AETA 2016: Recent Advances in Electrical Engineering and Related Sciences (eBook)

Foreword 6
Contents 8
Keynote 18
Variable Structure System and Its Applications 19
1 Introduction 19
2 Sliding Mode Control for Linear System 20
2.1 Sliding Mode Design for a Linear System 20
2.2 Sliding Mode Control 21
2.3 Discrete-Time Sliding Mode Control 22
3 Direct Self-tuning Control for SISO System 26
4 Modeling and Swing-Up of Furuta Pendulum 29
4.1 Modeling of Furuta Pendulum by Projection 29
5 Swing up Control of Pendulum 32
5.1 Artificial Gravity Approach 32
5.2 Nonlinear Control 32
5.3 Nonlinear Sliding Mode Control 34
6 Conclusion 35
References 35
Controlling Complex Dynamical Networks 36
Computational Mechanics 37
Implement a Modified Viscoplasticity Based on Overstress Model into Numerical Simulation of the Incremental Sheet Forming Process 38
Abstract 38
1 Introduction 38
2 Modified Viscoplasticity Based on Overstress 39
3 Implementing into FEM Software 41
4 FEM Simulation and Practical Experiment 45
5 Results and Discussion 46
6 Conclusion 47
References 48
CFD Analysis of High Velocity P/V Valve Movement Depending on Pressure Change 49
Abstract 49
1 Introduction 49
2 High Velocity P/V Valve Movement 50
2.1 Governing Equation of Valve Movement 50
2.2 Mesh Deformation 51
3 CFD Analysis for High Velocity P/V Valve 52
3.1 High Velocity P/V Valve on Initial Opening (Case 1) 52
3.2 High Velocity P/V Valve on Maximum Opening (Case 2) 53
3.3 Valve Oscillation Depending on Pressure Change (Case 3) 54
4 Conclusion 56
Acknowledgment 56
References 57
Finite Element Analysis on the Contact Stress of Class 600 Flange Joints 58
Abstract 58
1 Introduction 58
2 Finite Element Analysis 59
3 Results and Discussion 61
4 Conclusions 64
Acknowledgement 65
References 65
Computer Science 66
Accelerate SOMA Using Parallel Processing in GPGPU 67
Abstract 67
1 Introduction 67
2 Mathematical Problem 69
3 Optimization and Methods 70
3.1 Method 1: Each Individual Has One Thread 70
3.2 Method 2: Each Path Has One Thread with Shared Memory 71
4 Experimental Results 73
5 Conclusion 75
Acknowledgement 75
References 76
Comparison of Swarm and Evolutionary Based Algorithms for the Stabilization of Chaotic Oscillations 77
Abstract 77
1 Introduction 77
2 Problem Design 78
2.1 Chaotic System 78
2.2 Nonlinear Oscillations Control Method 78
2.3 Cost Function 80
3 Used Metaheuristic 80
3.1 Particle Swarm Optimizer – PSO 80
3.2 Differential Evolution 81
4 Simulation Results 82
4.1 Case Study 1 83
4.2 Case Study 2 84
5 Conclusion 86
Acknowledgements 86
References 86
Robust Optimization for Audio FingerPrint Hierarchy Searching on Massively Parallel with Multi-GPGPUs Using K-modes and LSH 88
1 Introduction 88
2 Basic Knowledge and Related Works 89
2.1 Localitive Sensitive Hashing 89
2.2 K-means and K-modes 90
2.3 Related Work: Fast k-Nearest Neighbor Search Using GPU 91
3 Previous Work: Hierarchy Massively Parallel Searching 91
3.1 Parallel Audio Fingerprint Searching using Single GPGPU 92
3.2 Parallel Audio Fingerprint Searching using Multiple GPGPUs 92
4 Proposed Methods: Robust Optimization for Audio FingerPrint Hierarchy Searching on Massively Parallel with Multi-GPGPUs Using K-modes and LSH 93
4.1 Miss Prediction Method 93
4.2 Miss Handling Method 94
5 Evaluation 94
5.1 Experiment Design 94
5.2 Result 95
5.3 Comparison Results 96
6 Conclusion and Future Work 97
References 97
Control System 99
?-Synthesis Robust Control on Tension Adjustment of Towing Rope System 100
Abstract 100
1 Introduction 100
2 Towing Rope System and Its Model 101
2.1 System Configuration 101
2.2 Data Acquiring 101
2.3 Developing Plant Model from Experiment Data 102
2.4 Uncertainty Analysis 102
3 Control Design and Experiment 104
3.1 Design Specification 104
3.2 ?-Synthesis 105
3.3 Order Reduction of ?-Controller 106
3.4 Analysis of Closed-Loop System 107
4 Experiment Results 107
5 Concluding Remarks 109
Acknowledgement 109
References 109
High-Bandwidth Tracking Control of Electric Hydrostatic Actuator (EHA) Using an Input Shaping Filter 110
Abstract 110
1 Introduction 110
2 Mathematical Modeling of the EHA System 111
2.1 Overview of the EHA 111
2.2 Modeling of the EHA System 113
3 Controller Design for the EHA-Driven System 114
3.1 Design of the PI?D Controller 115
3.2 Design of the Feed-Forward Controller 116
3.3 Design of the Input Shaping Filter 117
4 Control Performance of the EHA-Driven System 117
5 Conclusion 119
References 120
A Robust Simplified Backstepping Control Approach for Pump-Controlled Electro-Hydraulic Systems 121
Abstract 121
1 Introduction 121
2 System Modeling and Problem Statements 122
3 Robust Controller Design 123
3.1 Control Signal Selection 124
3.2 Stability Analysis 125
4 Experimental Validation 126
5 Conclusion 129
References 129
Modified Model Reference Adaptive Controller for a Nonlinear SISO System with External Disturbance and Input Constraint 131
1 Introduction 131
2 Problem Formulation 132
3 M-MRAC Controller Design 133
4 Experimental Setup and Results 136
5 Conclusion 140
References 140
A Model Reference Adaptive Controller for Belt Conveyors of Induction Conveyor Line in Cross-Belt Sorting System with Input Saturation 142
Abstract 142
1 Introduction 142
2 System Modelling 143
3 Model Reference Adaptive Controller Design 145
4 Experiment Results 148
5 Conclusion 151
Acknowledgments 151
References 152
A Combination of Direct and Indirect Types in Modified Model Reference Adaptive Controller for a SISO Uncertain System 153
1 Introduction 153
2 Combined Direct and Indirect M-MRAC Approach 154
2.1 Direct M-MRAC 155
2.2 Indirect M-MRAC 156
2.3 Combined Direct and Indirect M-MRAC 156
3 Experiment Setup and Results 157
4 Conclusions 160
References 161
Performance of a Modified-Model Reference Adaptive Controller for Belt Conveyors of Induction Conveyor Line in the Presence of Saturated Inputs and Bounded Disturbances 162
Abstract 162
1 Introduction 162
2 System Modelling 163
3 Modified-Model Reference Adaptive Controller Design 165
4 Simulation Results 168
5 Conclusion 173
Acknowledgments 173
References 173
Slide Mode Control Design for a Class of Uncertain Dynamic Systems 175
Abstract 175
1 Introduction 175
2 Statement of the Problem 176
3 Sliding Mode Stability Analysis 178
4 Reachability Analysis 179
5 Numerical Example 180
6 Conclusion 184
References 184
Energy 186
A Numerical Analysis on Heat Transfer Between the Air and the Liquid in a Hybrid Solar Collector 187
Abstract 187
1 Introduction 188
2 Numerical Model and Methods 189
2.1 Hybrid Solar Collector 189
2.2 Data Reduction 190
3 Results and Discussion 192
4 Conclusion 195
Acknowledgments 195
References 195
Performance Analysis of Brine Chiller Refrigeration Cycles 196
Abstract 196
1 Introduction 196
2 Cycle Descriptions and Analysis Conditions 198
2.1 Cycle Descriptions 198
2.2 Modeling 199
2.3 Analysis Conditions 199
3 Results and Discussion 200
3.1 Effect of Condensation and Evaporation Temperatures 200
3.2 Effect of Superheating and Subcooling Degrees 202
3.3 Effect of Intermediate Pressure 202
4 Conclusions 205
Acknowledgements 205
References 205
Experimental and Numerical Study on the Thermal Performances of Battery Cell and ECU for an E-Bike 207
Abstract 207
1 Introduction 207
2 Experimental Method and Numerical Analysis 209
2.1 Experimental Method and Apparatus 209
2.2 Numerical Analysis for Thermal Performance Estimation 210
3 Results and Discussion 211
3.1 Results and Discussion of Experiment Part 211
3.2 Result and Discussion of Numerical Part 212
4 Conclusion 215
Acknowledgement 216
References 216
Experimental Investigation of Heat Transfer Characteristics of Battery Management System and Electronic Control Unit of Neighborhood Electric Vehicle 217
Abstract 217
1 Introduction 217
2 Experimental Setup 218
3 Results and Discussion 219
4 Conclusion 222
Acknowledgement 223
References 223
Electric Energy Conversion of Repeated Mechanical Movement at Automatic Doors 224
Abstract 224
1 Introduction 224
2 Regenerative Energy Harvesting System 225
2.1 Automatic Door Operation 225
2.2 Motor Regenerative Harvesting System Design 227
2.3 Energy Harvesting Experiment of DC Motor 230
3 Conclusion 232
References 232
Dynamic Behavior Analysis of the Mechanical Parts for the Onshore-Type Wave Energy Converter 233
Abstract 233
1 Introduction 233
2 System Modeling 234
2.1 Mechanism of Wave Power Generation System 234
2.2 Kinematic Modeling 235
2.3 Wave Loads Modeling 236
3 Dynamic Simulation 238
3.1 Simulation Conditions 238
3.2 Simulation Results 239
4 Conclusion 240
Acknowledgement 240
References 241
An Effective Design of a Solar Thermal Collection and Storage System Using Molten Tin as Heat Transfer Fluid 242
Abstract 242
1 Introduction 242
2 Description and Computation of the Solar Thermal Collector 243
3 Describe the Process of Collection - Storage - Heating in the Solar Thermal System 243
3.1 The Collection Process of the Solar Thermal System 243
3.2 The Thermal Storage Process 243
3.3 The Heating Process 243
4 Calculating the Heating Process 244
5 Calculating the Melting Process of Fluid 246
6 Calculating the Heat Storage and Heat Insulation Process 247
7 Calculating the Heating Process 249
8 Calculating the Parameters of the Sample Solar Thermal System 249
9 Manufacturing Sample Thermal Collection and Storage System, Experimental Results 250
10 Conclusions 251
References 251
Image Processing 253
Detecting Pulse from Head Motions Using Smartphone Camera 254
1 Introduction 254
2 Detecting Pulse from Head Motions 255
2.1 Face Feature Points Detection and Tracking 256
2.2 Signal Refinement 256
2.3 Signal Selection and Heart Rate Estimation 257
3 Proposed System 257
4 Experimental Results and Discussion 257
5 Conclusion and Future Works 261
References 262
Preliminary Result on Underwater 3-Dimensional Reconstruction Using Imaging Sonar 263
1 Introduction 263
2 Reconstruction Using Sonar Image 264
2.1 3-Dimensional Transformation 264
2.2 Filtering the Sonar Image 264
2.3 Range Detection for Shape Extraction 265
2.4 Occupancy 266
3 Experiment 266
3.1 Environment 266
3.2 Experimental Result 267
4 Conclusion 269
References 269
Vision-Based Marker-Less Motion Measurement for Berthing 270
1 Introduction 270
2 Vision-Based Measurement System for Position and Heading 271
2.1 System Configuration 271
2.2 Tracking of the Designated Point 272
2.3 Distance and Bearing Measurement Using a Camera Unit 273
2.4 Motion Estimation Based on the Distances and Bearings 274
3 Performance Evaluation of the Proposed System 276
4 Conclusion 278
References 279
Independent Statistical Descriptor in Face Recognition 280
Abstract 280
1 Introduction 280
1.1 The Related Works 280
1.2 Motivation and Contribution 281
2 Independent Statistical Descriptor (ISD) 282
2.1 Image-Filters Convolution 282
2.2 Response Binarization and Encoding 283
2.3 Local Histogramming and Pooling 283
3 Experimental Results and Discussions 284
3.1 Datasets: FERET and YMU 284
3.2 Implementation Summary 284
3.3 Independent Filter Settings 284
3.4 Performance Evaluation on FERET 284
3.5 Performance Evaluation on YMU 286
4 Concluding Remark 287
Acknowledgement 287
References 287
Implement a Computer Mouse Control for Quadriplegic Disability Using Camera 289
Abstract 289
1 Introduction 289
2 Methodology 290
2.1 System Overview 290
2.2 Initialization and Calibration 290
2.3 Facial Detection 291
2.4 Eye Detection 291
2.5 Eye Gaze Recognition 292
2.5.1 The Aperture of the Eye (Vertical Movement) 292
2.5.2 The Glance Movement of the Eye (Horizontal Movement) 296
2.6 Mouse Controller 296
3 Results 297
4 Conclusion 298
References 298
Measurement of the Fish Body Wound Depth Based on a Depth Map Inpainting Method 300
Abstract 300
1 Introduction 300
2 System Description and Aligning RGB Image with Depth Map 301
2.1 System Description 301
2.2 Aligning RGB Image with Depth Map 302
3 Proposed Depth Map Inpainting and Binarization 303
3.1 Proposed Depth Map Inpainting 303
3.2 Image Binarization 305
4 Calculation of the Depth Value 306
5 Experimental Results 307
5.1 Depth Map Inpainting 307
5.2 Wound Depth Test 308
6 Conclusion 310
Acknowledgments 310
References 310
Performance Evaluation of a Stereo-Camera-Based Markerless Distance Measurement System for Vessel Positioning 311
Abstract 311
1 Introduction 311
2 Vision-Based Marker-Less Distance Measurement System 312
2.1 System Configuration 312
2.2 Tracking of the Designated Point 312
2.3 Distance Measurement Using Natural Feature Points 314
3 Performance Evaluation of Our System 316
3.1 Accuracy Evaluation of the Proposed System 316
3.2 Robustness Evaluation for Illumination Change 317
4 Conclusion 319
Acknowledgment 319
References 319
Positional Displacement Measurement of Floating Units Based on Aerial Images for Pontoon Bridges 320
1 Introduction 320
2 Positional Displacement Measurement System 321
2.1 System Overview 321
2.2 Displacements Measurement of Floating Units 322
3 Feasibility Verification Using the Proposed System 324
4 Conclusion 325
References 326
Industrial Automation 327
Analysis of the Magnetic Characteristics in MFL Type NDT System for Inspecting Gas Pipelines 328
Abstract 328
1 Introduction 328
2 System Structure and Operating Principle 329
2.1 Magnetic Flux Leakage Method 329
2.2 System Structure for Pipeline Inspection 329
3 Magnetic Analysis Using Finite Element Method 330
3.1 Modeling and Numerical Analysis 330
3.2 Analysis of the Magnetic Force 331
4 Conclusion 333
References 333
A Research on Designing and Controlling of an Automatic Loading System Used Inside Containers 334
Abstract 334
1 Introduction 334
2 Mechanical Design 335
2.1 Design Parameters 335
2.2 Control Requirements 336
2.3 Design Model 337
2.4 Design Analysis 338
3 Stress Simulation 340
4 Design of the Control System 341
4.1 Control System 341
4.2 Control Algorithm 343
5 Conclusion 343
References 343
Introduction to K-water’s Research and Development Strategy for Advanced Water Pipe Network System Inspection, Monitoring, and Assessment Technology 344
Abstract 344
1 Introduction 344
2 Inspection and Assessment Technology Status Quo for Large Diameter Water Supply Pipelines 346
3 Strategy for Technology R& D
4 Anticipation of Benefits and Outcomes 351
References 352
Design of Hopper Position for Development of Automatic Mackerel Grader 353
Abstract 353
1 Introduction 353
2 System Modeling of Automatic Mackerel Grader 354
3 Sorting Simulation and Design the Hopper Position 356
4 Conclusion 358
Acknowledgement 358
References 359
Introduction of In-Line Inspection Technology in KOGAS 360
Abstract 360
1 Introduction 360
2 Development of Conventional In-Line Inspection Technology 361
3 Development of Advanced In-Line Inspection Technology 363
3.1 Development of CMFL Technology 363
3.2 Development of EMAT Technology 365
4 Development of Robotic In-Line Inspection Technology 368
5 Pipeline Simulation Facility for In-Line Inspection 370
5.1 Pipeline Simulation Facility for Conventional Intelligent PIG 370
5.2 UPSF (Un-Piggable Pipeline Simulation Facility) 371
6 Conclusion 372
References 372
Inspection of Unpiggable Natural Gas Pipelines Using In-Pipe Robot 373
Abstract 373
1 Introduction 373
2 Overall Design of PIBOT 374
2.1 Design of Camera Module 374
2.2 Design of Drive Module 375
2.3 Design of Battery Module 376
2.4 Design of Pump Module 376
2.5 Design of MFL Module 377
2.5.1 Experiments in Pull-Rig Test Facility 377
2.5.2 Experiment Results 377
2.6 Design of RFECT Module 379
2.7 Integration of the PIBOT 379
3 Field Implementation 380
4 Conclusion 382
References 382
Materials 383
Improving the Angular Color Uniformity and the Lumen Output for White LED Lamps by Green Ce0.67 Tb0.33 MgAl11 O19:Ce,Tb Phosphor 384
Abstract 384
1 Introduction 384
2 Main Part 385
2.1 Enhancement of Emission Spectra 385
2.2 Scattering of Phosphor Particles 386
2.3 Simulation Results and Discussions 388
3 Conclusions 389
References 389
Optically-Regulated Current Switching Device Based on Vanadium Dioxide Thin Film Using Near-Infrared Laser Diode 391
Abstract 391
1 Introduction 391
2 Experimental Preparation 392
3 Results and Discussion 392
4 Conclusion 395
Acknowledgments 395
References 395
Multiple Resistance States in Vanadium-Dioxide-Based Memristive Device Using 966 nm Laser Diode 397
Abstract 397
1 Introduction 397
2 Experimental Setup 398
3 Results and Discussion 399
4 Conclusion 400
Acknowledgments 400
References 401
Wavelength-Switchable Erbium-Doped Fiber Ring Laser Based on Inline Switching Filter 402
Abstract 402
1 Introduction 402
2 Results and discussion 403
3 Conclusion 405
Acknowledgements 405
References 405
Simulation Study of Void Aggregations in Amorphous ZnO 407
Abstract 407
1 Introduction 407
2 Calculation Method 408
3 Results and Discussion 409
4 Conclusion 414
Acknowledgment 414
References 414
Influence of Green Phosphor Ce0.67 Tb0.33 MgAl11 O19:Ce,Tb on the Luminescent Properties and Correlated Color Temperature Deviation of Multi-chip White LEDs 416
Abstract 416
1 Introduction 416
2 Methods 417
3 Results and Discussion 417
4 Conclusions 420
References 420
Mechanical Engineering 421
Analysis of Intermediate Die Profile in Multistage Shape Drawing Process Based on Two-Dimensional Electric Field Analysis: Results for Trapezoidal-Shaped Wire 422
Abstract 422
1 Introduction 422
2 Intermediate Dies Design Method 424
2.1 Electric Field Analysis 424
2.2 Design of Intermediate Die Profiles Using EFA 424
3 Validation of the Advanced EFA Design Method 428
3.1 3D-FE Modeling for Shape Drawing Process 428
3.2 Results and Discussion of FE Analysis 428
4 Experiments with Multistage Shape Drawing 430
5 Conclusions 431
Acknowledgement 431
References 431
Similarity-Based Damage Detection Method: Numerical Study 433
Abstract 433
1 Introduction 433
2 Cosine Similarity Based Damage Detection Method 434
2.1 Change Ratios of Natural Frequencies 434
2.2 Warning Index 434
2.3 Cosine Similarity and Magnitude Index 435
3 Numerical Validation: 2-D Jacket Structure 436
4 Conclusions 439
Acknowledgments 439
References 439
Prediction of Strain Response in a Linear Beam System Using Frequency Response Function Between Strain and Acceleration 441
Abstract 441
1 Introduction 441
2 Theoretical Background 442
3 Excitation Test of Notched Simple Specimen 443
3.1 Preparation of Vibration Test 443
3.2 Response Data Acquisition 445
4 Prediction of Strain Response Using Acceleration 446
5 Conclusion 447
Acknowledgement 447
References 448
Review of ISO 1219 for Practical Use of Graphical Symbols and Circuit Diagrams 449
Abstract 449
1 Introduction 449
2 ISO 1219 Analysis and Discussion 450
2.1 Comparison of Old Version with New Version 450
2.2 Using Correct Symbols for Components 454
3 Conclusion 454
Analysis of Eddy Current Testing Method for Detection of Surface Hardening and Coating on Carbon Steel 456
Abstract 456
1 Introduction 456
2 Specimen 457
3 FEM Simulation 458
3.1 Simulation Setup 458
3.2 Simulation Results 459
4 Experimental Validation 460
4.1 Experiment Setup 460
4.2 Experiment Results 461
5 Conclusion 462
References 463
Effects of Major Design Parameters on Three-Stage Electro-Hydraulic Servovalve Performance 464
Abstract 464
1 Introduction 464
2 Basic Equations in the Main Valve 465
2.1 Continuity Equations in the Valve Chambers 466
2.2 Force Balance Equation in the Spool 466
3 Simulation Model of the Three-Stage Servovalve 467
4 Verification of the Simulation Model 469
4.1 The Pilot Valve 469
4.2 The Main Valve 470
5 Effects of Major Design Parameters on the Main Valve Performance 470
5.1 Damping Orifice Size A_{o} 470
5.2 Flow Force in the Main Valve Spool 471
5.3 Supply Pressure to the Pilot Valve 472
5.4 Effect of Other Parameters 472
6 Conclusion 472
References 473
Effects of Piston Galleries on the Piston Temperatures of a Diesel Engine 474
Abstract 474
1 Introduction 474
2 Experiment 475
2.1 Piston with Cooling Gallery 475
2.2 Experimental Setup and Conditions 476
3 Result and Discussion 478
4 Conclusion 479
Acknowledgement 479
References 479
A Method for Measuring the Speed of Sound in a Rigid Pipe 480
Abstract 480
1 Introduction 480
2 Former Researches of Methods for Measuring the Speed of Sound in Rigid Pipes 481
2.1 Three Transducers Method [1] 481
2.2 Anti-resonance Method [1] 482
2.3 Transfer Matrix Method [2] 483
3 A Novel Method for Measuring the Speed of Sound in Rigid Pipes with Frequency Series Form “Closed Conduit Method” 484
3.1 Configuration of the “Closed Conduit Method” 485
3.2 Measuring Principle in the “Closed Conduit Method” 485
4 Measurements in a Rigid Pipe 486
5 Conclusions 488
Acknowledgement 488
References 488
Study on Inherent Error of Pair Control Methods for Six Axis Manipulator with Hidden Actuators 489
Abstract 489
1 Introduction 489
2 Pair Control Methods for SDOF Motion 490
3 Inherent Error of Pair Control Methods 491
3.1 2D Rotations 491
3.2 3D Rotations 491
4 Summary 494
References 495
A Simulation of the Gerotor Motor with Cylinder Displacement Variation 496
Abstract 496
1 Introduction 496
2 Simulation Model 497
2.1 Basic Concept 497
2.2 Unit Component for Gerotor Motor 497
2.3 Motor Torque Calculation 501
2.4 Simulation Model Validation 502
3 Conclusion 503
References 504
The Effect of Preheating on Quality of Friction Stir Welding of Aluminum Alloy A5052 505
Abstract 505
1 Introduction 505
2 Methodology 506
2.1 Design Experiment 506
2.2 Mathematical Model 507
3 Experimental Details 509
3.1 Single-Factor Experiments 509
3.2 Multi-factor Experiments 509
4 Conclusion 513
References 513
Monitoring of Tooth Passing and Chatter Properties in End-Milling 514
Abstract 514
1 Introduction 514
2 Recursive Time Series Modeling 515
3 Practical Application 517
3.1 Measurement of End-Milling Force 517
3.2 Prediction and Mode Estimation of End-Milling Force 518
3.3 Power Spectrum and Frequency Response Function of End-Milling Force 520
4 Conclusions 523
Acknowledgement 523
References 523
A Study on Break-Away Bolt Design for a Marine Safety Break-Away Coupling Based on Elastic Stress Analysis 525
Abstract 525
1 Introduction 525
2 Conventional SBC Break-Away Bolts Analysis 527
3 Break-Away Bolt Design for 4” SBC 529
4 Conclusion 531
Acknowledgement 531
References 531
Motor Control 532
Controller Design for MIMO Servo System Using Polynomial Differential Operator – A Solution for Increasing Speed of an Induction Conveyor System 533
Abstract 533
1 Introduction 533
2 System Design 534
3 Modeling of a BDTS 535
4 Controller Design 536
5 Simulation and Experimental Results 540
5.1 Trapezoidal Velocity yr1 541
5.2 Trapezoidal Velocity yr2 543
5.3 Step Reference Input yr3 543
6 Conclusion 545
Acknowledgments 545
References 545
Adaptive Sliding Mode Controller for Induction Motor 547
Abstract 547
1 Introduction 547
2 Mathematical Model of Induction Machines 548
3 Sliding Mode Observer 549
3.1 Sliding Mode Observer for Speed Estimation 549
3.2 Flux Estimator 550
3.3 Stator Resistance Estimator 550
4 Sliding Mode Control 551
4.1 Sliding Mode Control 551
4.2 Gain Adaption Method 553
5 Simulations 553
6 Conclusions 556
Acknowledgement 556
References 556
Parameter Adaptation in Machine Model-Based Speed Observers for Sensorless Induction Motor Drive 558
Abstract 558
1 Introduction 558
2 Observers with SRAM 560
2.1 RF-MRAS Observer 560
2.2 Luenberger Observer 561
2.3 CB-MRAS Observer 562
3 Simulation Results 563
4 Conclusions 566
Acknowledgement 566
References 566
PID Speed Controller Optimization Using Online Genetic Algorithm for Induction Motor Drive 568
Abstract 568
1 Introduction 568
2 Mathematical Model of the Vector Controlled Induction Motor 569
3 Classical Speed Controller 571
4 Speed Controller Using Genetic Algorithm 572
5 Simulation Results 575
5.1 Classical PID Speed Controller 575
5.2 Online Tuned PID Speed Controller Using Genetic Algorithm 575
5.3 Notes 575
6 Conclusion 579
Acknowledgement 579
References 580
Closed Loop Motion Synchronous Velocity Control for AC Motor Drives – A Solution for Increasing Speed of a Cross-Belt Sorting Conveyor System 581
Abstract 581
1 Introduction 581
2 Cross Belt Sorting Conveyor System 582
2.1 Overall Cross-Belt Conveyor System 582
2.2 Synchronization of Multi-motor Drives in the CSCS 583
3 Closed-Loop Motion Control for AC Motor Drives Based on Vector Control Method 583
4 Experimental Results 586
5 Conclusion 589
Acknowledgments 589
References 589
Power System 591
Modified Bat Algorithm for Combined Economic and Emission Dispatch Problem 592
Abstract 592
1 Introduction 592
2 Problem Formulation 594
2.1 Objective Function 594
2.2 Constraints 594
3 Modified Bat Algorithm for CEED Problem 594
3.1 Conventional Bat Algorithm 594
3.2 Modified Bat Algorithm 595
4 Implementation of the MBA for the Considered Problem 596
4.1 Initialization 596
4.2 Updating New Velocity and New Position for Each Bat 596
4.3 Searching a New Solution Around the Global Best Solution 597
4.4 Selection of New Solution Using Loudness and Fitness Comparison 597
4.5 The Termination Criterion of the Search Process 597
5 Numerical Results 597
6 Conclusion 599
References 599
New Solutions to Modify the Differential Evolution Method for Multi-objective Load Dispatch Problem Considering Quadratic Fuel Cost Function 601
Abstract 601
1 Introduction 601
2 Formulation of Multi-objective Load Dispatch 602
3 Modified Differential Evolution for Mold Problem 604
4 Results and Discussions 605
4.1 System I with Three Thermal Units 606
4.2 System II with Six Thermal Units 608
5 Conclusion 609
References 609
Robotics 611
Locomotion Control of a Hexapod Robot Based on Central Pattern Generator Network 612
Abstract 612
1 Introduction 612
2 System Description and Kinematics Modeling 613
2.1 System Description 613
2.2 Kinematics Modeling of One Leg of the Hexapod Robot 614
3 Walking Gait Generated by CPG Network 615
3.1 Neuron Oscillator in CPG Model 616
3.2 Gait Planning Based on CPG Network 616
3.3 Mapping Function 618
3.4 End Effector Trajectory Tracking Controller Design 619
4 Simulation and Experimental Results 621
4.1 Gait Planning Simulation Results 621
4.2 Simulation and Experimental Results 621
5 Conclusion 624
Acknowledgment 625
References 625
Locomotion Control of a Hexapod Robot with Tripod Gait Using Central Pattern Generator Network 626
Abstract 626
1 Introduction 626
2 System Description and Kinematics Modeling 627
2.1 System Description 627
2.2 Kinematics Modeling of One Leg of the Hexapod Robot 627
3 Walking Gait Generated by CPG Network 630
3.1 Neuron Oscillator in CPG Model 630
3.2 Gait Planning Based on CPG Network 631
3.3 Mapping Function 632
3.4 End Effector Trajectory Tracking Controller Design 633
4 Simulation and Experimental Results 635
4.1 Gait Planning Simulation Results 635
4.2 Simulation and Experimental Results 637
5 Conclusion 639
Acknowledgment 640
References 640
Laboratory Test of Lifting Pump for Deep Seabed Manganese Nodule 642
Abstract 642
1 Introduction 642
2 Lifting Pump Design 644
2.1 Design Requirements 644
2.2 Electric Motor and Pump Design 644
2.3 Shroud Design 646
3 Driving System 646
3.1 Inverter 647
3.2 Generator and Step-up Transformer 647
4 Performance Test 648
4.1 Test Facility 648
4.2 Test Results 649
5 Conclusion 651
Acknowledgement 651
References 652
Distance Control for Pick-up Device System of Pilot Mining Robot 653
Abstract 653
1 Introduction 653
2 Experiment Target and Environment 654
2.1 Pilot Mining Robot 654
2.2 Pick-up Device System 656
2.3 Experiment Environment 656
3 Distance Control of Pick-up Device 657
3.1 Analysis the Nature of Pick-up Device 657
3.2 Parameter Identification of Pick-up Device 659
3.3 PI Gain Tuning for Distance Control 663
4 Conclusion 663
Acknowledgement 664
References 664
Optimal Control Method for Stable Walking Gait of a UXA-90 Light Robot 665
Abstract 665
1 Introduction 665
2 Mathematical Model of the Biped Robot 666
2.1 Kinematics Model of Biped Robot 666
2.2 Inverse Kinematics of the Biped Robot 667
2.3 Dynamic Model of the Biped Robot 667
3 Control for Biped Robot 668
3.1 ZMP Reference Generation for Walking Robots 669
3.2 Walking Pattern Generation by Optimal Tracking Control 669
3.3 Optimal Tracking Control for Motion of the Biped Robot 670
3.4 Calculation of ZMP from Robot’s Motion 671
4 Simulation Result 672
5 Conclusion 674
References 674
Stable Walking Gait Planning for 3D Biped Robot with Feet Applied for UXA90-Light 676
Abstract 676
1 Introduction 676
1.1 Research Overview 676
1.2 Robot UXA90-Light 678
2 Robot Model 678
2.1 Point Feet Robot Model Projected in Sagittal Plane 678
2.2 Robot with Feet Model Projected in Sagittal Plane 680
2.3 Robot with Feet Model Projected in Frontal Plane 681
3 Walking Gait Planning 682
4 Simulation Results 683
5 Conclusion 685
References 686
Mobile Robot Localization and Path Planning in a Picking Robot System Using Kinect Camera in Partially Known Environment 687
Abstract 687
1 Introduction 687
2 System Description 688
3 Kinematics Modeling 689
4 Theoretical Backgrounds for Image Processing 690
5 Localization Algorithm 692
5.1 Landmark Detection 692
5.2 Prediction and Update 693
6 Path Planning Using D* Lite Algorithm 695
7 Tracking Controller 697
8 Experimental Results 699
9 Conclusion 701
Acknowledgments 702
References 702
Development of Series Elastics Actuators for Physical Rehabilitation Devices 703
Abstract 703
1 Introduction 703
2 Series Elastic Actuator Principle 704
3 Apply SEA to Rehabilitation Devices 708
3.1 Real Problem of the Patient 708
3.2 Mechanical Design of Ankle and Wrist Rehabilitation Device 709
3.3 Control Strategy for Assistance 709
3.4 Performance 712
3.5 Assessment of the Training Result 712
4 Conclusion 713
References 713
Active Control for Rock Grinding Works of an Underwater Construction Robot Consisting of Hydraulic Rotary and Linear Actuators 714
Abstract 714
1 Introduction 714
2 Active Control of Rock Grinding 716
3 Experimental Results 720
4 Conclusion 722
5 Acknowledgment 722
References 722
Measuring Work Efficiency of the Rock-Crushing Operation of the Hydraulic System 724
Abstract 724
1 Introduction 724
2 System Description 725
3 Work Efficiency Measures of the Rock-Crashing Operation 726
4 Conclusion 728
Acknowledgment 728
References 728
Sensors 730
Development of Hetero-Core Fiber Optic Tip Tactile Sensors for an Artificial Fingertip 731
Abstract 731
1 Introduction 731
2 Proposed Sensor 732
2.1 Structure of a Hetero-Core Fiber Optic Tip Tactile Sensor 732
2.2 Contact Sensitivity 732
3 Artificial Fingertip Embedded with Proposed Sensors 734
4 Conclusion 736
References 736
Femtosecond Laser Internal Processing for an Optical Fiber Sensor Inducing Interference of Optical Waveguide 737
Abstract 737
1 Introduction 737
1.1 Femtosecond Laser 737
1.2 Optical Fiber Sensor 738
2 Principle of Proposed Sensor 738
3 Experiments and Results 740
3.1 Fabrication of Sensing Structure 740
3.2 Measurements 741
4 Conclusion 742
Acknowledgement 743
References 743
Determining Acceleration Factors for a MEMS Type Accelerometer 745
Abstract 745
1 Introduction 745
2 Failure Mode and Mechanism Analysis 747
3 The Accelerated Life Test 748
3.1 Vibration Test Equipment 748
3.2 Calculation of the no Failure Life Test Time 750
3.3 Determining the Acceleration Factors 751
3.3.1 The Acceleration Factor 751
3.3.2 Temperature 751
High and Low Temperature Tests 751
Thermal Deformation Analysis 752
3.4 An Equation for the Accelerated Life Test 753
4 Conclusion 754
References 754
Telecommunication 756
A Performance Analysis of an AF Two Hops Model in the Energy Harvesting Relay Network 757
1 Introduction 757
2 Network Model 759
3 Outage Probability and Throughput Analysis 760
3.1 The Outage Probability Analysis 760
3.2 The Throughput Analysis 762
4 Numerical Results 762
5 Conclusion 765
References 765
Secrecy Performance of Joint Relay and Jammer Selection Methods in Cluster Networks: With and Without Hardware Noises 767
Abstract 767
1 Introduction 767
2 System Model 768
3 Secrecy Outage Probability (SOP) 771
3.1 The RAND Protocol 771
3.2 The BEST Protocol 772
4 Simulation Results 773
5 Conclusion 776
Acknowledgments 776
References 776
A Dynamic Cooperative MAC Protocol for Vehicular Ad-hoc Networks 778
1 Introduction 778
2 Protocol Description 779
2.1 Multi-hop Forwarder and Emergency Slot Reservation 780
2.2 Emergency Message Broadcast and Multi-hop Transmission 782
2.3 Service Message Transmission 782
3 Analytical Model 782
4 Performance Evaluation 786
5 Conclusion 787
References 787
A DF Performance Analysis in Half-Duplex and Full-Duplex Relaying Network 789
1 Introduction 789
2 Network Model 790
2.1 The Full Duplex Relaying Model 791
2.2 The Half-Duplex Relaying 793
3 The Outage Probability and Throughput Analysis 793
3.1 The Outage Probability Analysis 793
3.2 The Throughput Analysis 794
4 Numerical Results 795
5 Conclusion 799
References 799
Directional Multi-channel MAC for VANETs 801
1 Introduction 801
2 Antenna Model 803
3 The Proposed DMV Protocol 803
3.1 Main Idea 804
3.2 Multi-hop Forwarder Nomination 804
3.3 Safety Message Broadcast 805
3.4 Non-safety Message Transmission 807
3.5 The Operation of the DMV Protocol 807
3.6 Synchronization Collision Reduction 808
4 Performance Evaluation 808
5 Conclusion 809
References 810
Optimal Design of Cyclic Prefix in MIMO-OFDM System Over Nakagami-m Fading Channel 811
Abstract 811
1 Introduction 811
2 Nakagami-m Fading Channel 812
3 MIMO-OFDM System Model 813
4 Numerical Simulation 815
5 Conclusions 818
Acknowledgement 818
References 818
An Efficient Multi-channel MAC Protocol for Vehicular Ad Hoc Networks 820
1 Introduction and Related Works 820
2 System Model 822
3 EMMAC Protocol 823
3.1 Accessing Time Slots on the TP 825
3.2 Dynamic TDMA-Based Period Length 825
4 Performance Evaluation 826
5 Conclusion 828
References 828
Design of Low-Power 24 GHz Voltage-Controlled Oscillator 829
Abstract 829
1 Introduction 829
2 Circuit Modeling and Design 830
2.1 Overview of Automotive Collision Avoidance Radar 830
2.2 VCO Design and Analysis 831
3 Results and Discussion 833
4 Conclusions 834
Acknowledgements 834
References 834
On the Performance of Energy Harvesting for Decode-and-Forward Full-Duplex Relay Networks in Imperfect CSI Condition 836
1 Introduction 836
2 System Model 838
2.1 Energy Harvesting Phase 839
2.2 Information Transmission Phase 840
3 Performance Analysis 840
3.1 Outage Probability and System Throughput 841
3.2 Optimal Time Switching Factor 842
4 Numerical Results 842
4.1 Simulation Setup 843
5 Conclusion 846
References 846
Vehicle Technology 848
Vehicle Dynamic Analysis for the Ball-Screw Type Energy Harvesting Damper System 849
Abstract 849
1 Introduction 849
2 Modeling of the Ball-Screw Damper System 851
3 Comparing Experiment with Simulation Result 854
4 Conclusion 856
Acknowledgment 856
Appendix 856
References 857
Virtual Prototyping and Performance Analysis of an IVT Equipped Electric Vehicle 859
Abstract 859
1 Introduction 859
2 Power Efficiency of an Electric Motor 860
3 Infinitely Variable Transmission 862
4 Virtual Prototyping of an IVT into an Electric Vehicle 864
5 Performance Analysis and Discussion 867
6 Conclusions 868
Acknowledgement 868
References 869
System Design of an Unmanned Surface Vehicle for Autonomous Navigation 870
1 Introduction 870
2 Development of USV 871
2.1 Hardware System 871
2.2 Software System 872
3 Experimental Results 873
3.1 Remote Control 873
3.2 Autonomous Navigation 873
4 Conclusion 874
References 875
Vehicle Stability Controller Based on Adaptive Sliding Mode Algorithm with Estimated Vehicle Side-Slip Angle 876
Abstract 876
1 Introduction 876
2 Vehicle and Tire Mathematical Models 877
2.1 Vehicle Model 877
2.2 Tire Model 878
3 Controller Design 879
3.1 Control System 879
3.2 Vehicle Side-Slip Angle Estimation 879
3.3 Reference Yaw-Rate and Side-Slip Angle Generators 880
3.4 Adaptive Sliding Mode Controller 880
3.5 Pressure Generator 883
4 Simulation Results 883
5 Conclusions 885
References 885
A Model-Based Controller Development for a Series Hydraulic Hybrid Vehicle 887
Abstract 887
1 Introduction 887
2 System Configuration and Control-Oriented Model 888
3 Model-Based Controller 890
4 Simulation and Results 892
5 Conclusion 896
References 896
An Improvement of Rule-Based Control Strategy for a Series Hydraulic Hybrid Vehicle 898
Abstract 898
1 Introduction 898
2 System Description and Modeling 899
2.1 System Description 899
2.2 Mathematical Model 899
3 Control System Development 901
4 Simulation Results and Discussion 903
5 Conclusion 907
References 907
Position Recognition for an Autonomous Vehicle Based on Vehicle-to-Led Infrastructure 909
Abstract 909
1 Introduction 909
2 System Design 910
2.1 Color Specification 911
2.2 Color Measurement 913
2.3 LED Tunnel Lighting Design 914
3 Experiment and Result Consideration 914
3.1 Chromaticity Coordinates Measurement to Every Lanes in LED Tunnels 914
3.2 Chromaticity Coordinates and Functional Relation of Road Lane Position 914
4 Conclusion 916
Acknowledgements 917
References 917
Nonlinear Vehicle Stability Analysis 918
Abstract 918
1 Introduction 918
2 Vehicle Modeling 919
2.1 Coordinate Systems 919
2.2 Two-Track Vehicle Model 920
3 Vehicle Stability Analysis 922
4 Simulations and Results 923
5 Conclusion 926
Acknowledgement 927
References 927
Rapid Shortest Path Decision of Unmanned Aerial Vehicles with Kinematic Constraints 928
Abstract 928
1 Introduction 928
2 Background 929
3 Problem Statement 930
3.1 Smooth Curve 930
3.2 Kinematic Constraints 931
3.3 Associated Circles 932
3.4 Directions of Tangential Lines and Circles 933
3.5 Number of Cases and Determination of the Optimal Path 934
3.6 Types of Paths and Belt/Pulley Theory 935
3.7 Arc Lengths and Paths 936
4 Optimal Path Decision 937
5 Conclusion 939
References 940
Author Index 942