Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751938
Sinan Ilgen, Akif Durdu, Erdi Gülbahçe, Abdullah Çakan
This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software together which is called co-simulation. The manipulator system has two inputs (torques of actuators) and four outputs (angle of 1st joint, angle of 2nd joint and x-y components of end effector position). The sliding mode controller (SMC) is designed with the constant variation reaching law. The simulation results show that the sliding mode controller (SMC) can successfully achieve trajectory tracking of a two-link planar robot manipulator according to the desired trajectory.
{"title":"Sliding Mode Control of a Two-link Robot Manipulator Using Adams & Matlab Software","authors":"Sinan Ilgen, Akif Durdu, Erdi Gülbahçe, Abdullah Çakan","doi":"10.1109/CEIT.2018.8751938","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751938","url":null,"abstract":"This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software together which is called co-simulation. The manipulator system has two inputs (torques of actuators) and four outputs (angle of 1st joint, angle of 2nd joint and x-y components of end effector position). The sliding mode controller (SMC) is designed with the constant variation reaching law. The simulation results show that the sliding mode controller (SMC) can successfully achieve trajectory tracking of a two-link planar robot manipulator according to the desired trajectory.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131067050","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 : 2018-10-01DOI: 10.1109/CEIT.2018.8751935
Özlem Örnek, Seval Vatan, S. Sarioglu, A. Yazıcı
Autonomous robots are critical components of factories of futures. In this era, autonomous transfer vehicles are expected to play important role for flexible manufacturing. But the system should detect abnormal events itself. In this study, anomaly detection approach is proposed for autonomous transfer vehicles in the smart factories. Decision trees are used to detect stopping and slow down anomalies in internal transportation of the factories. The proposed approach is tested in simulation environment.
{"title":"Anomaly Detection for Autonomous Transfer Vehicles in Smart Factories","authors":"Özlem Örnek, Seval Vatan, S. Sarioglu, A. Yazıcı","doi":"10.1109/CEIT.2018.8751935","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751935","url":null,"abstract":"Autonomous robots are critical components of factories of futures. In this era, autonomous transfer vehicles are expected to play important role for flexible manufacturing. But the system should detect abnormal events itself. In this study, anomaly detection approach is proposed for autonomous transfer vehicles in the smart factories. Decision trees are used to detect stopping and slow down anomalies in internal transportation of the factories. The proposed approach is tested in simulation environment.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134434818","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 : 2018-10-01DOI: 10.1109/CEIT.2018.8751932
H. Benariba, A. Boumédiène
This paper presents the model and the lateral control of an electric vehicle. A three degree-of-freedom yaw plane model is introduced to describe the lateral motion system. Two cases studies are discussed to synthetize the lateral dynamic controller. First case uses a steering wheel angle as an input and a lateral acceleration as the output. However, the second case uses a differential torque to control the yaw rate output. Simulation results illustrate the effective solution for better autonomous or assisted lateral control.
{"title":"Lateral Sliding Mode Control of an Electric Vehicle","authors":"H. Benariba, A. Boumédiène","doi":"10.1109/CEIT.2018.8751932","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751932","url":null,"abstract":"This paper presents the model and the lateral control of an electric vehicle. A three degree-of-freedom yaw plane model is introduced to describe the lateral motion system. Two cases studies are discussed to synthetize the lateral dynamic controller. First case uses a steering wheel angle as an input and a lateral acceleration as the output. However, the second case uses a differential torque to control the yaw rate output. Simulation results illustrate the effective solution for better autonomous or assisted lateral control.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133853294","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 : 2018-10-01DOI: 10.1109/CEIT.2018.8751803
Nail Akçura, L. Çetin, Aytaç Kahveci, A. Alasli, Fatih Cemal Can, Özgür Tamer
A guided microrobot position control methodology is introduced in this paper. Using an electromagnetic actuator (EMA) as an end-effector of a robot manipulator, it is possible to have microrobot follow a correlated path with robot manipulator motion in case when there is no task space feedback from microrobot environment. For this purpose, a concept EMA system with an actuation principle depending on the magnetic field homogeneity and gradient generated by two coaxially aligned electromagnets is introduced. The functionality of developed system is experimentally analyzed for translational and rotational motion tracking cases. It is observed that the correlation between the robot manipulator motion and microrobot motion is nearly 1 in x and y direction.
{"title":"Guided Motion Control Methodology for Microrobots","authors":"Nail Akçura, L. Çetin, Aytaç Kahveci, A. Alasli, Fatih Cemal Can, Özgür Tamer","doi":"10.1109/CEIT.2018.8751803","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751803","url":null,"abstract":"A guided microrobot position control methodology is introduced in this paper. Using an electromagnetic actuator (EMA) as an end-effector of a robot manipulator, it is possible to have microrobot follow a correlated path with robot manipulator motion in case when there is no task space feedback from microrobot environment. For this purpose, a concept EMA system with an actuation principle depending on the magnetic field homogeneity and gradient generated by two coaxially aligned electromagnets is introduced. The functionality of developed system is experimentally analyzed for translational and rotational motion tracking cases. It is observed that the correlation between the robot manipulator motion and microrobot motion is nearly 1 in x and y direction.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133972353","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 : 2018-10-01DOI: 10.1109/CEIT.2018.8751863
Benalia Nadia, Ben Si Ali Nadia, Zerzouri Noura
The problems of voltage stability have aroused the interest of researchers in the electrical system around the world. It is important to maintain the system stability, or else it would lead to voltage collapse and consequently complete blackout of the system. In this paper the voltage stability indices, Fast Voltage Stability Index (FVSI); Line stability index LQP and Line stability index Lmn are used to determine the stability of a system. These indices are used to identify the most critical line of the system. Under single line outage condition, effect of placing a TCSC in the system on FVSI; Lpq index and Lmn index has been observed. An IEEE 14 bus system has been considered for simulation purpose with PSAT/ matlab.
{"title":"Comparison of Line StabilityIndex with TCSC Under Different Cases With PSAT","authors":"Benalia Nadia, Ben Si Ali Nadia, Zerzouri Noura","doi":"10.1109/CEIT.2018.8751863","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751863","url":null,"abstract":"The problems of voltage stability have aroused the interest of researchers in the electrical system around the world. It is important to maintain the system stability, or else it would lead to voltage collapse and consequently complete blackout of the system. In this paper the voltage stability indices, Fast Voltage Stability Index (FVSI); Line stability index LQP and Line stability index Lmn are used to determine the stability of a system. These indices are used to identify the most critical line of the system. Under single line outage condition, effect of placing a TCSC in the system on FVSI; Lpq index and Lmn index has been observed. An IEEE 14 bus system has been considered for simulation purpose with PSAT/ matlab.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128708989","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}
Vehicle autonomy definitionally is the act of processing information gathered from the environment and acting on the decisions formed based on this information. Therefore, any autonomous paradigm can only perform as good as the quality of the information it can understand. Lane identification forms the foundation of many of the autonomous drive and driver-assist technologies. However, current methods are not always reliable, especially under the edge-cases. In this paper, we have experimentally evaluated and extended the state-of-the-art deterministic lane detection methods. Our evaluation provides experimental evidence towards their efficacy in extreme cases: real-data with sharp shadows and varying lighting that is recorded through a camera that has a limited field of view. Experimental results suggest that a method that builds similarly to human perception performs better—with an increase of 32% in its accuracy. Our hypothesis is that autonomous vehicles that can perform even under these extreme conditions will play an important role on the fully autonomous systems.
{"title":"Detecting Road Lanes under Extreme Conditions: A Quantitative Performance Evaluation","authors":"Erkan Adalı, Haydar A. Şeker, Ahmetcan Erdogan, Kadir Haspalamutgil, Furkan Turan, Elif Aksu, Umut Karapinar","doi":"10.1109/CEIT.2018.8751835","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751835","url":null,"abstract":"Vehicle autonomy definitionally is the act of processing information gathered from the environment and acting on the decisions formed based on this information. Therefore, any autonomous paradigm can only perform as good as the quality of the information it can understand. Lane identification forms the foundation of many of the autonomous drive and driver-assist technologies. However, current methods are not always reliable, especially under the edge-cases. In this paper, we have experimentally evaluated and extended the state-of-the-art deterministic lane detection methods. Our evaluation provides experimental evidence towards their efficacy in extreme cases: real-data with sharp shadows and varying lighting that is recorded through a camera that has a limited field of view. Experimental results suggest that a method that builds similarly to human perception performs better—with an increase of 32% in its accuracy. Our hypothesis is that autonomous vehicles that can perform even under these extreme conditions will play an important role on the fully autonomous systems.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"2017 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114497867","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 : 2018-10-01DOI: 10.1109/CEIT.2018.8751930
Ebubekir Buber, B. Diri
Deep learning approaches are machine learning methods used in many application fields today. Some core mathematical operations performed in deep learning are suitable to be parallelized. Parallel processing increases the operating speed. Graphical Processing Units (GPU) are used frequently for parallel processing. Parallelization capacities of GPUs are higher than CPUs, because GPUs have far more cores than Central Processing Units (CPUs). In this study, benchmarking tests were performed between CPU and GPU. Tesla k80 GPU and Intel Xeon Gold 6126 CPU was used during tests. A system for classifying Web pages with Recurrent Neural Network (RNN) architecture was used to compare performance during testing. CPUs and GPUs running on the cloud were used in the tests because the amount of hardware needed for the tests was high. During the tests, some hyperparameters were adjusted and the performance values were compared between CPU and GPU. It has been observed that the GPU runs faster than the CPU in all tests performed. In some cases, GPU is 4-5 times faster than CPU, according to the tests performed on GPU server and CPU server. These values can be further increased by using a GPU server with more features.
{"title":"Performance Analysis and CPU vs GPU Comparison for Deep Learning","authors":"Ebubekir Buber, B. Diri","doi":"10.1109/CEIT.2018.8751930","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751930","url":null,"abstract":"Deep learning approaches are machine learning methods used in many application fields today. Some core mathematical operations performed in deep learning are suitable to be parallelized. Parallel processing increases the operating speed. Graphical Processing Units (GPU) are used frequently for parallel processing. Parallelization capacities of GPUs are higher than CPUs, because GPUs have far more cores than Central Processing Units (CPUs). In this study, benchmarking tests were performed between CPU and GPU. Tesla k80 GPU and Intel Xeon Gold 6126 CPU was used during tests. A system for classifying Web pages with Recurrent Neural Network (RNN) architecture was used to compare performance during testing. CPUs and GPUs running on the cloud were used in the tests because the amount of hardware needed for the tests was high. During the tests, some hyperparameters were adjusted and the performance values were compared between CPU and GPU. It has been observed that the GPU runs faster than the CPU in all tests performed. In some cases, GPU is 4-5 times faster than CPU, according to the tests performed on GPU server and CPU server. These values can be further increased by using a GPU server with more features.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115201168","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 : 2018-10-01DOI: 10.1109/CEIT.2018.8751770
Mikail Purlu, B. Turkay
This paper presents Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) technique to solve dynamic economic dispatch (DED) problem. The main purpose of DED is to minimize total cost of generation power to take care of the various load demand in each hour. DED problem solution also must provide individual inequality and equality constraints at the same time. The algorithms have been applied to two test system, taking into account transmission losses. The first of the selected systems is 3 unit test system and the second is 10 unit system considering the valve point effect. Simulation results applied on the test systems show that the two algorithms obtained optimal and reliable results compared to the other methods used in the literature.
{"title":"Dynamic Economic Dispatch with Valve Point Effect by Using GA and PSO Algorithm","authors":"Mikail Purlu, B. Turkay","doi":"10.1109/CEIT.2018.8751770","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751770","url":null,"abstract":"This paper presents Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) technique to solve dynamic economic dispatch (DED) problem. The main purpose of DED is to minimize total cost of generation power to take care of the various load demand in each hour. DED problem solution also must provide individual inequality and equality constraints at the same time. The algorithms have been applied to two test system, taking into account transmission losses. The first of the selected systems is 3 unit test system and the second is 10 unit system considering the valve point effect. Simulation results applied on the test systems show that the two algorithms obtained optimal and reliable results compared to the other methods used in the literature.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114741616","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 : 2018-10-01DOI: 10.1109/CEIT.2018.8751888
Kemal Uçak, Gülay Öke Günel
In this study, generalized self-tuning regulator (STR) based on support vector regression (SVR) which was previously introduced is deployed to design a state feedback controller so as to control a nonlinear bioreactor system. The parameters of the state feedback controller used in the controller block are adjusted via SVR based parameter estimator and system model blocks. The performance evaluation of the controller has been examined by simulations carried out on a nonlinear bioreactor system.
{"title":"An adaptive state feedback controller based on SVR for nonlinear systems","authors":"Kemal Uçak, Gülay Öke Günel","doi":"10.1109/CEIT.2018.8751888","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751888","url":null,"abstract":"In this study, generalized self-tuning regulator (STR) based on support vector regression (SVR) which was previously introduced is deployed to design a state feedback controller so as to control a nonlinear bioreactor system. The parameters of the state feedback controller used in the controller block are adjusted via SVR based parameter estimator and system model blocks. The performance evaluation of the controller has been examined by simulations carried out on a nonlinear bioreactor system.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127239307","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 : 2018-10-01DOI: 10.1109/CEIT.2018.8751762
Cem Atilgan, Özgür Turay Kaymakçi
Over the last decade, the railway industry has a great evolution about signaling system and there is more orientation from the standard railway signaling system to the communicationbased signaling system day to day. Communications-based train control (CBTC) is a very flexible and useful approach to check train activity and track operation. This system basically build upon radio communication to transfer in time and correct train control information.In this paper, we focus on model the all necessary CBTC elements with finite state automata and build CBTC control architecture with decentralized DES and support the existing control architecture with a three-level hierarchy. For the overall system, we show hierarchical consistency and that the closed-loop behavior is non-blocking. This paper gives an overview of the modelling a discrete event system about CBTC and gives control of CBTC.
{"title":"Modelling and Hierarchical Control of CBTC","authors":"Cem Atilgan, Özgür Turay Kaymakçi","doi":"10.1109/CEIT.2018.8751762","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751762","url":null,"abstract":"Over the last decade, the railway industry has a great evolution about signaling system and there is more orientation from the standard railway signaling system to the communicationbased signaling system day to day. Communications-based train control (CBTC) is a very flexible and useful approach to check train activity and track operation. This system basically build upon radio communication to transfer in time and correct train control information.In this paper, we focus on model the all necessary CBTC elements with finite state automata and build CBTC control architecture with decentralized DES and support the existing control architecture with a three-level hierarchy. For the overall system, we show hierarchical consistency and that the closed-loop behavior is non-blocking. This paper gives an overview of the modelling a discrete event system about CBTC and gives control of CBTC.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127002587","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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