PSO-Tuned PID Controller for a Nonlinear Gantry Crane System

This paper presents development of an optimal PID controller for control of a nonlinear gantry crane system. An improved PSO algorithm based on a priority-based fitness approach is implemented for finding optimal PID parameters. The system dynamic model is derived using Lagrange equation. A combination of PID and PD controllers are utilized for position and oscillation control of the system. System responses including trolley displacement and payload oscillation are observed and analyzed. Simulation is conducted within Matlab environment to verify the performance of the controller. It is demonstrated that the controller is effective to move the trolley as fast as possible to the desired position with low payload oscillation technique

Current Trend of Tactile Sensor in Advanced Applications

Tactile sensor is one of the important tactile technologies which discovered in the 1980s. It grows in line with development of robotics and computers. From current development trends, varieties of application areas from tactile sensor have been proposed. In this paper, developments of tactile sensor have been reviewed and the applications from previous five years journals are discussed. The transduction techniques, their relative advantages and disadvantages, latest application area of tactile sensor and contribution are analyzed

A DNR Using Evolutionary PSO for Power Loss Reduction

The total power losses in distribution network system can be minimized by network configuration. In this area of research, most of the researchers have used multiple types of optimization technique to determine the optimal problem solving. In this paper, an efficient hybridization of heuristic method which is called as Evolutionary Particle Swarm Optimization (EPSO) is introduced to identify the open and closed switching operation plans for feeder network reconfiguration. The main objective is to reduce the power losses in the distribution network system and improve the voltage profile in the overall system meanwhile minimizing the computational time. The proposed combination of Particle Swarm Optimization (PSO) and Evolutionary Programming (EP) is introduced to make it faster to find the optimal solution. The proposed method is applied and its impact on the network reconfiguration for real power loss and voltage profiles is investigated. In network reconfiguration, the network topologies change through On/Off of the sectionalizing and tie switches in order to optimize network operation parameters. The aim is to find the best configuration which consists of switches that will contribute to a lower loss in the distribution network system. The method was tested on a IEEE 33-bus system to show the effectiveness of the EPSO method over the traditional PSO and EP method

Brake Motion Control for Quadruped Hopping Robot by Using Reference Height Control System

In this paper, the generation of brake motion control for our developed quadruped hopping robot while moving on two dimensional spaces by jumping continuously is discussed. The braking motion method which is approached is by applying the reference height control system to create the differences of front leg and back leg while making moving performance and correct the body posture which has inclined to make the quadruped hopping robot jump vertically while braking performances. On the other hand, this approached method can be used as the collision-avoidance behavior for the quadruped hopping robot. The MATLAB/Simulink model is used in order to conduct the pattern generation of quadruped hopping robot. As the result, effectiveness of approach method is confirmed to generate brake motion control of quadruped hopping robot while making continuous jumping vertically. Copyright © 2013 Praise Worthy Prize S.r.l. - All rights reserve

Pembangunan Sumber Tenaga Yang Boleh Diperbaharui Mengikut Perspektif Islam

Kertas kerja ini membincangkan perkembangan sumber tenaga yang boleh diperbaharui. Pada ketika ini, kebergantungan sumber tenaga dunia adalah tertumpu kepada sumber tenaga yang tidak boleh diperbaharui bagi memenuhi keperluan dan kehendak pengguna. Peningkatan taraf hidup dan kemajuan teknologi yang semakin rancak berkembang telah mengakibatkan permintaan pengunaan tenaga semakin meningkat secara eksponen dari semasa ke semasa. Penggunaan sumber tenaga yang berterusan ini telah menyebabkan kemelesetan kepada bekalan simpanan tenaga yang sedia ada. Berdasarkan kajian terkini ke atas kadar penggunaan tenaga, dunia akan mengalami krisis kekurangan tenaga bagi sumber gas asli dalam masa 60 tahun dan jangka hayat arang batu pula hanya mampu bertahan selama 130 tahun dari sekarang. Bergantung hanya kepada sumber tenaga yang pastinya semakin berkurangan ini amat tidak menjamin kelangsungan pembangunan sesebuah negara. Bagi mengatasi masalah ini, sumber-sumber baru yang boleh diperbaharui di lihat sebagai prospek yang berpotensi tinggi. Objektif kertas kerja ini akan menerangkan sumber tenaga yang boleh diperbaharui yang sedang giat diterokai oleh para penyelidik pada masa kini iaitu tenaga solar, tenaga angin, tenaga hidro dan tenaga nuklear. Proses penuaian sumber tenaga dibincangkan dari aspek penjanaan, keberkesanan dan kesesuaian penggunaan teknologi. Masa depan dan potensi teknologi ini amat jelas dapat memberi kesinambungan penjanaan tenaga yang meyakinkan, dengan usaha dan kesanggupan pelbagai lapisan masyarakat untuk menerima paradigma baru dalam penjanaan tenaga diperbaharui yang lebih bersih, selamat dan berkekalan. Kesan pencemaran dari penggunaan sumber tenaga masa kini dapat di kurangkan dengan pengaplikasian teknologi hijau. Di samping itu, kesan negatif penggunaan teknologi ini terhadap ekonomi dan aspek-aspek kehidupan juga akan di perhalusi. Sudut pandangan Islam sudah pasti akan dititik beratkan bagi mengambil kira aspek penjagaan sumber, pemeliharaan sosial dan tugas sebagai seorang khalifah amnya bagi menjamin keharmonian sejagat

Evaluation of energy efficiency for Residential New Construction (RNC) single storey terrace house

The impermanence changing of the climates that cause many natural disasters these days has raised the attention of us about the importance of greening towards our planet. The building sector has been verified as the major part of the global solutions. Hence, Green Rating Tools are recommended internationally to guide the developers and public in designing and developing green buildings in order to reduce the negative impact towards human health and environment due to increasing use of natural resources. The research on energy efficiency of Residential New Construction (RNC) was successfully done and analyzed by using the DIALux software and light illumination calculations

A Comparison Study Between Two Algorithms Particle Swarm Optimization for Depth Control of Underwater Remotely Operated Vehicle

This paper investigates two algorithms based on particle swarm optimization (PSO) to obtain optimum parameter. In this research, an improved PSO algorithm using a priority-based fitness PSO (PFPSO) and priority-based fitness binary PSO (PFBPSO) approach. This comparison study between two algorithms applied on underwater Remotely Operated Vehicle for depth control. Two parameters in Single Input Fuzzy Logic Controller will tune using two algorithms to obtain optimum parameter. There are two parameters to be tuned namely the break point and slope for the piecewise linear or slope for the linear approximation. The study also covered a comparison for time execution for every time the parameter tuning was done. Based on the results the PFBPSO gives a consistent value of optimum parameter and time execution very fast. The best optimum parameter of SIFLC determined using 2 methods such that average of optimum parameter and intersection of y-axis. The PFBPSO gives comparative results in term of two parameters and time execution very fast compared with improved PSO

Optimization Techniques In PID Controller On A Nonlinear Electro-Hydraulic Actuator System

The controller is an important component in the nonlinear control system, especially for the system that needs accuracy in position tracking. Electro-Hydraulic Actuator (EHA) system i s a popular nonlinear system that is used by researchers. Proportional- Integral-Derivative (PID) controller is the most popular controller that is normally used in the industry. This i s mainly because of i ts simplicity in the design process. However, there are three constants that need to be assigned in the PID controller, often we called thi s as the parameters s election process or the PID tuning process. In this paper, a comparison s tudy for the selection process of the PID parameters process will be conducted among Ziegler-Nichols tuning method, conventional Particle Swarm Optimization (PSO) technique and Priority-based Fitness Particle Swarm Optimization (PFPSO) technique. PFPSO is one of the improved versions of the conventional PSO technique. The s imulation study wi ll be conducted on a nonlinear Electro-Hydraulic Actuator (EHA) system. A simple robustness test on the PID controller will be evaluated in terms of actuator internal leakage. Results showed that the PID performed better whe n its controller's parameters are selected using PFPSO technique rather than the Ziegler-Nichols method and conventional PSO technique

A DNR and DG Sizing Simultaneously by Using EPSO

Distribution network planning and operation require the identification of the best topological configuration that is able to fulfill the power demand with minimum power loss. This paper presents an efficient hybridization of both Particle Swarm Optimization (PSO) and Evolutionary Programming (EP) methods which is called the Evolutionary Particle Swarm Optimization (EPSO). The proposed method is used to find the optimal network reconfiguration and optimal size of Distribution Generation (DG) simultaneously. The main objective of this paper is to gain the lowest result of real power losses in the distribution network while improve the computational time as well as satisfying other operating constraints. A comprehensive performance analysis is carried out on IEEE 33 bus distribution system. The proposed method is applied and its impact on the network reconfiguration for real power loss is investigated. The results are presented and compared with the strategy of separated DG sizing and network reconfiguration