IAES International Journal of Robotics and Automation (IJRA)
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PD-computed torque control for an autonomous airship
Get PDFFor the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an environment, as the follow-up of a trajectory by the simulation who results show that Computed Torque control method is suitable for airships
IoT based security system and intelligent home automation multi monitoring and control systems
Get PDFThis paper presents the execution of savvy Smart Home with frameworks and propelled advances. A Home Automation System uses the technology of IoT for the screening and controlling of the electrical and electronic appliances at home from any remote area by essentially utilizing a Smartphone. The key control framework utilizes a remote Bluetooth system and a remote IoT strategy that gives remote access to the advanced cells. The framework configuration does not expel the current electrical switches yet it gives a more secure control over it with the low voltage utilization method. This framework is intended to control electrical gadgets all through the house easily by introducing it, usability, savvy plan and actualize. There has been rising interest for a secure framework that must be tried, true and fast in reaction to the ventures and organization. Arduino makes the circuit and programming technology to design and operate wireless water monitoring system. The Water level in the tank is displayed on the Smartphone by the Water level app
MPPT using novel FLC based MPO for photovoltaic system
Get PDFIn this paper introduces a novel Fuzzy Logic Controller (FLC) as a Maximum Power Extracting (MPE) of photovoltaic standalone system is proposed, which can handle the uncertainties of the rules under high deviations in climate conditions. Conventional Perturb and Observe (P & O), hill-climbing MPE structures are examined. The MPE employed boost converter controller. The new controller improves P & O based maximum power tracker search method by rules fuzzifying of such method and eliminates the conventional drawback. A new FLC based improved P & O offers an accurate and fast converging to MPE during steady state and changing climatic situation compared to existing P & O and hill climbing method. The performance of the designed MPE is demonstrated in simulation MATLAB at dissimilar operating circumstances
Novel algorithms for protective digital privacy
Get PDFVideo is the recording, reproducing, or broadcasting of moving visual images. Visual multimedia source that combines a sequence of images to form a moving picture. The video transmits a signal to a screen and processes the order in which the screen captures should be shown. Videos usually have audio components that correspond with the pictures being shown on the screen. Video compression technologies are about reducing and removing redundant video data so that a digital video file can be effectively sent over a network and stored on computer disks. With efficient compression techniques, a significant reduction in file size can be achieved with little or no adverse effect on the visual quality. The video quality, however, can be affected if the file size is further lowered by raising the compression level for a given compression technique. Security is about the protection of assets. Security, in information technology (IT), is the defense of digital information and IT assets against internal and external, malicious and accidental threats. This defense includes detection, prevention and response to threats through the use of security policies, software tools and IT services. Security refers to protective digital privacy measures that are applied to prevent unauthorized access to computers, databases and websites. Cryptography is closely related to the disciplines of cryptology and cryptanalysis. Cryptography includes techniques such as microdots, merging words with images, and other ways to hide information in storage or transit. However, in today's computer-centric world, cryptography is most often associated with scrambling plaintext (ordinary text, sometimes referred to as clear text into cipher text (a process called encryption), then back again (known as decryption). Cryptography is evergreen and developments. Cryptography protects users by providing functionality for the encryption of data and authentication of other users. Compression is the process of reducing the number of bits or bytes needed to represent a given set of data. It allows saving more data. The project aims to implement security algorithm for data security. The data will be first encrypted using security techniques and that are done at the same time then it takes less processing time and more speed compression techniques will applied. If encryption and compression are done at the same time then it takes less processing time and more speed
Control shunt active filter based on dq frame using current model prediction
Get PDFThe nonlinear loads present more in the power systems in the practice today by developing of electronic technology and using the small distributed power sources (solar power, wind power etc.), this causes the increasing the high frequency switch devices etc. in the power network. Nonlinear loads cause non-sinusoidal currents and voltages with harmonic components, increasing the reactive power, overload of power lines and electrical devices, low power factor and affecting badly to the networks. Shunt active filters (SAF) with current controlled voltage source inverters (CCVSI) are used effectively to reduce the harmonics and to balance the phases sinusoidal source currents by generating the currents to compensate the harmonic currents caused by the nonlinear loads. In this paper we suppose a control strategy to generate the compensation currents of SAF by using the current model predictive engineering. This method is better than the control strategy using PI controller in term of transient time. The desired compensation currents can track exactly the reference compensation currents on the dq frame. The simulation results implemented on the nonlinear load, a full bridge rectifier and 3 phase unbalance load, show that the transient period decrease from 0.1s to 0.02s in comparing with PI controller. The experimental results proof that the THD of source currents decrease from 24.8% to 5.4% when using the proposed method
Impact of plug-in hybrid electric vehicles on power system with high wind power penetration
Get PDFThe rising energy independence and environmental concerns are key drivers in the growing popularity of plug-in hybrid electric vehicles (PHEVs). Because of the intermittent nature of the renewable energy sources, this may cause a high-frequency oscillation of the power system. From another aspect, all the PHEVs have in common the batteries, which provide the storage capability that can be effectively harnessed when the vehicles are integrated into the grid. Such a storage capability can effectively integrate wind power into the grid and all indicators signalize that the PHEVs are the most promising technology of the future transportation system. In this paper, different case studies are applied on one area power system to show the effect of the high wind energy penetration on the power system frequency and how the PHEVs can play an effective role in mitigating the power system frequency oscillation and supporting the more penetration of the wind energy into smarter electrical grids. In addition, an advanced controller has been designed to improve the frequency response and to compensate the delay of the system. The designed controller is a genetic algorithm (GA) based PID (proportional-integral-derivative) controller, it has been proposed for tuning optimized PID parameters. The results show that the controller has played an effective role in decreasing the response overshoot and settling time when used with the PHEVs. The used variable load, the thermal power plant parameters, and the wind turbine parameters are the same for the five case studies
Robust adaptive controller design for excavator arm
Get PDFThis paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases
Optimal TCSC placement for congestion management in deregulated power systems using antlion optimization algorithm
Get PDFCongestion management is one of the important issues in the deregulated power systems. There are several methods to eliminate congestion. Utilizing FACTS devices is an appropriate option for large-scale and quick control of flows of transmission lines. FACTS devices such as Thyristor Controlled Series Capacitor (TCSC) can help to mitigate the transmitting flow of power in the congested lines, which leads to an increase in the network loading ability as well as reduction of both losses and production costs. Due to the considerably high price of FACTS devices, it is important to determine their optimum location on the network. Accordingly, in this paper, the Antlion optimization algorithm (ALO) has been employed to conduct a congestion management analysis to determine the optimal location for the installation of TCSC, which is simulated on an IEEE 14-bus test system subject to satisfy the constraints of the market environment
Design of POD controller using linear quadratic regulator tecniques for SMIB power system stability enhancement installed with UPFC
Get PDFIn the field of the power system stability, this paper presents the current research status and developments. This paper presents a systematic approach for designing Power Oscillation Damping Controller (POD) based Linear Quadratic Regulator Techniques for SMIB power system stability installed with UPFC to damp out low frequency oscillations in a power system. The impacts of control strategy on power system single machine infinite bus installed with UPFC, without UPFC and with UPFC and POD controller at different operating conditions are discussed. The accuracy of the developed models is verified through comparing the study results with those obtained from detailed MATLAB programming
Artificial pancreas techniques based on robust model predictive controller
Get PDFDiabetes is known as the major cause of death in the world leading to kidney, retinopathy and cardiovascular diseases as well. In this paper, a Robust Model Predictive Controller (RMPC) is introduced to design artificial pancreas that solved the model uncertainty and keep the blood glucose level in the normal range by regulating the size of insulin infusion from pump based on RMPC. The simulation results will present a good performance of the proposed controller to avoid disturbance and robustness against uncertainties