AETA 2018 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application (eBook)

Foreword 6
Contents 9
Computer Science 18
New Neuromorphic AI NM500 and Its ADAS Application 19
Abstract 19
1 Introduction 19
2 Neuromorphic Artificial Intelligence 21
3 NM500 Architecture 22
4 ADAS Application Using Image Learning and Recognition 23
4.1 Learning and Recognition of Traffic Information Images 23
4.2 Real-Time Performance and Hardware Implementation 25
5 Conclusions 27
Acknowledgement 28
References 28
Analyzing l1-loss and l2-loss Support Vector Machines Implemented in PERMON Toolbox 29
1 Support Vector Machines for Classifications 29
2 Hessian Regularization 32
3 No-Bias Data Classifications 33
4 PermonSVM: SVM Implementation on Top of PETSc 34
5 Numerical Experiments 35
6 Conclusions 38
References 39
Hybrid Fuzzy Neural Model Based Dempster-Shafer System for Processing of Diagnostic Information 40
1 Introduction 40
2 Elements of Dempster-Shaffer Theory 41
3 Practical Task Specifications 42
4 Adaptive Fuzzy Dempster-Shaffer Model 43
5 Hybrid Fuzzy Neural Model Based on Evidence Theory 44
6 HFNN Training 46
7 Conclusions 48
References 49
ANFIS and Fuzzy Tuning of PID Controller for STATCOM to Enhance Power Quality in Multi-machine System Under Large Disturbance 50
Abstract 50
1 Introduction 50
2 Configuration of the Studied System 52
2.1 SG Model 52
2.2 STATCOM Model 53
3 Design of Fuzzy-PID Self-tuning Controller 54
4 Design of ANFIS Controller for Tuning Gain PID 56
5 Simulation Results 58
6 Conclusion 59
References 59
Proposal of Electrode System for Measuring Level of Glucose in the Blood 61
Abstract 61
1 Introduction 61
2 Methods 62
3 Results 65
4 Conclusion 69
Acknowledgment 69
References 70
Substitution Rules with Respect to a Context 71
1 Introduction 71
2 TIL in Brief 73
3 Valid Substitutions in TIL 74
3.1 Three Kinds of Contexts 74
3.2 v-congruent, Equivalent, and Procedurally Isomorphic Constructions 75
3.3 Substitution of v-congruent Constructions 76
3.4 Substitution of Equivalent Constructions 77
3.5 Substitution of Procedurally Isomorphic Constructions 77
4 Implementation 77
4.1 Introduction to the Tool for TIL-Script Processing 78
4.2 Equivalence Classes of v-congruent, Equivalent, and Procedurally Isomorphic Constructions 79
4.3 Substitution of Constructions 79
4.4 Generating Process 80
5 Conclusion 81
References 81
Fuzzy Model Predictive Control for Discrete-Time System with Input Delays 83
Abstract 83
1 Introduction 83
2 Problem Statement 84
3 Model Predictive Controller Design 85
4 Simulated Example 90
5 Conclusion 92
References 92
An Improvement of Fuzzy-Based Control Strategy for a Series Hydraulic Hybrid Truck 94
Abstract 94
1 Introduction 94
2 System Description and Modeling 96
3 Control System Development 97
4 Simulation Results and Discussion 99
5 Conclusion 102
References 103
A New Approach Newton-Raphson Load Flow Analysis in Power System Networks with STATCOM 104
1 Introduction 104
2 Newton-Raphson Load Flow in Power System Without STATCOM 105
3 Newton-Raphson Load Flow in Power System with STATCOM 106
4 Design and Development of Software 109
4.1 Technologies and Platform 109
4.2 Programming 109
4.3 Data Input and Output 110
4.4 Structure of the Program 111
5 Test Systems and Results 111
5.1 Modified IEEE 30-Bus 111
5.2 IEEE 57-Bus 113
5.3 Computation Time and Number of Iterations 114
6 Conclusions 114
References 115
Neural Network for Smart Adjustment of Industrial Camera - Study of Deployed Application 117
1 Introduction 117
2 Problem Formulation 118
3 Proposed Solution 119
3.1 Image Acquisition by Industrial Camera 120
3.2 Feature Extraction 120
3.3 Neural Network for Camera Parameters Adjustment 122
4 Design of Feedforward Neural Network 123
4.1 Training and Validation Set 123
4.2 Training and Pruning 123
5 Evaluation of Proposed Approach 125
6 Conclusion and Future Work 127
References 128
Risk Assessment Approach to Estimate Security of Cryptographic Keys in Quantum Cryptography 130
1 Introduction 130
2 Risk Management 131
3 Quantum Cryptography 132
3.1 Quantum Key Distribution 133
3.2 Key Distillation 133
4 Risk-Based Approach in Quantum Cryptography 134
4.1 Probability of Eavesdropping 135
4.2 Impact to the Final Key 137
5 Conclusions 138
References 139
Wavelet Transform Decomposition for Fetal Phonocardiogram Extraction from Composite Abdominal Signal 141
Abstract 141
1 Introduction 141
2 State of the Art 141
3 Mathematical Apparatus 142
3.1 Discrete Wavelet Transform 142
4 Materials and Methods 143
4.1 Design of the DWT Based Extraction System 143
4.2 Dataset 144
5 Results and Discussion 145
6 Conclusion 147
Acknowledgment 147
References 148
A CUDA Approach for Scenario Reduction in Hedging Models 150
1 Introduction 150
2 Scenario Sampling Procedure 151
2.1 Modified Weighted Euclidean Distance Method 151
3 CUDA Implementation 152
3.1 Weighted Euclidean Distance Parallelization 153
3.2 Distance Calculation 153
3.3 Pivot Scenario Calculation 154
4 Experimentation and Results 155
5 Conclusion 158
References 159
Using a Strain Gauge Load Cell for Analysis of Round Punch 160
Abstract 160
1 Introduction 160
2 Round Punch 161
3 Measurement of Force 162
4 Results 164
5 Conclusion 168
Acknowledgment 169
References 169
Geometrical Computational Method to Locate Hypocenter by Signal Readings from a Three Receivers 170
1 Introduction 170
2 Solution via Tetrahedron 171
2.1 Unfolding of the Faces of a Tetrahedron 172
2.2 The Theorem of Three Perpendiculars: The Location Error 174
3 Example of a Real Seismic Event 174
4 Conclusion 176
References 176
An Intelligent Question-Answer System over Natural-Language Texts 178
Abstract 178
1 Introduction 178
2 TIL in Brief 180
3 Questions and Answers 181
3.1 Basic Classification of Empirical Questions and Answers 181
3.2 Presupposition of Propositions 182
3.3 Presupposition of Questions 183
4 Logical Analysis of Questions with Presupposition and Their Answers 186
4.1 The ‘If-then-else’ Function and the Analytic Schema 186
4.2 Wh-Questions 187
4.3 Exclusive-or Questions 188
5 Concluding Remarks 189
Acknowledgements 189
References 189
An Efficient Reduced Basis Construction for Stochastic Galerkin Matrix Equations Using Deflated Conjugate Gradients 191
1 Introduction 191
1.1 Problem Setting 192
2 Stochastic Galerkin Method 193
3 Reduced Basis Method 193
3.1 Rational Krylov Subspace Methods 194
3.2 Adaptive Selection of Space Expansion 195
4 Deflated Conjugate Gradients 196
5 Numerical Testing 196
5.1 Reduced Basis Convergence 197
5.2 Deflated CG Convergence 198
6 Conclusions 199
References 200
An Investigation on Signal Comparison by Measuring of Numerical Strings Similarity 201
1 Introduction 201
2 Data Type 202
3 Detection of Pairs of Similar Numerical Strings 203
4 Application of the Counter Algorithm to Identify Similar Signals 204
5 Comparison of the Proposed Technique with the Correlation Method on the Base the Same Data Set 206
6 Conclusion 208
References 208
Optimization 211
A Lightweight SHADE-Based Algorithm for Global Optimization - liteSHADE 212
Abstract 212
1 Introduction 212
2 From DE to liteSHADE 213
2.1 Shade 214
2.2 liteSHADE 216
3 Experimental Settings 217
3.1 SHADE and liteSHADE Settings 217
4 Results and Discussion 218
5 Conclusion 220
Acknowledgments 220
References 221
Pupil Localization Using Self-organizing Migrating Algorithm 222
1 Introduction 222
2 Related Work 223
3 Proposed Method 224
4 Experiments 227
5 Conclusion 230
References 230
Differential Evolution Algorithms Used to Optimize Weights of Neural Network Solving Pole-Balancing Problem 232
1 Introduction 232
2 Differential Evolution 233
3 Pole-Balancing Problem 234
4 Experiment 235
4.1 Results 236
5 Conclusion 240
References 241
The Use of Radial Basis Function Surrogate Models for Sampling Process Acceleration in Bayesian Inversion 243
1 Introduction 243
2 Bayesian Inversion and Posterior Sampling 244
3 Radial Basis Function Surrogate Models 247
4 Numerical Experiments 247
4.1 Surrogate Model Updates 248
4.2 Integration into the Sampling Algorithm 250
5 Conclusions 251
References 252
An Optimised Hybrid Group Method in Data Handling (GMDH) Network 254
1 Introduction 254
2 Group Method in Data Handling 255
2.1 Singular Value Decomposition and GMDH Coefficients 256
2.2 Discrete Differential Evolution Algorithm 256
3 Hybrid DE-GMDH 257
4 DE-GMDH Network Structure Optimization 260
4.1 Network Model 260
4.2 Non-redundant Ordered Network 260
5 Experimentation 262
6 Conclusion 264
References 264
A Better Indexing Method for Closest Open Location Policy in Forklift Warehouse Operation 266
Abstract 266
1 Introduction 266
2 Methodology 267
2.1 Assumption Made 267
2.2 Layout Design 267
2.3 Basic of Closest Open Location – COL Policy 268
2.4 Time-Based COL Policy 268
2.5 Distance-Based COL Policy 270
3 Simulation Software 271
4 Simulation Result 271
4.1 Rack Stability 271
4.2 Total Time 273
5 Conclusion 275
References 275
On-Line Efficiency-Optimization Control of Induction Motor Drives Using Particle Swarm Optimization Algorithm 276
Abstract 276
1 Introduction 276
2 Induction Motor Loss Model 277
3 Online Optimizing the Efficiency of Induction Motor Drives Based on the Particle Swarm Optimization Algorithm 281
4 Simulation Results 282
5 Conclusion 285
Acknowledgement 285
References 285
Introducing the Run Support Strategy for the Bison Algorithm 287
Abstract 287
1 Introduction 287
2 Bison Algorithm 288
3 Run Support Strategy 290
3.1 Run Support Strategy Movement Example 291
4 Methods and Results 292
5 Discussion 295
6 Conclusion 296
Acknowledgment 296
References 296
Optimizing Automated Storage and Retrieval Algorithm in Cold Warehouse by Combining Dynamic Routing and Continuous Cluster Method 298
Abstract 298
1 Introduction 298
2 Assumption Made and Layout Design 299
2.1 Assumption Made [1, 2] 299
2.2 Layout Design 300
2.3 Vehicle Task Assignment 300
3 Storage Algorithm Base on Continuous Cluster Method [3] 300
4 Auto – Localization 302
4.1 Storage and Retrieval Strategy 302
4.2 Determining Storage Location by A* Algorithm 302
5 Dynamic Routing Method by Time Window 303
6 Simulation and Result 305
6.1 Comparison About Travel Distance of 3 Storage Algorithms 306
6.2 The Efficiency of the Dynamic and Static Routing Algorithm Through the Time Consumption Comparison 307
7 Conclusion 307
References 307
Dependency of GPA-ES Algorithm Efficiency on ES Parameters Optimization Strength 309
Abstract 309
1 Introduction 309
2 Hybrid GPA-ES Algorithm 310
3 Experiments and Obtained Data 313
4 Conclusions 316
Acknowledgements 317
References 317
A Modified Bat Algorithm to Improve the Search Performance Applying for the Optimal Combined Heat and Power Generations 318
Abstract 318
1 Introduction 318
2 Formulation of Optimal Operation of Combined Heat and Power Generation Problem 319
3 Modified Bat Algorithms 321
4 Numerical Results 323
5 Conclusion 325
References 326
Prediction of Hourly Vehicle Flows by Optimized Evolutionary Fuzzy Rules 328
1 Introduction 328
2 Related Work 329
3 Evolutionary Fuzzy Rules 330
3.1 EFR Internals 331
3.2 Optimized FR 332
4 Experiments 334
5 Conclusions 337
References 338
A New Simple, Fast and Robust Total Least Square Error Computation in E2: Experimental Comparison 340
1 Introduction 340
2 Least Square Error Approximation 340
3 Total Least Square Error Approximation 341
3.1 Total Least Square Error - Goniometric Functions 343
3.2 Total Least Square Error - Parametric Form 343
4 Proposed Approach 344
5 Experimental Results 346
6 Conclusion 348
References 348
On the Self-organizing Migrating Algorithm Comparison by Means of Centrality Measures 350
1 Introduction 350
2 Motivation 351
3 Experiment Design 351
3.1 Self-organizing Migrating Algorithm 351
3.2 Networks 352
3.3 Network Model for the SOMA 353
3.4 Centrality Measures 353
3.5 Experiment Design 354
4 Results 355
5 Conclusion 356
References 357
A Brief Overview of the Synergy Between Metaheuristics and Unconventional Dynamics 359
Abstract 359
1 Introduction 359
2 Chaos Driven Metaheuristics 360
2.1 Chaos as the CPRNG 360
2.2 Other Unconventional Approaches with Chaos 364
3 Non-random Processes and Evolutionary Algorithms 364
4 Metaheuristics and Complex Networks 364
5 Conclusions 367
Acknowledgments 367
References 367
Telecommunications 372
An Examination of Outage Performance for Selected Relay and Fixed Relay in Cognitive Radio-Aided NOMA 373
1 Introduction 373
2 System Model 374
3 Performance of CR-NOMA with DF Relaying 375
3.1 Model 1: Selected Relay to Improve Performance in Primary Network 377
3.2 Model 2: Fixed Relay in Primary Network 381
4 Numerical Results 381
5 Conclusion 383
References 383
Throughput Analysis of Power Beacon-Aided Multi-hop Relaying Networks Employing Non-orthogonal Multiple Access with Hardware Impairments 385
Abstract 385
1 Introduction 385
2 Network Model 386
3 Throughput Evaluation 389
3.1 Channel Model 389
3.2 Throughput Analysis 390
4 Simulation Results 391
5 Conclusion 393
Acknowledgment 394
References 394
Optimum Selection of the Reference Signal for Correlation Receiver Applied to Marker Localization 396
Abstract 396
1 Introduction 396
2 Related Works 397
3 Model of the Locator – Marker System 397
4 Selection of the Optimum Reference Signal for the Correlation Receiver 400
5 Conclusion 402
Acknowledgment 402
References 402
Comparing of Transfer Process Data in PLC and MCU Based on IoT 404
Abstract 404
1 Introduction 404
1.1 Division and Development of IoT 405
2 Possibilities of Data Processing 406
3 Design of Solution 407
3.1 Industrial IoT Solution 407
3.2 Commercial IoT Solution 409
3.3 Comparing of Industrial and Commercial IoT Solutions 410
4 Conclusion 412
Acknowledgement 412
References 412
Protecting Gateway from ABP Replay Attack on LoRaWAN 414
1 Introduction 414
2 Testbed Infrastructure 415
3 Authentication Methods 416
4 Experimental Attack 417
5 ABP Detector for Protect Gateway 418
6 Description of the Algorithm 419
7 Test Process 420
8 Conslusion 421
References 422
Development of a Distributed VoIP Honeypot System with Advanced Malicious Traffic Detection 423
1 Introduction 423
2 State of the Art 424
3 Honeypot Components and Functions 424
4 Design and Implementation of the VoIP Honeypot 426
5 Interim Results 428
5.1 Attacks Analysis 428
5.2 Whois Providers Comparison 430
6 Conclusion 431
References 432
Proposal and Implementation of Probe for Sigfox Technology 434
1 Introduction 434
2 State of the Art 435
3 Overall Concept and Used Technology 435
3.1 Sigfox Radio Network Technology 436
3.2 Sigfox Module Telecom Design 1208 438
3.3 Bluetooth Module HC-05 438
3.4 Power Supply YwRobot MB102 438
4 Implementation and Results 438
5 Conclusion 441
References 441
IoT Approach to Street Lighting Control Using MQTT Protocol 443
Abstract 443
1 Introduction 443
2 Street Light Control Solutions 444
2.1 Luminaires 444
2.2 Control Systems 445
2.3 Advantages and Disadvantages of Common Control Solutions 445
3 Street Light as IoT 445
4 Protocol MQTT 446
5 L2Led L2LCM Luminaire 447
6 Testing Polygon BroadbandLIGHT 447
7 Implementation 449
8 Testing and Results 450
9 Conclusion 450
Acknowledgment 451
References 451
Materials 453
Temperature Dependence of Microstructure in Liquid Aluminosilicate 454
Abstract 454
1 Introduction 454
2 Calculation Method 455
3 Results and Discussion 456
4 Conclusion 461
Acknowledgment 461
References 461
Study on Effect of Parameters on Friction Stir Welding Process of 6061 Aluminum Alloy Tubes 463
Abstract 463
1 Introduction 463
2 Mathematical Model 464
2.1 Mathematical Thermal Equilibrium Model 464
2.2 Experiment 469
2.3 Design Option for Experiment Parameters Value Field 469
2.4 Experiment 470
2.5 Tensile Strength Testing for Welding Link 470
2.6 Normal Force {/varvec F}_{{/varvec z}} and Welding Force {/varvec F}_{{/varvec x}} Testing 470
2.7 Analyze the Result 470
3 Conclusion 473
References 473
Convergence Study of Different Approaches of Solving the Hartree-Fock Equation on the Potential Curve of the Hydrogen Fluoride 474
1 Introduction 474
2 Problem Setting 475
2.1 Standard Eigenproblem Approach 476
2.2 Optimization Approach 476
3 Methods of Solution 477
3.1 Solution of the Eigenproblem 478
3.2 Solution of the Optimization Problem 479
4 Numerical Experiments 479
5 Conclusion 482
References 483
Control Systems 485
Network Traffic Anomaly Detection in Railway Intelligent Control Systems Using Nonlinear Dynamics Approach 486
1 Introduction 486
2 Related Works 487
3 Proposed Approach 489
4 Computational Experiment 491
5 Conclusions and Future Work 493
References 494
Advanced Methods of Detection of the Steganography Content 495
Abstract 495
1 Introduction 495
2 State of the Art 496
3 Proposed Method 497
4 Results and Discussion 499
4.1 Classification Success Rate 500
4.2 Results of the Macroblock Filtering 501
4.3 Overall Contribution of the Proposed Method 502
5 Conclusion and Future Work 503
Acknowledgements 503
References 504
Robust Servo Controller Design Based on Linear Shift Invariant Differential Operator 505
Abstract 505
1 Introduction 505
2 Preliminaries 506
3 Robust Tracking Controller Design Method for MIMO System 508
4 Simulation Results 510
4.1 PI-MIMO Controller 511
4.2 The Proposed Servo Control System 511
4.3 Step Reference 511
4.4 Ramp Input 513
4.5 Parabolic Input 514
5 Conclusions 514
Acknowledgement 515
References 515
Servo Controller Design and Fault Detection Algorithm for Speed Control of a Conveyor System 516
Abstract 516
1 Introduction 516
2 Servo Controller Design 517
2.1 Modeling of a Belt Driven Transmission Section 517
2.2 Controller Design 518
3 Fault Detection Algorithm 519
3.1 Extended Kalman Filter 519
3.2 Fault Detection and Isolation Using EKF 520
4 Experimental Results 521
4.1 Experimental Results of Servo Controller Design 522
4.2 Experimental Result of Fault Detection Algorithm 522
5 Conclusion 524
Acknowledgement 524
References 524
A Control System for Power Electronics with an NXP Kinetis Series Microcontroller 525
Abstract 525
1 Introduction 525
2 The Control System Based on the NXP Kinetis MKV58F Microcontroller 526
2.1 eFlex PWM Modulators 526
2.2 ADC and HSADC Converter 526
2.3 DAC Converter 527
2.4 Rotary and Position Sensor Interface (ENC) 527
2.5 Serial Communication Interfaces (SPI, I2C, CAN, UART) 527
3 Control System Topology Design 527
4 PCB Design and 3D Modelling of the Control Unit 528
5 Software Development Platform and Support 528
5.1 MCUXpresso IDE 528
5.2 FreeMASTER 529
6 Experimental Results 529
7 Conclusion 530
Acknowledgement 530
References 531
A MIMO Robust Servo Controller Design Method for Omnidirectional Automated Guided Vehicles Using Polynomial Differential Operator 532
Abstract 532
1 Introduction 532
2 System Modeling 534
3 MIMO Robust Servo Controller Design 534
4 Simulation Results 538
4.1 Proposed Controller 538
4.2 Adaptive Controller 539
4.3 Ramp Reference Input 539
4.4 Parabolic Reference Input 540
5 Conclusions 542
Acknowledgement 542
References 542
Model Reference Adaptive Control Strategy for Application to Robot Manipulators 544
Abstract 544
1 Introduction 545
2 System Modeling 547
2.1 Problem Statement 547
2.2 Mathematical Modeling 547
3 Model Reference Adaptive Controller Design 548
3.1 Overview of Adaptive Control 548
3.2 Model Reference Adaptive Controller Design 548
3.3 Reference Motion Reconstruction Scheme 551
4 Experimental Studies 552
4.1 Implementation of the Proposed Controller 552
4.2 Controllers for Comparison 552
4.3 Experimental Setup 553
4.4 Experimental Results 553
5 Conclusion 557
Acknowledgment 557
References 557
Stabilization of Time-Varying Systems Subject to Actuator Saturation: A Takagi-Sugeno Approach 559
Abstract 559
1 Introduction 559
2 Problem Statement 560
2.1 Preliminaries: Time-Varying Parameters Polytopic Modeling 560
2.2 Saturated Control Problem Statement 562
3 Saturated State Feedback Control Law 562
3.1 Control Law 562
3.2 Control Problem Definition 563
4 Main Results 564
5 Numerical Example 567
6 Conclusion 570
References 570
Observer Based Control for Systems with Mismatched Uncertainties in Output Matrix 572
Abstract 572
1 Introduction 572
2 Problem Formulation 573
3 Main Theoretical Results 575
4 Conclusion 578
References 579
Nonlinear Disturbance Observer with Recurrent Neural Network Compensator 580
Abstract 580
1 Introduction 580
2 Disturbance Observer (DOB) for Nonlinear Systems Using Recurrent Neural Network 581
2.1 Recurrent Neural Network (RNN) 581
2.2 Nonlinear Disturbance Observer with Recurrent Neural Network Compensator (Nonlinear DOB with RNN Compensator) 582
3 Vertically-Articulated Two-Link Manipulator System for Simulation Study 584
3.1 Modeling 584
3.2 Angular Velocity Control System 585
3.3 Conventional Disturbance Observer to Be Compared 585
4 Simulation Study 586
4.1 RNN Training 586
4.2 Comparison with Conventional DOB 588
5 Conclusion 589
References 590
Parameters Estimation for Sensorless Control of Induction Motor Drive Using Modify GA and CSA Algorithm 591
Abstract 591
1 Introduction 591
2 The Current Based Model Reference Adaptive System (CB-MRAS) Model to Estimate the Speed of the IM 592
2.1 The Vector Controlled Model of IM with Sensorless Speed Based on CB-MRAS Method 592
2.2 The CB-MRAS Model to Estimate the Speed of the Induction Motor 593
3 Estimate Factors of CB-MRAS Equations Using GA and CucKoo Search Algorithm 594
3.1 How to Determine Optimal Parameters for CB-MRAS Model 594
3.2 The Difference Methods to Estimate Parameters of CB-MRAS Model 596
4 Simulation Results 599
4.1 The Used Parameters for Simulation, Graphs and Table of Data 599
4.2 The Speed Response of CB-MRAS Model with the Algorithms 600
4.2 The Speed Response of CB-MRAS Model with the Algorithms 600
5 Conclusion 601
Acknowledgement 602
References 602
Study on Algorithms and Path-Optimization for USV’s Obstacle Avoidance 603
Abstract 603
1 Introduction 603
2 Mathematical Model of a Ship 604
3 Guidance and Control Design 606
3.1 Guidance Design 606
3.2 Controller Design 610
4 Simulation Results 612
5 Conclusion 614
Acknowledgement 614
References 614
Visual Servoing Controller Design Based on Barrier Lyapunov Function for a Picking System 616
Abstract 616
1 Introduction 616
2 Basic Elements of Image Motion 617
2.1 Image-Based Visual Servoing (IBVS) 619
2.2 Position-Based Visual Servoing (PBVS) 619
3 Lyapunov Function 621
4 Controller Design Using Barrier Lyapunov Function 622
5 Simulation Result 622
6 Conclusion 625
Acknowledgment 626
Appendix 626
References 627
Designing a PID Controller for Ship Autopilot System 629
Abstract 629
1 Introduction 629
2 The Kinematic and Kinetic Equations 630
2.1 Reference Frames [1] 630
2.2 Ship Kinematic Equations 632
3 PID Controller 633
3.1 Design of PID Controller with Acceleration Feedback 633
3.2 PID Controller with Acceleration Feedback for the Ship Autopilot 633
4 Simulation of the Ship Autopilot 634
4.1 Simulation Conditions 634
4.2 Simulation of the Ship Autopilot Using the PID Controller 635
5 Conclusion 638
References 638
The Rotor Initial Position Determination of the Hi-Speed Switch-Reluctance Electrical Generator for the Steam-Microturbine 639
1 Introduction 639
2 Problem Formulation 640
3 Method for the Rotor Initial Position Determination 641
4 An Example of Using the Proposed Method of the Hi-Speed Switch-Reluctance Electrical Generator Initial Position Determination 642
5 Simulation Results and Analysis 644
6 Conclusion and Perspectives 647
References 648
Stability and Chaotic Attractors of Memristor-Based Circuit with a Line of Equilibria 650
1 Introduction 650
2 Local Stability Analysis 651
3 Global Stability Analysis 652
4 Chaotic Attractors 653
5 Conclusion 654
References 654
Mechanical Engineering 656
Behavior of Five-Pad Tilting–Pad Journal Bearings with Different Pivot Stiffness 657
Abstract 657
1 Introduction 657
2 TEHD Bearing Model 658
3 Test-Rig and Bearing Under Test 659
4 Pivot Stiffness Calculation 661
5 Results and Discussions 663
6 Conclusions 666
References 667
Dynamic Characteristics of a Non-symmetric Tilting Pad Journal Bearing 668
Abstract 668
1 Introduction 668
2 Bearing Description 669
3 TEHD Bearing Model 671
4 Results and Discussion 672
4.1 Dynamic Coefficients Versus Rotor Rotational Speed 672
4.2 Dynamic Coefficients Versus Static Load 674
4.3 Dynamic Coefficients Versus Load Direction 675
5 Conclusions 678
References 678
Energy 680
DCM Boost Converter in CPM Operation for Tuning Piezoelectric Energy Harvesters 681
1 Introduction 681
2 Architecture Description 682
2.1 Model Transfer Function 683
2.2 Circuit Description and Operation 685
3 Digital Implementation 686
4 Validation 687
5 Conclusion 689
References 689
Effect of Weighting Coefficients on Behavior of the DTC Method with Direct Calculation of Voltage Vector 691
Abstract 691
1 Introduction 691
2 Description of the Method 692
3 Specification of the Measurement Conditions 694
4 Experimental Results 695
5 Conclusion 699
Acknowledgement 699
Appendix – Meaning of Symbols 699
References 700
A New Protocol for Energy Harvesting Decode-and-Forward Relaying Networks 701
1 Introduction 701
2 Network and Channel Models 703
2.1 Random Relay Selection (RRS) Scheme 704
2.2 Best Relay Selection (BRS) Scheme 705
3 Performance Analysis 706
3.1 Random Relay Selection Scheme 706
3.2 Best Relay Selection Scheme 707
4 Numerical Results and Discussion 707
4.1 Verification of the Effectiveness of Proposed Policy 707
4.2 Effect of Number of Relays (N) 708
4.3 Effect of Minimum Active Energy (E0) 709
4.4 Effect of Fading Severity Parameters (m1 and m2) 709
5 Conclusions 710
References 711
Average Bit Error Probability Analysis for Cooperative DF Relaying in Wireless Energy Harvesting Networks 713
1 Introduction 713
2 System Model 714
3 Performance Analysis 716
3.1 Outage Performance with the End-to-end SNR 716
3.2 Ergodic Capacity with the End-to-end SNR 717
3.3 Average Bit Error Probability (ABEP) 718
4 Numerical Results 719
5 Conclusion 721
References 721
LCCT vs. LLC Converter - Analysis of Operational Characteristics During Critical Modes of Operation 723
Abstract 723
1 Introduction 723
2 Transfer Characteristics of LLC and LCCT Converter 724
3 Comparison of LLC and LCCT Converter – Steady State, Critical Operational Modes 725
3.1 Steady-State Operation 726
3.2 Critical Dynamic Operation 728
4 Conclusion 730
Acknowledgements 731
References 731
Control Renewable Energy System and Optimize Performance by Using Weather Data 733
Abstract 733
1 Introduction 733
2 Basic Theory 734
2.1 Wind Turbine System 734
2.2 Photovoltaic System 734
2.3 Data Analyze 735
3 Methodology 736
3.1 Details About Renewable Energy System 736
3.2 Weather Data Algorithm 737
4 Simulation Result 739
5 Conclusion 742
References 743
Analysis of Efficiency and THD in 7-Level Voltage Inverters with Reduced Number of Switches 744
Abstract 744
1 Introduction 744
2 7-Level Inverter Topologies with Reduced Number of Switches 745
2.1 Symmetrical Topology of 7-Level Inverter with 4 Sources and 6 Switches 745
2.2 Asymmetrical Topology of 7-Level Inverter with 2 Sources and 7 Switches 746
2.3 Symmetrical Topology of 7-Level Inverter with 3 Sources and 6 Switches 747
3 Modulation Techniques for Multilevel Inverters 748
3.1 Subharmonic PWM 748
4 Simulation of 7-Level Inverter Topologies 749
4.1 Simulation Setup and Creation of Power Circuit 749
4.2 Evaluation of Total Harmonic Distortion 750
4.3 Evaluation of Power Losses and Efficiency 751
5 Results 752
6 Conclusion 754
Acknowledgment 754
References 754
Waste Management - Weighing-Machine Automation 755
1 Recycling of PET Material 755
2 Printing of Weights Label 757
2.1 Raspberry Pi 3 758
2.2 RS485 GPIO Shield for Raspberry Pi V3.0 758
2.3 USB Office Printer 759
2.4 Technology into Production 759
3 Software and Sequence of Printing Processes 760
3.1 Serial Communication 761
3.2 Working with Text Templates in LaTex 762
3.3 Printing 763
3.4 Cron and Deamons 763
4 Conclusion 764
References 765
Optimization of Voltage Model for MRAS Based Sensorless Control of Induction Motor 766
Abstract 766
1 Introduction 766
2 Flux Estimator with DC Offset Compensation 768
3 Compensation of VSI Nonlinearities 769
3.1 Deadtime and IGBT Delay Compensation 770
4 Optimization Results 773
5 Conclusion 775
References 776
Capability of Predictive Torque Control Method to Control DC-Link Voltage Level in Small Autonomous Power System with Induction Generator 777
Abstract 777
1 Introduction 777
2 Method 779
3 Results 781
4 Conclusion 784
Acknowledgement 784
References 785
Feasibility Structural Analysis of Engineering Plastic Reel Module for Carrying Wound High-Voltage Electric Transmission Line 786
Abstract 786
1 Introduction 787
2 Static Analysis Condition 788
3 Static Analysis Result 792
4 Conclusion 795
Acknowledgement 796
References 796
Improving Fault Tolerant Control to the One Current Sensor Failures for Induction Motor Drives 797
Abstract 797
1 Introduction 797
2 Fault Tolerant Control for Current Sensors 798
2.1 The Field Oriented Control Technique 799
2.2 FTC Unit in the FOC Induction Motor Drive Structure 801
3 Simulation Results 803
4 Conclusion 806
Acknowledgement 806
References 806
Impact of Parameter Variation on Sensorless Indirect Field Oriented Control of Induction Machine 807
Abstract 807
1 Introduction 807
2 Mathematical Modelling of IM 809
3 State Estimation and Filtering 809
3.1 The Rotor Magnetic Flux Estimator 810
3.2 The Pseudo Sliding Mode Observer and Angular Velocity Extractor 810
3.3 Observer for Load Torque Estimation and Rotor Speed Estimate Filtering 811
4 Simulation 812
5 Experimental Results 814
6 The Effect of Machine Parameters Error on Rotor Speed Estimation 815
6.1 The Effect of Rotor Resistance Error on Speed Estimation 816
6.2 The Effect of Stator Resistance Error on Speed Estimation 816
7 Conclusion 816
Acknowledgment 817
References 817
Validation the FEM Model of Asynchronous Motor by Analysis of External Radial Stray Field 818
Abstract 818
1 Introduction 818
2 Finding of Motor Failures 819
2.1 Identification of Motor – Determination the Number of Rotor Bars 820
2.2 Measurement of Rotor Bars Number by Slot Harmonic 821
2.3 Determination of Rotor Slots Number by Method of rpm Difference 822
2.4 Measurement of Broken Rotor Bar 823
2.5 2D FEM Model of Asynchronous Motor 824
3 Conclusion 826
Acknowledgement 826
References 827
Outage and Intercept Probability Analysis for Energy-Harvesting-Based Half-Duplex Relay Networks Assisted by Power Beacon Under the Existence of Eavesdropper 829
1 Introduction 830
2 System Model 831
3 Performance Analysis 833
3.1 Outage Probability 833
3.2 Intercept Probability 835
3.3 Reliable Communication Without Interception 837
4 Numerical Results 837
5 Conclusion 841
References 841
Design of Electrical Regulated Drainage with Energy Harvesting 843
Abstract 843
1 Introduction to Electrical Drainage 843
2 Energy Harvesting System 845
3 Block 6 – Power Supply from Voltage Drop in the Forward Direction 846
4 Block 7 – Power Supply in the Reverse Direction 847
5 Block 6 Parameters Based on Experiment Results 848
6 Block 7 Parameters Based on Experiment Results 849
7 Discussion 850
8 Conclusion 850
References 851
Analysis of Appliance Impact on Total Harmonic Distortion in Off-Grid System 852
Abstract 852
1 Introduction 852
2 Experiment Description 853
2.1 Platform Description 854
3 Testing and Results 855
4 Conclusion 856
Acknowledgement 856
References 857
Influencing of Current Sensors by an External Magnetic Field of a Nearby Busbar 858
Abstract 858
1 Introduction 858
2 Analysis of Erroneous Measurement 859
3 Method Used 861
4 Results and Analysis 862
4.1 Testing of Clamp Ammeters 862
4.2 Testing the Current Sensors of the Network Analyzer 865
5 Summary and Conclusion 866
Acknowledgement 867
References 867
A Model for Predicting Energy Savings Attainable by Using Lighting Systems Dimmable to a Constant Illuminance Level 868
Abstract 868
1 Introduction 868
2 Dynamic Model of Uniformly Overcast Sky 869
2.1 Diffuse Illuminance Calculation 870
3 Prediction Model 871
4 Verification of the Prediction Model 871
4.1 Artificial Lighting System Calculations 873
4.2 Prediction Model Application 874
5 Conclusion 876
Acknowledgments 876
References 876
Strategy of Metropolis Electrical Energy Supply 878
Abstract 878
1 Introduction and Problem Definition 878
2 Authors Proposals and Discussion 879
3 Conclusions and Future Proposals 886
References 886
Robotics 888
Attitude Control of Jumping Robot with Bending-Stretching Mechanism 889
Abstract 889
1 Introduction 889
2 Modelling of Jumping Robot 890
3 Output Zeroing Control 892
4 Computer Simulations 893
4.1 Evaluation of Robustness Against Torque Disturbance 894
4.2 Evaluation of Tracking Performance of Posture Angle {/varvec /theta}_{1} to Target Value {/varvec /theta}_{{/varvec d}} 896
4.3 Evaluation of Attitude Maintaining Ability During Bending Stretching Motion 897
5 Conclusion 899
References 899
Geometric Foot Location Determination Algorithm for Façade Cleaning Robot 900
1 Introduction 900
2 Challenges for Façade Cleaning 902
3 Foot Location Algorithm 904
3.1 Initial Location 905
3.2 Middle Area 906
3.3 Final Location 907
3.4 Left Foot Location 907
4 Numerical Simulation 908
5 Conclusion 908
References 909
Smart Manipulation Approach for Assistant Robot 910
1 Introduction 910
1.1 Contributions 911
2 Theoretical Framework 911
2.1 Robot Modeling 912
2.2 Local Vision Algorithms 913
3 Results 915
3.1 Vision Experimental Results 915
3.2 Visual Assisted Manipulation Simulation and Experimental Results 916
3.3 Discussion 917
4 Conclusion 918
References 919
Computational Study on Upward Force Generation of Gymnotiform Undulating Fin 920
Abstract 920
1 Introduction 920
2 Problem Setting 921
3 Model of Simulation 922
3.1 Model of Gymnotiform Undulating Fin 922
3.2 Method 922
3.3 Simulation Model 924
4 Results 925
5 Conclusion 928
References 928
Modular Design of Gymnotiform Undulating Fin 930
Abstract 930
1 Introduction 930
2 Principle of Design 931
2.1 Principle of Gymnotiform Undulating Fin 931
2.2 Concept of Modular Design 932
2.3 Design of Power Transmission 933
3 Model and Results 934
4 Conclusion 936
References 936
Path Following Control of Automated Guide Vehicle Using Camera Sensor 938
Abstract 938
1 Introduction 938
2 System Description 939
3 System Modeling 939
4 Tracking Error and Error Measuring Using Camera Sensor 940
5 Controller Design 941
6 Simulation and Experimental Results 943
7 Conclusions 943
Acknowledgement 943
References 944
Binary Classification of Terrains Using Energy Consumption of Hexapod Robots 945
1 Introduction 945
2 Long Short-Term Memory 947
3 Methodology 948
3.1 Results 950
4 Conclusions and Future Work 953
References 953
The Movement of Swarm Robots in an Unknown Complex Environment 955
1 Introduction 955
2 The Method 956
2.1 The Movement of Swarm Robots 956
2.2 The Imaginary Environment 956
3 Particle Swarm Optimization Algorithm 958
4 Simulation Results 959
4.1 Setup Environment 959
4.2 The Results and Discussions 959
5 Conclusion 964
References 964
Image Processing 966
Contour Detection Method of 3D Fish Using a Local Kernel Regression Method 967
Abstract 967
1 Introduction 967
2 Contour Detection Method of 3D Fish Using a Local Kernel Regression Method 968
2.1 3D Point Cloud 968
2.2 Canny Edge Point Detection 969
2.3 Local Kernel Regression 971
3 Experiment Result 974
3.1 Kinect Camera 974
3.2 3D Point Cloud 974
3.3 Canny Edge Points Detection 975
3.4 Local Kernel Regression 975
4 Conclusions 976
Acknowledgments 976
References 976
Camera Based Tests of Dimensions, Shapes and Presence Based on Virtual Instrumentation 977
Abstract 977
1 Introduction 977
2 Automated Image Acquisition and Processing - HW for Machine Vision 978
3 Testing the Possibilities of an Automated System for Optical Inspection of Products 979
3.1 Implementation 979
3.2 Calibration 979
3.3 The Actual Image Processing 980
4 Conclusion 984
Acknowledgment 984
References 984
A 3D Scanner Based on Virtual Instrumentation Implemented by a 1D Laser Triangulation Method 986
Abstract 986
1 Introduction 986
1.1 1D Laser Triangulation 987
1.2 Virtual Instrumentation 988
2 Design and Principles of Implemented 3D Scanner 988
2.1 Mechanical Structure 989
3 3D Scanner Implementation 990
3.1 SW Application 991
4 Results 991
5 Conclusion 993
References 993
Author Index 995