AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application (eBook)

Foreword 6
Contents 8
Keynote Speech 19
Under-Actuated Systems: Nonlinear Control Showcase 20
Abstract 20
1 Nonlinear Control Theory 20
2 Under-Actuated Systems 21
3 Velocity Constrained Systems (Driftless System) 21
4 Velocity Constrained Systems (Constant Drift) 23
5 Under-Actuated Systems Without Gravity 24
6 Under-Actuated Systems with Gravity 25
7 Bilinear Systems 25
8 Motion Control (Unstable Zero-Dynamics) 26
9 Motion Control (Periodic Motion) 27
10 Motion Control (Snake) 29
11 Concluding Comment 29
References 29
An Overview of Cyber Insecurity and Malicious Uses of Cyberspace 32
Abstract 32
1 Introduction 32
2 Cyber Insecurity 35
3 Malicious Uses of Cyberspace 37
4 Conclusions 40
References 40
Computer Science 41
A New Android Botnet Classification for GPS Exploitation Based on Permission and API Calls 42
Abstract 42
1 Introduction 42
2 Related Work 43
3 Methodology 44
3.1 Dataset 46
3.2 Feature Selection 46
3.3 Feature Extraction 47
3.4 Classification 48
4 Results and Discussion 48
5 Conclusion and Future Work 50
Acknowledgment 50
References 50
A Protocol for Securing E-Voting System 53
Abstract 53
1 Introduction 53
2 Analyze Some Existed Protocols 54
3 A New Proposed Protocol 56
4 The Experimental Results of the Proposed Protocol 60
5 Assessing the Security of the Proposed Protocol 60
5.1 Analyzing the Cryptographic Method Applied to Developing the E-Voting Protocol 60
5.2 Comparing the Developed Protocol with the Esoteric Protocol and Analyzing the Ability to Overcome the Risks of the E-Voting System 61
6 Conclusion 62
References 62
Processing Big Data in Field of Marketing Models Using Apache Spark 64
1 Introduction 64
2 Overview of Apache Spark 64
2.1 Cluster Manager 66
3 Experiment Design 66
3.1 Preprocessing Data 66
3.2 Input Data Set 67
3.3 Data Clustering 68
3.4 Cloud Computing 69
3.5 Report Outputs 70
3.6 Performance 71
4 Results 72
5 Conclusion 72
References 73
Firefly Algorithm: Enhanced Version with Partial Population Restart Using Complex Network Analysis 74
Abstract 74
1 Introduction 74
2 Firefly Algorithm 75
3 Proposed Complex Network Approach 76
3.1 Centralities 76
3.2 Partial Population Restart Control 78
4 Test Functions 80
5 Results 80
6 Conclusion 82
Acknowledgements 82
References 82
L-SHADE Algorithm with Distance Based Parameter Adaptation 84
Abstract 84
1 Introduction 84
2 Differential Evolution 85
2.1 Initialization 85
2.2 Mutation 86
2.3 Crossover 86
2.4 Selection 86
3 L-SHADE 87
3.1 Initialization 87
3.2 Mutation 88
3.3 Crossover 88
3.4 Historical Memory Updates 88
3.5 Linear Decrease in Population Size 89
4 Distance Based Parameter Adaptation 91
5 Experiments 91
6 Results and Discussion 91
7 Conclusion 94
Acknowledgements 94
References 94
Optimization 96
Application of the Box-Behnken Model Design to the Optimization of Process Parameters in the Convection-Drying of Channa Striata Fish 97
Abstract 97
1 Introduction 97
2 Materials and Methods 98
2.1 Materials 98
2.2 Methods 98
2.3 Determination of Optimized Parameters of Convection-Drying Channa Striatafish 99
2.4 Experimental Designs 100
3 Results and Discussion 101
3.1 Optimized Parameters of Convection-Drying Channa Striata Fish 101
3.2 Experiment Verified the Optimal Conditions and Evaluated the Authenticity of the Model of Drying Fish 104
4 Conclusions 104
Acknowledgements 105
References 105
A Study on Real-World Disaster Evacuation System with Mathematical Network Problem Solving Algorithm 107
Abstract 107
1 Introduction 107
2 Algorithm-Applied Disaster Evacuation Systems 108
2.1 Analysis on the Application Algorithm 108
2.2 Comparison with Existing Algorithms 110
3 The Application of Disaster Evacuation System to Actual Field 112
3.1 The Configuration of Disaster Evacuation System Applied with Algorithm 112
3.2 The Application Test in the Actual Field 114
4 Conclusion 116
References 117
Optimal Threshold Policies for Robust Data Center Control 118
1 Introduction 118
2 Background and Problem Definition 120
2.1 Markov Decision Process 120
2.2 Data Center Control 120
2.3 Threshold Policy 124
2.4 Robust MDP 124
3 Optimality of Threshold Policies 124
3.1 Threshold Policy in Multidimensional Case 125
3.2 Finite Horizon 125
3.3 Solving Method 126
4 Experimental Results 126
5 Conclusion 127
References 127
A Review of Real-World Applications of Particle Swarm Optimization Algorithm 129
Abstract 129
1 Introduction 129
2 Particle Swarm Optimization (PSO) 130
3 Review of Recent Applications of PSO Based Methods 131
4 Conclusion 134
Acknowledgements 134
References 134
Differential Evolution for Constrained Industrial Optimization 137
Abstract 137
1 Introduction 137
2 Related Works and Motivation 138
3 Problem Design 138
3.1 Waste Processing Batch Reactor 138
3.2 Constrained Optimization 139
3.3 Optimized Parameters 140
4 Differential Evolution 140
4.1 Canonical DE 141
4.2 Success-History Based Adaptive Differential Evolution 141
5 Experiment Results 142
6 Conclusion and Results Analysis 144
Acknowledgements 145
References 145
Telecommunications 147
Multi-sensor Data Fusion Technique to Detect Radiation Emission in Wireless Sensor Networks 148
Abstract 148
1 Introduction 148
2 Main Characteristics of the System 149
3 Physical Characteristics and Mathematical Model 150
4 Sensors Data Fusion 153
5 Conclusions 156
Acknowledgements 156
References 156
Analytical Study of the IEEE 1609.4 MAC in Vehicular Ad Hoc Networks 158
1 Introduction 158
2 Analytical Model 160
3 Model Validation 165
4 Conclusion 166
References 166
Enhanced Self-sorting Based MAC Protocol for Vehicular Ad-Hoc Networks 168
1 Introduction 168
2 Related Works 168
3 Protocol Description 169
3.1 Queue Formation 170
3.2 Channel Reservation 171
3.3 Safety Message Forwarding and WSA Handshaking 171
3.4 Service Data Transmission 171
4 Performance Analysis 172
4.1 Packet Delivery Ratio of Safety Packets 172
4.2 Throughput of Service Application 172
4.3 Performance Evaluation 173
5 Conclusion 174
References 175
Adaptive TDMA and CSMA-Based MAC Protocols for Vehicular Ad Hoc Networks: A Survey 176
1 Introduction 176
2 Adaptive TDMA and CSMA-Based MAC Protocols 178
2.1 A Dedicated Multi-channel MAC Protocol 179
2.2 A Hybrid Efficient and Reliable MAC Protocol 179
2.3 An Efficient Time Slot Acquisition on the Hybrid MAC Protocol 180
2.4 An Efficient and Fast Broadcast Frame Adjustment Algorithm in the Hybrid MAC Protocol 180
2.5 Coordinated Multi-channel MAC Protocol 181
3 Challenges in Adaptive TDMA and CSMA-Based MAC Protocols 182
4 Conclusion 182
References 183
Electronics 185
A Low-Power Embedded IoT Microprocessor Design and Validation 186
Abstract 186
1 Introduction 186
2 The Low-Power Design Techniques for an Embedded IoTMicroprocessor (ARM-Lite RISC) 187
3 The Proposed Low-Power Design Techniques 188
3.1 Low-Power Scheme-1: Gated-Clock 188
3.2 Low-Power Scheme-2: Memory-Interleaving 189
3.3 Low-Power Scheme-3: Structure-Reorder 190
3.4 Low-Power Scheme-4: Instruction-Coding 191
4 Experimental Results Analysis 192
5 Conclusions 194
References 195
A Deep Through-Microhole Fabricated Inside a Glass Optical Fiber by Use of a Near Ultraviolet Femtosecond Laser 196
Abstract 196
1 Introduction 196
2 Experiment 197
3 Results and Discussion 198
4 Conclusion 200
Acknowledgement 200
References 200
MicroEYE: A Wireless Multiple-Lenses Panoramic Endoscopic System 201
Abstract 201
1 Introduction 201
1.1 Global Minimally Invasive Surgery Analysis 201
1.2 Background of the Proposed MicroEYE Project 202
1.3 MicroEYE: A Two-Lenses Wireless Panoramic Endoscope 203
2 The Conventional Image Stitching Techniques 204
3 The Proposed Image Stitching Technique 204
4 The Hardware System with Chip Design Validation 205
5 The Low-Power ME Chip Design Technique (Clustered Voltage Scaling, CVS) 208
6 System Integration, in-Vivo Experiment and Demonstration 209
7 Conclusions 210
References 211
Enhancement of Distributed Fiber Optic Vibration Sensors 212
Abstract 212
1 Introduction 212
2 State of the Art 213
3 Design of Novel Pulse Frequency Multiplier 215
4 Conclusion 219
Acknowledgement 219
References 219
Materials 221
Improving the Optical Properties of the 8500 K In-cup Packaging WLEDs by Using the Green-emitting CaF2:Ce3+, Tb3+ Phosphor 222
Abstract 222
1 Introduction 222
2 Physical Model and Mathematical Description 224
3 Results and Discussions 225
4 Conclusions 227
Acknowledgements 227
References 228
Simulation Study of Microstructure of the Amorphous ZnO 230
Abstract 230
1 Introduction 230
2 Calculation Method 231
3 Results and Discussion 232
4 Conclusion 235
Acknowledgment 235
References 236
The Thixoforming Process with Different Pressing Speed for Aluminum Material 237
Abstract 237
1 Introduction 237
2 The Die Design for Thixoforming Process 238
2.1 Experimental Parameters 238
2.2 The Die Design for the Thixoforming Process 239
2.3 Simulation and Experiment of the Pressing Step in the Thixoforming Process 242
3 Simulation Results 242
4 Experiment 246
5 Microstructure of Thixoforming Billet 248
6 Conclusion 249
References 250
The Impact of Distance Between Two Phosphor Layers on Luminous Flux and Color Quality of Remote Phosphor Package 251
Abstract 251
1 Introduction 251
2 Simulation and Computation 252
3 Simulation Results and Discussion 254
4 Conclusions 257
References 257
A Novel Approach to Fabricate Silicon Nanowire Field Effect Transistor for Biomolecule Sensing 259
Abstract 259
1 Introduction 259
2 Material and Method 260
3 Results and Discussion 261
4 Conclusion 265
References 266
Simulation of Ridge-Waveguide AlGaInP/GaInP Multiple-Quantum Well Diode Lasers 267
Abstract 267
1 Introduction 267
2 Laser Structure 268
3 Results and Discussions 269
4 Conclusions 271
References 272
Signal Processing 273
Experimental Evaluation of Steady State Visual Evoked Potentials for Brain Machine Interface 274
Abstract 274
1 Introduction 274
2 Steady State Visual Evoked Potentials (SSVEP) 275
3 Experimental Methods 276
3.1 Experimental Design 276
3.2 Brainwave Preprocessing 277
4 Classification of SSVEP Response 278
5 Experiment 279
5.1 Experimental Conditions 279
5.2 Evaluation of Classification Performance 280
5.3 Evaluation of Recognition Speed and Information Transfer Capability 282
6 Conclusion 283
References 283
EMG-Based Interface Multi-degree of Freedom and Optionality 285
1 Introduction 285
2 MIMO-NARX Model 286
2.1 NARX Model 287
2.2 Became NARX Model into Multi Input and Multi Output 288
3 Bayesian Network 288
4 Measurement of Forearm Movements 289
4.1 Measurement of Myoelectric and Joint Angle 289
4.2 Processing Myoelectric 290
5 Estimating Joint Angle of Forearm Movements by MIMO-NARX Model 290
6 To Decide the Number of Terms of NARX Model by Bayesian Network 292
7 Conclusion 294
References 294
Motion and Force Estimation Based on the NARX with an EMG Signal 295
1 Introduction 295
2 Measurement and Preparation of the EMG Signal 296
3 System Identification Based on the EMG Signal 297
3.1 RLS Method 298
3.2 The NARX Model 299
4 Model Construction Based on the EMG Signal and the Wrist Angle 300
4.1 System Configuration of Metering Experiment for the Angle 300
4.2 Estimation Result of Angle 301
5 Model Construction Based on EMG Signal and Force 302
5.1 System Configuration of Metering Experiment for Force 302
5.2 Estimation Result of Force 303
6 Conclusion 304
References 304
The Estimation Method of Force by Using Kinect Camera 306
1 Introduction 306
2 Measurement Condition 307
3 The Driving Torque Estimation Method by Using Newton Euler Method 308
4 Physical Parameter Estimation 310
4.1 Joint Angle Estimation 310
4.2 Mass Estimation Method 312
4.3 Inertia Tensor Estimation 312
5 Verification of Estimating Result 313
6 Conclusion 315
References 316
Image Processing 317
Real-Time Root Monitoring of Hydroponic Crop Plants: Proof of Concept for a New Image Analysis System 318
1 Introduction 318
2 System Design 320
2.1 Setup and Operation 321
2.2 Root Measurement 322
2.3 Problem Identification 322
3 Results 324
3.1 Root Measurements 324
3.2 Problem Identification 325
4 Further Work 327
5 Conclusion 327
References 327
A New Approach of 2D Measurement of Injury Rate on Fish by a Modified K-means Clustering Algorithm Based on L*A*B* Color Space 329
Abstract 329
1 Introduction 329
2 Calculation for Injury Rate 330
3 Experimental Results 334
4 Conclusion 337
Acknowledgements 338
References 338
Determination of the Fish Surface Area and Volume Using Ellipsoid Approximation Method Applied for Image Processing 339
Abstract 339
1 Introduction 339
2 Mathematical Modeling 340
2.1 Preparation of Samples 340
2.2 Surface Area and Volume of Ellipsoid 341
2.3 The Partition Disc to Determine Surface Area and Volume 342
2.4 Image Processing 345
2.5 Image Acquisition and Analysis 345
3 Results and Discussion 346
3.1 Fish Shape Extraction 346
3.2 Surface Area and Volume Computation 346
4 Conclusion 348
Acknowledgement 348
Appendix A 348
Appendix B 350
References 352
Recognition and Grasping Objects from 3D Environment by Combining Depth and Color Stereo Image in the Mobile Picking Robot System 353
Abstract 353
1 Introduction 353
2 System Description 354
3 Proposed Algorithm 355
3.1 Mapping RGB Image into Depth Map 355
3.2 Object Recognition 355
3.3 Grasping Object 356
4 Experimental Results 358
5 Conclusion 361
Acknowledgments 361
References 361
Control Systems 363
Aerial Attitude Control of Hopping Robots Using Reaction Wheels: Evaluation of Prototype II in the Air 364
Abstract 364
1 Introduction 364
2 Estimation Method of Attitude Angle Using 9 Axis Motion Sensors 366
3 Aerial Attitude Control System Design 367
4 Experiment of Aerial Attitude Control 370
4.1 Experimental Setup 370
4.2 Experimental Results 371
5 Conclusion 374
References 374
Reference Trajectory Generation of Laser Beam in Consideration of Response Speed of Laser Processing Machine 376
Abstract 376
1 Introduction 376
2 System Identification of Galvanometer Scanner 377
2.1 Overview of System Configuration 377
2.2 System Identification 378
3 Generation of Modified Reference Trajectory Using Inverse Characteristics 379
3.1 Modified Reference Trajectory Generation Algorithm 379
3.2 Verification by Simulation 379
4 Experiment 380
4.1 Structure of Experimental Apparatus 380
4.2 Procedure and Conditions 381
4.3 Experimental Results of System Identification 382
4.4 Evaluation Results of Laser Beam Trajectory 382
5 Conclusion 385
References 385
State Estimation of Internal Combustion Engine Based on Mathematical Model 386
1 Introduction 386
2 Experimental System 388
3 Engine Model 389
3.1 Piston-Crank Mechanism 389
3.2 Combustion Process 390
3.3 Air Intake System 391
4 State Estimation Applying the UKF 392
4.1 Construction of Spreading System 392
4.2 Discretization of Engine Model 393
4.3 Verification of Estimated Results 393
5 Conclusions 395
References 395
Analysis of the Relationship Between Operational Mastery Process and Balance Capability in Daily Life for Unstable Personal Vehicles 397
1 Introduction 397
2 Model Derivation 398
2.1 Balance Board Model 399
2.2 Integrates the Model of the Balance Board and the Human 400
3 Control System Design 402
3.1 Linearization 402
3.2 Model-Based Stabilizing Control Based on State Dependent Riccati Equation 403
3.3 Verification of Simulation Result 404
4 Conclusion 406
References 406
Vertical Motion Control of Crane Without Load Position Information Using Nonlinear Control Theory 408
Abstract 408
1 Introduction 408
2 Mathematical Model 409
3 Controller Design 411
4 Experimental Results 414
4.1 Parameters of Motor-Winch System 414
4.2 Experimental Data Acquisition 415
4.3 The Relationship Between the Load Position and Rope Tension Force 416
4.4 Experimental Results 416
5 Conclusions 418
Acknowledgment 418
References 418
Feedback Control of Antagonistic-Type Twisted and Coiled Polymer Actuator 419
Abstract 419
1 Introduction 419
2 Method 420
3 Numerical Simulations 421
3.1 System Identification 421
3.2 Simulation Results 423
4 Experiments 424
4.1 Experiment Results 424
4.2 PID Control Experiment 424
5 Conclusion 426
Acknowledgements 427
References 427
Performance Evaluation of Grasping Force Control Based on Fall Velocity Control of Grasping Object for Telemanipulation Systems 428
Abstract 428
1 Introduction 428
2 Modeling of the Control Plant 429
2.1 Modeling of a Grasping Object 429
2.2 Modeling of the Slave Device 431
3 Grasping Force Control System 432
3.1 Design of the Falling Velocity Control System 432
3.2 Algorithm to Modify Grasping Force 433
3.3 Design of the Grasping Force Control System 434
4 Experiment 434
4.1 Experimental Setup 434
4.2 Performance Evaluation of the Falling Velocity Control System 435
4.3 Performance Evaluation of the Grasping Force Control System 436
5 Conclusion 437
References 437
Damping Control of Suspended Load for Truck Cranes in Consideration of Control Input Dimension 439
Abstract 439
1 Introduction 439
2 Modeling 440
2.1 Modeling of Crane Boom 440
2.2 Augmented System of Crane Boom with Valve Controller 441
2.3 Augmented Crane System Including Suspended Load Dynamics 443
3 Control System Design 443
4 Experiment of Load Damping Control of Truck Crane 445
4.1 Experimental Procedure 445
4.2 Experimental Result 448
5 Conclusion 449
References 449
Model-Based Clustering of Time Series Based on State Space Generative Models 450
Abstract 450
1 Introduction 450
2 Model Specification 451
2.1 Finite Mixture Model 451
2.2 Time Series Generative Model 452
2.3 Hierarchical Model Overview 454
3 Model Estimation 455
3.1 MCMC Initialization 455
3.2 MCMC Iteration Until Convergence 456
3.3 Model Identification and Cluster Assignment 458
4 Conclusions 458
References 459
Dynamic Programming Based Adaptive Optimal Control for Inverted Pendulum 460
Abstract 460
1 Introduction 460
2 Adaptive Optimal Control Design 461
3 Simulation Results 468
4 Conclusion 469
References 470
State Estimation of a Yoyo Based on a Model with Elasticity of a String 471
1 Introduction 471
2 Problem Establishment 472
3 Yoyo Model with the Elasticity of the String 472
4 State Estimation Based on the Yoyo Model 475
5 Conclusion 479
References 479
PI Sliding Mode Control for Active Magnetic Bearings in Flywheel 481
Abstract 481
1 Introduction 481
2 Active Magnetic Bearing System in Flywheel Modeling 482
3 PI Sliding Mode Control Design 484
3.1 PI Sliding Surface 484
3.2 Control Law Design 486
4 Simulation 486
5 Conclusion 490
References 490
A Study for Learning Method of Modified PID Controller with On-line Hybrid Genetic Algorithm 491
Abstract 491
1 Introduction 491
2 Learning of PID Controller 492
2.1 Controlled System 492
2.2 Limitation of PID Parameter’s Solution Domain 492
2.3 Limitation of Time Range for Object Function 496
2.4 Modified PID Controller 496
2.5 Simulation with Hybrid GA 497
3 Conclusion 500
References 500
Backstepping-Based Adaptive Velocity Tracking Controller Design for a Winding Spindle System 501
1 Introduction 501
2 System Modeling 502
3 Controller Design 504
4 Experimental Results 508
5 Conclusion 511
References 512
Study on Optimized Guidance and Robust Control for the Ship Maneuvering 513
Abstract 513
1 Introduction 513
2 Mathematical Model of a Ship 514
3 Guidance and Control Design 515
3.1 Guidance Design 515
3.2 Maneuvering Control Design 517
4 Simulation Results 520
5 Conclusion 522
Acknowledgement 522
References 522
Advanced Control Strategy of Dynamic Voltage Restorers for Distribution System Using Sliding Mode Control Input-Output Feedback Linearization 524
Abstract 524
1 Introduction 524
2 Overview of DVR System 525
2.1 System Modeling 525
2.2 Generation of Voltage References 526
3 Proposed Control Strategy Using Sliding Mode Input-Output Feedback Linearization 527
3.1 Input-Output Feedback Linearization Control 527
3.2 Sliding Mode Input-Output Feedback Linearization Controller 528
4 Simulation Results 530
5 Conclusions 533
Acknowledgment 533
References 533
Optimal Pump Scheduling to Pressure Management for Large-Scale Water Distribution Systems 535
1 Introduction 535
2 Formulation of MINLP for Efficient Optimization of Pressure Management 537
2.1 Modeling of Pumping Stations 537
2.2 Formulation of Pressure Management Regulation 537
2.3 Decomposition of the MINLP 539
3 Case Study 539
4 Conclusions 543
References 543
Model Predictive Control with Both States and Input Delays 545
Abstract 545
1 Introduction 545
2 Model Predictive Control Design 546
3 Main Results 547
4 Simulated Example 551
5 Conclusion 555
References 555
On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems 557
1 Introduction 557
2 Preliminary Definitions and Results 559
3 Hamiltonian Description 562
4 Main Results 563
5 Case Study: The Mechanical Four Link Chain 566
5.1 Generalized Acrobot - Engaging the Unactuated Cyclic Variable 566
5.2 The Mechanical Four Link Chain, the Collocated VHCs and GA 568
6 Conclusions and Outlooks 570
References 570
Robotics 572
Continuous Genetic Algorithm Aiding to Quadcopter Controller Design 573
Abstract 573
1 Introduction 573
2 Quadcopter Configuration 574
3 The Continuous GA Optimal PID Controller 575
4 Simulation Results 576
5 Conclusion 580
References 581
Control System Design of Four Wheeled Independent Steering Automatic Guided Vehicles (AGV) 582
Abstract 582
1 Introduction 582
2 System Modeling 583
3 Control System Design 584
4 Simulation Result 586
5 Conclusion 588
Acknowledgment 588
References 588
A Guide to Selecting Path Planning Algorithm for Automated Guided Vehicle (AGV) 589
Abstract 589
1 Introduction 589
2 Path Planning Algorithm 590
3 System Configuration 593
4 Simulation and Experimental Results 594
5 Conclusion 597
Acknowledgment 597
References 597
Path Following Control of Bike Robot 599
1 Introduction 599
2 Bicycle Robot 600
3 Path Generation 601
3.1 Proposed Method 601
3.2 Algorithm 602
4 Numerical Simulation 604
4.1 Path Generation 604
4.2 Path Following 605
5 Concluding Remarks 607
References 608
Online Training the Radial Basis Function Neural Network Based on Quasi-Newton Algorithm for Omni-directional Mobile Robot Control 609
Abstract 609
1 Introduction 609
2 Radial Basis Function Neural Networks 610
3 The Quasi-Newton Algorithm 611
4 Adaptive Sliding Mode Control with Radial Basis Function Neural Network for Omni-directional Mobile Robot 612
4.1 Omni-directional Mobile Robot Model 612
4.2 Adaptive Sliding Mode Controller Design for Trajectory Tracking 613
4.3 Simulation Results 615
5 Conclusion 618
References 618
A Study on Looking for Shortest Trajectory of Mobile Robot Using A* Algorithm 619
Abstract 619
1 Introduction 619
2 Mobile Robot Design 620
2.1 Mechanical Design 620
2.2 Electrical Design 621
2.3 Kinematic Problem 621
3 Looking for Shortest Trajectory Algorithm 623
3.1 Review of A* Algorithm 623
3.2 Example About Using A* Algorithm 623
4 Simulation 625
5 Experimental Results 627
6 Conclusion 628
References 628
Independent Joint Control System Design Method for Robot Motion Reconstruction 629
Abstract 629
1 Introduction 629
2 System Modeling 630
2.1 Problem Statement 630
2.2 Method Demonstration 631
2.3 Mathematical Model 631
3 Control Design 633
3.1 Control Design for the First Joint and the Second Joint 634
3.2 Control Design for the Other Joints 635
4 Experiment 636
4.1 Experimental Setup 636
4.2 Experimental Results 639
5 Conclusion and Future Work 639
Acknowledgement 639
References 640
Walking Figure Generating in Consideration of Ground Reaction Force 641
1 Introduction 641
2 Construction of Disturbance Observer 642
2.1 Design Overview 642
2.2 Disturbance observer 642
2.3 Modeling of Legs of a Hexapod Robot 644
2.4 Design of Disturbance Observer 645
3 Estimation of Ground Reaction Force by Disturbance Observer 646
4 Conclusion 648
References 648
Study on the Combined Underwater Tracked Vehicle System with a Rock Crushing Tool 649
Abstract 649
1 Introduction 649
2 Assumption and Terminology for Simulation 650
2.1 Basic Assumptions 650
2.2 Terminology 651
3 Analysis of Force and Moment of the RC Tool 652
3.1 Analysis of Cutting Forces 652
3.2 Resistance Forces 654
3.3 Analysis of the Traction of the UTV 655
3.4 Analysis of the Moment of the RC Tool 655
4 Application Example 656
4.1 System Description 656
4.2 Steps of Calculation for Design Process 657
4.3 Results and Discussion 657
5 Conclusion 659
Acknowledgements 659
References 659
Designing Optimal Trajectories and Tracking Controller for Unmanned Underwater Vehicles 660
Abstract 660
1 Introduction 660
2 Depth Motion Equation of UUV 661
3 Designing Optimal Trajectories 661
3.1 Time-Optimal Trajectories (TOTs) 661
4 Tracking Controller 665
4.1 Control Algorithm 665
4.2 Sliding Mode Control Law 665
5 Simulation and Discussion 666
5.1 Simulation 1 668
5.2 Simulation 2 668
6 Conclusion 669
Acknowledgements 670
References 670
Simulation and Experiment of Underwater Vehicle Manipulator System Using Zero-Moment Point Method 671
1 Introduction 671
2 Dynamic Modeling 672
3 Redundancy Analysis 673
4 Simulation 676
5 Experiment 677
6 Conclusion 677
References 678
Development of Ray-Type Underwater Glider 679
1 Introduction 679
2 Dynamic Modeling 680
2.1 Coordinate System and Mathematical Model 680
2.2 Dual-Buoyancy Engine Design 682
3 Motion Performance Analysis 683
3.1 Simulation 1 - Underwater Glider Model 683
3.2 Simulation 2 - Dual-Buoyancy Analysis 685
4 Conclusion 687
References 687
Modeling and Evaluating Motion Performance of Robotic Fish with a Pair of Non-uniform Pectoral Fins 688
Abstract 688
1 Introduction 688
2 Dynamic Modeling for 2D Motion 689
2.1 Kinematic Model 690
2.2 Dynamic Model 690
3 Swimming Modes and Mechanical Efficiency 694
4 Simulation Results and Discussion 695
5 Conclusions and Future Works 696
References 697
Modeling and Control System Design of Four Wheel Independent Steering Automatic Guided Vehicle (AGV) 698
Abstract 698
1 Introduction 698
2 System Modeling 699
3 Control System Design 700
4 Simulation Result 702
5 Conclusion 705
Acknowledgment 705
References 705
Development of a Module Robot for Glass Façade Cleaning Robot 706
1 Introduction 706
2 System Design for Glass Façade Cleaning Robot 708
3 Trajectory Generation 710
3.1 Inverse Kinematics 710
3.2 5th Degree Polynomial Interpolation 711
3.3 Gait Generation Based on Sequential Control 713
4 Experiment 713
5 Conclusion 715
References 715
Tracking Controller Design for Omni-Directional Automated Guided Vehicles Using Backstepping and Model Reference Adaptive Control 717
1 Introduction 717
2 System Modeling 718
3 Controller Design 720
4 Simullation Results 723
5 Conclusion 726
References 726
Path Planning for Automatic Guided Vehicle with Multiple Target Points in Known Environment 728
Abstract 728
1 Introduction 728
2 Path Planning Algorithm 729
2.1 D* Lite Path Planning Algorithm 732
2.2 Modified D* Lite Path Planning Algorithm 733
3 Simulation and Experimental Results 735
4 Conclusion 737
Acknowledgement 737
References 737
Modeling of Rolling Locomotion on a Reconfigurable Quadruped Robot with Servos for State Estimation 738
1 Introduction 738
2 Problem Establishment 739
3 Model of the Rolling Reconfigurable Robot with Servos 740
4 Simulations of Rolling Locomotion on the Reconfigurable Quadruped Robot 743
5 Conclusion 745
References 745
Study on Determining the Number of Fin-Rays of a Gymnotiform Undulating Fin Robot 747
Abstract 747
1 Introduction 747
2 System Formulation 748
3 Experimental Result 751
4 Conclusion 753
References 754
Study on Design, Analysis and Control an Underwater Thruster for Unmanned Underwater Vehicle (UUV) 755
Abstract 755
1 Introduction 755
2 Mechanism Design 756
2.1 Propeller 757
2.2 Thruster Housing 758
2.3 Magnetic Coupling 758
3 Simulation 760
3.1 Dynamic Model of BLDC 760
3.2 Control Algorithm for BLDC 761
3.3 Simulation Results 763
4 Experiments 764
5 Conclusion 765
Acknowledgements 766
References 766
Design and Implement a Fuzzy Autopilot for an Unmanned Surface Vessel 767
Abstract 767
1 Introduction 767
2 Ship Dynamics 768
2.1 The First-Order Nomoto Model 768
2.2 Disturbance 768
3 Identification of Nomoto Model Using Kempf’s Zig-zag Maneuver 769
4 Fuzzy Logic Controller 770
5 Simulation and Experiment 772
5.1 Experimental Identification of Nomoto Model 773
5.2 Step Response Simulation 774
5.3 Step Response Experimental 775
6 Conclusion 776
References 777
Heading and Depth Control of Autonomous Underwater Vehicles via Adaptive Neural Network Controller 778
Abstract 778
1 Introduction 778
2 Dynamic Model 779
3 Description of the ANNAI (Adaptive Neural Network by Adaptive Interaction) Controller 780
4 Heading and Depth Control System 781
4.1 ANNAI-Based Heading Control System 781
4.2 ANNAI-Based Depth Control System 782
5 Simulation Results 783
6 Conclusion 786
References 786
Nonlinearities Compensation Method for Application to Robot Manipulators Using Time-Delay Estimation 788
Abstract 788
1 Introduction 788
2 System Modeling 789
2.1 Problem Formulation 789
2.2 Method Demonstration 790
2.3 Mathematical Model 791
3 Control Design 793
3.1 Control Structure with Time-Delay Estimation (TDE) 793
3.2 Stability Analysis 794
4 Experiment Studies 794
4.1 Experimental Setup 794
4.2 Experimental Results 795
5 Conclusion 798
Acknowledgement 798
References 798
Motor Control 800
Development of the Removable Electric Drive System for Wheelchair Running on Public Road 801
1 Introduction 801
2 Driving System Design 802
2.1 Needs for Wheelchair Users 802
2.2 Derivation of Load During Running 803
2.3 Selection Result of a Motor and a Gear Ratio 805
3 Experimental Model Production 805
3.1 Motor Identification 805
3.2 Identification Result of Motor 806
3.3 Producted Experimental Model 807
4 Verification Experiments 808
4.1 The Requirements of the Driving Inspection 808
4.2 Verification Results 808
5 Conclusion 809
References 810
PI-Based Fuzzy Speed Controller with PWM Direct Torque Control for Induction Motor Drive 811
Abstract 811
1 Introduction 811
2 Fuzzy Logic Design for Speed Controller 813
3 Experimental Results 814
4 Conclusions 819
Acknowledgement 819
References 819
Fast Maximum Power Point Tracking Control for Variable Speed Wind Turbines 821
Abstract 821
1 Introduction 821
2 Modeling of Wind Turbine Systems 822
3 Control of MPPT 824
3.1 Conventional Optimal Torque Control 824
3.2 Proposed Torque Control 825
3.3 Optimization of Control System Dynamics 826
4 Simulation Results 827
5 Conclusions 829
References 829
Feedback-Linearization-Based Direct Power Control of DFIG Wind Turbine Systems Under Unbalanced Grid Voltage 830
Abstract 830
1 Introduction 830
2 Modeling of DFIG 831
2.1 Modeling of DFIG Under Normal Grid Condition 831
2.2 Behaviors of DFIG Under Unbalanced Voltage Condition 833
3 Feedback Linearization 835
4 Simulation Results 836
5 Conclusions 838
References 838
High-Gain Observer Based Output Feedback Controller for a Two-Motor Drive System: A Separation Principle Approach 840
Abstract 840
1 Introduction 840
2 Problem Statement 841
3 High Gain Observer of Multi-motor Systems 843
4 Sliding Mode Control of Multi-motor Systems 845
5 Output Feedback Control Design of Multi-motor Systems 845
6 Simulation Results 847
7 Conclusions 849
References 849
A Fuzzy-Based Supervisory Controller Development for a Series Hydraulic Hybrid Vehicle 850
Abstract 850
1 Introduction 850
2 System Modeling 851
3 Control System Development 853
4 Simulation Results and Discussion 856
5 Conclusion 859
References 859
Rotor Time Constant Estimation of Induction Motor Using Online PI-Adaptive and GA-Adaptive Model 860
Abstract 860
1 Introduction 860
2 Mathematical Model of the Vector Controlled Induction Motor 862
3 Model Reference Adaptive System Method (MRAS) 863
4 GA Adaptive Model Method 864
5 Simulation Results 866
5.1 The Simulation Results with Rotor Time Constant Is Constant 867
5.2 Simulated Results with Rotor Time Constants Change 869
6 Conclusion 870
Acknowledgement 870
References 870
Estimate Parameters of Induction Motor Using ANN and GA Algorithm 872
Abstract 872
1 Introduction 872
2 Mathematical Model of Induction Motor for Parameter Estimation 873
3 Parameters Estimation of Induction Motor Using ANN Algorithm 877
4 Parameter Estimation of Induction Motor Using GA Algorithm 878
5 Simulation Results 879
5.1 Simulation Results with ANN Algorithm 879
5.2 Simulation Results with GA Algorithm 880
6 Conclusion 881
Acknowledgement 881
References 881
Study on Hybrid Method for Efficiency Optimization of Induction Motor Drives 883
Abstract 883
1 Introduction 883
2 Mathematical Model of an Induction Motor 884
3 Efficiency Optimal Control 886
3.1 Power Lost Control Algorithm 886
3.2 Search Control Algorithm 887
4 The Simulation Results and Discussion 889
4.1 Parameters of Motor Model with Iron Loss 889
4.2 Simulation Results and Discussion 890
5 Conclusion 892
Acknowledgement 892
References 892
Power Systems 894
A New Optimal Algorithm for Multi-objective Short-Term Fixed Head Hydrothermal Scheduling with Emission Control Consideration 895
Abstract 895
1 Introduction 895
2 Formulation of Multi-objective Dispatch 897
3 Novel Cuckoo Search Algorithm 898
3.1 The First Modification 899
3.2 The Second Modification 899
4 Numerical Results 901
5 Conclusion 904
References 904
A Study of the Power Factor Improvement by Using Harmonic Filter in Busan Urban Railway Substation with Thyristor Rectification Method 906
Abstract 906
1 Introduction 906
2 Rectification Method of Using Thyristor 907
3 Design and Simulation of Harmonic Filter 907
3.1 Specifications of the 12 Pulse Thyristor Dual Converter 907
3.2 Design and Simulation of Harmonic Filter 908
3.2.1 Simulation of Harmonic Current and Power Before Installation of Harmonic Filter 909
3.2.2 Calculation of Harmonic Filter Capacity 909
3.2.2 Calculation of Harmonic Filter Capacity 909
3.2.3 Simulation of Harmonic Current and Power After Installing Harmonic Filter 911
4 Conclusions 912
Acknowledgement 912
References 912
Variable Structure Load Frequency Control of Power System 913
Abstract 913
1 Introduction 913
2 Two-Area LFC System 914
3 Variable Structure Load Frequency Control Design 915
4 Simulation Tests 917
5 Conclusions 919
References 919
Quantum-Behaved Bat Algorithm for Combined Economic Emission Dispatch Problem with Valve-Point Effect 921
Abstract 921
1 Introduction 921
2 Problem Formulation 922
2.1 Economic Dispatch (ED) 923
2.2 Emission Dispatch 923
2.3 Constraints 923
2.4 Combined Economic Emission Dispatch (CEED) 924
3 Methodology 924
4 Result and Analysis 926
5 Conclusion 929
Acknowledgments 930
References 930
Modified Flower Pollination Algorithm for Solving Economic Dispatch Problem 932
Abstract 932
1 Introduction 932
2 Problem Formulation 933
2.1 Objective Function 933
2.2 Constraints 933
2.3 Processing Power Balance Constraint 934
3 Modified Flower Pollination Algorithm for ELD Problem 935
3.1 Conventional Flower Pollination Algorithm (CFPA) 935
3.2 Modified Flower Pollination Algorithm (MFPA) 936
4 Implementation of the MFPA for the Considered Problem 936
4.1 Initialization 936
4.2 The First Solution Generation via Local Search 937
4.3 The Second Solution Generation via Global Search 937
4.4 The Termination Criterion of the Search Process 937
5 Numerical Results 938
6 Conclusion 939
References 940
Optimal Load Frequency Control in an Isolated Power System 941
Abstract 941
1 Introduction 942
2 Mathematical Model of an Isolated Power System 943
2.1 Mathematical Modelling of Generator 943
2.2 Mathematical Modelling of Load 943
2.3 Mathematical Modelling for Prime Mover 944
2.4 Mathematical Modelling of Governor 944
3 Optimal Load-Frequency Controller Design 946
4 Simulation Results 948
5 Conclusion 950
References 950
Energy 952
A Research on the Thermal Daily Performance of Hybrid Solar Collector with Fin-and-Tube Heat Exchanger in Winter 953
Abstract 953
1 Introduction 954
2 Experimental Apparatus and Method 955
2.1 Experimental Apparatus 955
2.2 Experimental Method 956
3 Results and Discussion 957
4 Conclusion 961
Acknowledgments 961
References 962
A Study on the Heat Exchange Performance of Hybrid Solar Collector with Air to Water Heat Exchanger Type 963
Abstract 963
1 Introduction 964
2 Experimental Apparatus and Method 964
2.1 Experimental Apparatus 964
2.2 Experimental Method 966
3 Results and Discussion 967
4 Conclusion 970
Acknowledgments 970
References 970
Numerical Design of Solar Collector Trough System for Integrated Solar Combine Cycle 972
Abstract 972
1 Introduction 972
2 Proposed Model of an Integrated Solar Combine Cycle 973
2.1 Integrated Solar Combine Cycle 973
2.2 Design an Integrated Solar Combine Cycle 973
2.3 Design Solar Trough 975
3 Description and Computation of the Solar Thermal Collector 976
3.1 The Total Intensity of Solar Radiation on the Surface of the Earth 976
3.2 Calculating the Heating Process 977
3.3 Calculating the Heat Capacity 980
3.4 Calculating Number of the Needed Solar Trough 981
4 Calculate Characteristic Parameters of the Sample Device 981
5 Conclusion 983
References 984
Mechanical Engineering 985
Effect of Minimum Quantity Lubrication on Surface Roughness in Milling Machining 986
Abstract 986
1 Introduction 986
2 Experiment Setup 988
2.1 Design Experiment 988
2.2 Mathematical Model 989
3 Experimental Details 992
3.1 Single-Factor Experiments 993
3.2 Multi-factor Experiments 994
4 Conclusion 996
References 996
Slip Analysis on a Non-holonomic Continuously Variable Transmission Using Magic Formula 998
Abstract 998
1 Introduction 999
2 Non-holonomic Continuously Variable Transmissions 1000
3 Friction Model and Experimental Results 1001
3.1 Planar Friction Model Using Magic Formula 1001
3.2 Test Bench Setup and Experimental Results 1002
4 Numerical Results Using First-Order Time Delayed Slip 1003
5 Conclusions 1007
Acknowledgement 1007
References 1008
Sterilization of Edible Bird Nest Product Utilize Microwave Technology 1009
Abstract 1009
1 Introduction 1009
2 Methodology 1010
2.1 Microwave Applicator Design 1010
2.2 Sterilization Experimental Design 1012
3 Results 1014
3.1 Microwave Design Results 1014
3.2 Sterilization Results 1016
4 Conclusion and Discussion 1018
References 1019
Forming Limit Diagram Prediction of AA6061-T6 Sheet Using a Microscopic Void Growth Model 1021
Abstract 1021
1 Introduction 1021
2 Ductile Fracture Model 1022
3 Numerical Implementation 1023
4 Experimental Work 1023
5 Numerical Simulation 1025
5.1 Calibration of the Material Parameters 1025
5.2 Forming Limit Diagram 1026
6 Conclusion 1030
Acknowledgements 1030
References 1030
Numerical Analysis of LBV150 ROV Thruster Performance Under Open Water Test Condition 1032
Abstract 1032
1 Introduction 1032
2 LBV150 ROV Thruster’s Thrust Test-Rig 1034
3 3D Modeling of the LBV150 ROV Thruster 1035
4 Numerical Analysis of the SeaBotix LVB150 ROV Thruster 1036
4.1 Mesh Generation for Simulation 1036
4.2 Simulation of Dynamics of the SeaBotix LBV150 ROV Thruster 1037
5 Conclusions 1041
Acknowledgement 1041
References 1041
A Method for Tuning the Frequency Series Wave Speed in Hydraulic Flexible Hose 1042
Abstract 1042
1 Introduction 1042
2 Three-Transducer Method with Frequency Series Wave Speed 1043
2.1 Wall Model of Flexible Hose 1044
2.2 Function of Wave Speed on a 3 Parameters Flexible Tube Model 1044
2.3 Function of Wave Speed on a 5 Parameters Flexible Tube Model 1046
3 Calculation of Wave Speed 1047
3.1 An Experiment with Three-Transducer Method with Frequency Series Wave Speed 1047
3.2 Trial and Error Method 1048
3.3 Parameter Tuning with RCGA 1048
4 Conclusion 1051
Acknowledgement 1051
References 1051
Optimal Design of RFECT System for Inspection of 16-inch Ferromagnetic Pipe 1052
Abstract 1052
1 Introduction 1052
2 Optimal Design of RFECT System 1053
2.1 Exciter Coil Design 1053
2.2 Receiver Coil Design 1057
3 Verification by Experiment 1059
4 Conclusion 1061
References 1062
Building Management Algorithms in Automated Warehouse Using Continuous Cluster Analysis Method 1063
Abstract 1063
1 Introduction 1063
2 Methodology 1064
2.1 Basic of ABC Storage, Closest Open Location - COL Policy and Continuous Cluster Method 1064
2.2 Assumption Made 1065
2.3 Layout Design 1066
2.4 Automated Storage and Retrieval Algorithm 1067
3 Simulation Software 1068
4 Simulated Result 1068
4.1 Comparison of Continuous Cluster Algorithm and Random Algorithms 1069
4.2 Comparison of Continuous Cluster Algorithm and ABC Policy 1071
5 Conclusion 1072
References 1072
Development of VR Based Authoring Tool for Smart Factory 1073
Abstract 1073
1 Introduction 1073
2 Related Works 1074
3 VR Factory System 1076
3.1 Architecture 1076
3.2 VR Visualization 1076
3.3 VR Based Authoring Tool 1077
3.4 Simulation 1078
4 Experiment 1080
5 Conclusion 1080
References 1081
Author Index 1083