Hybrid fuzzy-PID like optimal control to reduce energy consumption

The electric motor is one of the appliances that consume considerable energy. Therefore, the control method which can reduce energy consumption with better performance is needed. The purpose of this research is to minimize the energy consumption of the DC motor with maintaining the performance using Hybrid Fuzzy-PID. The input of the Fuzzy system is the error and power of the system. Where error is correlated with matric Q and power is correlated with matric R. Therefore, adjusting the fuzzy rule on error and power is like adjust matrices Q and R in LQR method. The proposed algorithm can reduce energy consumption. However, system response is slightly decrease shown from ISE (Integral Square Error). The energy reduction average is up to 5.58% while the average of ISE increment is up to 1.89%. The more speed variation in the system, the more energy can be saved by the proposed algorithm. While in terms of settling time, the proposed algorithm has the longest time due to higher computation time in the fuzzy system. This performance can be increased by tuning fuzzy rules. This algorithm offers a solution for a complex system which difficult to be modeled

Implementation of Iterative Learning Control on a Pneumatic Actuator.

Masters Degree. University of KwaZulu-Natal, Durban.Pneumatic systems play a pivotal role in many industrial applications, such as in petrochemical industries, steel manufacturing, car manufacturing and food industries. Besides industrial applications, pneumatic systems have also been used in many robotic systems. Nevertheless, a pneumatic system contains different nonlinear and uncertain behaviour due to gas compression, gas leakage, attenuation of the air in pipes and frictional forces in mechanical parts, which increase the system’s dynamic orders. Therefore, modelling a pneumatic system tends to be complicated and challenges the design of the controller for such a system. As a result, employing an effective control mechanism to precisely control a pneumatic system for achieving the required performance is essential. A desirable controller for a pneumatic system should be capable of learning the dynamics of the system and adjusting the control signal accordingly. In this study, a learning control scheme to overcome the highlighted nonlinearity problems is suggested. Many industrial processes are repetitive, and it is reasonable to make use of previously acquired data to improve a controller’s convergence and robustness. An Iterative Learning Control (ILC) algorithm uses information from previous repetitions to learn about the system’s dynamics. The ILC algorithm characteristics are beneficial in real-time control given its short time requirements for responding to input changes. Cylinder-piston actuators are the most common pneumatic systems, which translate the air pressure force into a linear mechanical motion. In industrial automation and robotics, linear pneumatic actuators have a wide range of applications, from load positioning to pneumatic muscles in robots. Therefore, the aim of this research is to study the performance of ILC techniques in position control of the rod in a pneumatic position-cylinder system. Based on theoretical analysis, the design of an ILC is discussed, showing that the controller can satisfactorily overcome nonlinearities and uncertainties in the system without needing any prior knowledge of the system’s model. The controller has been designed in such a way to even work on non-iterative processes. The performance of the ILC-controlled system is compared with a well-tuned PID controller, showing a faster and more accurate response

Bİyopotansiyel işaretlerin ikinci nesil akım taşıyıcılar ile işlenmesi ve yeni bir EKG devresi tasarımı

06.03.2018 tarihli ve 30352 sayılı Resmi Gazetede yayımlanan “Yükseköğretim Kanunu İle Bazı Kanun Ve Kanun Hükmünde Kararnamelerde Değişiklik Yapılması Hakkında Kanun” ile 18.06.2018 tarihli “Lisansüstü Tezlerin Elektronik Ortamda Toplanması, Düzenlenmesi ve Erişime Açılmasına İlişkin Yönerge” gereğince tam metin erişime açılmıştır.Anahtar kelimeler: CCII, ikinci nesil akım taşıyıcılar, filtre, EKG Bu çalışmada bir EKG cihazı tasarlanmış ve bu cihaz ikinci nesil akım taşıyıcılar ile gerçekleştirilmiştir. Bu EKG devresinde ikinci nesil akım taşıyıcılar filtre olarak kullanılmıştır. Bu cihazın doğruluğunu kontrol edebilmek ve karşılaştırmasını yapabilmek için Sakarya Üniversitesi Elektrik-Elektronik Mühendisliği'ne ait olan BIOPAC Systems Inc. şirketinin imal ettiği MP36 EKG cihazı ile ölçümler eş zamanlı olarak yapılmıştır. Ayrıca OPAMP'larla tasarlanan bir EKG devresi de gerçekleştirilmiş ve sonuçları değerlendirilmiştir. OPAMP'larla gerçekleştirilen bu devre ikinci nesil akım taşıyıcılarla yeniden dizayn edilmiş ve gerçekleştirilerek sonuçları değerlendirilmiştir. Böylece OPAMP'larla gerçekleştirilmiş bir EKG devresi, ikinci nesil akım taşıyıcılarla yeniden dizayn edilmiş bir EKG devresi, bu çalışmada tasarlanmış ve ikinci nesil akım taşıyıcılarla tasarlanmış bir EKG devresi, MP36 devresi ve daha önce literatürde gerçekleştirilmiş EKG devrelerinin kıyaslaması yapılmıştır. Ayrıca biyomedikal cihazlarda sıklıkla kullanılan filtreler, yükselteçler ve bazı devreler simule edilmiştir. CCII tabanlı olan devrede gürültüler minimuma inmiş ve çok net EKG ölçümü yapılabilmiştir. EKG devresi 9,5*9,5 cm2 boyutlarına kadar indirgenebilmiştir. Entegrelerin ve diğer elemanların SMD türlerinin kullanılması ile daha da küçültülebilmesi mümkündür. Gerçeklenen devre maliyet açısından da avantajlıdır. 4 adet kalem pille çalışabilir olması da bir diğer avantajıdır. CMRR oranı, frekans aralığı, yükseltme oranı ve uygulanabilme kolaylığı açısından CCII tabanlı olan EKG devrelerinin daha avantajlı olduğu sonucu ortaya çıkmaktadır. Ayrıca bu çalışmada rezonans frekansını ayarlamak ve daha iyi sonuç elde edebilmek için CCII yapısına ayarlı dirençler eklenmesi sebebiyle 5 Hz ile 100 MHz arasında bir kesim frekansına sahip bir filtre yapısı öne sürüldü ve bu devrede kullanılabilir olduğu gözlemlendi.Keywords: CCII, second generation current conveyors, filter, ECG In this study, an ECG device was designed and this device was carried out with second generation current carriers. Second generation current carriers were used as filters in this ECG circuit. Measurements were simultaneously performed with MP36 ECG device produced by BIOPAC Systems Inc. that is belong to Sakarya University Electrical and Electronics Engineering Department in order to be able to check and compare accuracy of this device. An ECG circuit designed with OPAMPs was also carried out and results were evaluated. This circuit, which was realized with OPAMPs, was redesigned with second generation current carriers and results were evaluated by performing. Thus, an ECG circuit realized with OPAMPs, a redesigned ECG circuit with second generation current carriers were designed in this study, and an ECG circuit with second generation current carriers, MP36 circuit and previous circuits in literature were compared. In addition, filters, amplifiers and some circuits, which are frequently used in biomedical devices are simulated. Noises were reduced to minimum in CCII-based circuit and very clear ECG measurements was done. ECG circuit can be reduced to size of 9.5 * 9.5 cm2. It is possible to further reduce integrals and other elements by use of SMD types. Performed circuit is also advantageous in terms of cost. Another advantage is that it can work with 4 batteries. It was concluded that CCII based ECG circuits are more advantageous in terms of CMRR ratio, frequency range, amplification rate and ease of application. Also, in this study, a filter structure having a cut-off frequency between 5 Hz to 100 MHz was proposed because of adding adjusted resistors to CCII structure to adjust resonance frequency and achieve better results, and it was observed to be usable in this circuit

Particle Swarm Optimization

Particle swarm optimization (PSO) is a population based stochastic optimization technique influenced by the social behavior of bird flocking or fish schooling.PSO shares many similarities with evolutionary computation techniques such as Genetic Algorithms (GA). The system is initialized with a population of random solutions and searches for optima by updating generations. However, unlike GA, PSO has no evolution operators such as crossover and mutation. In PSO, the potential solutions, called particles, fly through the problem space by following the current optimum particles. This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field

Modelling and real-time control of a high performance rotary wood planing machine

Rotary planing is one of the most valuable machining operations in the timber processing industry. It has been established that cutting tool inaccuracy and forced vibration during the machining process are the primary causes of surface quality degradation. The main aim of this thesis is to design a control architecture that is suitable for adaptive operation of a wood planing machining in order to improve the quality of its surface finish. In order to achieve the stated goal, thorough understanding of the effects of machine deficiencies on surface finish quality is required. Therefore, a generic simulation model for synthesising the surface profiles produced by wood planing process is first developed. The model is used to simulate the combined effects of machining parameters, vibration and cutting tool inaccuracy on the resultant surface profiles. It has been postulated that online monitoring of surface finish quality can be used to provide feedback information for a secondary control loop for the machining process, which will lead to the production of consistently high quality surface finishes. There is an existing vision-based wood surface profile measurement technique, but the application of the technique has been limited to static wood samples. This thesis extends the application of the technique to moving wood samples. It is shown experimentally that the method is suitable for in-process surface profile measurements. The current industrial wood planing machines do not have the capability of measuring and adjusting process parameters in real-time. Therefore, knowledge of the causes of surface finish degradation would enable the operators to optimise the mechanical structure of the machines offline. For this reason, two novel approaches for characterising defects on planed timber surfaces have been created in this thesis using synthetic data. The output of this work is a software tool that can assist machine operators in inferring the causes of defects based on the waviness components of the workpiece surface finish. The main achievement in this research is the design of a new active wood planing technique that combines real-time cutter path optimisation (cutting tool inaccuracy compensation) with vibration disturbance rejection. The technique is based on real-time vertical displacements of the machine spindle. Simulation and experimental results obtained from a smart wood planing machine show significant improvements in the dynamic performance of the machine and the produced surface finish quality. Potential areas for future research include application of the defects characterisation techniques to real data and full integration of the dynamic surface profile measurements with the smart wood planing machine

A METHODOLOGY FOR AUTONOMOUS ROOF BOLT INSTALLATION USING INDUSTRIAL ROBOTICS

The mining sector is currently in the stage of adopting more automation, and with it, robotics. Autonomous bolting in underground environments remains a hot topic for the mining industry. Roof bolter operators are exposed to hazardous conditions due to their proximity to the unsupported roof, loose bolts, and heavy spinning mass. Prolonged exposure to the risk inevitably leads to accidents and injuries. The current thesis presents the development of a robotic assembly capable of carrying out the entire sequence of roof bolting operations in full and partial autonomous sensor-driven rock bolting operations to achieve a high-impact health and safety intervention for equipment operators. The automation of a complete cycle of drill steel positioning, drilling, bolt orientation and placement, resin placement, and bolt securing is discussed using an anthropomorphic robotic arm.A human-computer interface is developed to enable the interaction of the operators with the machines. Collision detection techniques will have to be implemented to minimize the impact after an unexpected collision has occurred. A robust failure-detection protocol is developed to check the vital parameters of robot operations continuously. This unique approach to automation of small materials handling is described with lessons learned. A user-centered GUI has been developed that allows for a human user to control and monitor the autonomous roof bolter. Preliminary tests have been conducted in a mock mine to evaluate the developed system\u27s performance. In addition, a number of different scenarios simulating typical missions that a roof bolter needs to undertake in an underground coal mine were tested