Pub Date : 2017-05-31DOI: 10.15866/IREACO.V10I3.10869
Napol Varachitchai, Chan Anyapo, C. Mitsantisuk
This paper proposes the development of haptic robot system for rehabilitation exercises. Recently, haptic communication is widely applied in a robot system for sensing the force between robot and human operator. The bilateral control which consists of master and slave robot is used to transfer and receive action/ reaction force and position information. In this paper, the controlling of robot has been designed by considering the specification requirements of user. This master-slave robot system can be controlled by two different approaches: 1) by using the shadow mode and 2) by using the mirror mode. In the force control designed, such force sensor can use to measure the external force. It is shown that the reaction force response can be controlled. However, the problem of sensor noise and bandwidth are deteriorated the performance not only at the master or slave side but also at the whole control system. Thus, disturbance observer (DOB) has been proposed and used instead of force sensor for improve the performance and robustness of the whole system. In this study, the shadow and mirror mode of bilateral control is used with the master-slave robot for rehabilitation exercise. On the shadow mode slave robot is controlled according to the master robot like a shadow while mirror mode, slave robot has moved in the opposite direction like a reflection image. The results of each mode are represented in an experimental result. By using the proposed robot system, it is possible to apply in the rehabilitation process.
{"title":"Shadow and Mirror Mode Bilateral Control for a Tele-Operated Robot System","authors":"Napol Varachitchai, Chan Anyapo, C. Mitsantisuk","doi":"10.15866/IREACO.V10I3.10869","DOIUrl":"https://doi.org/10.15866/IREACO.V10I3.10869","url":null,"abstract":"This paper proposes the development of haptic robot system for rehabilitation exercises. Recently, haptic communication is widely applied in a robot system for sensing the force between robot and human operator. The bilateral control which consists of master and slave robot is used to transfer and receive action/ reaction force and position information. In this paper, the controlling of robot has been designed by considering the specification requirements of user. This master-slave robot system can be controlled by two different approaches: 1) by using the shadow mode and 2) by using the mirror mode. In the force control designed, such force sensor can use to measure the external force. It is shown that the reaction force response can be controlled. However, the problem of sensor noise and bandwidth are deteriorated the performance not only at the master or slave side but also at the whole control system. Thus, disturbance observer (DOB) has been proposed and used instead of force sensor for improve the performance and robustness of the whole system. In this study, the shadow and mirror mode of bilateral control is used with the master-slave robot for rehabilitation exercise. On the shadow mode slave robot is controlled according to the master robot like a shadow while mirror mode, slave robot has moved in the opposite direction like a reflection image. The results of each mode are represented in an experimental result. By using the proposed robot system, it is possible to apply in the rehabilitation process.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"267-273"},"PeriodicalIF":0.0,"publicationDate":"2017-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49439697","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}
This paper work addresses the detection of converter open switch faults and the fault tolerant of power converters fed Doubly Fed Induction Generator (DFIG) in Wind Energy Conversion Systems (WECS). The stator flux-oriented vector control algorithm is used to control active and reactive power supplied by the stator windings. The mean value of the rotor current diagnosis technique is adopted for fault detection. The fault tolerant topology used for service continuity is that with a redundant leg. The simulations are performed using the Matlab / Simulink environment and Sim power. The fault operation is analyzed and the detection method and fault-tolerant topology used are tested with encouraging results.
{"title":"Open Switch Fault Detection and Fault Tolerant of Power Converter Fed DFIG in WECS","authors":"Amina Tamer, Djilali Toumi, Azzedine Bendiabdellah, Bilal Djamal Eddine Cherif","doi":"10.15866/IREACO.V10I3.11528","DOIUrl":"https://doi.org/10.15866/IREACO.V10I3.11528","url":null,"abstract":"This paper work addresses the detection of converter open switch faults and the fault tolerant of power converters fed Doubly Fed Induction Generator (DFIG) in Wind Energy Conversion Systems (WECS). The stator flux-oriented vector control algorithm is used to control active and reactive power supplied by the stator windings. The mean value of the rotor current diagnosis technique is adopted for fault detection. The fault tolerant topology used for service continuity is that with a redundant leg. The simulations are performed using the Matlab / Simulink environment and Sim power. The fault operation is analyzed and the detection method and fault-tolerant topology used are tested with encouraging results.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"274-279"},"PeriodicalIF":0.0,"publicationDate":"2017-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46136127","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 : 2017-05-31DOI: 10.15866/IREACO.V10I3.12115
I. Siti, Mostafa Mjahed, H. Ayad, A. E. Kari
This paper aims to describe the design of two different controllers for a quadcopter. Firstly, a dynamic model of the aerial vehicle obtained via Newton Euler formalism is presented. Then a control strategy based on the reference model method is used to synthesize PID controller. This controller is tuned by using a simplified model of the quadcopter, without going through the step of the linearization. Secondly, the genetic algorithm optimization technique is employed to compute the parameters of the second PID controller. The performance is investigated for various fitness expressions and tested taking into account the presence of disturbances. For a large control domain, the both controllers are tuned independently from the flight domain. Finally, simulation results with the nonlinear quadcopter system are depicted. The obtained results show, that the proposed controllers provide efficiency in terms of stability, flight quality and disturbance rejection.
{"title":"New Designing Approaches for Quadcopter PID Controllers Using Reference Model and Genetic Algorithm Techniques","authors":"I. Siti, Mostafa Mjahed, H. Ayad, A. E. Kari","doi":"10.15866/IREACO.V10I3.12115","DOIUrl":"https://doi.org/10.15866/IREACO.V10I3.12115","url":null,"abstract":"This paper aims to describe the design of two different controllers for a quadcopter. Firstly, a dynamic model of the aerial vehicle obtained via Newton Euler formalism is presented. Then a control strategy based on the reference model method is used to synthesize PID controller. This controller is tuned by using a simplified model of the quadcopter, without going through the step of the linearization. Secondly, the genetic algorithm optimization technique is employed to compute the parameters of the second PID controller. The performance is investigated for various fitness expressions and tested taking into account the presence of disturbances. For a large control domain, the both controllers are tuned independently from the flight domain. Finally, simulation results with the nonlinear quadcopter system are depicted. The obtained results show, that the proposed controllers provide efficiency in terms of stability, flight quality and disturbance rejection.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"240-248"},"PeriodicalIF":0.0,"publicationDate":"2017-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47469877","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 : 2017-05-31DOI: 10.15866/IREACO.V10I3.11739
Ghassan Al-Sinbol, M. Perhinschi
In this paper, the artificial immune system paradigm is used to develop a computational scheme for the detection, identification, and evaluation of abnormal operation of advanced power plants. The self/non-self generation relies on a novel approach consisting of partitioning the Universe and representing clusters as integer strings that can be produced and used with reduced computational effort. The design of the proposed scheme utilizes a positive-selection-type approach combined with a dendritic cell mechanism. The methodology is demonstrated using a high performance model of the acid gas removal unit implemented in Dynsim® that is part of the power plant simulation environment available at West Virginia University AVESTAR Center. Fourteen different abnormal conditions have been considered including solid deposits and leakages occurring at typical locations throughout the system. The proposed monitoring scheme provides excellent performance in terms of false alarm and detection, identification, and evaluation rates.
{"title":"Development of an Artificial Immune System for Power Plant Abnormal Condition Detection, Identification, and Evaluation","authors":"Ghassan Al-Sinbol, M. Perhinschi","doi":"10.15866/IREACO.V10I3.11739","DOIUrl":"https://doi.org/10.15866/IREACO.V10I3.11739","url":null,"abstract":"In this paper, the artificial immune system paradigm is used to develop a computational scheme for the detection, identification, and evaluation of abnormal operation of advanced power plants. The self/non-self generation relies on a novel approach consisting of partitioning the Universe and representing clusters as integer strings that can be produced and used with reduced computational effort. The design of the proposed scheme utilizes a positive-selection-type approach combined with a dendritic cell mechanism. The methodology is demonstrated using a high performance model of the acid gas removal unit implemented in Dynsim® that is part of the power plant simulation environment available at West Virginia University AVESTAR Center. Fourteen different abnormal conditions have been considered including solid deposits and leakages occurring at typical locations throughout the system. The proposed monitoring scheme provides excellent performance in terms of false alarm and detection, identification, and evaluation rates.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"218-228"},"PeriodicalIF":0.0,"publicationDate":"2017-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47810602","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 : 2017-03-31DOI: 10.15866/IREACO.V10I2.11366
A. Kanchanaharuthai, Piraporn Konkhum, Kruawan Wongsurith
A nonlinear dual-excited and steam-valving controller for synchronous generators based on a combination of backstepping and sliding mode control methods is presented in this paper. The proposed controller is designed to enhance the power system stability and voltage and frequency regulation of an electric power system. This strategy is capable of achieving the desired dynamic performances and guaranteeing that the closed-loop system is transiently stable. Simulation results show better transient behavior of the proposed nonlinear controller as compared with the conventional backstepping strategy and an immersion and invariance (I&I) strategy. In addition, they can accomplish transient stability enhancement together with frequency and voltage regulation despite large disturbances.
{"title":"A Backstepping Sliding Mode Dual-Excitation and Steam-Valving Control of Synchronous Generators","authors":"A. Kanchanaharuthai, Piraporn Konkhum, Kruawan Wongsurith","doi":"10.15866/IREACO.V10I2.11366","DOIUrl":"https://doi.org/10.15866/IREACO.V10I2.11366","url":null,"abstract":"A nonlinear dual-excited and steam-valving controller for synchronous generators based on a combination of backstepping and sliding mode control methods is presented in this paper. The proposed controller is designed to enhance the power system stability and voltage and frequency regulation of an electric power system. This strategy is capable of achieving the desired dynamic performances and guaranteeing that the closed-loop system is transiently stable. Simulation results show better transient behavior of the proposed nonlinear controller as compared with the conventional backstepping strategy and an immersion and invariance (I&I) strategy. In addition, they can accomplish transient stability enhancement together with frequency and voltage regulation despite large disturbances.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"159-167"},"PeriodicalIF":0.0,"publicationDate":"2017-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44608977","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 : 2017-03-31DOI: 10.15866/IREACO.V10I2.10581
Ida Bagus Kerthyayana Manuaba
When aiming to improve interfaces for remote devices, methods are required for assessing them and comparing the effect of changes. Distributions provide a means of summarizing data and a model that produces a particular distribution is known, so that if the data is found to match a known distribution a useful model is available for interpreting the data. This paper presents the analysis using the Weibull distribution to evaluate the user performance of the prototype telerobotics user interface. This prototype was deployed for public testing at an exhibition in the CSIRO Discovery Centre, Canberra, Australia, over three months. An investigation of operator requests to three models of telerobotics control from a total of 6139 total user sessions was found to fit Weibull distributions. All of the devices offered operators the opportunity to manipulate wooden blocks through the application with three model controls. Usage patterns were quite different on the different control models, but operator behavior could be characterized by the two parameters of the Weibull distribution. One of the parameters, the shape parameter, was found to be nearly invariant so the comparison could be reduced to the scale parameter. This meant interfaces can be compared with a single value calculated from automatically captured data during use of the interface.
{"title":"Weibull Distribution: User Performance Analyses for Telerobotics System Interface","authors":"Ida Bagus Kerthyayana Manuaba","doi":"10.15866/IREACO.V10I2.10581","DOIUrl":"https://doi.org/10.15866/IREACO.V10I2.10581","url":null,"abstract":"When aiming to improve interfaces for remote devices, methods are required for assessing them and comparing the effect of changes. Distributions provide a means of summarizing data and a model that produces a particular distribution is known, so that if the data is found to match a known distribution a useful model is available for interpreting the data. This paper presents the analysis using the Weibull distribution to evaluate the user performance of the prototype telerobotics user interface. This prototype was deployed for public testing at an exhibition in the CSIRO Discovery Centre, Canberra, Australia, over three months. An investigation of operator requests to three models of telerobotics control from a total of 6139 total user sessions was found to fit Weibull distributions. All of the devices offered operators the opportunity to manipulate wooden blocks through the application with three model controls. Usage patterns were quite different on the different control models, but operator behavior could be characterized by the two parameters of the Weibull distribution. One of the parameters, the shape parameter, was found to be nearly invariant so the comparison could be reduced to the scale parameter. This meant interfaces can be compared with a single value calculated from automatically captured data during use of the interface.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"193-203"},"PeriodicalIF":0.0,"publicationDate":"2017-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47358925","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 : 2017-03-31DOI: 10.15866/IREACO.V10I2.10684
T. Uriča, Zuzana Loncová, A. Simonová
This paper describes basic principles of control design, dynamic properties of transfer functions and control loop. It deals with linear continuous systems that can be controlled by PID controllers. There are several methods of control design which have been used to create a graphical user interface for system analysis and control design. The publication also contains set of equations derived from several methods of control design.
{"title":"Graphical User Interface for Control Design","authors":"T. Uriča, Zuzana Loncová, A. Simonová","doi":"10.15866/IREACO.V10I2.10684","DOIUrl":"https://doi.org/10.15866/IREACO.V10I2.10684","url":null,"abstract":"This paper describes basic principles of control design, dynamic properties of transfer functions and control loop. It deals with linear continuous systems that can be controlled by PID controllers. There are several methods of control design which have been used to create a graphical user interface for system analysis and control design. The publication also contains set of equations derived from several methods of control design.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"136-142"},"PeriodicalIF":0.0,"publicationDate":"2017-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47310589","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 : 2017-03-31DOI: 10.15866/IREACO.V10I2.8242
A. Mazouzi, Mohamed Faouzi Bel Bachir
Intelligent vehicle systems based on vision clearly have remarkably progressed. However, they still suffer from the degradation of results quality in case of unfavorable acquisition conditions as fog, rain, and snow. Few works, where the aim is to enhance the visibility and reduce the effect of weather conditions like rain and snow, can be quoted in the context of intelligent vehicle systems. In this work, the authors established a method to enhance vehicles detection, in case of rain/snow. This method gathers a succession of phases: the extraction of the characteristics of Gaussian susceptible fields -type Gaussian -, the separation of these characteristics in two objects classes according to the criteria of the area, the modeling of the small area in a form of ellipses where one of those parameters ‘orientation’ was exploited, the distinction between the small objects that represent rain / snow and those that represent the rest of details of big objects based on probability laws, the elimination of small objects representing rain/snow and the exploitation of the big objects for the detection of vehicles. This detection enhancement method allowed a considerable increase in the detection rate.
{"title":"Enhancement of the Detection for Intelligent Vehicle Systems - Case Rain/Snow","authors":"A. Mazouzi, Mohamed Faouzi Bel Bachir","doi":"10.15866/IREACO.V10I2.8242","DOIUrl":"https://doi.org/10.15866/IREACO.V10I2.8242","url":null,"abstract":"Intelligent vehicle systems based on vision clearly have remarkably progressed. However, they still suffer from the degradation of results quality in case of unfavorable acquisition conditions as fog, rain, and snow. Few works, where the aim is to enhance the visibility and reduce the effect of weather conditions like rain and snow, can be quoted in the context of intelligent vehicle systems. In this work, the authors established a method to enhance vehicles detection, in case of rain/snow. This method gathers a succession of phases: the extraction of the characteristics of Gaussian susceptible fields -type Gaussian -, the separation of these characteristics in two objects classes according to the criteria of the area, the modeling of the small area in a form of ellipses where one of those parameters ‘orientation’ was exploited, the distinction between the small objects that represent rain / snow and those that represent the rest of details of big objects based on probability laws, the elimination of small objects representing rain/snow and the exploitation of the big objects for the detection of vehicles. This detection enhancement method allowed a considerable increase in the detection rate.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"112-117"},"PeriodicalIF":0.0,"publicationDate":"2017-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42669215","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 : 2017-03-31DOI: 10.15866/IREACO.V10I2.11182
M. Ramadany, D. Amegouz
The main goal of this article is to present a diagnosis of the integration remote monitoring system based on smart sensors. Integrating remote monitoring system is a complex approach, insofar as it involves several aspects. At first, this work introduces the scientific issues that could present a barrier to the integration and deployment of this system. Finally, we will present the results of this survey related to firms operating in various sectors. This survey will be the first diagnosis of the state of integration remote monitoring system based on smart sensors for these firms. Therefore, the objective is to assess the issues and constraints, and establish landmarks for industrialists and service providers.
{"title":"Diagnosis of the Integration Remote Monitoring System Based on Smart Sensors for a Production System: a Case Study","authors":"M. Ramadany, D. Amegouz","doi":"10.15866/IREACO.V10I2.11182","DOIUrl":"https://doi.org/10.15866/IREACO.V10I2.11182","url":null,"abstract":"The main goal of this article is to present a diagnosis of the integration remote monitoring system based on smart sensors. Integrating remote monitoring system is a complex approach, insofar as it involves several aspects. At first, this work introduces the scientific issues that could present a barrier to the integration and deployment of this system. Finally, we will present the results of this survey related to firms operating in various sectors. This survey will be the first diagnosis of the state of integration remote monitoring system based on smart sensors for these firms. Therefore, the objective is to assess the issues and constraints, and establish landmarks for industrialists and service providers.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"152-158"},"PeriodicalIF":0.0,"publicationDate":"2017-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46656198","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 : 2017-03-31DOI: 10.15866/IREACO.V10I2.10862
Karim Cherifi, K. Hariche
This paper is concerned with the review of the main minimal realization techniques for linear time-invariant MIMO systems. The main objective of this paper is to evaluate and compare these techniques, including the coprime fraction approach, in terms of realization configuration, space and time complexities using a case study: a SCARA robot manipulator. Results obtained are valid for both discrete and continuous-time systems.
{"title":"Review of MIMO Minimal Realization Techniques and Case Study on SCARA Robot Manipulator","authors":"Karim Cherifi, K. Hariche","doi":"10.15866/IREACO.V10I2.10862","DOIUrl":"https://doi.org/10.15866/IREACO.V10I2.10862","url":null,"abstract":"This paper is concerned with the review of the main minimal realization techniques for linear time-invariant MIMO systems. The main objective of this paper is to evaluate and compare these techniques, including the coprime fraction approach, in terms of realization configuration, space and time complexities using a case study: a SCARA robot manipulator. Results obtained are valid for both discrete and continuous-time systems.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"168-177"},"PeriodicalIF":0.0,"publicationDate":"2017-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48006464","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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