Output feedback controller for polytopic systems exploiting the direct searching of the design space

This paper deals with the problem of designing a robust static output feedback controller for polytopic systems. The current research that tackled this problem is mainly based on LMI method, which is conservative by nature. In this paper, a novel approach is proposed, which considers the design space of the controller parameters and iteratively partitions the space to small simplexes. Then, by assessing the stability in each simplex, the solution space for design parameters is directly determined. It has been theoretically proved that, if there exists a feasible solution in the design space, the algorithm can find it. To validate the result of the proposed approach, comparative simulation examples are given to illustrate the performance of the design methodology as compared to those of previous approaches.     

Multicast routing protocols in wireless mesh networks: a survey

Wireless mesh networks (WMNs) introduce a new type of network that has been applied over the last few years. One of the most important developing issues in WMNs is multicast routing, which is a key technology that provides dissemination of data to a group of members in an efficient way. In this article, after an introduction about the structure of a WMN, multicast routing algorithms and protocols in WMNs are surveyed in a detailed and efficient manner. Moreover, effort is made to scale the study into one of the important potential capabilities of multicast routing mechanisms in WMNs, which is taking advantage of using different channels and radios association. While nodes in a single-radio mesh network operating on single-channel have restrictions for capacity, equipping mesh routers with multiple radios using multiple channels can decrease the intention of capacity problem as well as increase the aggregate bandwidth available to the network and improving the throughput. Hence, the purpose of channel assignment is to decrease the interferences while increasing the network capacity and keeping the connectivity of the network. Therefore, this article investigates the multicast protocols considering a definition of three types of WMNs, based on channel-radio association including SRSC, SRMC and MRMC. In its follow, a classification for multicast routing algorithms regarding the achieved optimal solutions will be presented. Finally, a study of MRMC and its relevant problems will be offered, considering the joint channel assignment and the multicast tree construction problem.     

Multi-Wavelength vs. Binary Code Pattern Unwrapping in Fringe Projection Method

Phase extraction, phase unwrapping and phase to height conversion are consecutive steps within the fringe projection method for reconstruction of 3D objects. The procedure of determining discontinuities on the wrapped phase, resolving them and achieving the unwrapped phase is called phase unwrapping. A software system was developed that provides the ability to create many kinds of patterns with a verity of desirable properties suitable for different demands in fringe projection systems. In our previous work, an experimental study was reported based on a multi-wavelength unwrapping approach. In the following work, we implemented a new method called binary code pattern unwrapping that is based on time analysis. A comparison of the two unwrapping approaches in terms of resolution, quality, noise, depth accuracy, and computational cost is provided.     

Hybrid flexible flowshops with sequence-dependent setup times and machine availability constraints

One of the common assumptions in the field of scheduling is that machines are always available in the planning horizon. This may not be true in realistic problems since machines might be busy processing some jobs left from previous production horizon, breakdowns or preventive maintenance activities. Another common assumption is the consideration of setup times as a part of processing times, while in some industries, such as printed circuit board and automobile manufacturing, not only setups are an important factor but also setup magnitude of a job depends on its immediately preceding job on the same machine, known as sequence-dependent setup times. In this paper, we consider hybrid flexible flowshops with sequence-dependent setup times and machine availability constraints caused by preventive maintenance. The optimization criterion is the minimization of makespan. Since this problem is NP-hard in the strong sense, we propose three heuristics, based on SPT, LPT and Johnson rule and two metaheuristics based on genetic algorithm and simulated annealing. Computational experiments are performed to evaluate the efficiencies of the algorithms.     

Robust Output Feedback Controller Design for Time‐Delayed Teleoperation: Experimental Results

In this paper, a robust output feedback control strategy is proposed for a nonlinear teleoperation system which can deal with stability as well as transparency despite the variable time‐delay and uncertain dynamics. The proposed approach is composed of two steps. First, local Lyapunov based adaptive controllers are applied to both master and slave sides in order to suppress the nonlinearities in the system dynamics. Afterwards, a new observer‐based controller scheme is proposed to achieve stability and performance (transparency) of the teleoperation system. Using the Lyapunov techniques, stability and performance objectives are cast as some linear matrix inequality (LMI) feasibility conditions. To evaluate the performance of the proposed controller, a set of simulations and experiments are performed. Through simulation results, it is demonstrated that the proposed approach significantly outperforms the existing methodologies reported in the literature.     

Bilateral control of master-slave manipulators with constant time delay

This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved performance. Moreover, by using Fourier transform and Parseval's identity in the frequency domain, we demonstrate that this new PID controller preserves the passivity of the system. Simulation and semi-experimental results show that the PID controller tracking performance is superior to that of the PD controller tracking performance in slave/environmental contacts.     

Stable identification of nonlinear systems using neural networks: theory and experiments

This paper presents an approach for stable identification of multivariable nonlinear system dynamics using a multilayer feedforward neural network. Unlike most of the previous neural network identifiers, the proposed identifier is based on a nonlinear-in-parameters neural network (NLPNN). Therefore, it is applicable to systems with higher degrees of nonlinearities. Both parallel and series-parallel models are used with no a priori knowledge about the system dynamics. The method can be considered both as an online identifier that can be used as a basis for designing a neural network controller as well as an offline learning scheme for monitoring the system states. A novel approach is proposed for the weight updating mechanism based on the modification of the backpropagation (BP) algorithm. The stability of the overall system is shown using Lyapunov's direct method. To demonstrate the performance of the proposed algorithm, an experimental setup consisting of a three-link macro-micro manipulator (M/sup 3/) is considered. The proposed approach is applied to identify the dynamics of the experimental robot. Experimental and simulation results are given to show the effectiveness of the proposed learning scheme.     

Analytical investigation of viscoelastic creeping flow and heat transfer inside a curved rectangular duct

An exact solution for creeping viscoelastic flow and heat transfer in a curved rectangular duct is presented based on the order of magnitude technique. Here, the Criminale-Eriksen-Filbey model is used as constitutive equation. The closed form of axial velocity, flow rate, flow resistance ratio, pressure distribution, stress field, temperature and Nusselt number are presented, and the effect of aspect ratio, curvature ratio and both of the first and the second normal stress differences on the flow and heat transfer are investigated. One of the noticeable results of current research is confirming the independency of flow resistance and Nusselt number of creeping flow inside the curved duct to curvature ratio at aspect ratio 0.89077.