)在嵌入式微控制器系统(TM4C123GH6PM ARM Cortex-M4)上实现。最后，利用环内处理器(PIL)方法在六自由度仿真模型中对导航模型进行了评估。该系统可实现与其他高性能导航系统相当的导航精度。
{"title":"SoC loosely Coupled Navigation Algorithm Evaluation via 6-DOF Flight Simulation Model of Guided Bomb","authors":"A. Hamdy, A. Ouda, A. Kamel, Y. Elhalwagy","doi":"10.1109/NILES50944.2020.9257889","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257889","url":null,"abstract":"Accurate positioning is required to achieve accurate navigation solution of moving objects therefore, inertial navigation system (INS) and global positioning system (GPS) are combined together to give a good solution in solving positioning problem and overcoming the problem of using each system separately. The motivation behind this work in this paper is to model and evaluate an INS/GPS integration algorithm model within 6-DOF flight simulation model by using loosely coupled integration technique and extended kalman filter (EKF) Algorithms to enhance and solve the position and attitude angles problems. Then, it is implemented on embedded microcontroller system (TM4C123GH6PM ARM Cortex-M4) using low-cost commercial sensors (MPU-6050 and GPS). Finally, the Navigation model is evaluated within 6-DOF simulation model using Processor-in-Loop (PIL) method. The system can realize comparable navigation accuracy with other high performance navigation system.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114806352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257932
Ahmed N. Atiya, Hossam S. Hassan, Khaled E. Ibrahim, Omar M. ElGhandour, M. Tolba
The generation of Multi-scroll chaotic attractors and chaos theory has gained much attention due to its many usages in a wide range of applications such as image-encryption and random number generators. There have been many previous attempts to establish a system that is able to generate large numbers of n − scroll chaotic attractors by modifying existing systems such as Lorenz and Chua’s systems. In this paper, a proposed system based on generalizing Chua’s system that has shown its ability to produce an unprecedentedly large number of even and odd chaotic scrolls is introduced. MATLAB simulation is carried out to validate the proposed system and a GUI tool was developed to ease the process of generating any number of chaotic scrolls. Finally, an insight on how the proposed system can be generalized on the circuits level is given.
{"title":"Generalized Formula for Generating N-Scroll Chaotic Attractors","authors":"Ahmed N. Atiya, Hossam S. Hassan, Khaled E. Ibrahim, Omar M. ElGhandour, M. Tolba","doi":"10.1109/NILES50944.2020.9257932","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257932","url":null,"abstract":"The generation of Multi-scroll chaotic attractors and chaos theory has gained much attention due to its many usages in a wide range of applications such as image-encryption and random number generators. There have been many previous attempts to establish a system that is able to generate large numbers of n − scroll chaotic attractors by modifying existing systems such as Lorenz and Chua’s systems. In this paper, a proposed system based on generalizing Chua’s system that has shown its ability to produce an unprecedentedly large number of even and odd chaotic scrolls is introduced. MATLAB simulation is carried out to validate the proposed system and a GUI tool was developed to ease the process of generating any number of chaotic scrolls. Finally, an insight on how the proposed system can be generalized on the circuits level is given.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130594557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257951
Abdulmoneam A. Hassan, Laila H. Afify, A. El-Sherif, T. Elbatt
In this work, we aim at characterizing the aver-age success probability of content delivery in cache-equipped device-to-device (D2D) network under content-dependent channel access probability. We adopt retransmissions-upon-decoding-errors in a slotted-Aloha system, and account for the temporal interference correlation. We study the impact of the content-dependent access probabilities on the overall performance of the network. We verify the analytical results of this work via intensive Monte-Carlo simulations.
{"title":"Stochastic Modeling of Content-Dependent Scheduling in D2D Cache-Enabled Networks","authors":"Abdulmoneam A. Hassan, Laila H. Afify, A. El-Sherif, T. Elbatt","doi":"10.1109/NILES50944.2020.9257951","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257951","url":null,"abstract":"In this work, we aim at characterizing the aver-age success probability of content delivery in cache-equipped device-to-device (D2D) network under content-dependent channel access probability. We adopt retransmissions-upon-decoding-errors in a slotted-Aloha system, and account for the temporal interference correlation. We study the impact of the content-dependent access probabilities on the overall performance of the network. We verify the analytical results of this work via intensive Monte-Carlo simulations.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128823256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-10-24DOI: 10.1109/NILES50944.2020.9257883
A. Sobh, A. Kamel, A. Farouk, Y. Elhalwagy
This paper presents a design and evaluation for controlling a coupled system using a robust Linear Quadratic Regulator (LQR) controller acting on the augmented integral state space matrix model of a coupled system. System under investigation consisted of dual fan module that is interlinked and its axis moving freely in the pitch plan. On the other hand, a counter weight was used to balance the two fans thrust to optimize the controller effort in the elevation plan. The counterweight axe was denoted as the elevation axis. If the fans are not on the same horizontal line, the rotation of the system around itself in clockwise or anti-clockwise direction was carried out around the travel axis. The LQR controller design parameters should be able to stabilize itself at any degree on the travel or elevation axes while maintaining hover level along the pitch axis. Such controller acts by defining the penalty of each type of error in controlling this system. The error was multiplied by relevant penalty, then fed-back to the controller that controls the fan speeds accordingly. The representing model had three axes, each have a proportional, derivative, and integral term for the travel and elevation axes but not the pitch axis, the reasons will be discussed later in the paper. Modeling started by design process through defining a non-linear model of the system, linearizing it, then was transferred to state space format, add integral part to the model, then finally design and testing of an LQR controller.
{"title":"Three Dimension Angular Position Stabilization using LQR and Kalman Filter","authors":"A. Sobh, A. Kamel, A. Farouk, Y. Elhalwagy","doi":"10.1109/NILES50944.2020.9257883","DOIUrl":"https://doi.org/10.1109/NILES50944.2020.9257883","url":null,"abstract":"This paper presents a design and evaluation for controlling a coupled system using a robust Linear Quadratic Regulator (LQR) controller acting on the augmented integral state space matrix model of a coupled system. System under investigation consisted of dual fan module that is interlinked and its axis moving freely in the pitch plan. On the other hand, a counter weight was used to balance the two fans thrust to optimize the controller effort in the elevation plan. The counterweight axe was denoted as the elevation axis. If the fans are not on the same horizontal line, the rotation of the system around itself in clockwise or anti-clockwise direction was carried out around the travel axis. The LQR controller design parameters should be able to stabilize itself at any degree on the travel or elevation axes while maintaining hover level along the pitch axis. Such controller acts by defining the penalty of each type of error in controlling this system. The error was multiplied by relevant penalty, then fed-back to the controller that controls the fan speeds accordingly. The representing model had three axes, each have a proportional, derivative, and integral term for the travel and elevation axes but not the pitch axis, the reasons will be discussed later in the paper. Modeling started by design process through defining a non-linear model of the system, linearizing it, then was transferred to state space format, add integral part to the model, then finally design and testing of an LQR controller.","PeriodicalId":253090,"journal":{"name":"2020 2nd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125188621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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