Efficient terrain coverage for deploying wireless sensor nodes on multi-robot system

Coverage and connectivity are the two main functionalities of wireless sensor network. Stochastic node deployment or random deployment almost always cause hole in sensing coverage and cause redundant nodes in area. In the other hand precise deployment of nodes in large area is very time consuming and even impossible in hazardous environment. One of solution for this problem is using mobile robots with concern on exploration algorithm for mobile robot. In this work an autonomous deployment method for wireless sensor nodes is proposed via multi-robot system which robots are considered as node carrier. Developing an exploration algorithm based on spanning tree is the main contribution and this exploration algorithm is performing fast localization of sensor nodes in energy efficient manner. Employing multi-robot system and path planning with spanning tree algorithm is a strategy for speeding up sensor nodes deployment. A novel improvement of this technique in deployment of nodes is having obstacle avoidance mechanism without concern on shape and size of obstacle. The results show using spanning tree exploration along with multi-robot system helps to have fast deployment behind efficiency in energy

A self-organizing quasi-linear ARX RBFN model for nonlinear dynamical systems identification

The quasi-linear ARX radial basis function network (RBFN) model has shown good approximation ability and usefulness in nonlinear system identification and control. It has an easy-to-use structure, good generalization and strong tolerance to input noise. In this paper, we propose a self-organizing quasi-linear ARX RBFN (QARX-RBFN) model by introducing a self-organizing scheme to the quasi-linear ARX RBFN model. Based on the active firing rate and the mutual information of RBF nodes, the RBF nodes in the quasi-linear ARX RBFN model can be added or removed, so as to automatically optimize the structure of the quasi-linear ARX RBFN model for a given system. This significantly improves the performance of the model. Numerical simulations on both identification and control of nonlinear dynamical system confirm the effectiveness of the proposed self-organizing QARX-RBFN model

Stability study of model predictive control in presence of undesirable factors.

In this study, the stability behavior of Generalized Predictive Controllers (GPC) as one of model predictive control algorithm is studied and effects of noise, error in delay estimation, input disturbances, unstable system and non-minimum phase system is analyzed. The results showed that GP-controller can be achieved stability and resist against wrong parameterization. This stability studies is completed by means of a numerical example. The results show that the GP algorithm can guarantee the stability of this system

Wireless energy monitoring in biped robot based on Xbee RF module

For mobile and humanoid robots, in the field of analysis, conservation, data monitoring,and management of the energy, the need of real time wireless communication for data to access and control is important. Wireless technology, which is widely used not only in close range but also in long range, is a technique which uses electronic components that can interface to the other devices. In this work, the energy sensors, such as voltage and current analogue sensors are connected to the XBee RF module directly to reduce the power consumption and the complexity. The wireless XBee RF module together with the sensors were utilized in such a way that direct coupling and data processing have been used to send the energy values wirelessly for monitoring or managing station which may be considered as a computer. A significant clear signals for the current and voltage rates were harvested from the developed circuits and to compare with the direct oscilloscope measuring method. The suitable setting up of the components selection and configuration were the main reason for this met hod to success. The contribution of this proposed method is the utilizing of the XBee built-in microcontroller at the remote and base XBee’s modes to dispense about any other microcontroller or extra components

Switch-ladder: reliable and efficient multilevel inverter

A DC-AC-AC multilevel inverter based on a multi-winding transformer is presented. The most important advantage of this inverter is that only four switches conduct during each cycle, which means that it exhibits lower on-state power dissipation. High reliability when switches fail in open-circuit behaviour is another advantage of this inverter structure. Finally, practical results are presented

ANFIS: Self-tuning Fuzzy PD Controller for Twin Rotor MIMO System

This work presents a self-tuning fuzzy PD controller for solving the control challenges of twin rotor MIMO system. The controller is made adaptive through output scaling factor adjustment of the updating factor, . The value of is calculated directly from a fuzzy rule base defined as error and change of error of the controlled variable. A combination of adaptive neural fuzzy inference system and fuzzy subtractive clustering method was used, where the objective was to improve its time response, while reducing its computational complexity. Simulation results show performance improvement in comparison with that of the previous method. Copyright © 2010 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc

Modeling of a multilane-multiple intersection based on queue theory and standard approach techniques

The currently available queue model for multilane traffic control is based on priority discipline. This priority discipline based technique is not suitable to be applied for multilane-multiple intersections, since all vehicles in each lane move simultaneously according to its respective signal phase. In view of this scenario, a new general traffic model for multilane-multiple intersections based on queue theory and standard techniques has been developed. The model framework used in this study is M/M/1 single server networks with arbitrarily-linked topology structure. A virtual server for each lane in multiple intersections is introduced in order to control the outgoing vehicles in each lane by their own server. In this study, the decomposition algorithm has been applied to deal with the feed-forward flows and finite buffer between intersections in an open queuing network model. This is achieved by decomposing the network into intersections, where each intersection was analyzed independently in order to obtain the overall model. A real case study has been conducted in one of the busiest streets in Kuala Lumpur. The study shows that the inter-arrival and inter-departure traffic flow follow the exponential distribution which also validates the chosen model. Simulation results show good correlation between the proposed models and real case studies