International Journal of Systems, Control and Communications (11 papers in press)
by Kishorekumar Kowdiki, Ranjit Kumar Barai, Samar Bhattacharyya
Abstract: This paper presents a novel robust and autonomous formation control scheme for wheeled mobile robots in the Leader-Follower formation control framework considering their nonholonomic constraints. In the proposed formation control scheme, the leader robot of the group plans its path of navigation autonomously in a cluttered environment by employing incremental path planning by modified artificial potential field. Then, the follower robots in the group plan their path in order to follow the leader robot by maintaining a particular formation using the separation-bearing control. Then the formation control problem has been transformed into a trajectory tracking control problem. The kinematic control component of the tracking controller provides the necessary velocity input for eliminating the nonholonomic constraints, whereas, the sliding mode augmented robust trajectory tracking control component minimizes the effects of nonlinearities, model uncertainties, parameter variations, and disturbances. The effectiveness of the proposed control law has been established by simulation studies.
Keywords: artificial potential field; autonomous navigation; formation control; leader-follower; trajectory tracking; kinematic control; sliding mode control.
Selection of High Quality Path through MXAODV in Mobile Ad-Hoc Network
by Anupama Sharma, Abhay Bansal, Vinay Rishiwal
Abstract: Selection of high quality path in mobile ad-hoc network is a critical issue due to mobility of nodes and variable channel conditions during data transmission. Path containing smallest number of hops generally performs less due to some links on those paths may have low or marginal quality. Mean loss ratio of link is also not a perfect way to estimate link quality, mean channel condition is not realistic. Hence, link quality estimation on the basis of loss ratio in burst loss conditions of different channels is significant. Incorporation of loss variance for a link in its quality estimation through modified expected transmission count (mETX) is the main aim of the proposed protocol to improve the communication efficiency in mobile ad-hoc networks. This paper describes the design and implementation of proposed routing protocol named as modified expected transmission count enabled ad-hoc on-demand distance vector (MXAODV). Extensive simulation has been done to analyse the performance of MXADOV. Significant improvements found in terms of throughput, packet delivery fraction, normalised routing load and end-to-end delay.
Keywords: link quality; routing protocols; mobile ad-hoc network; MANET; MXAODV; modified expected transmission count; mETX; expected transmission count; ETX; ETX-AODV; RSAODV; AODV; exponentially weighted moving average; EWMA.
Condition monitoring of bevel gear box using Morlet Wavelet coefficients and na
by Saravanan, Natarajan
Abstract: A na
Keywords: Fault diagnosis; statistical features; Morlet wavelet; na.
Hybrid Genetic Algorithm for Task Scheduling in Distributed Real Time System
by Harendra Kumar, NUTAN CHAUHAN, Pradeep Yadav
Abstract: A distributed real time system consists of a set of heterogeneous processors located at possibly different sites and connected by a communication link. Task scheduling in distributed real time system attracts the attention of the researcher in many disciplines. Many researchers have been developed the solution of task scheduling problem by using different types of technique. In this paper, a hybrid genetic algorithm (HGA) is developed which is a combination of k-means and genetic algorithm to form the clusters of tasks in an effort to minimize the communication costs. A genetic algorithm is also developed to schedule the formed clusters of tasks onto set of processors to minimize the execution costs. The results of the algorithm have been compared with various existing techniques. Experiment results shows that the proposed algorithm achieves better efficiency than other existing techniques.
Keywords: Task scheduling; distributed real time system; genetic algorithm; k-mean; system costs; response time.
Frequency Control of an Isolated Power System Considering Mutual Effects of AGC in Presence of Energy Storage Units
by MOUNICA MALLAREDDY
Abstract: Automatic Generation Control (AGC) of an isolated power system is investigated in this paper. Performance analysis is carried out by considering the mutual coupling effect between Load frequency control (LFC) and automatic voltage regulator (AVR) control loops by adding one fixed and one variable energy storage systems. The insertion of storage devices reduces the frequency oscillations for various load changes and also reduces the mutual effect of LFC and AVR. Simultaneous coordinated tuning of secondary controller and variable storage unit with Particle swarm optimization (PSO) and improved particle swarm optimization (IPSO) is carried out to provide control strategy for the system. System is simulated both in presence and absence of secondary controller in which IPSO gives better performance results than PSO. The simulation is carried out in MATLAB/SIMULINK software.
Keywords: Load frequency control; Automatic voltage regulation; Mutual coupling of LFC and AVR; Energy storage systems; Power compensation by ESS.
A new PIDF Controller Structure for Delayed Process
by Bharat Verma, Prabin Padhy
Abstract: A new PID control structure (PIDF) for delayed processes is proposed in this paper. It consists of a derivative controller (D) in feedback with a standard Proportional-Integral (PI) controller. The proposed PIDF controller improves the robustness with respect to time delay and de-noising capability. The proposed controller is similar to a PI controller with a low pass filter in series, which minimises the effect of high-frequency measurement noise. The robustness of the proposed PIDF controller, with respect to the process-delay variation, is verified through simulation of four different processes and results are compared with standard PID controller. The parameters of PID and PIDF controller are tuned by minimising the ITSE objective function with the help of Genetic algorithm.
Keywords: Robust Control; Linear Control; Dominant pole; PID controller; PIDF controller; Delayed process.
Design and Development of a Low Cost Mobile Phone Detector for Detecting Active Mobile Phones
by Thisura Meewella, Attaphongse Taparugssanagorn, Chantri Polprasert
Abstract: In this paper, we design and develop a low cost mobile phone detector which can detect active mobile phones near its vicinity in situations where mobile phones are kept turned ON or in silent mode. At the instant it detects Radio Frequency (RF) transmission signals from a mobile phone, the detector sounds a buzzer as well as blink a Light Emitting Diode (LED) indicating that it has detected an activated cell phone in its vicinity. Using this detector, it is possible to detect mobile phones used for unethical conducts, e.g., cheating during exams in an examination hall. Since the detector works even when the phone is in silent mode, it can be used to find a lost cell phone in instances when someone has misplaced their cell phone when it is in silent mode. This can also be used to detect mobile phones in private and confidential locations where some people use mobile phones to gather information about other people without their consent. Furthermore, this detector has the ability to distinguish the number of mobile phones active in its vicinity. To compare our detector with commercially available detectors today our detector delivers almost the same amount of performance accuracy at a much lower cost.
Keywords: Mobile Phone Detection; Statistical Signal Processing; Detection Theory; RF Detection.
Network utility maximization through particle swarm optimization
by Tua A. Tamba
Abstract: Given a network system with several nodes that are linked together in a certain topology, the network utility maximization (NUM) problem is concerned with searching for the maximum aggregate utility function of all nodes under the constraint of limited link capacities. This paper proposes the use of a gradient-free, stochastic optimization approach based on particle swarm optimization (PSO) method for solving the NUM problem. In contrast to much of the prior solution methods which often assume the concavity of the network's utility function, the proposed PSO approach is capable of solving NUM problems with either concave or nonconcave utility functions. We show through simulation results of solving NUM problems in medium size networks that the optimal solutions obtained by the proposed PSO method indeed correspond to the exact global optima.
Keywords: network utility maximization; nonconcave utility function; particle swarm optimization.
Fault-tolerant multi-agent scheme for leader/follower formation control of homogeneous mobile robot team
by Abdelfetah Hentout, Abderraouf Maoudj, Mohamed Ouahal, Abdennour Gasmi
Abstract: In this paper, the key problems related to fault-tolerance and formation control of homogeneous mobile robots team under leader or follower failures are handled by using a multi-agent based approach. The proposed multi-agent system addresses this challenge by using a cooperative approach supported by two kinds of autonomous control agents: (i) Robot agents, each is assigned to a robot in the team for collecting information, making decisions and transferring them to the physical robots for execution. These agents are classified into a Leader and a set of Followers according to the initial distance between the robots positions and the Target position (objective function). (ii) Supervisory agent used as an interface
between the overall control system and the robot team while synchronizing and
coordinating the task of the other agents. These agents cooperate and interact
by a negotiation protocol for coordinating their individual decisions, satisfying
their local objective (i.e., optimizing the objective function for each robot) in
order to (i) preserve the predefined leader/follower formation, (ii) conserve the
order of the robots inside the formation, and (iii) manage dynamic disturbance
events such as unexpected robots breakdown or the integration of new robots
during the execution process. In order to validate the proposed approach and
evaluate its performances, different simulation scenarios are examined by using
ten homogeneous mobile robots evolving inside a grid environment cluttered with
few static obstacles, with and without considering some robots failures.
Keywords: Multi-agent control scheme; leader/follower line formation; fault-tolerance; homogeneous robot team.
A Novel self-tuning PI controller for a DFIG based wind turbine system
by Shubhranshu Mohan Parida, Pravat Kumar Rout, Sanjeeb Kumar Kar
Abstract: This article presents a novel self-tuning proportional integral (ST-PI) controller for a grid connected wind turbine based on doubly-fed induction generator (DFIG) to regulate the active and reactive power under variable wind speed conditions. The gains of the controller are dynamically adjusted according to the error variation during transient conditions to damp the system oscillations faster with better settling time and lesser overshoot. They are designed to vary continuously according to the error based on tanh function logic within a pre-determined range. The proposed self-tuning controller is able to circumvent the problems usually associated during application of conventional PI controller with constant gain such as robustness, adaptability and wide range of operation. Simulation analysis and comparative studies with conventional PI controller reveal the efficacy of the proposed control scheme. Simulation is done for the system model to test the proposed approach using MATLAB.
Keywords: Proportional Integral (PI) controller; Self-tuning PI (ST-PI) controller; Doubly-fed Induction Generator (DFIG); Wind Turbine (WT); distributed generator (DG).
Hybrid Clipping-PTS Using Enhanced PSO with Cauchy mutation to reduce PAPR of FBMC 5G Systems
by Mohamed Hussein, Mamdouh Gouda, Hadia Elhennawy
Abstract: The filter bank multicarrier having offset quadrature amplitude modulation (FBMC/OQAM) is studied by researchers like key enabler for 5th-generation air interface.
This paper is concerned in making full study about peak to average power ratio(PAPR) reduction in FBMC. The first issue of this paper is to make particle swarm optimization (PSO) on partial transmit sequence (PTS) and clipping methods not simultaneously to get optimal phase factor sets using two sub-block partition and select the optimum level of clipping ratio respectively in order to lessen PAPR.
Second issue is to make PSO optimization of hybrid (PTS) with clipping (PSO-H-CPTS) which is used for the PAPR reduction in FBMC/OQAM system. The algorithm used PTS to reduce PAPR, so the result is produced using clipping for reducing PAPR where the simulation result in this proposed method produce PAPR value approximated about 4.3 dB and 3.7 dB for V=4 and 8 sub-block partition respectively.
The last issue is describe the joint optimization between PSO and Cauchy mutation with the hybrid clipping and PTS techniques which is produce best result than other proposed algorithms, the experimental results shows that EPSO-H-CPTS improve the results by 71.5% than conventional traditional FBMC PAPR in both clipping and PTS where the PAPR reached to a value 2.9 dB after using joint optimization hybrid techniques.
Simulation results show that the enhanced PSO optimization of the hybrid methods between clipping and PTS (EPSO-H-CPTS) provides better performance of reducing PAPR than optimization of hybrid clipping PTS(PSO-H-CPTS) and two traditional methods.
Keywords: Filter bank multicarrier/offset quadrature amplitude modulation(FBMC/OQAM) FBMC; orthogonal frequency division multiplexing (OFDM); Intercarrier interference(ICI);intersymbole interference (ISI);Particle swarm Optimization( PSO); clipping partial transmit sequence (C-PTS); Enhanced Particle swarm Optimization hybrid clipping partial transmit sequence (EPSO-H-CPTS)EPSOHCPTS; Peak to average power ratio(PAPR); complementary cumulative distribution function (CCDF) ;C-PTS OQAM; Active constellation extension with tone reservation (TRACE);bit error rate(BER).