Pub Date : 2010-03-07DOI: 10.1109/SSST.2010.5442847
H. Chin, A. A. Jafari
In this paper a new solution for the design of a control system of a hybrid vehicle is presented using game model approaches. Hybrid vehicles combined the benefits of a gasoline engine and an electric motor, which can be utilized in parallel through a mechanical transmission. Players are considered to be the electric motor and the gasoline engine. Payoff matrices of the bimatrix game are calculated by a power controller of the hybrid vehicle. The Lemke-Howson algorithm used to compute a Nash equilibrium point which is a pair of strategies for both players. The solution concept is to integrate torque for satisfying the driver pedal motion. The ratio of the power contribution between the gasoline engine and electric motor is the key point for efficient driving, whilst satisfying power demands. The main contribution of this paper is the development of a power controller which improves fuel economy and reduces charging cycles thus minimizing emissions.
{"title":"Design of power controller for hybrid vehicle","authors":"H. Chin, A. A. Jafari","doi":"10.1109/SSST.2010.5442847","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442847","url":null,"abstract":"In this paper a new solution for the design of a control system of a hybrid vehicle is presented using game model approaches. Hybrid vehicles combined the benefits of a gasoline engine and an electric motor, which can be utilized in parallel through a mechanical transmission. Players are considered to be the electric motor and the gasoline engine. Payoff matrices of the bimatrix game are calculated by a power controller of the hybrid vehicle. The Lemke-Howson algorithm used to compute a Nash equilibrium point which is a pair of strategies for both players. The solution concept is to integrate torque for satisfying the driver pedal motion. The ratio of the power contribution between the gasoline engine and electric motor is the key point for efficient driving, whilst satisfying power demands. The main contribution of this paper is the development of a power controller which improves fuel economy and reduces charging cycles thus minimizing emissions.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"23 1","pages":"165-170"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84553759","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442834
Jaipal R. Katkuri, V. Jilkov, X. Li
The measurement model nonlinearity is a major challenge in target tracking. This paper presents a comparative performance study of seven nonlinear filters in handling the measurement model nonlinearity. They are: the extended Kalman filter, the unscented filter, the second order divided-differences filter, the Gauss-Hermite quadrature filter, the two-step Kalman filter, the Gaussian particle filter, and the linear minimum mean-square error tracking filter with polar measurements. Comprehensive performance evaluation and comparison of all of the above mainstream nonlinear filters over the same tracking scenarios are conducted via Monte Carlo simulation. The results can facilitate the choice and design of nonlinear tracking filters in mixed coordinates.
{"title":"A comparative study of nonlinear filters for target tracking in mixed coordinates","authors":"Jaipal R. Katkuri, V. Jilkov, X. Li","doi":"10.1109/SSST.2010.5442834","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442834","url":null,"abstract":"The measurement model nonlinearity is a major challenge in target tracking. This paper presents a comparative performance study of seven nonlinear filters in handling the measurement model nonlinearity. They are: the extended Kalman filter, the unscented filter, the second order divided-differences filter, the Gauss-Hermite quadrature filter, the two-step Kalman filter, the Gaussian particle filter, and the linear minimum mean-square error tracking filter with polar measurements. Comprehensive performance evaluation and comparison of all of the above mainstream nonlinear filters over the same tracking scenarios are conducted via Monte Carlo simulation. The results can facilitate the choice and design of nonlinear tracking filters in mixed coordinates.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"15 1","pages":"202-207"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83639684","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442822
D. Hoe
A cellular array architecture suitable for implementing fault-tolerant logic on nanoscale fabrics is described in this paper. A simple logic cell that is optimized for arithmetic logic functions allows efficient implementation of signal processing functions. Compared to the typical Look-up Table (LUT) approach used in FPGAs, the proposed logic block has decreased flexibility in terms of reconfigurability. However, the simpler structure and reduced number of configuration bits results in improved fault tolerant capability. Such a design tradeoff is suitable for nanotechnology implementations where there are a massive number of devices but also increased susceptibility to transient and permanent faults. A hierarchical approach to clustering the cells provides for an optimum number of spare cells to be distributed throughout the array, allowing for efficient self-healing capability.
{"title":"Fault tolerant cellular array design for nanoscale technologies","authors":"D. Hoe","doi":"10.1109/SSST.2010.5442822","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442822","url":null,"abstract":"A cellular array architecture suitable for implementing fault-tolerant logic on nanoscale fabrics is described in this paper. A simple logic cell that is optimized for arithmetic logic functions allows efficient implementation of signal processing functions. Compared to the typical Look-up Table (LUT) approach used in FPGAs, the proposed logic block has decreased flexibility in terms of reconfigurability. However, the simpler structure and reduced number of configuration bits results in improved fault tolerant capability. Such a design tradeoff is suitable for nanotechnology implementations where there are a massive number of devices but also increased susceptibility to transient and permanent faults. A hierarchical approach to clustering the cells provides for an optimum number of spare cells to be distributed throughout the array, allowing for efficient self-healing capability.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"3 1","pages":"258-262"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88680872","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442828
D. R. Isenberg, Y. Kakad
This paper presents both a quaternion based computed-torque trajectory tracking controller and a feed-forward trajectory tracking controller for a two-link space robot. First, the general form of the dynamical equations for a space robot modeled with quaternions is presented. The computed-torque controller is then presented and the stability of the resulting closed-loop system is analyzed via the second method of Lyapunov. This is followed by a discussion of the feed-forward controller. Tracking simulations are then presented and analyzed.
{"title":"Quaternion based computed-torque and feed-forward tracking controllers for a space robot","authors":"D. R. Isenberg, Y. Kakad","doi":"10.1109/SSST.2010.5442828","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442828","url":null,"abstract":"This paper presents both a quaternion based computed-torque trajectory tracking controller and a feed-forward trajectory tracking controller for a two-link space robot. First, the general form of the dynamical equations for a space robot modeled with quaternions is presented. The computed-torque controller is then presented and the stability of the resulting closed-loop system is analyzed via the second method of Lyapunov. This is followed by a discussion of the feed-forward controller. Tracking simulations are then presented and analyzed.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"4 1","pages":"232-236"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89031608","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442819
J. Mountain
Fuzzy specific hardware systems, or the adaptation of standard embedded controllers, are the common approaches for real-time fuzzy logic implementation. High speed applications may require the more sophisticated hardware, but most embedded control applications do not have the high speed processing requirements that necessitate the cost prohibitive enhanced hardware. A review of embedded control fuzzy logic applications indicates a preference for 16-bit architectures; devoting significant processing resources for fuzzification, rule application, and defuzzification. While faithful to the foundations of fuzzy logic control, processor demand can limit a controller's ability to handle peripheral I/O interfaces. This paper describes a generic, hybrid approach suitable for unenhanced 8-bit microcontrollers and adaptable to most single input, single output systems. A motor speed application with real-time I/O interface provides proof of concept performance data and highlights limitations.
{"title":"Fuzzy logic motor speed control with real-time interface using an 8-bit embedded processor","authors":"J. Mountain","doi":"10.1109/SSST.2010.5442819","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442819","url":null,"abstract":"Fuzzy specific hardware systems, or the adaptation of standard embedded controllers, are the common approaches for real-time fuzzy logic implementation. High speed applications may require the more sophisticated hardware, but most embedded control applications do not have the high speed processing requirements that necessitate the cost prohibitive enhanced hardware. A review of embedded control fuzzy logic applications indicates a preference for 16-bit architectures; devoting significant processing resources for fuzzification, rule application, and defuzzification. While faithful to the foundations of fuzzy logic control, processor demand can limit a controller's ability to handle peripheral I/O interfaces. This paper describes a generic, hybrid approach suitable for unenhanced 8-bit microcontrollers and adaptable to most single input, single output systems. A motor speed application with real-time I/O interface provides proof of concept performance data and highlights limitations.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"39 1","pages":"307-312"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80655341","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442854
Mahikshit Polas, A. Fekih
A multi-gain sliding mode based controller for the pitch angle control of a civil aircraft is presented in this paper. The proposed controller is based on a novel concept of the sliding mode controllers in which multiple gains are being used to control the pitch angle of an aircraft and make it insensitive to parameter variations while reducing the chattering and guaranteeing the stability of the closed loop system. The proposed approach was implemented on a Delilah aircraft model to control the pitch angle under faulty conditions. Performance comparison between the traditional one gain SMC and the proposed multi-gains SMC are discussed.
{"title":"A multi-gain sliding mode based controller for the pitch angle control of a civil aircraft","authors":"Mahikshit Polas, A. Fekih","doi":"10.1109/SSST.2010.5442854","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442854","url":null,"abstract":"A multi-gain sliding mode based controller for the pitch angle control of a civil aircraft is presented in this paper. The proposed controller is based on a novel concept of the sliding mode controllers in which multiple gains are being used to control the pitch angle of an aircraft and make it insensitive to parameter variations while reducing the chattering and guaranteeing the stability of the closed loop system. The proposed approach was implemented on a Delilah aircraft model to control the pitch angle under faulty conditions. Performance comparison between the traditional one gain SMC and the proposed multi-gains SMC are discussed.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"28 1","pages":"96-101"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89848514","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442895
Brandon Herrera, B. R. Jean
A low cost pulse transceiver has been developed for measuring the electrical properties of materials. The transceiver generates an ultra wide band (UWB) pulse as well as samples the received pulse. The pulse generator has been designed using a silicon-germanium (SiGe) analog comparator which is a possible alternative to step recovery diodes. The pulse is received by an extended time sampling circuit. The sampling circuit presented is an alternative design that does not require the use of a broadband balun.
{"title":"A low cost ultra-wideband pulse transceiver","authors":"Brandon Herrera, B. R. Jean","doi":"10.1109/SSST.2010.5442895","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442895","url":null,"abstract":"A low cost pulse transceiver has been developed for measuring the electrical properties of materials. The transceiver generates an ultra wide band (UWB) pulse as well as samples the received pulse. The pulse generator has been designed using a silicon-germanium (SiGe) analog comparator which is a possible alternative to step recovery diodes. The pulse is received by an extended time sampling circuit. The sampling circuit presented is an alternative design that does not require the use of a broadband balun.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"22 1","pages":"72-74"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91196009","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442842
Jaianand Jayaraman, A. Sekar
The strong coupling between bus voltages and reactive power injections has been widely used in steady state power flow algorithms. In the Newton-Raphson formulation the Jacobian matrix represents small-signal sensitivities relating real and reactive power injections to bus phase angles and voltage magnitudes respectively [1]. Decoupled approaches neglect real power-voltage and reactive power-phase angle relationships. While running the power flow analysis, the generator busses, where the real power injection and voltage magnitude are specified a priori, are changed to load busses with the voltage specification dropped if reactive power limits are violated. The papers describing optimal reactive power scheduling methods follow a similar procedure for evaluating appropriate generator reactive power levels [2]. Direct relationships between bus voltage and reactive power injection limits leading to useful sensitivities are derived in this paper using a line-voltage-drop model. Additional relationships between bus injection and line reactive flows become available in this approach. The paper presents detailed derivation of the new relationships, and applies the procedure to a typical power system network. The results illustrate the practical usefulness of the new approach in determining the limits on reactive power injection for a given bus voltage in generator busses. The conclusions outline future application of the approach for developing new reactive power optimization algorithms.
{"title":"Study of reactive power/voltage sensitivities in interconnected power system networks","authors":"Jaianand Jayaraman, A. Sekar","doi":"10.1109/SSST.2010.5442842","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442842","url":null,"abstract":"The strong coupling between bus voltages and reactive power injections has been widely used in steady state power flow algorithms. In the Newton-Raphson formulation the Jacobian matrix represents small-signal sensitivities relating real and reactive power injections to bus phase angles and voltage magnitudes respectively [1]. Decoupled approaches neglect real power-voltage and reactive power-phase angle relationships. While running the power flow analysis, the generator busses, where the real power injection and voltage magnitude are specified a priori, are changed to load busses with the voltage specification dropped if reactive power limits are violated. The papers describing optimal reactive power scheduling methods follow a similar procedure for evaluating appropriate generator reactive power levels [2]. Direct relationships between bus voltage and reactive power injection limits leading to useful sensitivities are derived in this paper using a line-voltage-drop model. Additional relationships between bus injection and line reactive flows become available in this approach. The paper presents detailed derivation of the new relationships, and applies the procedure to a typical power system network. The results illustrate the practical usefulness of the new approach in determining the limits on reactive power injection for a given bus voltage in generator busses. The conclusions outline future application of the approach for developing new reactive power optimization algorithms.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"94 1","pages":"161-164"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73806571","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442831
Miguel Abrahantes, Leif Nelson, Peter Doorn
This work describes the use of simulating walker robots to design choreographed gaits for a tetrahedral (TET) walker robot. A TET robot is composed of nodes and struts arranged into tetrahedral cells. The extension and contraction of the struts allows the tetrahedral robot to walk. The Hope College Controls Team so far has built a working 4-TET robot and has done extensive modeling and gait development. It has been determined that the 4-TETs gaits are inefficient and causes too much wear on the robot parts. Our goal was to find a robot more complex than the 4-TET but minimizing constraints. Using MATLAB's SimMechanics package, we modeled the gaits of the 6 TET configurations. We developed these gaits by finding geometric relationships between the struts. Using simulations of these TET robots we can determine the best possible configuration of tetrahedrons and gaits, in terms of force used, extension ratios and wear on the machine.
{"title":"Modeling and gait design of a 6-tetrahedron walker robot","authors":"Miguel Abrahantes, Leif Nelson, Peter Doorn","doi":"10.1109/SSST.2010.5442831","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442831","url":null,"abstract":"This work describes the use of simulating walker robots to design choreographed gaits for a tetrahedral (TET) walker robot. A TET robot is composed of nodes and struts arranged into tetrahedral cells. The extension and contraction of the struts allows the tetrahedral robot to walk. The Hope College Controls Team so far has built a working 4-TET robot and has done extensive modeling and gait development. It has been determined that the 4-TETs gaits are inefficient and causes too much wear on the robot parts. Our goal was to find a robot more complex than the 4-TET but minimizing constraints. Using MATLAB's SimMechanics package, we modeled the gaits of the 6 TET configurations. We developed these gaits by finding geometric relationships between the struts. Using simulations of these TET robots we can determine the best possible configuration of tetrahedrons and gaits, in terms of force used, extension ratios and wear on the machine.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"78 1","pages":"248-252"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83766295","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442806
Haranath Yakkali, N. Subramanian
Supervisory Control and Data Acquisition (SCADA) systems are being increasingly used to monitor and control critical infrastructures ranging from computer networks to manufacturing, and proper design of SCADA systems is an important issue for developers of SCADA systems and their users. Current practice seems to center around purchasing a best-of-breed solution and configuring it to meet the expected system goals. In this paper we propose an efficient design approach based on minimum spanning trees and the NFR Framework(NFR standing for Non-Functional Requirements) wherein SCADA designs are captured in spanning trees and minimum spanning trees indicate the optimally weighted designs, and the most suitable among these weighted designs is chosen by employing the NFR Framework, which is a goal-oriented framework for analyzing competing alternatives and choosing the best one based on the goals for the SCADA system. The design algorithm is verified by applying it to a case study.
{"title":"Efficient design of SCADA systems using minimum spanning trees and the NFR Framework","authors":"Haranath Yakkali, N. Subramanian","doi":"10.1109/SSST.2010.5442806","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442806","url":null,"abstract":"Supervisory Control and Data Acquisition (SCADA) systems are being increasingly used to monitor and control critical infrastructures ranging from computer networks to manufacturing, and proper design of SCADA systems is an important issue for developers of SCADA systems and their users. Current practice seems to center around purchasing a best-of-breed solution and configuring it to meet the expected system goals. In this paper we propose an efficient design approach based on minimum spanning trees and the NFR Framework(NFR standing for Non-Functional Requirements) wherein SCADA designs are captured in spanning trees and minimum spanning trees indicate the optimally weighted designs, and the most suitable among these weighted designs is chosen by employing the NFR Framework, which is a goal-oriented framework for analyzing competing alternatives and choosing the best one based on the goals for the SCADA system. The design algorithm is verified by applying it to a case study.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":"2 1","pages":"346-351"},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81426692","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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