Virtual Vehicles Manager: a Java Virtual Reality Environment for Distributed Multi Vehicles Dynamics Control and Simulation

IDENTIFICATION AND CONTROL OF NONLINEAR SYSTEMS USING NONLINEARLY PARAMETERISED ARNN

Least squares and genetic algorithms for parameter identification of induction motors

Abstract This paper deals with off-line parameter identification of induction motors by means of least square (LS) techniques and genetic algorithms (GA), using stator voltages, stator currents and velocity as input–output data. For analytical identification by LS algorithms, filtering of experimental data is performed by means of anticausal filters. Two models useful for identification are derived in which the products of acceleration and rotor fluxes, usually neglected, are taken into account. The GA-based identification method consists of the determination of the best parameters which match input–output behaviour of the motor. Both methods are investigated and compared by means of experi…

System identification via optimised wavelet-based neural networks

Nonlinear system identification by means of wavelet-based neural networks (WBNNs) is presented. An iterative method is proposed, based on a way of combining genetic algorithms (GAs) and least-square techniques with the aim of avoiding redundancy in the representation of the function. GAs are used for optimal selection of the structure of the WBNN and the parameters of the transfer function of its neurones. Least-square techniques are used to update the weights of the net. The basic criterion of the method is the addition of a new neurone, at a generic step, to the already constructed WBNN so that no modification to the parameters of its neurones is required. Simulation experiments and compa…

Evaluation of the wave energy density on the Sicilian coast

In this article the wave energy density of the northern Sicilian coasts is evaluated and is used to evaluate the producibility of a wave nergy converter to be installed in an area in the north west part of Sicily. In particular, the objective of the study is the evaluation of a potential installation in an area between Trapani and Palermo, which are the largest cities in the north west part of Sicily. In particular in this research, the wave energy density of Sicily has been analyzed by using an analysis of wave data carried out in a 10-year period, using the measurements of buoyant of National Wave measuring System (RON - Rete Ondametrica Nazionale). The analysis shows that the north-weste…

An Experimental Comparison between an Ironless and a Traditional Permanent Magnet Linear Generator for Wave Energy Conversion

Permanent Magnet Linear Generators (PMLGs) are currently being studied for sea wave energy harvesting. Typically, a PMLG consists of an iron-made armature and a moving translator. The permanent magnets adoption produces parasitic effects, such as cogging force, and the machine weight increment. A solution could be the adoption of an ironless configuration, accepting a power density reduction. This paper investigates the use of ironless PMLGs in sea wave energy conversion systems by an experimental comparative analysis between an iron PMLG prototype and an ironless PMLG prototype, which share the same geometry. The main electrical and mechanical parameters (resistance, mass, and magnetic fie…

Nonlinear Modeling of DC/DC Converters Using the Hammerstein's Approach

This paper deals with the modelling of highly nonlinear switching power-electronics converters using black-box identification methods. The duty cycle and the output voltage are chosen, respectively, as the input and the output of the model. A nonlinear Hammerstein-type mathematical model, consisting of a static nonlinearity and a linear time-invariant model, is considered in order to cope with the well-known limitations of the more common small-signal models, i.e. the entity of the variations of the variables around a well-defined steady-state operating point and the incorrect reproduction of the steady-state behavior corresponding to input step variations from the above steady-state operat…

Robust Adaptive Control of Robotic Systems using Additive Recurrent Neural Network

Multi Parametric Advanced Research tool for meteo satellite data interfacing with space observation of Ultra High Energy Cosmic Rays.

To approach the study of the cosmic rays in the energy range E > 10 20 eV, the upper end of the spectrum observed to date, with a large statistical significance (103 events/year), and hence address the solution of several astrophysical and cosmological problems related to their existence and behaviour, a new generation of experiments will probably have to be conceived and realised. They will be based on the observation and measurements of cosmic rays from space. The extremely low rate of these events (∼ 1 event/(century × km2 × sr)) imposes a very large effective area to be monitored, of the order of 105km2, as an observational requirement to meet the target statistics. The Extreme Universe…

Leukocyte Rheology Before and After Chemotactic Activation in some Venous Diseases

Abstract Objective: to evaluate leukocyte rheology, polymorphonuclear leukocyte (PMN) membrane fluidity and cytosolic Ca2+ concentration in subjects with post-phlebitic leg syndrome (PPS) and acute deep-venous leg thrombosis (DVT). Subjects: twenty-two subjects with leg PPS and 14 subjects with leg DVT. Methods: we evaluated the leukocyte filtration (unfractionated, mononuclear cells (MN) and PMN), the PMN membrane fluidity and the PMN cytosolic Ca2+ concentration. Subsequently, we evaluated the same PMN variables after in vitro chemotactic activation with 4-phorbol 12-myristate 13-acetate (PMA) and N -formyl-methionyl-leucyl-phenylalanine (fMLP). Results: at baseline we observed a signific…

"Stochastic PCA Algorithm for Industrial Planar Manipulator Control

Method for designing PI-type fuzzy controllers for induction motor drives

The paper illustrates a new systematic method for designing PI-type fuzzy controllers for direct field-oriented controlled induction motor drives. First, linear and decoupled models expressing the dynamics of speed, rotor flux, direct and inquadrature stator currents are derived using a nonlinear static compensator and choosing convenient input variables. Then, to guide the dynamics of the above quantities, four conventional PI controllers are designed independently, choosing their bandwidths conveniently. Finally, the input and output scale factors of PI-type fuzzy controllers are derived from the conventional PI controller parameters. The whole drive controller also includes a rotor flux …

A Magnetohydrodynamic Generator for Marine Energy Harvesting

In this article we present an approach to the description of Magneto-hydrodynamic Marine Energy Harvesting (MHMEH) system. Preliminarly, a general discussion on the principle of operation is presented. Successively, in order to move beyond the analytical model, a 3-D MHD modeling tool and a Runge Kutta method based solver are presented and they are used to investigate an alternative MHD solutions. Some numerical analyses are given.

A new approach to the intelligent gear shift using artificial intelligence and fuzzy logic

INFLUENCE OF EVENTS UPON NOISE AND ARMOSPHERIC POLLUTION

Globally convergent adaptive and robust control of robotic manipulators for trajectory tracking

This paper deals with a globally convergent adaptive and robust control of robotic manipulators for trajectory tracking in the presence of friction modelled as static nonlinearities. Two control loops are designed according to the cascade control scheme: (a) an inner adaptive control loop, which includes computed torque and PD control actions and friction compensation and (b) an outer robust control loop for unmodelled dynamics compensation. With reference to item (a), two friction compensation schemes are presented; one of them uses both the reference and the actual velocities, whereas the other employs only the actual velocity. Experimental tests carried out on a two-link SCARA manipulato…

Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs.

A new closed loop fuzzy motion control system including on-line Kalman's filter (KF) for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV) is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw torque control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine envi…

A new method for optimal synthesis of wavelet-based neural networks suitable for identification purposes

Abstract This paper deals with a new method for optimal synthesis of Wavelet-Based Neural Networks (WBNN) suitable for identification purposes. The method uses a genetic algorithm (GA) combined with a steepest descent technique and least square techniques for both optimal selection of the structure of the WBNN and its training. The method is applied for designing a predictor for a chaotic temporal series

A Neuro Fuzzy Controller for Planar Robot Manipulators

A Neuro Fuzzy Control System for a Biped Robot

Optimal duration of treatment in surgical patients with calf venous thrombosis involving one or more veins.

The aim of this study was to evaluate different durations of treatment in patients with calf venous thrombosis (CVT) involving 1 or more deep veins. The authors studied 2 groups of patients with postsurgical CVT diagnosed by echo-color Doppler. The first group consisted of 68 patients with CVT involving a single vein, and the second group consisted of 124 patients with CVT involving 2 or more veins. Immediately after diagnosis, all patients were treated with nadroparin calcium and sodium warfarin. Heparin treatment was withdrawn after 5–6 days of treatment, when the international normalized ratio (INR) was stabilized between 2 and 3. Each group was divided into 2 subgroups receiving antico…

Hybrid Control on a Domestic service Robot Designed for Cleaning Task

Fondamenti di Automatica non Lineare

Hierarchical fuzzy/Lyapunov control for horizontal plane trajectory tracking of underactuated AUV

A new hierarchical closed loop fuzzy control system for horizontal plane trajectory tracking of underactuated Autonomous Underwater Vehicles (AUV) is presented. A model for the AUV is formulated introducing a polar coordinates transformation for the velocities in the body fixed frame. It is employed to control the unactuated sway direction, the longitudinal position and the yaw by using the surge force and the yaw torque only. The highest level control is developed by employing a fuzzy inference system for obtaining the guidance control laws. The properties of the fuzzy system ensure forward surge velocity, fast convergence and Lyapunov's stability of the motion errors. A new low level kine…

A New Controller for Mobile Robots Based on Fuzzy Logic and Genetic Algorithms

Real-Time Remote Control of a Robot Manipulator using Java and Client-Server Architecture

A New Environment for Distributed Multiple Vehicles Dynamics Control and Simulation

Although there are many simulation softwares, the 3D multi-vehicle field needs further study. This paper describes a lightweight, full portable software environment for development, simulation and control of vehicles. This environment simulates ground wheeled vehicles and their environment. Multi vehicle study can be done adding the vehicle mathematical model and the 3D graphical model. The scenario is displayed as a 3D virtual reality environment in which all the objects are rendered using a combination of 3D primitive and/or pre-built 3D objects loaded from file. Since the software is made up of a set of multi-treading object-oriented Java classes, there are many advantages as portability…

Neural Petri Control: an application on a mobile robot

In the present work, an innovative nonlinear controller of nonholonomic mechanical systems, characterized by a dynamic not well known model a priori, using a new neural model obtained by the combination of a Petri net with a neural network, is proposed. The performances of the control algorithm are evaluated for tasks of tracking of time trajectories. The study of the stability of the total system to closed loop is based on the Lyapunov theory. Simulation experiments, made taking into consideration a nonholonomic mobile robot, to two wheels, allowed to verify the theoretical results.

Fondamenti di Controlli Automatici

An Intelligent Car Driver for safe Navigation with Fuzzy Obstacle Avoidance.

In order to respond effectively to the environment uncertainties, autonomous vehicles are generally equipped with sensors. The proposed car guidance system is equipped with an intelligent controller, based on fuzzy logic, which calculates the speed and wheels orientation in order to follow a path while it is avoiding unknown obstacles. Better fluidity of driving are obtained using future-path, car dimension and car position prevision. Vehicle symmetries also speed-up and simplify the guidance system reducing the inputs and the rules numbers.

A New Method of Velocity Estimation Based on Variable Temporal Basis Using Incremental Encoder

Abstract This paper deals with analysis and synthesis of algorithms for digital conditioning of signals generated by incremental encoders to estimate velocity of rotating devices for control purposes. Main objectives are to obtain high accuracy at low and high velocity and low tracking delays during accelerations. A digital conditioning method is described, Which uses a polynomial of order n whose coefficients are updated so as to fit the n+1 most recent velocity data acquired on a variable temporal basis. Digital sinlulations and experimental findings are shown with the ainl to validate the proposed estimation method and compare it with other methods.

Identification of Nonlinear Systems Described by Hammerstein Models

This paper deals with a method for identification of nonlinear systems suitable to be described by Hammerstein models consisting of a static nonlinearity followed by an ARX linear model. The estimation of the static nonlinearity is carried out supplying the system with a sequence of step signals of various amplitude and determining the corresponding steady-state responses. The estimation of the parameters of the ARX linear system is carried out by means of a least square estimator using data generated supplying the system with a Pseudorandom Binary Sequence (PRBS). The method in question is able to identify static nonlinearities of general type, also with hysteresis and/or discontinuities. …

Kinematics and Control of a Housekeeping Robot Assistant

In this paper, the compliant controller of a new service mobile robot designed for cleaning tasks and its kinematic modelling is addressed. Robot systems usage in home environment has been exponential increased in the last years thus placing a central importance on making interaction between people and machine as natural as possible. The main focus of this paper is twofold. First, the forward kinematics of the robot will be presented in order to introduce the closed form solution of the inverse kinematics problem. Second, the closed form solution will be used in the the design of a new kind of hybrid force/position control algorithm. The most important improvements of this control law are t…

“A Neuro Fuzzy Controller for Planar Manipulators”

A New Dynamic Robust Fuzzy Controller for Vehicles with Nonholonomic Constraints

On-line adaptive neural network in very remote control system

Remote control involves several issues that degrade seriously the performance of the plant to be controlled. This paper presents a strategy improving the characteristics of the remote control system, using an on-line adaptive neural net, in order to learn the variations of the remote system parameters to minimize the errors. This strategy is successfully applied to a client-server remote control system for a two link robot arm. Tests show that an error position in a remote control brushless motor can be highly reduced since its first "reference command" using a prevision of that error to modify the original reference. The neural net, used only by the client, is previously trained using loca…

A New Fuzzy Lyapunov Controller for Nonholonomic Mobile Vehicles

A sliding mass wave energy converter

This paper presents a wave energy converter which is based on a sliding mass coupled to a linear generator. In order to maximize energy extraction, the stochastic features of the energy source has been included in the mathematical model of the system in order to satisfactorily tackle the problem. The results of several simulations are presented.

Model Identification using a Statistical Cluster LPC approach with Application to Motion of a Brushless Motor

This paper presents a new statistical method based on Cluster Last Principal Component (CLPC) algorithm to identify nonlinear, time-varying, dynamical models from input-output data clusters of black boxes. Each of data clusters is on a time window. For every data cluster an appraiser updates the parameters of a Gaussian time-varying model via an optimality design criterion that maximises the Likelihood function and the estimated steady-state parameters of this model are quasi-constant values. An application to identify the nonlinear model of a control system of a brushless motor is developed. By applying of CLPC algorithm to this system, the actual angular positions of the brushless motor a…

Iloprost treatment in patients with Raynaud's phenomenon secondary to systemic sclerosis and the quality of life: a new therapeutic protocol

Objectives: to evaluate the clinical efficacy and the effects on the quality of life of Iloprost, a prostacyclin analogue, used, according to a new protocol, in patients with Raynaud’s phenomenon secondary to Systemic Sclerosis. Methods: in this randomized study we treated 30 patients with Iloprost given by intravenous infusion, at progressively increasing doses (starting from 0.5 ng/Kg/min up 2 ng/Kg/min) over a period of 6 hours a day for ten days in two consecutive weeks, with repeated cycles at regular intervals of three months for 18 months. The results were compared with those obtained in 30 other patients, who had received the same drug but with different posologic schemes. Results: …

Veicolo nautico Drone, del tipo privo di personale di bordo.

Veicolo nautico Drone, del tipo privo di personale di bordo, comprendente un sistema di governo comprendente sottosistemi, mezzi di elaborazione (PC) atti al pilotaggio del veicolo marino attraverso i sottosistemi, mezzi di comunicazione remota atti a ricevere istruzioni destinate ai mezzi di elaborazione (PC) o ad uno dei sottosistemi; i sottosistemi, i mezzi di elaborazione e i mezzi di comunicazione remota essendo interconnessi tra loro mediante una rete dati veicolare. A bordo del veicolo sono presenti sistemi avanzati per la raccolta dati da remoto.

A Innovative Monitoring Underwater Buoy Systems (MUnBuS) for Marine and Rivers installation with IR-Cam, Instrumental Telemetry and Acoustic Data Acquisition Capability

The proposed low cost systems shows the results obtained in the implementation and testing in marine environment of a Innovative Monitoring Underwater Buoy Systems for Marine and Rivers installation with IR-Cam, Instrumental Telemetry and Acoustic Data Acquisition Capability (MUnBuS). This concerning a innovative Monitoring Underwater Buoy Systems that can be remotely controlled from the ground, air, satellite and sea and from a Center of Supervision Telecontroller And Data Acquisition and Monitoring (Mobile-STADAM Center). The Buoy is hosts for the radio or satellite communication equipment, the downloading and telemetering data equipment and the photovoltaic power supply, board and underw…

Intelligent Neuro Fuzzy Dynamic Path Following for Car like Vehicle

Trajectory Decentralized Fuzzy Control of Multiple UAVs.

This paper considers a complete position and heading rate control system for multiple unmanned aerial vehicles (UAVs) with constant altitude. A decentralized trajectory planning algorithm is proposed, where the UAVs will avoid collisions while moving. In order to stabilize the UAVs in the reference planned trajectories and ensure the boundedness of the control velocities, a fuzzy control law is proposed with Lyapunov's stability proof. Simulation experiments developed in Matlab environment confirm the effectiveness and the robustness of the proposed control algorithm with respect to possible turbulence disturbances perturbing the nominal motion of the UAVs.

On-line Adaptive Neural Netwrok in Very Remote Control System

Environmental sustainability in non-residential buildings by automating and optimization LENI index

Directive 2002/91 / EC as amended by 2010/31 / EU introduces procedures for energy certification aimed to determine, through the numerical indicators, the overall energy efficiency of the buildings, but notes the thermal and electric consumption. Often, the power consumption is incorrectly underestimated, this consumption would to be considered with great attention. In fact, compared to a committed capacity of less, compared to thermal plants, have times of utilization often far higher, leading to energy requirements to levels similar or even higher than those thermal, being the conversion factor of the electrical energy increasingly high. Leaving aside the procedural scheme energy certific…

Fuzzy Data Fusion for Real-World Mapping Using 360° Rotating Ultrasonic Sensor

Abstract Mobile robot perception of the external environment is limited by the features of the used sensor. An useful technique used to improve robot perception is data fusion. This paper presents an approach to build a map of an unknown environment applying fuzzy data fusion methods to data acquired through an ultrasonic sensor. Conditioning of these data and motion control of the mobil robot by fuzzy data fusion are also described. The resulting two dimensional map is used for path planning and navigation. The proposed approach is exrperimentally tested using real distance measures acquired by a 360° rotating sensor.

Predictive Intelligent Fuzzy Control for Cooperative Motion of Two Nonholonomic Wheeled Cars

In this paper a problem of intelligent cooperative motion control of two wheeled nonholonomic cars (target and follower) is considered. Once a target car converges to a fixed state (position and orientation), a follower car coming from different position and orientation, converges to the state above, without excessive delay between the known arrival time of the target car and the arrival time of the follower. In this sense we present a new predictive fuzzy control system. A Kalman's filter and an odometric model are used to predict the future position and orientation of the target car. The prediction above is employed to plane a circular nonholonomic reference motion for the follower car. A…

A Distributed approach to the Remote Control and Programming Improvement.

Tuning of Extended Kalman Filters for Sensorless Motion Control with Induction Motor

This work deals with the tuning of an Extended Kalman Filter for sensorless control of induction motors for electrical traction in automotive. Assuming that the parameters of the induction motor-load model are known, Genetic Algorithms are used for obtaining the system noise covariance matrix, considering the measurement noise covariance matrix equal to the identity matrix. It is shown that only stator currents have to be acquired for reaching this objective, which is easy to accomplish using Hall-effect transducers. In fact, the Genetic Algorithm minimizes, with respect to the system covariance matrix, a suitable measure of the displacement between the stator currents experimentally acquir…

Stochastical Real Time Finite State Machine LPC for Planar Manipulator Control System Model estimation

This paper presents a new stochastical real-time LPC (Last Principal Component) algorithm to estimate single-input-single-output (SISO) and multiple-input-multiple-output (MIMO) varying time models from input output data clusters of non stationary black boxes. Each of data clusters is on a time window. An application to estimate the control system model of a planar manipulator is developed. In fact many mathematical models of physical systems are non stationary such as industrial manipulator model. A real time estimation algorithm via stochastical LPC algorithm and an appraiser called "finite state machine" is then described For every data cluster the finite state machine updates the parame…

Experimental characterization of a proton exchange membrane fuel-cell for hybrid electric pedal assisted cycles

This paper presents a feasibility study on the prototyping of a hybrid EPAC (Electric Pedal Assisted Cycle) through an FC-B-UC (Fuel Cell — Battery — Ultra-Capacitors) power system. Aim of this work is the characterization of a PEMFC (Proton Exchange Membrane Fuel Cell) in order to confirm its theoretical performances and to verify the possibility of its installation on an e-bike.

Synergic algorithms for the planning and the intelligent following of a trajectory for non-holonomic vehicles

Although there are many studies about two wheels non-holonomic vehicles, in order to simplify the problem the planning and the following of trajectories or paths are generally considered two different phases. In this paper, two algorithms for the synergic working of trajectory planning with intelligent trajectory following are presented. The "trajectory shape" characteristics obtained in the planning phase are used for the efficient trajectory following. From the shape, in order to follow the trajectory, an intelligent controller calculates, without further elaboration, the reference wheels velocity of the vehicle. The knowledge of trajectory shape characteristics and curvature constraints …

PM10 Diffusion modeling by CNN and and non-linear predictive functions

Controllo Remoto con Architettura Client Server

Sistema di controllo di ricarica per batterie di veicoli elettrici.

Il sistema di controllo in brevetto consente di ricaricare n.2 gruppi pacco batterie di trazione, di un qualsiasi veicolo elettrico, ottimizzando il rendimento, per la particolare metodica di commutazione degli elementi, permettendo cosi'''' di impiegare superfici fotovoltaiche di pochi watt, integrate al veicolo, ricaricando l''''autoveicolo eletrico sia in movimento che durante le ore di sosta

A new solution for the sea wave exploitation. A linear ironless generator

The exploitation of sea wave represents an important frontier for the energy sustainability in the next future. Despite the proposal of several techniques and solutions, commercial devices are not available. In this context, the Department of Engineering is investigating an innovative solution based on linear energy generators. This machine can be adopted as the main component in a wave energy converter, that is the device for the energy extraction of sea wave. Starting from an existing prototype, the paper examines the replacement of the iron stator with a non-magnetic material, in order to solve several common problems of linear generators, such as the cogging force. Results are reported,…

”Fuzzy Logic Controller for behavior-based robotic systems”.

A innovative laterals hydro floating tilting systems for USV or surface nautical vehicles

The proposed project shows the results obtained in the implementation and testing in lacustrine and marine environment of an innovative laterals hydro floating tilting systems control for USV or remote/autonomous surface nautical vehicles. This vehicle is based on a pending patent belonging to Palermo University (Patent Pending RM2012A000209 and RM2012A000209). The system allows, during operation as a vehicle USV, set changes sailing trim and make turns with very narrow angle with little shunting movements. In fact the main benefits obtained were able to change or adjust the navigation structure by changing the tilt of one or two hydro floating during navigation without intervening directly…

UML design and AWL programming for reconfigurable control software development of a robotic manipulator

The goal of the presented research is to face the topic of reconfigurable control software development in a concrete fashion, i.e., by presenting a control software system development approach which has been used for a specific, although easy to be generalized, robotized manufacturing cell component. In particular, a methodology for the control software development of a planar robot (2-degrees of freedom) is presented, from the conceptual design to the actual implementation. The methodology suggests UAL and object-oriented modeling and programming techniques for the design phase, while AWL programming language run by a PLC for the implementation phase. The analysis has been conducted consid…

Exponentially Stable Trajectory Tracking Control for Wheeled Nonholonomic Robots

An innovative mechanical motion converter for sea wave applications

The paper shows an innovative system designed and developed by University of Palermo. The device is based on a simple mechanical converter able to transform a variable bidirectional linear motion into a unidirectional rotary motion. This technology can be successful used in sea wave applications, producing a mechanical output usable for the electrical energy production.

A new fuzzy robust dynamic controller for autonomous vehicles with nonholonomic constraints

Abstract In this paper a novel algorithm with a dynamic fuzzy controller applied to the control of trajectory of vehicles with two independent wheels is proposed. An automatic control of trajectory of a vehicle can behave in a not efficient way. It is necessary to consider the friction of the actuators and possible perturbations coming from the outside environment, as for instance the variable characteristics of the ground where the vehicle moves. These perturbations, which depend also on the contact between the wheel and the ground, involve violations of nonholonomic constraints. Thus it is necessary to compensate for these perturbations to obtain a robust control system. The controller sy…

A NEURO FUZZY CONTROLLER FOR PLANAR ROBOT MANIPULATOR

Fuzzy motion control strategy for cooperation of multiple automated vehicles with passengers comfort

This paper considers motion control for a cooperative system of automated passenger vehicles. It develops a cooperative scheme based on a decentralized planning algorithm which considers the vehicles in an initial open chain configuration. In this scheme the trajectories are intersections-free, and each trajectory is planned independently of the others. To ensure the stabilization of each vehicle in the planned trajectory, a fuzzy closed loop motion control is presented, where, based on the properties of the Fuzzy maps, the Lyapunov’s stability of the motion errors is demonstrated for all the vehicles. Based on the ISO 2631-1 standard, the saturation property of the Fuzzy maps guarantees lo…

A computational magnetohydrodynamic model of a marine propulsion system

In this article we present an approach to the description of Magnetohydrodynamic Propulsion. Preliminarly, an analytical model which includes an electromagnetic model and a thermal model is presented. Successively, in order to move beyond the analytical model, a 3-D MHD modeling tool and a Runge Kutta method based solver are presented and they are used to investigate an alternative MHD solutions. Some numerical analysis are given.

Identification and Control of nonlinearly systems using nonlinearly parameterized ARNN

Remote control systems of industrial manipulators by short-message

Fuzzy Control Strategy for Cooperative Non-holonomic Motion of Cybercars with Passengers Vibration Analysis

The cybercars are electric road wheeled non-holonomic vehicles with fully automated driving capabilities. They contribute to sustainable mobility and are employed as passenger vehicles. Non-holonomic mechanics describes the motion of the cybercar constrained by non-integrable constraints, i.e. constraints on the system velocities that do not arise from constraints on the configuration alone. First of all there are thus with dynamic nonholonomic constraints, i.e. constraints preserved by the basic Euler-Lagrange equations (Bloch, 2000; Melluso, 2007; Raimondi & Melluso, 2006-a). Of course, these constraints are not externally imposed on the system but rather are consequences of the equations…

A Magnetostrictive Electric Power Generator for energy harvesting from traffic: Design and experimental verification

In the last decades, the growth in energy demand, the decrease of fossil fuels available in the market and the impact of anthropogenic factors on climate change has given new impulse to research on renewable energy systems, particularly those known as energy harvesting devices (EHDs) [1]. A large number of EHDs have been proposed, using different operating principle [1-4]. Among them, piezoelectric and magnetostrictive seem to be particularly suitable for the application in EHD. In these materials the application of external mechanical stress induces a change in the level of magnetization and therefore an electromotive force (emf) can be generated and collected in order to produce electrica…

“A new model of Car Parking System trough Genetic Algorithms”

Manipulator Control System Model Estimation Unsing a Real Time Finite State Machine based on Statistical LPC Analysis

This paper presents a new statistical method based on a real-time Last Principal Component (LPC) algorithm to estimate single-input-single-output (SISO) and multiple-input-multiple-output (MIMO) varying time dynamical models from input output data clusters of non stationary black boxes. Each of data clusters is on a time window. A real time estimation algorithm via statistical LPC algorithm and an appraiser called "finite state machine" is then described. For every data cluster the finite state machine updates the parameters of a Gaussian varying time model via an optimality design criterion that maximises the Likelihood function. Using the LPC algorithm and the finite state machine, the es…

ANALYSIS OF INTERCONNECTION SUBSTATIONS FOR SEAWAVE POWER FARMS

In this paper we analyse the interconnection of a seawave power farm to the grid. The generator type used in the farm is a linear synchronous generator driven from the seawaves that generates, highly distorted emfs. We presents two possible ways to interconnect the farm to the grid. One is based on an approach where for each generator there is a conversion subsystem that permits the direct connection of each generator to the a.c. network, the other one is based on an a.c.-d.c. converter that is connected to the generator, the converter is connected to a dc link that can receive the power from every unit and that can supply a dc-ac converter directly connected to the main.

A New Approach for the Intelligent Gear Shift Using Artificial Intelligence and Fuzzy Logic

A innovative semi-immergible USV (SI-USV) drone for marine and lakes operations with instrumental telemetry and acoustic data acquisition capability

The proposed project shows the results obtained in the implementation and testing in lacustrine and marine environment of a nautical remote controlled vehicle with surface navigation and innovative features Semi-Immersible (SI-USV). This vehicle is based on a pending patent belonging to Palermo University (Patent Pending RM2012A000209 and RM2012A000209) concerning innovative semi-immersible vehicles (SI-Drone), that can be remotely controlled from the ground, air, satellite and sea also during the semi-immersible operation. The vehicle with electric power is coupled with a jet propulsion, given the low draft, makes it possible to navigate in shallow waters or coastal shipping or sandbars. T…

A security and surveillance application of the innovative Monitoring Underwater Buoy Systems (MUnBuS) on the Protected Marine Area (AMP) of capo gallo (PA-IT)

The proposed low cost systems shows the results obtained in the implementation and testing on real security application to Protected Marine Area surface and submarine environment of a innovative Monitoring Underwater Buoy Systems (MUnBuS) for installation with IR-CCTV-Cam, ultrasonic dolphin warning system and Green Laser Perimeter Detection. This concerning innovative Monitoring Underwater Buoy Systems that can be remotely controlled from the ground, air, satellite and sea and from a Center of Supervision Telecontroller And Data Acquisition and Monitoring (Mobile- STADAM Center). The Buoy is hosts for the radio or satellite communication equipment, the downloading and telemetering data equ…

IDENTIFICATION OF HAMMERSTEIN MODELS FOR DC/DC CONVERTERS OPERATING IN CCM

ELEMENTI DI AUTOMATICA

Identification of a Hammerstein model for DC/DC converters operating in CCM

This paper deals with a method for identification of a Hammerstein model of DC-DC converters operating in continuous conduction mode (CCM). This model has the duty cycle and the output voltage as input and output, respectively; it consists of a static nonlinearity and a linear and time-invariant model. The aim of the modeling the system by means of a Hammerstein model is due to its capability of describing the converter in a range of steady-state operating points instead of a desired well defined operating point as occurs for the small-signal models which are the more common mathematical description to approach the study of the converters themselves. The nonlinear characteristic of the Hamm…

The association between the 4G/5G polymorphism in the promoter of the plasminogen activator inhibitor-1 gene and extension of postsurgical calf vein thrombosis.

The objective of this study was to evaluate whether the presence of a plasminogen activator inhibitor type 1 (PAI-1) promoter polymorphism 4G/5G could significantly influence the proximal extension of vein thrombosis in spite of anticoagulant treatment in patients with calf vein thrombosis (CVT) following orthopaedic, urological and abdominal surgery. We studied 168 patients with CVT, who had undergone orthopaedic, urological and abdominal surgery, subdivided as follows: first, 50 patients with thrombosis progression; second, 118 patients without thrombosis progression. The 4G/5G polymorphism of the plasminogen activator inhibitor 1 was evaluated in all patients and in 70 healthy matched co…

Design of wave energy converter (WEC): A prototype installed in Sicily

The purpose of this work is to describe a possibility of installation of a wave converter in Sicily, in the Mediterranean Sea. In this paper we present the design of buoyant electrical generator, in particular, wave linear permanent magnet generator which can make wave energy converted to electrical energy.

Photovoltaic facade: Comparison of actual technologies

This article aims to establish the economic contribution of a photovoltaic system placed on a façade of a building, replacing traditional elements such as windows and glass-cement walls with active elements. The aim is to compare the behavior of next-generation systems, which favor architectonical integration, with traditional ones. Two novel systems have been taken into account: a dye sensitized solar cell (DSSC) and blue and grey thin film silicon panels. Different generation systems have been tested and compared in terms of efficiency and fill factor.

A Magnetohydrodynamic Auxiliary Propulsion system for docking assistance of autonomous vehicle

In this article we present an approach to the description of Magnetohydrodynamic Auxiliary Propulsion system for docking assistance of autonomous vehicle. Preliminarily, an analytical model which includes an electromagnetic model and a thermal model is presented. Successively, in order to move beyond the analytical model, a 3-D MHD modeling tool and a Runge Kutta method based solver are presented and they are used to investigate an alternative MHD solutions. Some numerical analysis are given

Stochastic Estimate PCA Algorithm for Industrial Planar Manipulator Control

METODO, APPARATO E PROGRAMMA DI CONTROLLO DELL'INSEGUIMENTO SOLARE IN IMPIANTI FOTOVOLTAICI

Il sistema e la metodologia di controllo consentono di implementare inseguitori solari, che posizionano il disco solare sulla perpendicolare alla superficie fotovoltaica, ad elevata efficienza energetica, senza l''utilizzo di alcun sensore aggiuntivo per il puntamento, ma controllando costantemente la tensione e la corrente di riferimento di un pannello fotovoltaico o di una stringa fotovoltaica, dell''impianto di produzione.

Adaptive Control and Data Fusion using EKF for Wheeled Robots with Parametric Uncertainties

Hibrid Adaptive/EKF Motion Control and Data Fusion for Ground Vehicles with Kinematical and Dynamical Uncertainties

This paper considers the motion control problem of ground vehicles with nonholonomic constraints and parametric uncertainties both in the kinematic and in the dynamic model. The presence of uncertainties above is treated using adaptation laws where the Lyapunov's stability of the position and orientation errors is proved. Now, if the feedback signals are position and orientation provided by incremental encoders only, then noises of the odometric sensors above can damage the control in terms of difference between the desired and the actual motion of the vehicle and in terms of performances of the parametric adaptation. So an extended Kalman's filter (EKF) is inserted in the feedback for meas…

State of art and economic evaluation of wave energy converters. A case study

The even increasing energy demand in the world is a relevant problem for the modern society. The energy supply from fossil fuels has become a critical aspect due to the progressive reduction of reserves and political instability among the Countries. For these reasons, the exploitation of renewable energy sources is looked with a great interest. In this context, solar, wind, geothermal, hydropower, and biomass can be successfully used through commercial technologies. Other potential renewable energy sources could have potential applications in the next future. Among these, sea wave is considered a very promising energy source, especially for small islands. In this context, the paper propones…

Improvement of a low-cost buoy for the measurement of the sea wave weather

This article presents the result of an experimental meteorological buoy designed by the Department of Engineering of the University of Palermo, characterized by low costs and great versatility, and equipped with industrially certified measuring and detection instruments. This buoy can measure the parameters of the water column and continuously transmit the data to a remote acquisition centre. Maintenance requirements are very limited.

Energy savings for indoor lighting in a shopping mall: A case of study

The paper presents an application of energy saving in the final users. In particular, the case of study evaluates the energy consumptions of a big shopping mall, located in the middle part of Italy, illuminated by fluorescent lamps. In order to reduce the energy demand, the case of study shows a first solution based on LED lamps; a second step considers the adding of a building automation system, maximizing the energy saving, thanks lighting sensors that module the luminous flux taking in count of natural lighting through skylights.

"New Controller for Mobile Robots Based on Fuzzy Logic and Genetic Algorithms”

Subclavian Stenosis/Occlusion in Patients with Subclavian Steal and Previous Bypass of Internal Mammary Interventricular Anterior Artery: Medical or Surgical Treatment?

There are only a few published studies on the association between subclavian steal syndrome and ischemic heart disease. The objective of this report is to evaluate the efficacy of subclavian stenoocclusion treatment in patients with subclavian steal syndrome (SSS) and previous cor- onary bypass. Over the last 8 years we observed 207 patients who underwent left internal mammary artery–intraventricular artery (LIMA–IVA) bypass graft. Of these, 31 patients were affected by steno-occlusion of the homolateral subclavian artery. Ten patients (group 1) showed latent vertebral-SSS and were pharmacologically treated. Seven patients (group 2) had an intermittent vertebral-SSS; four patients were trea…

ROBUST TRAJECTORY TRACKING CONTROL AND LOCALIZATION BASED ON EXTENDED KALMAN FILTER FOR NONHOLONOMIC ROBOTS

Real Time Control of Robot Manipulators using Java and Client Server Architecture

Noised Trajectory tracking Control based on Fuzzy Lyapunov approach for Wheeled Vehicles

This paper solves a trajectory tracking control problem whit outside perturbations for wheeled nonholonomic vehicles using a Fuzzy Lyapunov method. Trough a symbiosis between classical backstepping techniques and fuzzy logic, the control system ensures a good robustness with respect to outside perturbations. Possible causes of perturbations are the characteristics of the ground and the contact between the wheels and the ground. These perturbations can interact with the vehicle, they are sources of uncertainty for the system model and can perturb the validity of the nonholonomic constraints. The convergence of the tracking errors to the origin and the asymptotic stability of the equilibrium …

Fuzzy EKF Control for Wheeled Nonholonomic Vehicles

In this paper a new Fuzzy extended Kalman robust control system for position and orientation tracking of nonholonomic vehicles with two wheels actuated by two independent DC motors is presented. The problem of robustness and localization are solved simultaneously. About the robustness, some perturbations coming from the outside environment and depending on the contact between the wheels and the ground, involve violations of the nonholonomic constraints. The fuzzy controller of this work is able to obtain a dynamic term of robustness with respect to the perturbations above. However, by using encoders only, the measures of actual position and orientation of the vehicle are with Gaussian noise…

“FUZZY LOGIC AND NEURO FUZZY BASED ALGORITHM FOR A MOBILE ROBOT COLLISION AVOIDANCE IN UNKNOWN ENVIRONMENT”

An adaptive control law for robotic manipulator without velocity feedback

In this paper, a new adaptive control law is designed for robotic manipulators, based on the use of reference velocities instead of the actual ones and feedback signals generated from position errors. The law in question is suitable for trajectory tracking and positioning tasks. Its peculiarities are implementation without velocity measurements and estimation, high signal-to-noise ratio in control torques and absence of parameter drift in positioning tasks. Experimental tests are shown with the aim to confirm the validity of the control law and to illustrate its actual effects on the behaviour of the system.

A Neuro Fuzzy Controller for a Planar Robot Manipulator

Trajectory tracking of underactuated underwater vehicles

This paper deals with a control strategies for underactuated underwater vehicles whose target is the tracking of a space trajectory. A cascade control strategy is employed which brings to a control law consisting of: 1) a kinematic control law, derived from the vehicle kinematic model, which forces this model to track the reference trajectory; and 2) a dynamic control law which forces the system to track the reference signals given by the kinematic control law. Conditions for asymptotic tracking of the trajectory are given with reference to the standard dynamical model of the above vehicle. An observer of the marine current is also added in order to process the control law. Simulation tests…

Analysis of interconnection substations for sewave power farms

In this paper we analyse the interconnection of a seawave power farm to the grid. The generator type used in the farm is a linear synchronous generator driven from the seawaves that generates, highly distorted emfs. We presents two possible ways to interconnect the farm to the grid. One is based on an approach where for each generator there is a conversion subsystem that permits the direct connection of each generator to the a.c. network, the other one is based on an a.c.-d.c. converter that is connected to the generator, the converter is connected to a dc link that can receive the power from every unit and that can supply a dc-ac converter directly connected to the main.

Stability and Noises Evaluation of Fuzzy Kalman UAV Navigation System.

In this paper a new Fuzzy/Kalman navigation system for Unmanned Aerial Vehicles (UAV) is presented. A closed loop velocity Fuzzy navigation system is proposed for stabilizing the UAV in a reference trajectory generated dynamically and for obtaining a forward velocity command. The Kalman's filter (KF) is included in the feedback line of the fuzzy control system to filter the internal noise of the sensors and to evaluate the external noise due to possible perturbations of the nominal motion. The efficiency of the navigation system has been shown through experimental tests in a Matlab environment.

ROTOR FLUX OPTIMAL ESTIMATION FOR INDUCTION MOTOR CONTROL

Abstract The aim of this paper is to analyze and design reduced order observers of the rotor flux of induction motors. The design requirements are: a) the convergence rate of the rotor flux estimation error; b) a low sensitivity to stator and rotor resistance variations; c) a low sensitivity to errors due to the implementation of the observers on microprocessor-based systems. It is shown that, in order to satisfy the requirements a)-c), it is sufficient to solve a constrained optimization problem according to a criterion in which these requirements appear explicitly. The implementation of the observer is discussed. The observer is tested by simulation and experiments.

Fuzzy cooperative control of automated ground passenger vehicles

In this paper a fuzzy motion control for cooperative passenger automated vehicles where there are not collisions between the closest ones is proposed. Based on the position of the target and on the initial position of each cooperative vehicle, a supervisory plans nonholonomic circular trajectories which are without intersections, while a fuzzy control strategy assures the asymptotical stability of the motion errors and the reaching of the target with low acceleration values along the planned trajectories. Based on the ISO 2631-1 standard, the saturation properties of the fuzzy maps guarantees low values of the longitudinal and lateral accelerations to assure the comfort of the passengers. T…

Identification of the inertial model for innovative semi-immergible USV (SI-USV) drone for marine and lakes operations

The proposed project shows the results obtained in the implementation and testing in lacustrine and marine environment of a nautical remote controlled vehicle with surface navigation and innovative features Semi-Immergible (SI-USV). This vehicle is based on a pending patent belonging to Palermo University (Patent Pending RM2012A000209 and Patent RM2014Z000060) concerning innovative semi-immersible vehicles (SI-Drone), that can be remotely controlled from the ground, air, satellite and sea also during the semi-immersible operation. Given its low draft, the electric powered vehicle, coupled with jet propulsion, makes it possible to navigate in shallow waters, coastal shipping or sandbars.

The treatment of venous leg ulcers: a new therapeutic use of iloprost

Background: We conducted a study using an intravenous (i.v.) infusion of iloprost in the treatment of venous ulcers to verify whether the association of i.v. iloprost + local therapy + elastic compression has a favorable effect when compared with traditional treatment with local therapy and elastic compression. Study Design: We evaluated the effects of iloprost in 98 consecutive patients with noncomplicated venous ulcers of lower limbs subdivided into 2 groups: the first group (48 patients) received iloprost in saline solution for 3 weeks and the second group (50 patients) received a venous infusion of a saline solution. The patients were examined at baseline time 0 (first visit) and then a…

A Distributed approach to the Remote Control and Programming Improvement

The remote control of industrial plants through networks is becoming very important nowadays but it involves several issues that can degrade the performance and usability of the remote plant. This paper presents a distributed architecture improving a remote programming system which allows users to control and to program a plant remotely. The control system is based on a client/server architecture with many user interfaces that control the plant. The remote programming language is a mix of Java and client/server protocol in order to simplify the developing and to avoid the protocol/language translation. In order to obtain more efficiency, the program is developed in the client side and it is…